The invention provides a path planning method for autonomous parallel parking. The method is characterized in that the method is used for automatically parking a vehicle into an available parking space in parallel when an autonomous parking system detects the available parking space, and the method comprises the following steps of detecting the upper edge of a first obstacle behind a parking space, the lower edge of a second obstacle in front of the parking space and the distance between the right edge of a vehicle and the left edge of the second obstacle; judging whether the parking space is large enough for parking or not on the basis of a threshold value; determining a second-stage path for parallel parking; determining a first-stage path for parallel parking; controlling a steering system and a power system of the vehicle to follow the first-stage path and the second-stage path. The method is reasonable in design and structure, efficient and high in safety coefficient, and the vehicle can be accurately controlled to be autonomously parked in parallel.
Path planning method for autonomous parallel parking
2015-11-11
Patent
Electronic Resource
English
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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