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Personified automatic parking path planning method

A technology for path planning and automatic parking, applied in the automotive field

Pending Publication Date: 2022-04-01
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

And the existing parallel parking planning algorithms rarely take into account the size of the space on the right side of the parking corridor

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[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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PUM

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Abstract

The invention belongs to the technical field of automobiles, and particularly relates to an anthropomorphic automatic parking path planning method. The automatic parking path planning comprises horizontal parking path planning and vertical parking path planning; the horizontal parking comprises parallel parking and parking by utilizing parking space; the vertical parking comprises first-time maneuvering parking, second-time maneuvering parking and third-time maneuvering parking. By determining the size of the space for forward entering the parking space through multiple maneuvers, the number of maneuvers for parking can be determined in parking spaces of different sizes and spaces with parking space corridors of different sizes.

Description

technical field [0001] The invention belongs to the technical field of automobiles, in particular to an anthropomorphic automatic parking path planning method. Background technique [0002] Among the existing geometric programming algorithms, there is a lack of algorithms for forward vertical parking; and there is no exploration of multiple maneuver planning for forward vertical parking. Because the size of the parking aisle and the size of the parking space will have an impact on the number of positive vertical parking maneuvers. Moreover, the existing parallel parking planning algorithms rarely take into account the size of the space on the right side of the parking corridor. Contents of the invention [0003] The invention provides an anthropomorphic automatic parking path planning method. By determining the space size of multiple maneuvers entering into the parking space, the parking maneuver can be determined in different sizes of parking spaces and spaces of parking...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06
Inventor 管欣蔡磊贾鑫周芝瑶徐福来詹军
Owner JILIN UNIV
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