The invention relates to a parking track generation method and device, computer equipment and a storage medium. The method comprises the following steps of determining a corresponding planning path of a vehicle in a parking region of interest in each preset planning period, obtaining an orientation angle of each path point in the planned path, when an angle difference value between an orientation angle of a displacement vector from the traversed current path point to the next path point and the orientation angle of the current path point is greater than a preset angle difference value, determining the current path point as a path segmentation point, and obtaining a segmentation path corresponding to the planned path, according to speed planning strategy data based on a motion model and initial motion data of the vehicle, carrying out speed planning on each segmentation path, and determining speed information of the vehicle on the segmentation paths, according to the speed information and the path points, determining a motion track corresponding to each section of planned path of the vehicle, and according to the current position, splicing all the sections of motion tracks to obtain a parking track of the vehicle. By adopting the method, the accuracy of the parking track can be improved.
本申请涉及一种泊车轨迹生成方法、装置、计算机设备和存储介质。所述方法包括:确定车辆每个预设规划周期在停车感兴趣区域中对应的规划路径;获取规划路径中每个路径点的朝向角;当遍历到的当前路径点指向下一个路径点的位移向量的朝向角与当前路径点的朝向角的角度差值大于预设角度差值时,确定当前路径点为路径分割点,得到规划路径对应的分割路径;根据基于运动模型的速度规划策略数据和车辆的初始运动数据对各分割路径进行速度规划,确定车辆在分割路径上的速度信息;根据速度信息和路径点确定车辆在各段规划路径对应的运动轨迹;根据当前位置对各段运动轨迹进行拼接,得到车辆的泊车轨迹。采用本方法能够提高泊车轨迹的准确性。
Parking track generation method and device, computer equipment and storage medium
泊车轨迹生成方法、装置、计算机设备和存储介质
2021-11-19
Patent
Electronic Resource
Chinese
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