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.