The invention discloses an automatic parking path planning method and device, a medium and equipment, and belongs to the technical field of automatic driving. The method mainly comprises the following steps: extracting perception information in a predetermined parking space including a target parking space perceived by a vehicle; identifying a ground side line, a road side line and an actual obstacle contour line of the target parking space according to the sensing information; the ground side lines and the road side lines intersecting with the ground side lines are cut, and the ground side lines and the road side lines left after cutting serve as the corresponding boundaries of the available parking space of the target parking space; and performing collision detection by using the corresponding boundary of the available parking space and the actual obstacle contour line, and performing vehicle trajectory planning according to a collision detection result to obtain an automatic parking planning path. Compared with the prior art, a large free parking space can be provided for the automatic parking process in a specific environment, the success rate of parking route planning is increased, and the parking efficiency is improved.

    本申请公开了一种自动泊车路径规划方法、装置、介质及设备,属于自动驾驶技术领域。主要包括,提取车辆感知到的包含目标车位在内的预定泊车空间内的感知信息;根据感知信息识别目标车位的地面侧边线、道路边线、以及实际障碍物轮廓线;将地面侧边线以及与地面侧边线相交的道路边线进行裁剪,并将裁剪后剩余的地面侧边线和道路边线作为目标车位的可用泊车空间的相应边界;以及利用可用泊车空间的相应边界和实际障碍物轮廓线进行碰撞检测,并根据碰撞检测的结果进行车辆轨迹规划得到自动泊车规划路径。本申请能够为在特定环境下的自动泊车的过程提供与现有技术相比较大的自由泊车空间,提高泊车路线规划的成功率,提高泊车效率。


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    Titel :

    Automatic parking path planning method and device, medium and equipment


    Weitere Titelangaben:

    一种自动泊车路径规划方法、装置、介质及设备


    Beteiligte:
    HUANG ZHENGMING (Autor:in) / RAN XU (Autor:in) / TIAN BO (Autor:in) / XU ZHIJIANG (Autor:in) / GU YUNFENG (Autor:in)

    Erscheinungsdatum :

    2023-06-30


    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



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