The invention is suitable for the technical field of intelligent parking, and provides a parking path planning method and system based on a sine curve, and the method comprises the steps: obtaining vehicle information and information of obstacles around a vehicle in real time according to parking space information; according to the vehicle information and the obstacle information, a sine curve is adopted for fitting, and a parking path is planned; and controlling the vehicle to perform parking operation along the planned parking path. An automatic parking key is clicked, surrounding available parking spaces are automatically searched through a sensor, and after a driver selects the available parking spaces, a vehicle is automatically parked in the parking spaces. The parking path designed by the system is continuous in curvature and easy to track and control; the path planning is high in practicability, high in safety and suitable for any vehicle carrying a panoramic image system and an ultrasonic parking radar auxiliary system.

    本发明适用于智能泊车技术领域,提供了一种基于正弦曲线的泊车路径规划方法及系统,根据泊入车位信息实时获取车辆信息和车辆周围障碍物信息;根据车辆信息和障碍物信息,采用正弦曲线进行拟合,规划泊车路径;控制车辆沿着规划出的泊车路径进行泊车操作。点击自动泊车按键,通过传感器自动搜索周围可用车位,驾驶员选择可用车位后,车辆自动泊入车位。本系统所设计的泊车路径曲率连续,易于跟踪控制;这种路径规划实用性强、安全性高,适用于任何搭载全景影像系统、超声波泊车雷达辅助系统的车辆。


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    Title :

    Parking path planning method and system based on sine curve


    Additional title:

    一种基于正弦曲线的泊车路径规划方法及系统


    Contributors:
    LI ZHIJIN (author) / WANG ZHONGWEI (author) / QIAN WEI (author)

    Publication date :

    2022-11-04


    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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