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Parking path planning method for automatic driving system of parking lot

A technology of automatic driving and path planning, which can be used to indicate the direction of each open space in the parking lot, navigation calculation tools, etc., and can solve problems that do not involve path planning.

Active Publication Date: 2018-01-09
清华大学苏州汽车研究院(吴江) +1
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  • Description
  • Claims
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Problems solved by technology

[0004] At present, most path planning methods are used in urban roads, and the field of automatic driving systems in parking lots has not yet involved path planning.

Method used

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  • Parking path planning method for automatic driving system of parking lot
  • Parking path planning method for automatic driving system of parking lot
  • Parking path planning method for automatic driving system of parking lot

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Embodiment

[0029] The preferred embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0030] Such as figure 1 As shown, a parking path planning method for an automatic driving system in a parking lot includes the following steps:

[0031] The parking lot is mathematically modeled according to the road network information in the parking lot. Through the road network information of the parking lot, the width direction of the road in the parking lot, the width and length of the parking spaces, and the distribution of parking spaces are obtained. Such as figure 2 As shown, a parking lot is mathematically modeled in the example;

[0032] In the example, each row has 31 parking spaces, a total of 93 parking spaces. Each parking space is 6 meters long and 3 meters wide. The green rectangle represents the lawn, with a width of 1 meter and a length of 6 meters. The width of the road between two rows of parking spaces is 10 met...

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Abstract

The invention discloses a parking path planning method for an automatic driving system of a parking lot. The method comprises the following steps: mathematical modeling is performed on the parking lotaccording to road network information in the parking lot; a corresponding node at a road intersection of the parking lot and each parking space is selected and numbered, and a corresponding matrix relationship is established; line information in a line information table is read, and the distance between a starting point and an ending point is taken as a weight value; a Dijkstra map is constructedon the basis of a node graph of a road network, and the optimal path is calculated with the Dijkstra algorithm. The optimal path from the starting point of the parking lot to the parking space can berapidly planned.

Description

technical field [0001] The invention belongs to the technical field of automobile automatic driving decision-making, and in particular relates to a parking path planning method for an automatic driving system of a parking lot. Background technique [0002] With the continuous development of automobile automatic driving technology, the application of automatic driving in parking lots has also begun to receive widespread attention. In the current traditional parking lot, there are two problems that plague drivers the most: one is the difficulty of finding an empty parking space and parking in a small parking space; the other is the parking lot congestion that may be caused when multiple vehicles find an empty parking space. [0003] The parking lot automatic driving system can not only improve the convenience of the parking process, but also effectively alleviate the problem of parking lot congestion caused by finding a parking space. The parking lot self-driving system uses ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G08G1/14
Inventor 戴一凡卢贤票齐麟徐巍代爽曾勇
Owner 清华大学苏州汽车研究院(吴江)
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