The invention discloses a highway automatic side parking path planning and control method, and belongs to the technical field of autonomous intelligent parking. The method comprises the following steps: after an unmanned vehicle receives an automatic parking instruction, entering a path planning process, and automatically planning a feasible parking path by using a path planning algorithm; if a feasible parking path can be planned in the area where the target vehicle is located, entering a parking process, and executing an automatic parking task along the parking path by using a parking control algorithm; if a feasible parking path cannot be planned in the area where the target vehicle is located due to environmental constraints, entering a parking guiding process, and guiding a driver to go to a feasible area; in addition, in the parking process, if interference occurs in the environment, a parking waiting process is entered until the interference disappears. According to the method, the expected speed on the path does not need to be further obtained, the parking accuracy is improved through the designed parking control algorithm, the vehicle can autonomously complete the parking task, and intelligence, practicability and safety are achieved.

    本发明公开了一种公路自动侧方停车路径规划及控制方法,属于自主智能停车技术领域。所述方法包括以下步骤:当无人驾驶车辆接收到自动停车指令后,进入路径规划过程,利用路径规划算法自动规划可行的停车路径;若目标车辆所在区域能够规划出可行的停车路径,则进入停车过程,利用停车控制算法沿所述停车路径执行自动停车任务;若目标车辆所在区域因环境约束无法规划出可行的停车路径,则进入停车引导过程,引导驾驶员前往可行区域;此外,本发明在停车过程中,若环境出现干扰,则进入停车等待过程,直到干扰消失。本发明所述方法无需进一步获取路径上的期望速度,所设计的停车控制算法提高了停车准确度,使车辆能够自主地完成停车任务,具有智能性、实用性和安全性。


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    Title :

    Highway automatic side parking path planning and control method


    Additional title:

    一种公路自动侧方停车路径规划及控制方法


    Contributors:
    PENG XIUHUI (author) / XIE YUANBO (author) / WANG ZENGMAO (author) / CHEN XIAOLIN (author) / WANG CONGQING (author)

    Publication date :

    2022-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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