The invention provides a multi-section parallel parking path planning method, which comprises the following steps of: based on an Ackerman steering principle, establishing a vehicle kinematics model as a whole vehicle reference model of an AUV (Autonomous Underwater Vehicle), setting an obstacle avoidance safety distance for a vehicle, and simplifying the outer contour of the vehicle into a rectangle through maximum length and width parameters; setting a starting point, a temporary point and a target point, and generating a multi-section target path between the starting point and the temporary point and between the temporary point and the target point based on a preset multi-section path planning mode; and respectively setting an optimization target for each section of target path, converting into a nonlinear programming problem, and solving an optimal path through a particle swarm algorithm with a penalty function. According to the invention, the problems of parking difficulty, low parking efficiency and unsmooth path in a scene with limited parking space can be solved.

    本发明提供一种多段式平行泊车路径规划方法,基于阿克曼转向原理,建立车辆运动学模型作为AUV的整车参考模型,为车辆设置避障安全距离,通过最大长宽参数将车辆外轮廓简化为矩形;设置起始点、临时点和目标点,基于预设的多段式路径规划方式,生成起始点和临时点之间、临时点和目标点之间的多段式目标路径;分别对各段目标路径设置优化目标,转化为非线性规划问题,通过带罚函数粒子群算法求解最优路径。本发明能够解决在泊车空间受限的场景下泊车困难、泊车效率低、路径不平滑的问题。


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    Title :

    Multi-section parallel parking path planning method


    Additional title:

    一种多段式平行泊车路径规划方法


    Contributors:
    CHENG GUANGWEI (author) / ZHANG ZIYANG (author) / ZHAO XIAOKANG (author) / GUO ZHANZHENG (author) / WANG TAO (author)

    Publication date :

    2025-04-15


    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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