Personified automatic parking path planning method
A technology for path planning and automatic parking, applied in the automotive field
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[0250] The present invention is applied in the simulated scenario, and the specific parameters are as shown in Table 1:
[0251] Table 1
[0252] parameter symbol value The length of the parking space Lspot 5.6m The width of the parking space Wspot 2.5m Minimum turning radius Rmin 4.2m wheelbase L 2.405m Overhang Length Lfront 0.8m rear overhang length Lrear 0.95m vehicle length Lcar 4.155m vehicle width Wcar 1.645m
[0253] 1. Level parking
[0254] The parameters of the horizontal parking spaces are as follows:
[0255] When the space on the right side of the corridor of the parking space is sufficient, it is determined that the position of the vehicle can satisfy the condition of turning left with the minimum turning radius without colliding with the corner of the parking space.
[0256] refer to Figure 10 , the generation of the target line can be determined according to the current starti...
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