The embodiment of the invention discloses a vehicle horizontal parking track planning method and device, a vehicle and a storage medium. The method comprises the following steps: arranging a target parking line on an initial world coordinate system established according to the initial position of the vehicle according to vehicle information; converting data of a passable space grid map extracted according to the vehicle look-around information to the initial world coordinate system to obtain a target world coordinate system; according to the current position of the vehicle and the minimum turning radius of the vehicle, simulating vehicle advancing planning to obtain an advancing track and simulating vehicle retreating planning to obtain a retreating track on the coordinate system; judging whether the end point of the advancing track meets a complete parking condition or not; if yes, selecting the advancing track as a target track of vehicle driving; if not, judging whether the length of the backward track is smaller than that of the forward track; if yes, selecting the advancing track as the target track; and if not, selecting the backward track as the target track. A reasonable parking track is provided, and the reliability and safety of horizontal parking of the vehicle are improved.

    本发明实施例公开一种车辆水平泊出轨迹规划方法及装置、车辆、存储介质,该方法包括:根据车辆信息在根据车辆的初始位置建立的初始世界坐标系上设置目标停车线;将根据车辆环视信息提取得到的可通行空间栅格地图的数据转换到初始世界坐标系上获得目标世界坐标系;根据车辆的当前位置和车辆的最小转弯半径在坐标系上模拟车辆前进规划获得前进轨迹和模拟车辆后退规划获得后退轨迹;判断前进轨迹的终点是否满足完全泊出条件;满足时将前进轨迹选择为车辆行驶的目标轨迹;未满足时判断后退轨迹的长度是否小于前进轨迹的长度;小于则选择前进轨迹为目标轨迹;不小于则选择后退轨迹为目标轨迹;提供合理的泊出轨迹,提高车辆水平泊出的可靠性和安全性。


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    Title :

    Vehicle horizontal parking track planning method and device, vehicle and storage medium


    Additional title:

    一种车辆水平泊出轨迹规划方法及装置、车辆、存储介质


    Contributors:
    LI FEI (author)

    Publication date :

    2021-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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