The invention relates to an automatic parking path planning method for various parking space scenes. The method comprises the following steps: acquiring a parking space category, a parking space angular point coordinate and a starting pose; coordinate transformation is carried out in combination with parking space types, and coordinate systems of the vehicles under parallel, oblique and vertical parking are unified; under the unified coordinate system, a rough planning path scatter sequence is obtained through a neural network; and performing post-processing including simulation tracking, DWA and tail end smoothing on the rough planning path scatter sequence to obtain a planning path. Compared with the prior art, planning under different storage locations and different initial poses is completed by using a unified algorithm, and the method has the advantages that the path has zero error relative to the target pose, the algorithm has the potential of self-updating, the complexity of the neural network is low and the like.
本发明涉及一种面向多种库位场景的自动泊车路径规划方法,所述方法包括以下步骤:获取库位类别、库位角点坐标和起始位姿;结合库位类型进行坐标转换,统一车辆在平行、斜向和垂直泊车下的坐标系;在统一坐标系下,通过神经网络获取粗规划路径散点序列;对粗规划路径散点序列通过包括模拟跟踪、DWA和末端平滑的后处理获取规划路径。与现有技术相比,本发明利用统一的算法完成在不同库位、不同初始位姿下的规划,具有路径相对于目标位姿零误差、算法具备自我更新的潜力和神经网络复杂度低等优点。
Automatic parking path planning method for various parking space scenes
一种面向多种库位场景的自动泊车路径规划方法
2023-03-21
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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