Parallel parking path planning method with constraints, electronic equipment and storage medium

Abstract

The invention discloses a parallel parking path planning method with constraints, electronic equipment and a storage medium, and belongs to the technical field of parking path planning. According to the method, starting from the end position of a vehicle, whether a collision-free path can be planned or not is judged by firstly setting an end position iteration course angle and combining the vehicle and parking space information, and if not, the course angle is slowly increased until a path meeting the collision constraint is found. According to the method, the defects of discontinuity of curvature and high curvature change rate can be alleviated to a certain extent by adopting the path template of the arc, the tangent line and the arc; a parking starting area and an optimal starting parking point can be found through iteration self-adaption according to the size of a garage and the size of a vehicle; and the course angle of the vehicle entering the garage for the first time can be relatively minimum, and the vehicle enters the garage bottom on the premise of meeting collision constraint, so that subsequent parking actions are facilitated.

Description

technical field [0001] The invention belongs to the technical field of parking path planning, and in particular relates to a constrained parallel parking path planning method, electronic equipment and a storage medium. Background technique [0002] In order to solve the problem of difficult parking, people have invented the automatic parking assist system. However, there are still many imperfections in the current automatic parking assistance system. Vehicle collision accidents are easy to occur in a small space, and only relying on ultrasonic radar to detect obstacles is not enough to completely avoid the problem (ultrasonic radar has blind spots) , still need a more complete path planning algorithm to avoid obstacles at the beginning, so as to avoid the occurrence of collision accidents. [0003] Parallel parking, also known as lateral parking or side parking, means that the parking direction of the car is consistent with the traffic direction of the road, such as the par...

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide a method for planning parallel parking paths with constraints, electronic equipment and storage media to solve the problem of path planning for parallel parking and the problem that vehicles are prone to collisions during parking

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