The invention provides an automatic parking path planning method, device and system and a readable storage medium, and in the automatic parking path planning method provided by the invention, when a parking path of a vehicle is planned, errors generated by parameters of an initial node pose of the vehicle are considered, so that the accuracy of the parking path planning is improved. Obtaining a parameter interval of the initial node pose according to the error interval of the parameters of the initial node pose, solving a parameter interval of a next node by utilizing a path planning function and the parameter interval of the initial node pose, and taking the next node which does not interfere with an obstacle in the parameter interval and has the minimum cost function value as a planning node, therefore, the planning node does not interfere with the obstacle in the parameter interval, so that the probability of interference between the vehicle and the obstacle is greatly reduced when the vehicle is parked according to the planning node. Therefore, the automatic parking path planning method provided by the embodiment of the invention can improve the success rate of parking path planning and increase the feasibility of parking path planning.
本发明提供了一种自动泊车路径规划方法、装置、系统及可读存储介质,其中,本发明提供的自动泊车路径规划方法中,在对车辆进行泊车路径规划时,将车辆初始节点位姿的参数产生的误差考虑在内,根据初始节点位姿的参数的误差区间得到初始节点位姿的参数区间,利用路径规划函数和初始节点位姿的参数区间求解出下一节点的参数区间,以在其参数区间内与障碍物无干涉且代价函数值最小的下一节点作为规划节点,使得规划节点在其参数区间内都不会与障碍物产生干涉,从而使得车辆根据规划节点进行泊车时,大幅降低车辆与障碍物发生干涉的概率,因此本发明实施例的自动泊车路径规划方法能够提高对泊车路径规划的成功率和增加泊车路径规划的可行性。
Automatic parking path planning method, device and system and readable storage medium
自动泊车路径规划方法、装置、系统及可读存储介质
2023-05-12
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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