The invention discloses a vertical parking space path planning method and device, and the method comprises the steps: obtaining current parking scene information, and determining a starting point and an ending point of a parking path according to the current parking scene information; performing forward search according to the starting point of the parking path to obtain a forward search node and a corresponding curve; performing reverse search according to the forward search node, and connecting the obtained expansion node with the terminal point of the forward search node to obtain a plurality of nodes and a plurality of undirected edge graphs; and based on the plurality of nodes and the graph of the plurality of undirected edges, calculating and outputting an optimal path according to a preset cost function and constraint conditions. According to the method, forward search is carried out under the small search density, the number of searched nodes is reduced, the Dubins curve is used for connecting forward search end points, the efficiency of reverse search is improved, and the efficiency of automatic parking is greatly improved.
本发明公开了一种垂直车位路径规划方法及装置,包括:获取当前泊车场景信息,根据所述当前泊车场景信息确定泊车路径的起点和终点;根据所述泊车路径的起点进行正向搜索,得到正向搜索节点和对应的曲线;根据所述正向搜索节点进行反向搜索,并将得到的扩展节点与所述正向搜索节点的终点相连接,得到多个节点以及多条无向边的图;基于所述多个节点以及多条无向边的图,以预设代价函数及约束条件计算并输出最优路径。本发明在较小的搜索密度下进行正向搜索,减小了搜索的节点数,并且使用Dubins曲线连接正向搜索终点,提高了反向搜索的效率,使得自动泊车的效率得到大大提升。
Vertical parking space path planning method and device
一种垂直车位路径规划方法及装置
2024-08-06
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 |
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