The embodiment of the invention relates to the technical field of automatic driving, in particular to a path planning method and device and a moving tool. The method comprises the steps: determining a target charging pile; determining a first anchor point position corresponding to the target charging pile, wherein the distance between the first anchor point position and the target charging pile is smaller than a preset first distance threshold value; controlling the vehicle to run to the first anchor point position; when the vehicle reaches the first anchor point position, determining an alignment guide path of the target charging pile; adjusting the orientation of the vehicle according to the orientation of the charging port of the target charging pile and the position of the charging port of the vehicle on the vehicle until the orientation of the vehicle is matched with the orientation of the charging port of the target charging pile; and controlling the vehicle to run to the alignment guide path, and controlling the vehicle to run to the target charging pile along the alignment guide path. The method ensures that the charging port of the vehicle is aligned with the charging port of the target charging pile, the time consumed by calculation in the vehicle charging process is reduced, the planning efficiency is improved, and automatic and accurate charging of the vehicle is realized.
本发明实施例涉及自动驾驶技术领域,尤其涉及一种路径规划方法、装置以及移动工具,包括:确定目标充电桩;确定目标充电桩对应的第一锚点位置,第一锚点位置与目标充电桩的距离小于预置的第一距离阈值;控制车辆行驶到第一锚点位置;在车辆到达第一锚点位置时,确定目标充电桩的对准引导路径;根据目标充电桩的充电口的朝向、车辆的充电口在车辆上的位置调整车辆的朝向,直到车辆的朝向与目标充电桩的充电口朝向匹配;控制车辆行驶到对准引导路径上,并控制车辆沿着对准引导路径向目标充电桩行驶。本发明保证了车辆充电口与目标充电桩的充电口对准,减少了车辆充电过程中计算的耗时,提升了规划效率,实现了车辆的自动精准充电。
Path planning method and device and moving tool
一种路径规划方法、装置以及移动工具
2021-10-01
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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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