The invention provides a parking path updating method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring a static environment map, and determining a first position and a second position; and constructing a first parking path according to the first position and the second position. And in the process that the to-be-parked vehicle runs according to the first parking path, position determining operation is executed. The position determination operation comprises the following steps: acquiring driving information of the to-be-parked vehicle at the current position, and obtaining a third position according to the driving information; and in the process that the vehicle to be parked travels from the current position to the third position, if an obstacle exists in the third position, the particle swarm optimization is adopted to update the third position. And the position determining operation is repeatedly executed until the to-be-parked vehicle runs to the to-be-parked garage, the position determining operation is stopped, and a second parking path is determined. Therefore, if the vehicle encounters the obstacle in the driving process, the path can be planned again, the vehicle is prevented from colliding with the obstacle, and the parking safety is improved.
本申请提供一种泊车路径的更新方法、装置、车辆及存储介质,涉及自动驾驶技术领域。该方法包括:获取静态环境地图,确定第一位置和第二位置。根据第一位置和第二位置,构建第一泊车路径。在待泊车辆按照第一泊车路径行驶的过程中,执行位置确定操作。位置确定操作包括:获取待泊车辆在当前位置的行驶信息,并根据行驶信息,得到第三位置;在待泊车辆从当前位置行驶至第三位置的过程中,若第三位置中存在障碍物,则采用粒子群算法更新第三位置。重复执行位置确定操作,直至待泊车辆行驶至待泊车库,停止执行位置确定操作,并确定第二泊车路径。由此,若车辆在行驶中遇到障碍物,可以重新规划路径,避免车辆与障碍物发生碰撞,提高泊车安全性。
Parking path updating method and device, vehicle and storage medium
泊车路径的更新方法、装置、车辆及存储介质
2023-08-22
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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