The invention discloses a parking path determination method and device, mobile equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: generating a plurality of exploration circles based on the position of the mobile equipment and a parking area; determining an initial reference path according to the center of the exploration circle; generating a trajectory cluster comprising at least one trajectory; evaluating the trajectory cluster based on the initial reference path to obtain an optimal trajectory; and taking the optimal track as a current driving path of the mobile equipment, so that the mobile equipment is parked according to the current driving path. According to the method, the exploration circle is generated according to the position of the mobile equipment and the parking area, the initial reference path is determined according to the circle center of the exploration circle, and the optimal track is determined after the generated track cluster is evaluated according to the initial reference path, so that the mobile equipment can drive according to the optimal track during parking, and the parking efficiency is improved. And the parking efficiency is improved.

    本发明公开了一种泊车路径确定方法、装置、移动设备及存储介质,涉及自动驾驶技术领域。所述方法包括:基于移动设备的自身位置以及泊车区域生成多个探索圆;根据所述探索圆的圆心确定初始参考路径;生成包括至少一条轨迹的轨迹簇;基于所述初始参考路径对所述轨迹簇进行评价得到最优轨迹;将所述最优轨迹作为所述移动设备的当前行驶路径,以使所述移动设备根据所述当前行驶路径泊车。该方法通过根据移动设备的自身位置以及泊车区域生成探索圆,并根据探索圆的圆心确定初始参考路径,根据初始参考路径对生成的轨迹簇进行评价后确定最优轨迹,能够使移动设备在进行泊车时根据最优轨迹进行行驶,提高了泊车效率。


    Access

    Download


    Export, share and cite



    Title :

    Parking path determination method and device, mobile equipment and storage medium


    Additional title:

    一种泊车路径确定方法、装置、移动设备及存储介质


    Contributors:
    LIU SHIDONG (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



    Parking path determination method and device, equipment and storage medium

    YANG FENG / FU YING / WU YONGJIANG | European Patent Office | 2023

    Free access

    Parking path determination method, device and system and storage medium

    LYU HAOLIN / REN CHENGCHENG / SUN SHUYA | European Patent Office | 2023

    Free access

    Vehicle parking path determination method and device, equipment and medium

    LI CHAO / DU JIANYU / HUANG XIANQING et al. | European Patent Office | 2023

    Free access

    Parking path planning method, device and equipment and storage medium

    LEI PENG / HOU FAWEI / WANG DONGKE et al. | European Patent Office | 2023

    Free access

    Parking path planning method, device and equipment and storage medium

    LI HE / TAN MINGWEI / CAI SHIMIN et al. | European Patent Office | 2023

    Free access