一种用于特殊道路场景的无人驾驶泊车路径规划方法

• Format: Patent
• Language: Chinese
• Published: 22.04.2022
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

本发明公开了一种用于特殊道路场景的无人驾驶泊车路径规划方法，以经停点为分界点将车辆起点到泊车终点的道路空间划分为多个空间片，可以提高算法的求解速度；基于随机均匀采样与增广式搜索算法得到车辆在每个空间片的可行驶路径和路径引导点，并融合启发式搜索算法对每相邻的两个路径引导点间的路径进行优化，可以缩短行车路径的长度，提高算法的求解速度；将所有空间片的可行驶路径连接得到车辆运动路径，通过建立目标优化函数和约束条件，在车辆运动约束下进行可行驶区域内的路径优化，完成无人驾驶的泊车路径规划，可以针对不同任务功能车辆，动态调整车辆安全距离，提高车辆在复杂多变环境的通过性，实现无人驾驶车辆的实时泊车。 The invention discloses an unmanned parking path planning method for a special road scene, and the method comprises the steps: enabling a road space from a vehicle starting point to a parking terminal point to be divided into a plurality of space pieces through employing a parking point as a demarcation point, and improving the solving speed of an algorithm; on the basis of a random uniform sampling and augmented search algorithm, obtaining a drivable path and a path guide point of a vehicle in each space slice, and fusing a heuristic search algorithm to optimize a path between every two adjacent path guide points, so that the length of a driving path can be shortened, and the solving speed of the algorithm is increase