CN111152784B - Intelligent passenger-riding parking local path planning method - Google Patents

Intelligent passenger-riding parking local path planning method Download PDF

Info

Publication number
CN111152784B
CN111152784B CN202010014206.5A CN202010014206A CN111152784B CN 111152784 B CN111152784 B CN 111152784B CN 202010014206 A CN202010014206 A CN 202010014206A CN 111152784 B CN111152784 B CN 111152784B
Authority
CN
China
Prior art keywords
vehicle
path
warehousing
planning
point
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.)
Active
Application number
CN202010014206.5A
Other languages
Chinese (zh)
Other versions
CN111152784A (en
Inventor
华蕾
江浩斌
周新宸
余路洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University
Original Assignee
Jiangsu University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangsu University filed Critical Jiangsu University
Priority to CN202010014206.5A priority Critical patent/CN111152784B/en
Publication of CN111152784A publication Critical patent/CN111152784A/en
Application granted granted Critical
Publication of CN111152784B publication Critical patent/CN111152784B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses an intelligent passenger-assistant parking local path planning method. The method comprises the following steps of warehouse entry and exit path planning and intersection quarter turn path planning: determining a warehousing control point and generating a warehousing driving track according to the minimum lateral distance, the steering radius and the collision risk obtained by calculation; taking an inflection point in a known global path as a control point, and then determining the other two control points according to the turning radius R' of the right-angle turning of the vehicle to generate a right-angle turning driving track of the intersection; and finally, planning a path for avoiding the obstacle. The invention respectively designs a local path planning method meeting scene requirements aiming at a vehicle warehouse-in and warehouse-out scene, a straight-line driving scene, an intersection turning scene and a vehicle obstacle avoidance scene in intelligent passenger-replacing parking, so that a vehicle can successfully arrive at a target parking space or smoothly leave a parking lot.

