The invention provides an automatic parking reference trajectory optimization method. The automatic parking reference trajectory optimization method comprises the following steps: a, acquiring environment sensing data including a vehicle position, a parking space geometrical shape, obstacle information, a road condition and the like, the data being input information of path planning, performing preliminary path planning based on the acquired environment data, and generating a preliminary reference trajectory, according to the preliminary path planning, a preliminary trajectory Xinit is generated through a global search algorithm, the feasibility of the trajectory is calculated, and the relative position of a key node on a path and an obstacle is determined. According to the automatic parking reference trajectory optimization method, global path planning and local path correction are combined, parking space geometrical morphology, obstacle positions and dynamic environment factors are fully considered, the generated reference trajectory is optimized, and smoothness and feasibility of the path are ensured.

    本发明提供一种自动入库泊车参考轨迹优化方法。该自动入库泊车参考轨迹优化方法,包括,a.获取环境感知数据,包括车辆位置,车位几何形态,障碍物信息以及路面状况等,所述数据为路径规划的输入信息,基于获取的环境数据进行初步路径规划,生成初步参考轨迹,初步路径规划通过全局搜索算法生成初步轨迹Xinit,并计算轨迹的可行性,确定路径上的关键节点与障碍物的相对位置。该自动入库泊车参考轨迹优化方法,通过全局路径规划与局部路径修正相结合,充分考虑车位几何形态、障碍物位置和动态环境因素,优化生成的参考轨迹,确保路径的平滑性与可行性。


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    Title :

    Automatic parking reference trajectory optimization method


    Additional title:

    一种自动入库泊车参考轨迹优化方法


    Contributors:
    CHEN YAN (author) / WANG LONGDA (author) / CHENG HUI (author)

    Publication date :

    2025-04-11


    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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