The invention discloses a parking path planning method of an automatic parking system. The parking path planning method comprises the following steps that: S1, available parking spaces are determined;S2, a rectangular plane coordinate system is established; S3, a triangular model is established, and the coordinates of the starting point and end point of a parking path are determined; S4, a steering radius and the coordinates of a first steering point and a second steering point are calculated; and S5, a path is determined, and the feasibility of the path is verified. The invention further discloses a device for realizing the method. The invention further discloses a storage medium. A program for realizing the method is stored in the storage medium. According to the method, the device andthe storage medium provided by the invention, the planned path greatly reduces the direction change of an automobile in a low-speed state, i.e., the damage to a steering system and tires is reduced; the error of an actual parking path is reduced; and user experience is improved.

    本发明公开了一种自动泊车系统的泊车路径规划方法,包括以下步骤:S1:确定可用车位;S2:建立平面直角坐标系;S3:建立三角模型,确定泊车路径的起点和终点的坐标;S4:计算转向半径、第一转向点和第二转向点的坐标;S5:确定路径并且校验路径的可行性。还公开了一种装置,该装置实现上述方法;还公开了一种存储介质,该存储介质内存储实现上述方法的程序。本发明所提供的方法、装置和存储介质,其所规划的路径极大地减少了汽车在低速状态下的方向变化,即减少了转向系统和轮胎的损伤;进而减少实际泊车路径得误差,提高了用户体验。


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    Title :

    Automatic parking path planning method, device and storage medium


    Additional title:

    一种自动泊车路径规划方法、装置和存储介质


    Contributors:
    TONG LEBIN (author) / YAO YIFENG (author)

    Publication date :

    2020-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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