本发明公开的一种窄通道场景泊车1D路径规划方法、系统、汽车及存储介质,响应于检测到车辆处于窄通道泊车场景时,进行窄通道场景泊车1D路径的规划,并输出窄通道场景泊车1D路径;判断窄通道场景泊车1D路径是否需要延长一段直线;若不需要延长一段直线,则将第一圆弧段、第二直线段和第三圆弧段所形成的路径作为窄通道场景泊车1D路径输出;若需要延长一段直线,则在第三圆弧段远离第二直线段的一端再规划出与第三圆弧段相连接的第四直线段,并将第一圆弧段、第二直线段、第三圆弧段和第四直线段所形成的路径作为窄通道场景泊车1D路径输出。本发明在保证车辆在最小前行距离的前提下,同时跟窄通道保持安全距离,以保证车辆能成功入库。

    The invention discloses a narrow-channel scene parking 1D path planning method and system, an automobile and a storage medium, and the method comprises the steps: carrying out the planning of a narrow-channel scene parking 1D path when the vehicle is detected to be in a narrow-channel parking scene, and outputting the narrow-channel scene parking 1D path; judging whether the parking 1D path in the narrow channel scene needs to extend a straight line or not; if the straight line does not need to be lengthened, a path formed by the first arc section, the second straight line section and the third arc section serves as a narrow channel scene parking 1D path to be output; and if a straight line needs to be lengthened, a fourth straight line section connected with the third arc section is planned at the end, away from the second straight line section, of the third arc section, and a path formed by the first arc section, the second straight line section, the third arc section and the fourth straight line section serves as a narrow channel scene parking 1D path to be output. On the premise of guaranteeing the minimum forward distance of the vehicle, the safe distance between the vehicle and the narrow channel is kept, and it is guaranteed that the vehicle can be successfully put into a garage.


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    Titel :

    窄通道场景泊车1D路径规划方法、系统、车辆及存储介质


    Erscheinungsdatum :

    2024-06-25


    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