The invention relates to the field of automatic navigation, and discloses a parking path planning method and device, a control terminal and a storage medium, and the method comprises the steps: determining a planned path and a motion state of a vehicle when the vehicle is parked, and calculating a motion error of the vehicle according to the planned path and the motion state; whether the motion error exceeds a preset threshold value or not is determined, and if the motion error exceeds the preset threshold value, it is determined that the parking path of the vehicle needs to be replanned; and according to the motion state of the vehicle, a planned path is regenerated, and the vehicle is controlled to run according to the re-planned path. Therefore, the vehicle can determine whether parking is accurate or not according to the motion error so as to dynamically control the planning path of parking and increase the accuracy of parking.
本发明涉及自动导航领域,公开了一种泊车路径规划方法、装置、控制终端及存储介质,所述方法包括:车辆停泊时,确定所述车辆的规划路径和运动状态,根据所述规划路径和所述运动状态计算所述车辆的运动误差;确定所述运动误差是否超过了预设的阈值,若所述运动误差超过了预设的阈值,则确定所述车辆的泊车路径需要重新规划;根据所述车辆的运动状态,重新生成规划后的路径,并控制车辆按照所述重新规划后的路径行驶。使得车辆可以根据运动误差确定泊车是否准确,以动态控制泊车的规划路径,增加泊车的精准度。
Parking path planning method and device, control terminal and storage medium
泊车路径规划方法、装置、控制终端及存储介质
2023-10-13
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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