The embodiment of the invention provides a parking path planning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a yaw angle of a vehicle; generating a second parking path; whether the vehicle collides with an obstacle on the second parking path or not is judged; if not, a parking path is generated according to the second parking path; if yes, an obstacle avoidance path is generated according to the yaw angle, a first parking path is generated, and a parking path is generated according to the obstacle avoidance path and the first parking path; by implementing the embodiment, the parking path can be generated when the barrier exists on the horizontal parking space road, and it is guaranteed that the vehicle is normally driven into the parking space.

    本申请实施例提供一种泊车路径规划方法、装置、电子设备和存储介质,其中,方法包括:获取车辆的横摆角;生成第二泊入路径;判断车辆在所述第二泊入路径上是否和障碍物发生碰撞;若否,根据所述第二泊入路径生成泊车路径;若是,根据所述横摆角生成避障路径,生成第一泊入路径,根据所述避障路径和所述第一泊入路径生成泊车路径;实施上述实施例,能够在水平车位道路存在障碍物时生成泊车路径,保证车辆正常驶入车位。


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    Title :

    Parking path planning method and device, electronic equipment and storage medium


    Additional title:

    一种泊车路径规划方法、装置、电子设备和存储介质


    Contributors:
    YI HAIXIA (author) / GAO TIANYI (author) / HUANG JINGWEI (author) / ZHANG CHU (author)

    Publication date :

    2023-08-18


    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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