The invention discloses a horizontal parking path planning method and device, a readable storage medium and a terminal, and the method comprises the steps: obtaining target parking space information, environment information and starting position information of a vehicle, the starting position information comprises a starting course angle of the vehicle and a parking starting point, and the starting course angle is not equal to zero; the two sides of a vehicle body of the vehicle are restrained from colliding with obstacles on the corresponding sides, and the optimal turning radius is calculated according to the parking starting point of the vehicle, the starting course angle, the obstacle information and the vehicle attribute parameters; according to the optimal turning radius, the parking end point, a preset final course angle when parking succeeds and a preset turning radius, a parking path is determined, the parking path comprises a first arc section, a second arc section and a middle section, and the middle section is located between the first arc section and the second arc section, and two ends of the middle section are two ends of a common tangent of the first arc section and the second arc section. By adopting the scheme, the success rate of single parking can be improved.

    一种水平泊车路径规划方法及装置、可读存储介质、终端,所述方法包括:获取目标停车位信息、环境信息以及车辆的起始位置信息,起始位置信息包括车辆的起始的航向角以及泊车起点,其中起始的航向角不等于零;约束车辆的车身两侧分别与对应侧的障碍物不发生碰撞,根据车辆的泊车起点、起始的航向角、障碍物信息以及车辆属性参数,计算最优转弯半径;根据最优转弯半径、泊车终点、泊车成功时预设最终的航向角以及预设转弯半径,确定泊车路径,泊车路径包括第一圆弧段、第二圆弧段以及中间段,中间段位于第一圆弧段以及第二圆弧段之间,且中间段的两端分为第一圆弧段和第二圆弧段的公切线的两端。采用上述方案,能够提高单次泊车成功率。


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    Titel :

    Horizontal parking path planning method and device, readable storage medium and terminal


    Weitere Titelangaben:

    水平泊车路径规划方法及装置、可读存储介质、终端


    Beteiligte:
    TIAN YONGYONG (Autor:in) / ZHANG YINGYING (Autor:in)

    Erscheinungsdatum :

    2022-02-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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