The invention relates to the technical field of vehicle parking, and discloses a parking planning method and device for an unmanned vehicle and a storage medium, and the parking planning method comprises the following steps: obtaining a designated parking space of the unmanned vehicle in response to a parking space planning instruction for the unmanned vehicle; setting area boundaries and driving routes of other vehicles except the unmanned vehicle on the map; acquiring obstacle information, and identifying a passable area of the unmanned vehicle; based on the passable area, a reference line path set of the unmanned vehicle driving to the designated parking space is obtained; and generating a straight line segment leading to the specified parking space from the tail segment of each reference line path in the reference line path set to obtain a planned driving path set of the unmanned vehicle. According to the invention, by acquiring the planned driving path set of the unmanned vehicle, the unmanned vehicle does not collide with obstacles or other vehicles on the planned driving path, so that the unmanned vehicle can be smoothly parked in the designated parking space.

    本发明涉及车辆泊车技术领域,公开了一种无人车辆的泊车规划方法、装置及存储介质,其中,泊车规划方法包括如下步骤:响应于对无人车辆的泊车位规划指令,得到无人车辆的指定泊车位;在地图上设置区域边界和除无人车辆之外的其它车辆的行驶路线;获取障碍物信息,识别出无人车辆的可通行区域;基于可通行区域,得到无人车辆行驶至指定泊车位的参考线路径集合;通过将参考线路径集合中的每一条参考线路径的末段生成通向指定泊车位的直线段,得到规划后的无人车辆的行驶路径集合。本发明通过获取规划后的无人车辆的行驶路径集合,使无人车辆在规划后的行驶路径上不会与障碍物或其它车辆相撞,进而能够顺利停靠进指定泊车位。


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    Titel :

    Unmanned vehicle parking planning method and device and storage medium


    Weitere Titelangaben:

    一种无人车辆的泊车规划方法、装置及存储介质


    Beteiligte:
    YANG BEI (Autor:in) / LI YANJU (Autor:in)

    Erscheinungsdatum :

    12.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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