The embodiment of the invention discloses a parking path planning method and device and a storage medium. The method comprises the following steps: determining a current projection point of a current position point of a vehicle on a current reference path, and extending the current projection point for a preset distance along the current reference path according to the advancing direction to obtain a current following point of the vehicle; according to the current position point, the current following point and the wheelbase corresponding to the vehicle, calculating a front wheel turning angle corresponding to the current following point when the vehicle runs to; determining the next position point of the vehicle according to the current position point, the driving speed of the vehicle, the front wheel turning angle and the unit time period, taking the next position point as a new current position point, and continuing to execute the step of determining the current projection point of the current position point of the vehicle on the current reference path, the determined next position point reaches or exceeds the target position point; and determining a parking path of the vehicle according to each determined position point. By implementing the embodiment of the invention, the curvature smoothness of the vehicle parking planning path can be improved.
本申请实施例公开了一种泊车路径规划方法、装置及存储介质;该方法包括:确定车辆的当前位置点在当前参考路径上的当前投影点,并将当前投影点按照行进方向,沿当前参考路径延伸预设距离,得到车辆的当前跟随点;根据当前位置点、当前跟随点及车辆对应的轴距,计算得到车辆行驶到当前跟随点对应的前轮转角;根据当前位置点、车辆的行驶速度、前轮转角与单位时间段,确定车辆的下一位置点,并将下一位置点作为新的当前位置点,继续执行确定车辆的当前位置点在当前参考路径上的当前投影点的步骤,直至确定的下一位置点达到或超过目标位置点;根据确定的各个位置点,确定车辆的泊车路径。实施本申请实施例,能够提高车辆泊车规划路径的曲率平滑度。
Parking path planning method and device and storage medium
泊车路径规划方法、装置及存储介质
2023-12-08
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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