The invention provides an automatic parking path planning method based on an improved mixed A * and a target tree, and relates to the technical field of parking. According to the method, when a parking path between a starting point and a local starting point is planned, an actual path capable of avoiding obstacles is generated by precisely describing a node cost function; when a parking path between the local starting point and the combination point is planned, generating a reference broken line path capable of avoiding obstacles and a plurality of curve paths approximately fitting the reference broken line path, and selecting a curve path capable of avoiding obstacles from the plurality of curve paths, wherein the accumulated distance deviation between the curve path and the reference broken line path is minimum; and meanwhile, for the final parking section, a smooth backward reversing path can be quickly generated based on the predicted path information on the target tree. In the whole parking planning process, a parking path is composed of a mixed A * search path and a target tree path. By implementing the method and the device, the obstacle avoidance possibility of the selected curve path can be improved, and the efficiency, the flexibility and the adaptability of automatic parking path planning can be improved.
本发明提出基于改进混合A*和目标树的自动泊车路径规划方法,涉及泊车技术领域。在本发明中,对起始点到局部起始点之间的泊车路径进行规划时,通过精准化描述节点代价函数,生成可避障的实际路径;对局部起始点到结合点之间的泊车路径进行规划时,生成可避障的参考折线路径以及多条近似拟合前者的曲线路径,从多条曲线路径中选择一条与参考折线路径的累加距离偏差最小且可避障的曲线路径;同时对于最后的泊入段,基于目标树上的预知路径信息,可以快速生成平滑的向后倒车路径。整个泊车规划过程中,泊车路径由混合A*搜索路径和目标树路径组成。实施本发明,能够提高了选择出的曲线路径避障的可能性,以及自动泊车路径规划的效率、灵活性和适应力。
Automatic parking path planning method based on improved mixed A* and target tree
基于改进混合A*和目标树的自动泊车路径规划方法
14.05.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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