The invention relates to the technical field of automatic parking, and provides a secondary parking path planning method and device and a vehicle. According to the secondary parking path planning method, when the vehicle deviates from an original path, the current pose and the target pose of the vehicle are obtained; according to the current pose, the target pose and the parking constraint condition, path parameters corresponding to all preset candidate paths in a preset path set are sequentially solved through a candidate path algorithm, one candidate path corresponding to the path parameters serves as a current planned path, and the vehicle is controlled to run according to the current planned path. The error correction failure condition when the tracking error of the vehicle is relatively large can be avoided, so that the parking success rate can be improved.

    本申请涉及自动泊车技术领域,提供一种二次泊车路径规划方法、装置和车辆,该二次泊车路径规划方法通过当车辆与原始路径发生偏移时,获取车辆的当前位姿和目标位姿,根据当前位姿、目标位姿和泊车约束条件通过候选路径算法顺序求解预设路径集中各个预设的候选路径对应的路径参数,将路径参数对应的一条候选路径作为当前规划路径,并控制车辆根据当前规划路径行驶。本申请可以避免车辆出现跟踪误差较大时纠正误差失败情况,从而可以提高泊车成功率。


    Access

    Download


    Export, share and cite



    Title :

    Secondary parking path planning method and device and vehicle


    Additional title:

    一种二次泊车路径规划方法、装置和车辆


    Contributors:
    QUE QIUGEN (author) / HE TIANYI (author)

    Publication date :

    2023-03-31


    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



    Vehicle parking path planning method and device and vehicle

    XIE NINGMENG / CHEN DAYU / WANG XIAOYUN et al. | European Patent Office | 2024

    Free access

    Parking path planning method, parking method and device

    GU HAO / ZHAO ZHENFENG | European Patent Office | 2023

    Free access

    Vehicle parking path planning method and device, vehicle and storage medium

    LIU XIN / WANG WEI / HE ZHIGUO | European Patent Office | 2020

    Free access

    Parking path planning method and device

    ZOU XIAONAN / LIU CHUANXIU / XU PENGFEI et al. | European Patent Office | 2024

    Free access

    Automatic parking path planning method for vehicle at corner parking space

    CUI GAOJIAN / YIN YUXI / LI SHAOSONG et al. | European Patent Office | 2023

    Free access