Description

Intelligent passenger-riding parking local path planning method
Technical Field
The invention relates to the fields of intelligent passenger-assistant parking, path planning and the like, in particular to the field of intelligent passenger-assistant parking local path planning.
Background
The passenger-replacing parking refers to that the intelligent vehicle automatically drives into a parking lot from a passenger dropping area according to a parking instruction, and finds an empty parking space for parking; after the vehicle sends the recall instruction, the vehicle can automatically return to the passenger carrying area according to the recall instruction, and no person participates in the whole process. The local path planning technology is a dynamic and real-time planning technology which depends on environmental information provided by a sensor and is based on a global path, and is a core component of an intelligent vehicle autonomous system. The method is mainly responsible for planning a safe and smooth local path in real time so as to ensure the safety and stability of unmanned vehicle driving. Therefore, the quality of the local path planning technology directly influences the performance of the whole autonomous system, so that the research of the local path planning technology has important significance for the implementation of the passenger-replacing parking system.
At present, the academic community has few local path planning schemes for intelligent passenger-assisted parking, and the existing local path planning schemes are not suitable for intelligent passenger-assisted parking scenes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs an intelligent partial path planning scheme for passenger-assistant parking, and the method is used for respectively carrying out corresponding partial path planning on the vehicle leaving the garage, straight running, intersection turning, obstacle avoidance and garage entry, so that the vehicle can successfully arrive at a target parking space or smoothly leave the parking lot. The scheme comprises the following steps: 1-1 route planning of entering and exiting a warehouse, 1-2 route planning of right-angle turning at an intersection and 1-3 route planning of avoiding obstacles.
The 1-1 warehouse-in and warehouse-out path planning steps are as follows:
1-1-1 calculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure BDA0002358250640000011
Figure BDA0002358250640000012
Wherein R isVIs the minimum steering radius, W, of the vehicle itselfVWidth, W, of the vehiclePThe parking space width is defined, and alpha' is the safe distance between the side rear corner and the parking space edge in the process of vehicle entering and exiting the garage.
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2＝0
wherein L isV-RThe actual lateral distance of the vehicle when the vehicle is safely stored in and out is obtained.
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
Figure BDA0002358250640000021
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the distance LRIs the road width.
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+LV-R)、A2(WP/2,LP+LV-R)、A3(WP/2,LP-R+LV-R)、A4(WPα' + l); wherein L isPThe length of the parking space and the safety distance between the rear side of the vehicle and the edge of the parking space after the vehicle is stored in the garage in an alpha';
2) based on a second order Bezier curve and a control point A1、A2、A3Generating a vehicle in-out garage curve track:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4
the method for planning the right-angle turning path at the intersection 1-2 comprises the following steps:
1-2-1 takes the inflection point in the known global path as a control point B1(a, B), and then determining the remaining two control points B according to the turning radius R' of the right-angle turn of the vehicle2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]
the 1-3 avoiding barrier path planning steps are as follows:
1-3-1, the length from the middle point of a rear axle of the vehicle to the front end of the vehicle is increased at one end of the obstacle close to the vehicle, and the width of two side edges of the obstacle is respectively increased by the length of a half vehicle body. Meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
1-3-2 selecting obstacle avoidance starting point C based on broken line path of obstacle avoidance drawn by path search algorithm1Contact point C of front end of obstacle2Turning point C at the corner of the obstacle3And obstacle avoidance completion point C4And as a control point of a third-order Bezier curve, planning a driving path for avoiding the obstacle:
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]
the invention has the following technical effects: the invention respectively designs a local path planning method meeting scene requirements aiming at a vehicle warehouse-in and warehouse-out scene, a straight-line driving scene, an intersection turning scene and a vehicle obstacle avoidance scene in intelligent passenger-replacing parking, so that a vehicle can successfully arrive at a target parking space or smoothly leave a parking lot.
Drawings
FIG. 1 is a schematic diagram of the process of the present invention;
FIG. 2 is a schematic diagram of an in-out warehouse routing according to the present invention;
FIG. 3 is a cross quarter turn path diagram of the present invention;
FIG. 4 is a diagram of an obstacle avoidance path of the present invention;
Detailed Description
In order that the technical features, objects, and effects of the present invention may be more clearly understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings;
