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。
Parking path planning method and system based on sine curve
一种基于正弦曲线的泊车路径规划方法及系统
2022-11-04
Patent
Electronic Resource
Chinese
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 |
Automatic Vertical Parking Path Planning Based on Clothoid Curve
VDE-Verlag | 2022
|OBSTACLE AVOIDANCE METHOD IN AUTOMATIC PARKING PATH PLANNING AND PARKING PATH PLANNING SYSTEM
European Patent Office | 2021
|Obstacle avoidance method for automatic parking path planning and parking path planning system
European Patent Office | 2020
|