The invention belongs to the field of parking path planning, and particularly relates to a parking path dynamic planning method based on intermolecular acting force, which comprises the following steps: acquiring parking space information and identifying a parking space type; setting a hypothetical attraction point position according to the parking space type; calculating, by the vehicle, a target steering wheel angle according to a virtual torque generated by the gravitational force of the virtual attraction point to the vehicle body, wherein the hypothetical obstacle and the vertex of the parking space generate a repulsive force effect on the vehicle body and the hypothetical gravitation and the repulsive force jointly generate a total virtual torque; calulating a target steering wheel angle according to the total virtual torque for avoiding, wherein the parking space line is used as a constraint condition, and finishing parking and the like. According to the method, the requirement for the parking starting pose is lowered. The distance between the vehicle body and a parking space and nearby obstacles is measured in real time, torque generated when the vehicle body is subjected to gravitational repulsive force is calculated, and therefore the target steering wheel rotating angle is calculated. The control method is simple, the requirement for tracking precision is not high, the error correction difficulty is reduced, and the parking efficiency is improved.

本发明属于泊车路径规划领域，尤其涉及一种基于分子间作用力的泊车路径动态规划方法，包括获取车位信息并识别车位类型；根据车位类型设置假想吸引点位置；车辆根据假想吸引点对车身的引力所产生的虚拟转矩计算目标方向盘转角；假想障碍物和车位顶点对车身产生斥力作用，假想引力和斥力共同产生总虚拟转矩并以此计算目标方向盘转角进行躲避；车位线作为约束条件，完成泊车等步骤。本发明降低了对泊车起始位姿的要求，实时测量与车位及附近障碍物的距离，通过计算车身受到引力斥力所产生的转矩，从而计算目标方向盘转角，控制方法简单，对跟踪精度要求不高，降低了误差修正的难度，提高了泊车效率。