The invention discloses a parking path planning method and device.The parking path planning method can be applied to the technical field of automatic driving, and the method comprises the steps that in response to a parking instruction, a parking starting point and a parking end point are determined based on the vehicle position, and the parking starting point is determined as a father node; determining a plurality of front wheel rotation angles corresponding to the father node based on the maximum rotation angle variable quantity; determining an adjacent node corresponding to each front wheel turning angle based on the father node and a preset node moving distance, adding the adjacent nodes into the candidate node set, and selecting the adjacent node with the minimum cost as a target adjacent node; when the target adjacent node does not coincide with the parking end point, taking the target adjacent node as a father node, removing the father node from the candidate node set, and executing the steps of adding the adjacent node corresponding to the father node into the candidate node set and selecting the target adjacent node until the target adjacent node and the father node coincide; and based on the diffusion paths corresponding to the overlapped target adjacent nodes, backtracking from the target adjacent nodes to the parking starting point, and generating a parking path. According to the invention, the parking precision is improved.

    本申请公开了泊车路径规划方法及装置,其中,泊车路径规划方法可应用于自动驾驶技术领域,该方法包括:响应于泊车指令,基于车辆位置确定泊车起点和泊车终点,将泊车起点确定为父节点;基于最大转角变化量确定父节点对应的多个前轮转角;基于父节点和预设节点移动距离,确定每个前轮转角对应的邻节点,将邻节点加入候选节点集合,从中选取代价最小的邻节点为目标邻节点;在目标邻节点与泊车终点未重合时,将目标邻节点作为父节点,并从候选节点集合剔除,执行将父节点对应的邻节点加入候选节点集合,选取目标邻节点的步骤,直至重合;基于重合的目标邻节点所对应的扩散路径,从该目标邻节点回溯至泊车起点,生成泊车路径。本申请提升了泊车精度。


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    Titel :

    Parking path planning method and device


    Weitere Titelangaben:

    一种泊车路径规划方法及装置


    Beteiligte:
    ZHANG FEI (Autor:in) / HU YANAN (Autor:in) / YANG JIAN (Autor:in) / WANG DONGKE (Autor:in) / ZHANG ZHENLIN (Autor:in)

    Erscheinungsdatum :

    2023-12-15


    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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