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。
Secondary parking path planning method and device and vehicle
一种二次泊车路径规划方法、装置和车辆
2023-03-31
Patent
Electronic Resource
Chinese
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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