The invention relates to automatic parking, and provides an automatic parking path planning method and device for a reverse inclined train parking space. The method comprises the following steps: acquiring a circle center coordinate point from an obstacle avoidance parking circle consisting of an ordinate of a current rear axle coordinate point of the vehicle, an ordinate of a current wheel coordinate point, a minimum steering radius of a rear axle center point of the vehicle and a minimum steering radius of a rear wheel; according to the abscissa of the circle center coordinate point and the ordinate of the current rear axle coordinate point, an initial coordinate point with the abscissa smaller than the abscissa of the circle center coordinate point is determined, and a target simulation parking path corresponding to the initial coordinate point is obtained from all simulation parking paths recorded in a preset calibration table. And generating an automatic parking path of the vehicle according to the target simulation parking path. According to the automatic parking path planning method for the reverse inclined train parking space provided by the embodiment of the invention, the automatic parking path can be planned for the reverse inclined train parking space, and the user experience is improved.
本申请涉及自动泊车,提供一种反向斜列车位的自动泊车路径规划方法及装置。所述方法包括:从由车辆的当前后轴坐标点的纵坐标、当前车轮坐标点的纵坐标、车辆的后轴中心点的最小转向半径以及后车轮的最小转向半径的避障泊入圆中,获取圆心坐标点;根据圆心坐标点的横坐标以及当前后轴坐标点的纵坐标,确定横坐标小于圆心坐标点的横坐标的初始坐标点,以从预设标定表记录的各仿真泊车路径中,获取与初始坐标点对应的目标仿真泊车路径后,根据目标仿真泊车路径生成车辆的自动泊车路径。本申请实施例提供的反向斜列车位的自动泊车路径规划方法能够针对反向斜列车位进行自动泊车路径的规划,提高用户体验。
Automatic parking path planning method and device for reverse inclined train parking space
反向斜列车位的自动泊车路径规划方法及装置
2023-03-21
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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