The invention relates to a memory parking path generation method and device, a vehicle and a storage medium, and the method comprises the steps: in a parking mode, generating an initial parking path for parking in a current destination, sensing the information of lane lines at two sides of the initial parking path, and generating a point cloud sequence of the lane lines at the two sides according to the information of the lane lines at the two sides; redundant points in the point cloud sequences of the lane lines on the two sides are screened out, the remaining points of the point cloud sequences are screened at equal intervals, and smooth point cloud sequences of the lane lines on the two sides are obtained; and generating a final parking path of the current destination based on the smooth point cloud sequence of the lane lines on the two sides so as to control the vehicle to park out of the current destination or park in the current destination again according to the final parking path. According to the embodiment of the invention, the final parking path can be generated by screening and smoothing the point cloud sequences of the lane lines on the two sides of the initial parking path, and the path can be automatically adjusted when the obstacles on the path change, so that the parking-in and parking-out efficiency of the vehicle is improved, and the use experience of a user is improved.
本申请涉及一种记忆泊车路径的生成方法、装置、车辆及存储介质,其中,方法包括:在泊车模式下,生成泊入当前目的地的初始泊车路径,感知初始泊车路径的两侧车道线信息,并根据两侧车道线信息生成两侧车道线的点云序列;筛除两侧车道线的点云序列中的冗余点,并对点云序列的剩余点进行等距筛选,得到两侧车道线的平滑点云序列;基于两侧车道线的平滑点云序列生成当前目的地的最终泊车路径,以控制车辆按照最终泊车路径泊出当前目的地或者再次泊入当前目的地。本申请实施例可以通过对初始泊车路径的两侧车道线点云序列的筛除和平滑处理,生成最终泊车路径,可以在路径上的障碍物发送变化时,自行进行路径调整,从而提高车辆的泊入、泊出效率,提高用户的使用体验。
Memory parking path generation method and device, vehicle and storage medium
记忆泊车路径的生成方法、装置、车辆及存储介质
2023-07-25
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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