A polynomial path planning method and storage medium for an automatic parking system

Abstract

The present application relates to a polynomial path planning method and storage medium for an automatic parking system. The method is applied to the automatic parking system to detect an available parking space and automatically park the vehicle into the parking space, including: detecting Go to the available parking space, obtain the initial position of the vehicle and the reference parking point to be parked in the parking space; simulate two reference arcs according to the initial position and the reference parking point; A plurality of fitting reference points are selected, and the fitting reference points are fitted into a path polynomial, and the path polynomial is the parking path. Its effective effect is that: when the vehicle is automatically parked, the adjustment of the steering wheel when the vehicle is stationary during the vehicle parking process is reduced, and the problem of turning in situ or at a low speed at the arc tangent point of parking is solved. Reduced vehicle tire wear. At the same time, it also avoids the problem that the torque of the steering wheel is too large at the moment of steering, which causes the output power of the assist motor to be too large.

Description

technical field [0001] The present application relates to the technical field of driving assistance, in particular to a polynomial path planning method and a storage medium for an automatic parking system. Background technique [0002] In the current research on the parking path planning of the automatic parking system, the combination of several tangent arcs is generally used for the parking path planning. However, the turning center of the vehicle at the tangent point of the arc changes, requiring the vehicle to turn in situ or at a very low speed, and turn the steering wheel from the original direction to the opposite direction as soon as possible. In situ steering is the main factor of tire wear. At the same time, the in-situ steering also requires a larger steering force, which increases the output power of the power steering motor and easily causes damage to the parking system. There is also a part of the parking path planning that uses a polynomial fitting method. ...

AI Technical Summary

Problems solved by technology

Polynomial path planning uses the starting and ending points during the parking process as the reference point. The planned path has less constraints on the middle part of the path. The planned path is very likely to collide with obstacles, causing the risk of path failure

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