The invention discloses a parking garage entering
route construction method and device based on search type and geometric type paths. The parking garage entering
route construction method comprises the steps that whether a vehicle receives an effective parking instruction or not and enters a parking range and
parking space information or not is judged, and effectiveness
verification is carried out; path point sampling is carried out, obstacles are judged, and if the path is not feasible, the process is terminated; candidate paths are generated according to the sampling points and a vehicle and bicycle
kinematics model,
collision detection is carried out, and effective paths are screened; evaluating the path, selecting an optimal path, splicing the optimal path with the search path, and outputting a final parking path for the vehicle to execute; according to the parking garage entering
route construction method, a search type
route planning method and a geometric type
route planning method are combined, through combination of a vehicle and bicycle
kinematics model and a Reed-Shepp geometric route model, splicing optimization of a geometric route and a search route is further carried out, computing resources and consumed time are remarkably reduced, and the parking garage entering route construction method is suitable for large-scale popularization and application. The method is more suitable for an embedded platform
chip to improve the calculation performance.