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

A path planning and automatic parking technology, applied in the direction of the control device, etc., can solve the problems of poor trajectory planning performance, unable to successfully park in the target parking space, etc., and achieve the effect of shortening the parking time and reducing the number of kneading.

Pending Publication Date: 2022-03-01
VOYAH AUTOMOBILE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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

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Embodiment Construction

[0049] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0050] In a first aspect, an embodiment of the present invention provides an automatic parking route planning device. The automatic parking route planning device may be a personal computer (personal computer, PC), a notebook computer, a server, and other devices with data processing functions.

[0051] refer to figure 1 , figure 1 It is a schematic diagram of the hardware structure of the automatic parking path planning device involved in the solution of the embodiment of the present invention. In the embodiment of the present invention, the automatic parking path planning device may include a processor 1001 (such as a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein, the communication bus 1002 is used to realize the connection and com...

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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...

Claims

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Application Information

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IPC IPC(8): B60W30/06B60W50/00
CPCB60W30/06B60W50/00B60W2050/0037Y02T10/40
Inventor 龚威沈忱付斌
Owner VOYAH AUTOMOBILE TECH CO LTD
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