Two-section parallel parking path planning algorithm considering tracking error accumulation

CN119590410AActive Publication Date: 2025-03-11CHANGAN UNIV +1
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Patent Information

Application Number
CN202411632768.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-15
Publication Date
2025-03-11
Estimated Expiration
2044-11-15

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Abstract

The invention discloses a two-section parallel parking path planning algorithm considering tracking error accumulation. The two-section parallel parking path planning algorithm comprises the following steps: S1, periodically acquiring vehicle operation data, parking space coordinate information and obstacle coordinate information; s2, performing path search and obstacle avoidance constraint through a Hybrid A * algorithm, and planning an optimal path from a vehicle starting point to a parking terminal point in real time; s3, judging the lateral error of the vehicle at the detection point, and re-planning the parking path in the garage if the error exceeds a threshold value; s4, forming a complete automatic parking planning path; the method comprises the following steps: firstly, performing path search by matching a mixed A * algorithm with an RS curve, secondly, performing further planning at a planning midpoint in combination with an environment in a parking space, and finally, detecting a trajectory tracking error of a vehicle by using a detection point to ensure that the vehicle can be successfully parked.
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Citation Information

Patent Citations

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    CN110949374A

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    CN120462379A

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