Automatic parking path planning method, device and equipment and readable storage medium

Abstract

The invention provides an automatic parking path planning method, device and equipment and a readable storage medium. The method comprises the following steps: based on a front wheel steering angle, a rear wheel steering angle and a vehicle body steering angle of a vehicle dynamics model and a coordinate when the rear wheel steering angle of the vehicle dynamics model is zero, calculating to obtain an initial coordinate of the vehicle dynamics model; calculating the turning radius of the vehicle dynamics model based on the wheelbase, the front wheel steering angle and the rear wheel steering angle of the vehicle dynamics model; and obtaining a planned path according to the starting coordinate, the turning radius and the vehicle body steering angle. According to the invention, after the rear wheel steering angle of the vehicle dynamics model is added into the automatic parking path planning scheme, on one hand, the vehicle can be parked in a narrower target parking space according to the planned path and can be automatically parked on a narrower road, and on the other hand, the vehicle runs according to the planned path, the number of times of parking can be reduced, and the parking efficiency is improved. And the parking time is shortened.

Description

technical field [0001] The present invention relates to the technical field of automatic parking systems, in particular to an automatic parking path planning method, device, equipment and readable storage medium. Background technique [0002] The Active Rear Wheel Steering System (ARWS) is a set of screw and nut structures installed on the rear axle of the car. The motor drives the nut to drive the screw to move axially, thereby driving the rear wheels to turn slightly. When turning at low speed (vehicle speed less than 60km / h), the rear wheels will move in the opposite direction to the front wheels, thereby reducing the turning radius and making the vehicle more flexible when turning. [0003] The path planning in automatic parking is to use the surrounding environment, the attitude of the own car, the parking attitude and other information, and use the vehicle speed and the front wheel angle as the dynamic input to search for a path from the real-time attitude of the own c...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide a method, device, equipment and readable storage medium for automatic parking path planning, aiming to solve the poor trajectory planning performance of the existing automatic parking function. The problem of parking into the target parking space or failing to successfully park into the target parking space according to the planned path

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