The invention provides an automatic parking trajectory planning method and device, a storage medium and a vehicle, and the method comprises the steps: obtaining an environment perception image, the environment perception image comprises an actual obstacle identifier and a target parking point corresponding to a target parking space, and the actual obstacle identifier defines an initial drivable area; on the basis of the target parking point, a constraint boundary line is generated in the environment perception image, the constraint boundary line comprises a virtual lane boundary line and a virtual parking space boundary line and is used for defining a virtual drivable area, and the area corresponding to the virtual drivable area is smaller than the area corresponding to the initial drivable area; based on the virtual drivable area, a target parking track is determined, and the target parking track is used for guiding the target vehicle to drive to the target parking point. According to the technology provided by the invention, for a parking scene with relatively sparse actual obstacles, the planning reasonability of the automatic parking track is remarkably improved, and the use experience of a user is improved.
本申请提出一种自动泊车的轨迹规划方法、设备、存储介质及车辆,其中的方法包括:获取环境感知图像,环境感知图像包括实际障碍物标识和目标车位对应的目标停车点,实际障碍物标识限定出初始可行驶区域;基于目标停车点,在环境感知图像中生成约束边界线,约束边界线包括虚拟车道边界线和虚拟车位边界线,用于限定出虚拟可行驶区域,虚拟可行驶区域对应的面积小于初始可行驶区域对应的面积;基于虚拟可行驶区域,确定目标泊车轨迹,目标泊车轨迹用于引导目标车辆行驶至目标停车点。根据本申请的技术,针对实际障碍物比较稀疏的泊车场景,显著提升了自动泊车轨迹的规划合理性,有利于提升用户的使用体验。
Track planning method and device for automatic parking, storage medium and vehicle
自动泊车的轨迹规划方法、设备、存储介质及车辆
2023-04-18
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 |
Vehicle horizontal parking track planning method and device, vehicle and storage medium
European Patent Office | 2021
|Automatic parking method, automatic parking device, vehicle and storage medium
European Patent Office | 2022
|Automatic parking track planning method, electronic equipment and vehicle
European Patent Office | 2024
|Automatic parking track planning method, electronic equipment and vehicle
European Patent Office | 2024
|