Online planning method and system for continuous curvature parking path of any starting pose

Abstract

The invention relates to an online planning method and system for a continuous curvature parking path of any initial pose. The method comprises the steps: obtaining a parking path through employing a sectional path planning thought, and dividing a path planning process into in-parking-location adjustment path planning and garage entering path planning, wherein the in-parking-location adjustment path planning comprises a first in-parking-location adjustment path planning used for obtaining a parking target pose and a second in-parking-location adjustment path planning used for enabling a vehicle pose to meet a final pose requirement; the in-parking-location adjustment path planning adopts an optimization method to perform section-by-section planning; and the garage entering path planning adopts an improved Hybrid A * algorithm to plan and obtain a garage entering path from the current pose of the vehicle to a garage entering target pose. The automatic parking system can perform re-planning and re-tracking by adopting the method. Compared with the prior art, the method has the advantages that the calculation efficiency is high, the parking performance is improved, and the vehicle can be parked in any parking space (parallel, vertical and inclined parking spaces).

Description

technical field [0001] The invention relates to the field of vehicle control, and relates to a parking control method, in particular to an online planning method and system for a continuous curvature parking path with an arbitrary starting pose. Background technique [0002] As the number of cars increases year by year, the parking space in cities is becoming increasingly narrow. Automatic parking technology that can help drivers park safely and efficiently has emerged as the times require. As one of the key technologies, automatic parking path planning is used to plan an executable path connecting the current pose of the vehicle and the desired target pose, so that the vehicle has no collision and avoids turning in situ during the tracking control process. Although there are many researches on path planning, there are still problems such as low efficiency and low accuracy for parking scenarios. [0003] The current popular path planning methods can be divided into four cat...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an online planning method and system for continuous curvature parking paths with arbitrary starting poses in order to overcome the shortcomings of the above-mentioned prior art that cannot take into account arbitrary parking starting poses, path quality, and computational efficiency. , to improve parking reliability

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