CN106394551A - Parking path planning method - Google Patents
Parking path planning method Download PDFInfo
- Publication number
- CN106394551A CN106394551A CN201610184560.6A CN201610184560A CN106394551A CN 106394551 A CN106394551 A CN 106394551A CN 201610184560 A CN201610184560 A CN 201610184560A CN 106394551 A CN106394551 A CN 106394551A
- Authority
- CN
- China
- Prior art keywords
- parking
- automobile
- car
- distance
- parking stall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
Abstract
The invention relates to a parking path planning method. A path of automatic parking is re-planned by processing the detection data of a laser radar; and when a parking space is judged to be not large enough to allow an automobile door to be opened after an automobile enters a garage, a new path plan is set by changing a side distance from a parking start point, so that the automobile door can be opened after replaning and re-entry to the garage. The parking path planning method disclosed by the invention has the beneficial effect that the intelligent degree and the convenience of an automatic parking system are further improved.
Description
Technical field
The invention belongs to vehicle electric field is and in particular to a kind of parking path planing method of automated parking system.
Background technology
With persistently increasing of city automobile recoverable amount, parking stall resource is more and more nervous.Cost due to automated parking system is got over
Come lower, a lot of automobiles are provided with automated parking system.But the intelligence degree of current automated parking system is still relatively low, such as
Single ultrasonic radar cannot distinguish whether parking stall side has the barrier of wall etc, leads to automobile to normally enter parking stall
Afterwards, because blocking of wall leads to car door not opened, the situation that people cannot get off, bring many inconveniences.
Content of the invention
In order to overcome the shortcomings of prior art presence, the present invention proposes a kind of parking path planing method, by laser radar
The process of detection data, to plan the path of automatic parking again.
To achieve these goals, concrete technical scheme of the present invention is as follows：A kind of parking path planing method, walks including following
Suddenly：
1) automobile A enters and finds side parking stall pattern, starts the laser radar being arranged on side on the right side of automobile A；
2) laser radar is started working, every side distance of Δ t measure of time, wherein, automobile A and parking stall rear car
The distance of left-front corner be designated as Da, the distance of the left rear corner of automobile A and parking stall front vehicles is designated as Db, automobile A is to stopping
The distance of parking stall right hand edge is designated as L respectivelya+1,L2,L3...,Lb-1；
3) judge whether automobile can plan warehouse-in by normal route, take Lmin={ La+1,L2,L3,...,Lb-1, if
Lmin≥Dcar+Da+ Δ D, normal route planning pressed by automatic parking controller, with side apart from DbPark warehouse-in, otherwise turn step
Rapid 4), wherein, DcarRefer to vehicle width, Δ D refers to as opening the width that right side car door is reserved；
4) judge whether to carry out path planning, if Lmin＞ Dcar+DaWhen, automatic parking controller with
Dplan=Db-(Dcar+Da+ΔD-Lmin) carry out path planning for side distance, otherwise go to step 5)；
5) parking stall is unsatisfactory for warehouse-in requirement, goes to step 1).
Compared with prior art, the present invention, by the process to laser radar detection data, to plan the road of automatic parking again
Footpath, when be judged as putting in storage rear car bit space cannot send out open car door when, will pass through change and park starting point side distance, set new
Path planning so that again planning warehouse-in after arrangements for automotive doors can open, further increase the intelligent journey of automated parking system
Degree and convenience.
Brief description
Fig. 1 is parking path planing method flow chart.
Fig. 2 is the procedure chart that storehouse sought by automobile.
Fig. 3 is that parking stall side has parking path planning chart during wall.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings, and in the present embodiment, controller adopts Infineon 32
Position TC series monolithic, laser radar adopts LMS series.