as shown in fig. 1, an embodiment of the present invention provides an intelligent plan for local paths of passenger car parking, and the method includes three plans, i.e., a route planning for warehousing and warehousing, a route planning for right-angle turning at an intersection, and a route planning for avoiding obstacles. And after the intelligent vehicle drives into the parking lot, available parking space information and entrance global path information are acquired. And analyzing the path information at the next moment based on the information, judging the road type and carrying out corresponding local path planning. And when the vehicle runs to the tail end of the local path, analyzing the next global path, and repeating the process until the intelligent vehicle reaches the target site and finishes parking or smoothly leaves the parking lot.
The three local path planning methods are as follows:
1) vehicle in-out garage path planning
As shown in fig. 2, a vehicle is put in storage as an example. First, the vehicle turns to the radius R according to the vehicle itselfVVehicle width WVWidth W of parking spacePActual lateral distance L of warehouse entryV-RAnd the safe distance alpha' between the side rear angle and the parking space edge in the process of entering and exiting the garage of the vehicle is calculated to obtain the minimum side distance of the safe garage of the vehicle
Figure BDA0002358250640000031
And a garage turning radius R. Then, judging whether the head of the vehicle and front side road teeth of the garage have collision risks or not; if no risk exists, determining a warehousing control point A1、A2、A3And A4Generating a vehicle warehousing curve track T1(x) And a warehousing linear trajectory T2(x) In that respect The vehicle leaving process is consistent with the vehicle entering process.
The method comprises the following specific steps:
1-1-1 calculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure BDA0002358250640000032
As shown in FIG. 2, it can be known from Pythagorean theorem
BD2+CD2＝CB2 (1)
Namely:
(R-WP/2)2+(R-LV-R)2＝(R-WV/2-α′)2，R>RV (2)
wherein L isV-RThe actual lateral distance of the vehicle when the vehicle is safely stored in and out is obtained. From monotonicity to obtain LV-RThe minimum turning radius of the vehicle is taken in the formula, and the safe vehicle entering and exiting can be calculatedMinimum lateral distance of time
Figure BDA0002358250640000041
Namely:
Figure BDA0002358250640000042
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
when the lateral distance of the vehicle is judged to be larger than the minimum lateral distance, the steering radius of the vehicle can be calculated according to the current lateral distance.
Expanding equation (2) yields:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2＝0(4)
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
after the vehicle meets the minimum lateral distance, the situation that the front side of the vehicle collides with opposite road teeth or an obstacle during parking still possibly occurs, and after the turning radius of the vehicle is calculated, the maximum lateral distance of the driving area of the vehicle during parking needs to be calculated and compared with the road width.
The farthest distance L from the circle center B to the front side of the vehicle in the steering processmaxComprises the following steps:
Figure BDA0002358250640000043
in order to ensure that the front side of the vehicle is not in danger of collision, the following requirements are met:
Lmax-CD+α″<LR (6)
from equations (5) and (6), we can derive:
Figure BDA0002358250640000044
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the distance LRIs the road width.
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+h)、A2(WP/2,LP+h)、A3(WP/2,LP-R+h)、A4(WP,α″′+l)；
2) Based on a second order Bezier curve and a control point A1、A2、A3Generating a vehicle in-out garage curve track:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4
2) intersection quarter turn path planning
As shown in FIG. 3, the inflection point in the known global path is taken as a control point B1Then, a control point B is determined based on the turning radius R' of the quarter turn of the vehicle2And B2(namely the other two points of the right-angled triangle formed by the right-angled turn), and then generating a right-angled turn driving track T of the intersection3(y)。
The method comprises the following specific steps:
1-2-1 takes the inflection point in the known global path as a control point B1(a, B), and then determining the remaining two control points B according to the turning radius R' of the right-angle turn of the vehicle2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]
3) obstacle avoidance path planning
Fig. 4 is a path diagram of the obstacle avoidance system, wherein the length from the midpoint of the rear axle of the vehicle to the front end of the vehicle is added to one end of the obstacle close to the vehicle, and the width of two side edges of the obstacle is respectively added by the length of half of the vehicle body. Meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
selecting an obstacle avoidance starting point C based on a broken line path of the obstacle avoidance drawn by a path search algorithm1Contact point C of front end of obstacle2Turning point C at the corner of the obstacle3And obstacle avoidance completion point C4Planning a driving path T for avoiding the barrier as a control point of a third-order Bezier curve4(z)：
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (3)

