Automatic parking path following processing method and system, vehicle and storage medium

Abstract

The invention discloses an automatic parking path following processing method and system, a vehicle and a storage medium. The method comprises the steps: 1, planning an arc linear path needed by parking based on parking space information, and obtaining a control point Pi of path planning, i being equal to 0, 1, 2,... N; step 2, performing parametric solution based on a cubic spline interpolation function, and adopting a chord length accumulation method; for the coordinates (xi, yi) of the control point Pi on the plane, solving the accumulated chord length at each control point; step 3, parameterizing x and y into equations of x (s) and y (s) respectively, s being larger than or equal to si and smaller than or equal to si+1, si representing the accumulated chord length of the (i+1)th section, and si+1 representing the accumulated chord length of the (i+2) th section; to be specific, carrying out fitting based on the principle of a cubic spline interpolation function with s as a variableand x and y as functions, and deriving an equation of a chord length accumulation cubic spline curve and first-order derivation and second-order derivation equations of the equation; and step 4, adopting a constraint equation of a fixed boundary for boundary conditions, and solving a first-order derivative of a parameter equation. The problem that the curvature of an arc straight line path is discontinuous is solved.

Description

technical field

[0001] The invention belongs to the technical field of automatic parking, and in particular relates to an automatic parking path following processing method, system, vehicle and storage medium. 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. Deep digging technology, the basic principle of parking path planning is mainly based on the principle of arcs and straight lines for path planning to ensure that vehicles enter the warehouse, or the path planning method of B-spline curves.

[0003] At present, the arc and straight...

Examples

Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing.

[0046] In this embodiment, an automatic parking path following processing method includes the following steps:

[0047] Step 1. Based on the parking space information, plan the arc-line path required for parking, and obtain the control point P for path planning. i , i=0,1,2,...n;

[0048] Step 2, based on the cubic spline interpolation function for parametric solution, using the method of chord length accumulation; for the control point P on the plane i The coordinates (x i ,y i ), calculate the cumulative chord length at each control point;

[0049] The cumulative chord length at each control point is expressed as:

[0050] the s 0 =0

[0051]

[0052]

[0053]

[0054]

[0055] In the formula: l i Indicates the chord length of the i segment, k=i-1.

[0056] Step 3, parameterize x and y as equations of x(s) and y(s) respectively, where s i ≤s≤s i+1 ,...

technical field

[0001] The invention belongs to the technical field of automatic parking, and in particular relates to an automatic parking path following processing method, system, vehicle and storage medium. 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. Deep digging technology, the basic principle of parking path planning is mainly based on the principle of arcs and straight lines for path planning to ensure that vehicles enter the warehouse, or the path planning method of B-spline curves.

[0003] At present, the arc and straight...

Examples

Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing.

[0046] In this embodiment, an automatic parking path following processing method includes the following steps:

[0047] Step 1. Based on the parking space information, plan the arc-line path required for parking, and obtain the control point P for path planning. i , i=0,1,2,...n;

[0048] Step 2, based on the cubic spline interpolation function for parametric solution, using the method of chord length accumulation; for the control point P on the plane i The coordinates (x i ,y i ), calculate the cumulative chord length at each control point;

[0049] The cumulative chord length at each control point is expressed as:

[0050] the s 0 =0

[0051]

[0052]

[0053]

[0054]

[0055] In the formula: l i Indicates the chord length of the i segment, k=i-1.

[0056] Step 3, parameterize x and y as equations of x(s) and y(s) respectively, where s i ≤s≤s i+1 ,...

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