The invention provides a parking path planning method and a related device, and the method comprises the steps: obtaining an initial parking path of a target vehicle, the initial parking path comprising an arc segment; positioning an end point of the first gyration line segment to obtain end point position information of the first gyration line segment under the absolute coordinate system; acquiring starting point position information of the first gyration line segment in an absolute coordinate system; and re-planning the parking path based on the starting point position information and the final point position information of the arc line segment in the absolute coordinate system and the starting point position information and the final point position information of the first gyration line segment in the absolute coordinate system, and obtaining a final parking path of the target vehicle. Based on the parking path planning method, a continuous and smooth path can be generated, so that the problem that parking steering is needed in the vertical parking process is solved, the control difficulty is reduced, and the parking effect is improved.
本申请提供了泊车路径规划方法及相关装置,所述方法包括:获取目标车辆的初始泊车路径,初始泊车路径包括弧线段;定位第一回旋曲线段的终点,得到第一回旋曲线段在绝对坐标系下的终点位置信息;获取第一回旋曲线段在绝对坐标系下的起点位置信息;基于弧线段在绝对坐标系下的起点位置信息和终点位置信息及第一回旋曲线段在绝对坐标系下的起点位置信息和终点位置信息,重新规划泊车路径,得到目标车辆的最终泊车路径。基于本申请的泊车路径规划方法可生成连续平滑的路径,从而解决垂直泊车过程需要停车转向的问题,降低控制难度,提高泊车效果。
Parking path planning method and related device
泊车路径规划方法及相关装置
04.11.2022
Patent
Elektronische Ressource
Chinesisch
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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