The invention relates to the technical field of unmanned vehicles, in particular to a path planning method for various parking scenes, which comprises the following steps: building a whole vehicle kinematics model and designing a multi-stage nonlinear predictive control model; designing a multi-stage nonlinear predictive controller, and designing a constraint function which takes a vehicle starting point pose, a target point pose, a parking speed, a parking steering angle, an incomplete kinematics constraint and a minimum obstacle avoidance safety distance as basic constraints; the parking system constraints are integrated into an optimization control problem meeting the multi-stage nonlinear predictive control model and the parking system constraints; solving an optimization control problem by adopting an interior point method to obtain an optimal control sequence, and applying a first column of elements in the sequence to vehicle bottom layer control; the parking controllability and accuracy can be guaranteed, meanwhile, the flexibility and efficiency of the parking process can be improved, and the framework of the automatic parking control system is greatly optimized.

    本发明涉及无人驾驶车辆技术领域,特别涉及一种面向多种泊车场景的路径规划方法,包括搭建整车运动学模型并设计多阶段非线性预测控制模型;设计多阶段非线性预测控制器和设计以车辆起始点位姿、目标点位姿、泊车车速、泊车转向角度、非完整运动学约束以及最小避障安全距离为基本约束的约束函数;将泊车系统约束整合为一个满足多阶段非线性预测控制模型和泊车系统约束的优化控制问题;采用内点法求解优化控制问题,得到最优控制序列,将该序列中的第一列元素应用于车辆底层控制;本发明可以保证泊车时的可控性和准确性,同时能够提高泊车过程的灵活性和高效性,大大优化了自动泊车控制系统的架构。


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    Title :

    Path planning method for various parking scenes


    Additional title:

    一种面向多种泊车场景的路径规划方法


    Contributors:
    SHI JUNREN (author) / LIANG YUFEI (author) / PARK CHANG HO (author) / CHEN ZHUO (author) / CHEN MAOXING (author) / FU CHUNYUN (author) / GE SHUAISHUAI (author) / ZHAN SEN (author) / WANG YONG (author) / ZOU BINGQIAN (author)

    Publication date :

    2023-08-29


    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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