1. An intelligent passenger-riding parking local path planning method is characterized by comprising the following steps:
1-1 in-out warehouse path planning: firstly, the minimum lateral distance of the vehicle when the vehicle is safely stored and exported is calculated
Figure FDA0003174784650000011
Then obtaining the turning radius R of the vehicle entering and exiting the garage, and judging whether the head of the vehicle and front side road teeth of the garage have collision risks or not; finally, calculating coordinates of the warehousing control points and generating warehousing and ex-warehousing tracks;
1-2 planning right-angle turning paths at intersections: taking an inflection point in a known global path as a control point, and then determining the other two control points according to the turning radius R' of the right-angle turning of the vehicle; then generating a right-angle turning driving track of the intersection;
1-3, planning the path of avoiding the barrier;
the 1-1 warehouse-in and warehouse-out path planning method specifically comprises the following steps:
1-1-1 calculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure FDA0003174784650000012
Figure FDA0003174784650000013
Wherein R isVIs the minimum steering radius, W, of the vehicle itselfVWidth, W, of the vehiclePThe parking space width is defined, and alpha' is the safe distance between the side rear angle and the parking space edge in the process of vehicle entering and exiting the garage;
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2＝0
wherein，LV-RThe actual lateral distance of the vehicle when the vehicle is safely put in and out of a warehouse is obtained;
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
Figure FDA0003174784650000014
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the distance LRIs the road width;
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+LV-R)、A2(WP/2,LP+LV-R)、A3(WP/2,LP-R+LV-R)、A4(WPα "+ L), wherein LPThe length of the parking space and the safety distance between the rear side of the vehicle and the edge of the parking space after the vehicle is stored in the garage in an alpha';
2) based on a second order Bezier curve and a control point A1、A2、A3Generating a vehicle in-out garage curve track:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4。
2. the method for planning the local path of the intelligent passenger car park according to claim 1, wherein the specific steps of planning the right-angle turning path at the intersection 1-2 are as follows:
1-2-1 takes the inflection point in the known global path as a control point B1(a, b) and then according to the right angle of the vehicleThe turning radius R' determines the remaining two control points B2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]。
3. the method for planning the local path of the intelligent passenger car park as claimed in claim 1, wherein the 1-3 obstacle avoidance path planning comprises the following specific steps:
1-3-1, increasing the length from the middle point of a rear axle of the vehicle to the front end of the vehicle from one end of the obstacle close to the vehicle, and respectively increasing the width of two side edges of the obstacle by the length of a half vehicle body; meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
1-3-2 selecting obstacle avoidance starting point C based on broken line path of obstacle avoidance drawn by path search algorithm1Contact point C of front end of obstacle2Turning point C at the corner of the obstacle3And obstacle avoidance completion point C4And as a control point of a third-order Bezier curve, planning a driving path for avoiding the obstacle:
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]。
CN202010014206.5A 2020-01-07 2020-01-07 Intelligent passenger-riding parking local path planning method Active CN111152784B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010014206.5A CN111152784B (en) 2020-01-07 2020-01-07 Intelligent passenger-riding parking local path planning method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010014206.5A CN111152784B (en) 2020-01-07 2020-01-07 Intelligent passenger-riding parking local path planning method

