The invention provides a parking track generation method and device, equipment and a storage medium. The method comprises the steps that information of a lane in front of a to-be-parked vehicle and the position and motion state of an obstacle around the to-be-parked vehicle are collected; determining position relations between the obstacle and the vehicle and between the obstacle and the lane where the vehicle is located; determining an obstacle strategy according to the position relation, the lane information and the motion state of the obstacle; generating a transverse driving behavior control strategy according to the motion state of the vehicle, the obstacle strategy and the lane information; generating a longitudinal driving behavior control strategy according to the lane information, the position of the obstacle and the motion state of the obstacle; and according to the transverse driving behavior control strategy and the longitudinal driving behavior control strategy, a parking track of the to-be-parked vehicle is generated. According to the method, the accuracy of the parking track generation method is improved.
本申请提供一种泊车轨迹的生成方法、装置、设备及存储介质。该方法包括:采集待停泊车辆前方的车道信息以及待停泊车辆周围的障碍物的位置和运动状态;确定障碍物与车辆、障碍物与车辆所在的车道之间的位置关系;根据位置关系、车道信息以及障碍物的运动状态,确定障碍物策略;根据车辆的运动状态、障碍物策略和车道信息,生成横向行驶行为控制策略;并根据车道信息、障碍物的位置以及障碍物的运动状态,生成纵向行驶行为控制策略;根据横向行驶行为控制策略和纵向行驶行为控制策略,生成待停泊车辆的泊车轨迹。本申请的方法,提高了泊车轨迹的生成方法的准确性。
Parking track generation method and device, equipment and storage medium
泊车轨迹的生成方法、装置、设备及存储介质
2023-11-10
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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