The invention discloses a parking path planning method, device and equipment and a storage medium, which are applied to a vehicle with multiple target detection equipment, the positioning modes adopted by the multiple target detection equipment comprise absolute positioning and relative positioning, and the method comprises the following steps: acquiring first parking space information under an initial equipment coordinate system; determining a parking map coordinate system and a first coordinate conversion relation based on the first parking space information; acquiring a first vehicle coordinate and first obstacle target information under the initial equipment coordinate system; and the first parking space information, the first vehicle coordinates and the first obstacle target information are converted to a parking map coordinate system according to the first coordinate conversion relation, and a collision-free parking path is generated in the parking map coordinate system. According to the invention, decoupling of path planning and positioning modes is realized, information acquired by equipment adopting different positioning modes can be mutually backed up, and only one set of parking system is adopted.

    本发明公开了一种泊车路径规划方法、装置、设备及存储介质,应用于具有多种目标检测设备的车辆上,多种目标检测设备采用的定位方式包括绝对定位和相对定位,方法包括:在初始设备坐标系下获取第一车位信息;基于第一车位信息确定泊车地图坐标系和第一坐标转换关系;在初始设备坐标系下获取第一车辆坐标和第一障碍物目标信息;根据第一坐标转换关系将第一车位信息、第一车辆坐标和第一障碍物目标信息转换到泊车地图坐标系下,在泊车地图坐标系下生成无碰撞泊车路径。本发明实现了路径规划与定位方式的解耦,可以使采用不同定位方式的设备采集的信息互为备份的同时只采用一套泊车系统。


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    Title :

    Parking path planning method, device and equipment and storage medium


    Additional title:

    一种泊车路径规划方法、装置、设备及存储介质


    Contributors:
    ZHANG FEI (author) / HU YANAN (author) / YANG JIAN (author) / WANG DONGKE (author) / ZHANG ZHENLIN (author)

    Publication date :

    2023-06-23


    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



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