Remote control parking-in and parking-out path planning method and system, vehicle and storage medium

Abstract

The invention discloses a remote control parking-in and parking-out path planning method and system, an automobile and a storage medium. The method comprises the following steps that 1, expected parking-out poses are assumed to be x0cm, y0cm and theta0rad; the pulling-out angle is [theta] Outtrad; the method comprises the following steps of 1, determining whether the vehicle can go out of the garage or not according to a current vehicle positioning position E (Ex, Ey and Etheta) when the driving direction of the vehicle is switched to a D gear, and 3, planning a parking or parking-out path which comprises a left arc section, a middle straight line end and a right arc section which are connected in sequence. According to the method, the problems that due to a double-arc method, the vehicle body posture is too large, and the curvature change of the reverse arc connecting position is too large are solved, meanwhile, planning and achieving are easy, and compared with a B spline and a Bezier curve, the method based on geometric method derivation is low in requirement for parameters and high in adaptability.

Description

technical field [0001] The present invention relates to the technical field of remote parking, in particular to a method, system, vehicle and storage medium for planning a path for in-and-out parking by remote control. Background technique [0002] In recent years, with the exponential increase in car ownership, the problem of parking difficulties has become more prominent. This issue has attracted a lot of attention from the outside world, especially major OEMs. At the current stage, OEMs have realized the mass production of fully automatic parking technology based on the fusion of imaging and ultrasound, and the market response has been good. The market prospect of fully automatic parking is promising. The current mainstream planning methods are as follows: [0003] For example, the patent document CN 110949374A discloses an automatic parallel parking path planning method based on two second-order Bezier curves. The method mainly uses Bezier curves for parallel parking p...

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Problems solved by technology

[0004] Another example is an automatic parking path planning method based on B-spline theory disclosed in patent document CN 111016886A. This method also has some limitations: for example, there are too many constraint equations in path planning, and it is necessary to ensure collision avoidance while ensuring the curvature of the generated curve It meets the minimum turning radius requirements for vehicle tracking, has more control points (8), and generates a higher order path equation (4th order), etc.

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