The invention provides an automatic parking path planning method and device, electronic equipment and a storage medium, and belongs to the technical field of vehicle path planning. The method comprises the steps that when a vehicle runs into a preset starting area of a target parking space, a projection point of a designated part of the vehicle in the preset starting area is determined as a parking starting point, and the target parking space is a parallel parking space; on the basis of preset size parameters, preset constraint conditions and a polynomial fitting algorithm of the vehicle, the parking track of the vehicle from the starting point to the end point in the target parking space is determined, the parking track comprises a first track section, a second track section and a third track section which are continuous, and the first track section, the second track section and the third track section are selected from the first track section, the second track section and the third track section; the third section of track is a path after the specified part travels by a preset angle with the minimum turning radius of the vehicle. Therefore, automatic parking track planning can be realized by using a geometric method and a polynomial fitting algorithm, the operation process of automatic parking is simplified, and automatic parking of the vehicle can be realized.
本申请提供一种自动泊车路径规划方法、装置、电子设备及存储介质,属于车辆路径规划技术领域。方法包括:当本车行驶至目标车位的预设起始区域内时,将本车的指定部位在预设起始区域内的投影点确定为泊车的起始点,其中,目标车位为平行车位;基于本车的预设尺寸参数、预设约束条件及多项式拟合算法,确定本车欲从起始点至目标车位中的终点的泊车轨迹,其中,泊车轨迹包括连续的第一段轨迹、第二段轨迹及第三段轨迹,其中,第三段轨迹为指定部位以本车的最小转弯半径行驶预设角度后的路径。如此,可以利用几何法和多项式拟合算法实现对自动泊车的轨迹规划,简化自动泊车的运算过程,有利于实现车辆的自动泊车。
Automatic parking path planning method and device, electronic equipment and storage medium
自动泊车路径规划方法、装置、电子设备及存储介质
2023-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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