Fig. 1 is parking path planing method method flow diagram, and the method comprises the following steps：
1) automobile A enters and finds side parking stall pattern, starts the laser radar being arranged on automobile A side；
2) laser radar is started working, every side distance of Δ t measure of time, as shown in Fig. 2 automobile A and parking stall
The distance of the left-front corner of front vehicle is designated as Da, the distance of the left rear corner of automobile A and parking stall front vehicles is designated as Db, automobile
The distance of A to parking stall right hand edge is designated as L respectivelya+1,L2,L3...,Lb-1；
3) judge whether automobile can plan warehouse-in by normal route, take Lmin={ La+1,L2,L3,...,Lb-1, if
Lmin≥Dcar+Da+ Δ D, normal route planning pressed by automatic parking controller, with side apart from DbPark warehouse-in, parking path
Planning terminates, and otherwise goes to step 4), wherein, DcarRefer to vehicle width, Δ D refers to as opening the width that right side car door is reserved；
4) judge whether to carry out path planning, if Lmin＞ Dcar+DaWhen, automatic parking controller with
Dplan=Db-(Dcar+Da+ΔD-Lmin) carry out path planning for side distance, otherwise go to step 5)；Parking after planning
Path, as shown in figure 3, there is wall such as parking stall side, is equivalent to and is shifted the position of final for automobile warehouse-in to the left
Dcar+Da+ΔD-Lmin；
5) parking stall is unsatisfactory for warehouse-in requirement, goes to step 1).
Claims (1)
1. a kind of parking path planing method is it is characterised in that comprise the steps：
1) automobile A enters and finds side parking stall pattern, starts the laser radar being arranged on side on the right side of automobile A；
2) laser radar is started working, every side distance of Δ t measure of time, wherein, automobile A and parking stall front vehicle
The distance of left-front corner be designated as Da, the distance of the left rear corner of automobile A and parking stall front vehicles is designated as Db, automobile A is to parking
The side distance of position right hand edge is designated as L respectivelya+1,L2,L3...,Lb-1；
3) judge whether automobile can plan warehouse-in by normal route, take Lmin={ La+1,L2,L3,...,Lb-1, if
Lmin≥Dcar+Da+ Δ D, normal route planning pressed by automatic parking controller, with side apart from DbPark warehouse-in, otherwise turn step
Rapid 4), wherein, DcarRefer to vehicle width, Δ D refers to as opening the width that right side car door is reserved；
4) judge whether to carry out path planning, if Lmin＞ Dcar+DaWhen, automatic parking controller with
Dplan=Db-(Dcar+Da+ΔD-Lmin) carry out path planning for side distance, otherwise go to step 5)；
5) parking stall is unsatisfactory for warehouse-in requirement, goes to step 1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184560.6A CN106394551A (en) | 2016-03-28 | 2016-03-28 | Parking path planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184560.6A CN106394551A (en) | 2016-03-28 | 2016-03-28 | Parking path planning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106394551A true CN106394551A (en) | 2017-02-15 |
Family
ID=58007134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610184560.6A Pending CN106394551A (en) | 2016-03-28 | 2016-03-28 | Parking path planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106394551A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654373A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Automatic parking method and device and vehicle |
| CN111152784A (en) * | 2020-01-07 | 2020-05-15 | 江苏大学 | Intelligent passenger-riding parking local path planning method |
| CN114056324A (en) * | 2021-10-29 | 2022-02-18 | 惠州华阳通用智慧车载系统开发有限公司 | Parking space identification method and system based on data fusion |
| CN114023102B (en) * | 2021-11-16 | 2024-02-27 | 厦门市万云智能科技有限公司 | Parking space sensing method based on multi-mode detection |
-
2016
- 2016-03-28 CN CN201610184560.6A patent/CN106394551A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654373A (en) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | Automatic parking method and device and vehicle |
| CN111152784A (en) * | 2020-01-07 | 2020-05-15 | 江苏大学 | Intelligent passenger-riding parking local path planning method |
| CN111152784B (en) * | 2020-01-07 | 2022-04-26 | 江苏大学 | Intelligent passenger-riding parking local path planning method |
| CN114056324A (en) * | 2021-10-29 | 2022-02-18 | 惠州华阳通用智慧车载系统开发有限公司 | Parking space identification method and system based on data fusion |
| CN114023102B (en) * | 2021-11-16 | 2024-02-27 | 厦门市万云智能科技有限公司 | Parking space sensing method based on multi-mode detection |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170215 |