The invention discloses an automatic parking track planning method and system for parallel parking spaces, a medium and equipment. The method comprises the following steps: acquiring a parking space target point and a parking starting point; taking the parking space target point as a parking-out starting point, and based on a preset collision detection condition, obtaining an in-parking-out track when the vehicle travels from the parking space target point to the right front corner of the vehicle head out of the parking space; taking the end point of the in-garage-out track as a starting point, taking the parking starting point as an in-garage-out end point, and obtaining an out-garage-out track based on an RS curve algorithm and a preset collision detection condition; according to the in-garage-out track and the out-garage-out track, a vehicle parking track is obtained; the problem that the trajectory planned by an RS curve collides in parallel parking spaces is solved, and the problems that a pure search algorithm has high requirements on computing power and the trajectory planning time is long are solved.

    本发明公开了一种平行车位自动泊车轨迹规划方法、系统、介质及设备,其方法包括以下步骤:获取泊车位目标点及泊车起点;以所述泊车位目标点为出库起点,基于预设碰撞检测条件获取车辆从泊车位目标点行驶直至车头右前角出泊车位时的出库内轨迹;以出库内轨迹的终点为起点、所述泊车起点为出库终点,基于RS曲线算法及预设碰撞检测条件获取出库外轨迹;根据所述出库内轨迹与所述出库外轨迹,获取车辆泊车轨迹;以解决解决RS曲线规划的轨迹在平行车位会碰撞的问题,以及纯搜索算法对算力要求高,轨迹规划时间长的问题。


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    Title :

    Automatic parking track planning method and system for parallel parking spaces, medium and equipment


    Additional title:

    平行车位自动泊车轨迹规划方法、系统、介质及设备


    Contributors:
    LI SENLIN (author) / ZHANG JIAHAO (author)

    Publication date :

    2023-11-10


    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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