The invention discloses an automatic
parallel parking path
planning method based on two sections of second-order Bezier curves. The method comprises the steps of obtaining target
parking space information to determine a parking target position and establishing a
global coordinate system by taking the parking target position as an original point; constructing a parking
trajectory segmentation judgment model to determine the number of planned trajectory segments, planning the end position range of the first section of trajectory, determining the start point, the end point and the
control point of each section of planned trajectory, performing path planning by using a second-order Bezier curve, performing monitoring at set intervals, and adjusting the planned trajectory by using a dynamic adjustment planning
trajectory method. According to the method, the requirement for the initial
pose of the to-be-parked vehicle is lowered, and the environmental adaptability of the path planning methodis improved; the vehicle can be driven into the planned area manually through simple adjustment, so that the cost is reduced, and the method can be applied to medium and low-grade vehicles; control points of parking
trajectory planning are easy to determine, a trajectory generation
algorithm is simple, and the path curvature is continuous. The correction difficulty of the track error is reduced,and the
obstacle avoidance performance and parking efficiency of the vehicle are improved.