AUTONOMOUS PARKING TRAJECTORY PLANNING METHOD SUITABLE FOR MULTIPLE SCENES

摘要

An autonomous parking trajectory planning method suitable for multiple scenes, comprising: (1) constructing a parking map; (2) determining the current position of a vehicle and the position of a target parking space; (3) determining physical parameters of the vehicle, and initializing an expansion coefficient of a virtual protection frame of the vehicle; (4) expressing differential equations of vehicle kinematics as vehicle motion state constraints; (5) using the virtual protection frame and the expansion coefficient of the virtual protection frame to establish vehicle and obstacle avoidance collision constraints; (6) establishing state variable and input variable constraints; (7) determining an optimization goal and establishing an optimization problem; (8) a solver solves the optimization problem to obtain an alternative autonomous parking trajectory; and (9) recalculating the expansion coefficient of the virtual protection frame, and if a stop condition is met, then obtaining a final autonomous parking trajectory, otherwise updating the expansion coefficient of the virtual protection frame, and repeating steps (4) to (8). The method may plan a collision-free parking trajectory in a variety of scenes.