The invention discloses a vehicle parking method and device and a vehicle. The method comprises the steps of obtaining parking space information of a target parking space and attitude information and configuration parameters of a vehicle, selecting a vacant parking area in the target parking space according to the parking space information, generating a driving path for the vehicle to park in the parking area according to a preset path planning algorithm and the attitude information, and parking the vehicle in the parking area according to the configuration parameters, the driving path and a parking side boundary of the parking area. Collision point detection is carried out on the driving path, the collision point is an intersection point of a vehicle driving along the driving path and the parking sideline, the driving path is updated according to collision position information of the collision point under the condition that the collision point is detected, and the following steps are executed: collision point detection is carried out on the driving path, and the collision point is updated according to the collision position information of the collision point under the condition that the collision point is not detected. And controlling the vehicle to park in the parking area along the driving path. According to the embodiment of the invention, the vehicle parking method provided by the invention is small in calculation amount and high in efficiency.

    本申请公开了一种车辆泊入方法、装置和车辆。该方法包括:获取目标车位的车位信息、以及车辆的姿态信息和配置参数,根据车位信息,在目标车位内选取得到空置的泊车区,根据预设路径规划算法和姿态信息,生成车辆泊入泊车区的行驶路径,根据配置参数、行驶路径、泊车区的泊车边线,对行驶路径进行碰撞点检测,碰撞点为沿行驶路径行驶的车辆与泊车边线的交点,在检测得到碰撞点的情况下,根据碰撞点的碰撞位置信息更新行驶路径,执行:对行驶路径进行碰撞点检测,在未检测得到碰撞点的情况下,控制车辆沿行驶路径泊入泊车区。根据本申请实施例,本申请提供的车辆泊入方法计算量小、效率高。


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    Title :

    Vehicle parking method and device and vehicle


    Additional title:

    车辆泊入方法、装置和车辆


    Contributors:
    SHENG YUHUAN (author) / FAN XIAOQIAN (author) / LIU XIANG (author) / LIU SHUANG (author)

    Publication date :

    2023-10-13


    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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