The invention relates to a parking path planning method and system, and the method comprises the steps: obtaining the position information of a target parking space, and carrying out the path planning in the parking space according to the position information of the target parking space and a preset geometric algorithm, and obtaining a parking path in the parking space; determining a parking end point of path planning outside the parking space according to the parking path inside the parking space; acquiring current position information of the vehicle, and determining a parking starting point of path planning outside a parking space according to the current position information of the vehicle; according to the parking start point, the parking end point and a preset mixed A * algorithm, performing path planning outside the parking space to obtain a parking path outside the parking space; and splicing the parking path outside the parking space and the parking path inside the parking space to obtain a complete parking path. According to the invention, the parking path of the parking space in any posture can be rapidly solved, automatic parking is facilitated, and the vehicle use experience of a driver is improved.
本发明涉及一种泊车路径规划方法与系统,包括:获取目标车位的位置信息,根据所述目标车位的位置信息和预设的几何算法进行车位内路径规划得到车位内泊车路径;根据所述车位内泊车路径确定车位外路径规划的泊车终点;获取本车当前位置信息,根据所述本车当前位置信息确定车位外路径规划的泊车起点;根据所述泊车起点、泊车终点以及预设的混合A*算法进行车位外路径规划得到车位外泊车路径;将所述车位外泊车路径和所述车位内泊车路径进行拼接后得到完整的泊车路径。通过本发明,能够快速求解出任意姿态下车位的泊车路径,便于进行自动泊车,提高驾驶员用车体验。
Parking path planning method and system
一种泊车路径规划方法与系统
2023-11-07
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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