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, sensed by a vehicle, in a predetermined parking space including a target parking space, and identifying a ground marking line according to the perception information; virtualizing the ground marking line to obtain a virtual ground marking line, and obtaining a virtual parking space boundary of the target parking space by using the virtual ground marking line; the vehicle contour of the vehicle needing to be parked is extracted, and the vehicle contour is shrunk to obtain the virtual vehicle contour of the vehicle needing to be parked; and virtual collision detection is carried out by using the virtual parking space boundary and the virtual vehicle contour, and parking trajectory planning is carried out on the vehicle needing to be parked according to a virtual collision detection result to obtain an automatic parking planning path. According to the invention, the available parking space during path planning can be increased, the success rate of path and road path planning is improved, the space required by parking is reduced, 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。该方法主要包括,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,并根据感知信息对地面标线进行识别;将地面标线虚拟化得到虚拟地面标线,并利用虚拟地面标线得到目标车位的虚拟泊车空间边界;提取需泊停车辆的车辆轮廓,并将车辆轮廓进行缩小处理得到需泊停车辆的虚拟车辆轮廓;利用虚拟泊车空间边界与虚拟车辆轮廓进行虚拟碰撞检测,并根据虚拟碰撞检测的结果对需泊停车辆进行泊车轨迹规划得到自动泊车规划路径。本申请能够增大进行路径规划时的可用泊车空间,提高路泊车径规划成功率,减少泊车所需空间,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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