The invention discloses a parking path planning method and device, a storage medium and a vehicle. The method comprises the following steps: determining a parking target point, and adding the parking target point into a point set; for each newly added point in the point set, planning a linear path and/or an arc path by taking the newly added point as a reference point, taking points from the linear path and the arc path, and adding the points into the point set; repeating the step of planning the linear path and/or the arc path until the point set meets a preset condition; and generating a parking path according to the point set and the current pose of the vehicle. According to the parking path planning method, the parking paths can be planned for various types of parking spaces such as inclined parking spaces, narrow parking spaces and parking spaces shielded by obstacles in an arc and straight line bidirectional exploration mode, and the compatibility is good.
本发明公开了一种泊车路径规划方法、装置以及存储介质、车辆。其中,方法包括:确定泊车目标点,并将泊车目标点加入点集;针对点集中的每个新增点,以该新增点为基准点,规划直线路径和/或圆弧路径,并从直线路径和圆弧路径上取点,加入点集;重复规划直线路径和/或圆弧路径的步骤,直至点集满足预设条件;根据点集和车辆的当前位姿,生成泊车路径。该泊车路径规划方法,利用圆弧、直线双向探索的方式,对于各种类型的车位,如斜列车位、狭小的车位、有障碍物遮挡的车位等,均能规划出泊车路径,兼容性好。
Parking path planning method and device, storage medium and vehicle
泊车路径规划方法、装置以及存储介质、车辆
2024-03-19
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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