Vehicle autonomous parking path programming method used for multiple parking scenes

Abstract

The invention provides a vehicle autonomous parking path programming method used for multiple parking scenes. The method is used for automatically parking a vehicle in a parking space through an autonomous parking system when the autonomous parking system detects the available parking space. The method includes the steps that target parking space information is detected, and a parking scene is determined; the initial state and target state of the to-be-parked vehicle are determined; a vehicle kinematics differential equation is established; state variables and control variables of the vehicle are segmented, equidistance sampling is performed on each segment according to certain time step, and to-be-optimized variables are obtained; an equality constraint, boundary constraints and inequality constraints of the to-be-optimized variables are formed; motion range constraints of the to-be-parked vehicle are formed according to the motion range limit in the parking process of the vehicle; an optimization objective is determined, and an objective function is established; and by means of a nonlinear programming solver, an optimal solution of a parking path is obtained. The vehicle autonomous parking path programming method is suitable for the multiple parking scenes, the design is reasonable, abundant information can be provided so as to control autonomous parking of the vehicle, and the security coefficient is high.

Description

technical field [0001] The invention relates to the technical field of vehicle autonomous parking, in particular to a vehicle autonomous parking path planning method for various parking scenarios. Background technique [0002] In recent years, with the rapid growth of domestic car ownership, parking spaces in cities have become increasingly tight and narrow. For novice drivers, parking is usually a difficult problem, especially in the case of too narrow parking spaces, it is often difficult for drivers to control the car well for fast and accurate parking, and the probability of accidents caused by parking is greatly increased. [0003] The autonomous parking system can help the driver park accurately and safely. This system uses one or more sensors to detect the size and location of the parking space, then plans a feasible parking path, and finally automatically controls the steering system of the vehicle. , brake system and power system follow the planned path to complete...

AI Technical Summary

Problems solved by technology

The disadvantage is that this method does not restrict the range of activities of the vehicle, and its planned trajectory may cause the vehicle to invade other lanes and hinder the driving of vehicles on other lanes or even cause accidents.

Another disadvantage is that it does not detect whether there is a collision between the two discretized vehicle states, which may cause a collision when the vehicle travels along the planned trajectory

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