Autonomous valet parking group garage space distribution method
An allocation method and parking technology, applied in the direction of design optimization/simulation to avoid non-uniqueness and reduce congestion
Pending Publication Date: 2022-05-06
南昌智能新能源汽车研究院
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Problems solved by technology
Due to the lack of human intervention, bad parking behaviors such as grabbing the same storage space, repeated parking, and congestion cannot be avoided in group parking
For this reason, how to effectively and rationally allocate storage space resources and ensure the orderly and stable transportation system has become a great challenge in the case of group vehicles parking.
Method used
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Embodiment
[0052] Such as figure 1 as shown, figure 1 It is a schematic diagram of the allocation of parking spaces in the autonomous valet parking group of the present invention, and the specific steps of the strategy include:
[0053] Step 1: Modeling the driving cost of parking a single vehicle.
[0054]When autonomous valet parking vehicle i is assigned to storage slot j, the single-vehicle parking cost is modeled as Among them, K is the number of road sections that the vehicle i will pass through to the storage location j, s k is the length of road segment k, v k is the allowed vehicle speed in the garage, a k is the blocking coefficient affected by the parking of the vehicle in front, t k is the blocking time affected by the parking of the vehicle in front, β is the number of curves passed, t s is the additional time affected by the curve. Blocking coefficient a affected by the parking of the vehicle in front k During the process of vehicle i passing through the k-th road,...
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The invention belongs to the technical field of autonomous driving decision planning methods, and relates to an autonomous valet parking group garage space allocation method, which comprises the following steps of S1, modeling of single vehicle parking driving cost; s2, carrying out bicycle parking in-place difficulty cost modeling; s3, carrying out parking space distribution constraint modeling; s4, carrying out bicycle parking cost modeling; s5, carrying out bicycle parking total cost modeling; s6, modeling the total cost of a group garage allocation system; s7, modeling a group garage allocation problem; s8, designing an affinity evolution function of the group garage space distribution problem; and S9, solving a group garage space distribution problem through an immune algorithm of three operators. According to the invention, the problem of garage location distribution of independent valet parking group vehicles in the parking lot can be effectively solved, and congestion, disorder and energy waste caused by the fact that vehicles scramble for the same parking space are reduced.
Description
technical field [0001] The invention belongs to the technical field of decision-making and planning methods for autonomous driving, and in particular relates to a method for allocating garage spaces in an autonomous valet parking group. Background technique [0002] Difficulty in parking has always been a pain point and difficulty that plagues vehicle users, especially at a time when the pace of urbanization is accelerating and car ownership is increasing rapidly, how to effectively solve the problem of parking difficulty has become the focus of urban development and people's livelihood construction. In order to completely solve the problem of difficult parking, autonomous valet parking technology is moving from the laboratory to market application. Autonomous valet parking technology sends the location information and road information of the parking lot detected by the sensor to the on-board computing unit, and the on-board computing unit calculates the best parking action ...
Claims
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CPCG06F30/27
Inventor 曾德全胡一明陈齐平熊璐邓振文刘登程
Owner 南昌智能新能源汽车研究院