Automatic parking path planning method based on beetle antennae search

Abstract

The invention relates to the field of parking, in particular to an automatic parking path planning method based on beetle beetle search, and the method comprises the following steps: 1, obtaining the current position of a vehicle, the position of an unoccupied parking space, and the position of a real-time obstacle in a basement; step 2, acquiring a driving path from the current position to the unoccupied berth position; 3, obtaining a fitness function of a longhorn beetle left beard and a fitness function of a longhorn beetle right beard of the path node through a longhorn beetle algorithm; 4, sequentially determining each path node in the vehicle driving path in the searching process, and judging whether the position of the vehicle and the driving path are in the effective area or not; according to the method, the path of the vehicle from the current position to the unoccupied parking position is searched by adopting the beetle antennae algorithm, and the driving path of the vehicle from the current position to the unoccupied parking position is obtained, so that the length of the driving path of the vehicle is obviously superior to that of a conventional method at the same time.

Description

technical field [0001] The invention relates to the field of parking, in particular to an automatic parking path planning method based on beetle search. Background technique [0002] In today's society, the number of cars has increased dramatically, and the parking problem has become a serious problem. In the underground garages of some shopping malls, when vehicles enter the underground garage, it is often difficult to quickly find a parking space, and drivers will waste a lot of time searching for vacant parking spaces. [0003] At present, there is a fully automatic parking system in the existing technology, which is used to automatically find a parking space. The fully automatic parking system can visually perceive information such as parking space lines, obstacles, and drivable areas, and can help drivers plan parking paths. [0004] However, the applicable scenarios of this fully automatic parking system are relatively simple, and the calculation process is too compli...

AI Technical Summary

Problems solved by technology

[0005] In order to make up for the deficiencies of the existing technology and solve the problem that the calculation process of the prior art is too complicated and takes a lot of time when planning the parking path, the present invention proposes an automatic parking path planning method based on the beetle beetle search

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