Publications (2)

Publication Number Publication Date
CN111152784A CN111152784A (en) 2020-05-15
CN111152784B true CN111152784B (en) 2022-04-26

Family

ID=70561665

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010014206.5A Active CN111152784B (en) 2020-01-07 2020-01-07 Intelligent passenger-riding parking local path planning method

Country Status (1)

Country Link
CN (1) CN111152784B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111599217B (en) * 2020-06-04 2023-06-13 纵目科技（上海）股份有限公司 Autonomous parking system architecture, architecture implementation method, terminal and storage medium
CN112092810B (en) * 2020-09-24 2022-06-14 上海汽车集团股份有限公司 Vehicle parking-out method and device and electronic equipment
CN113138598A (en) * 2021-03-31 2021-07-20 深圳市优必选科技股份有限公司 Control method of intelligent trolley and intelligent trolley
CN116353619A (en) * 2021-12-28 2023-06-30 魔门塔(苏州)科技有限公司 Automatic parking path planning method, device, medium and equipment
CN115162243A (en) * 2022-08-23 2022-10-11 深兰人工智能(深圳)有限公司 Method and device for determining pre-parking position and articulated sweeper
CN117109619A (en) * 2023-08-28 2023-11-24 北京工业大学 Unmanned path planning method

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2202132A3 (en) * 2008-12-25 2010-10-27 Kabushiki Kaisha Toyota Jidoshokki Parking assist apparatus
CN102963355A (en) * 2012-11-01 2013-03-13 同济大学 Intelligent auxiliary parking method and implementation system thereof
CN105197010A (en) * 2014-06-04 2015-12-30 长春孔辉汽车科技股份有限公司 Auxiliary parking system and auxiliary parking control method
CN106143609A (en) * 2016-07-15 2016-11-23 江苏大学 A kind of parking system and vertical direction thereof are parked method
CN106414201A (en) * 2014-06-17 2017-02-15 罗伯特·博世有限公司 Valet parking method and system
CN106394551A (en) * 2016-03-28 2017-02-15 江苏大学 Parking path planning method
CN107776570A (en) * 2017-09-19 2018-03-09 广州汽车集团股份有限公司 Full-automatic park method and full-automatic parking system
CN109720342A (en) * 2019-01-16 2019-05-07 杭州湘滨电子科技有限公司 A kind of path planning design method vertically parked

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101990547B1 (en) * 2016-08-12 2019-06-18 엘지전자 주식회사 Parking Assistance Apparatus and Vehicle Having The Same

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2202132A3 (en) * 2008-12-25 2010-10-27 Kabushiki Kaisha Toyota Jidoshokki Parking assist apparatus
CN102963355A (en) * 2012-11-01 2013-03-13 同济大学 Intelligent auxiliary parking method and implementation system thereof
CN105197010A (en) * 2014-06-04 2015-12-30 长春孔辉汽车科技股份有限公司 Auxiliary parking system and auxiliary parking control method
CN106414201A (en) * 2014-06-17 2017-02-15 罗伯特·博世有限公司 Valet parking method and system
CN106394551A (en) * 2016-03-28 2017-02-15 江苏大学 Parking path planning method
CN106143609A (en) * 2016-07-15 2016-11-23 江苏大学 A kind of parking system and vertical direction thereof are parked method
CN107776570A (en) * 2017-09-19 2018-03-09 广州汽车集团股份有限公司 Full-automatic park method and full-automatic parking system
CN109720342A (en) * 2019-01-16 2019-05-07 杭州湘滨电子科技有限公司 A kind of path planning design method vertically parked

Also Published As

Publication number Publication date
CN111152784A (en) 2020-05-15

Similar Documents

Publication Publication Date Title
CN111152784B (en) Intelligent passenger-riding parking local path planning method
CN109540159B (en) Rapid and complete automatic driving track planning method
CN109927716B (en) Autonomous vertical parking method based on high-precision map
Banzhaf et al. The future of parking: A survey on automated valet parking with an outlook on high density parking
CN112758084B (en) Parking trajectory planning method, device, equipment and storage medium
CN113895463B (en) Path planning method suitable for turning around of automatic driving vehicle
CN113932823A (en) Unmanned multi-target-point track parallel planning method based on semantic road map
US11142188B2 (en) Action-based reference systems for vehicle control
CN113916246A (en) Unmanned obstacle avoidance path planning method and system
CN114610016B (en) Intelligent vehicle collision avoidance path planning method based on obstacle dynamic virtual expansion
JP2022506475A (en) Orbit generation
CN110435639B (en) Polynomial path planning method and storage medium for automatic parking system
CN103158701A (en) System and method of deriving parking trajectory for vehicle
CN113608531B (en) Unmanned vehicle real-time global path planning method based on safety A-guidance points
CN110696819B (en) Automatic parking path planning method and system
CN112606830A (en) Two-section type autonomous parking path planning method based on mixed A-star algorithm
CN111959498A (en) Vertical parking method and device for automatically driving vehicle and vehicle
CN114523958A (en) Path planning method, device and storage medium for parking space at head of vehicle
CN114132305B (en) Method, system, storage medium and vehicle for planning vertical and inclined parking paths
CN116182884A (en) Intelligent vehicle local path planning method based on transverse and longitudinal decoupling of frenet coordinate system
CN115564140A (en) Mining area unstructured road global and local path layered planning method and device
US11794756B2 (en) Estimating vehicle velocity based on variables associated with wheels
CN113741463B (en) Fixed-point and directional parking control method and system for unmanned ground maneuvering platform
CN113353064B (en) Automatic parking driving control method
CN113335270B (en) Parking path planning method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant