The invention discloses a parking path planning method and device, equipment and a storage medium, relates to the technical field of automatic driving, and can improve the efficiency and accuracy of parking path planning. According to the specific scheme, the method comprises the steps of obtaining a drivable area when a vehicle is parked in a target parking space and the current position of the vehicle; obtaining an area width range of a drivable area occupied by the vehicle when the vehicle safely drives into the target parking space; a plurality of discrete points in the width range of each area are used as starting points for the vehicle to park in the target parking space, a plurality of initial parking tracks are generated by using a geometric method based on each starting point, and each initial parking track comprises a first track located in the road area and a second track located in the parking space area; according to the current position and the discrete points on the first track, generating a plurality of transition tracks from the current position to the start of the vehicle; and splicing each transition trajectory with the initial parking trajectory to obtain a plurality of parking trajectories, and determining a target parking trajectory from the plurality of parking trajectories.

    本申请公开一种泊车路径规划方法、装置、设备及存储介质,涉及自动驾驶技术领域,能够提高泊车路径规划的效率和准确性。具体方案包括:获取车辆泊入目标车位时的可行驶区域和车辆的当前位置;获取车辆安全驶入目标车位时,车辆占据可行驶区域的区域宽度范围;将各区域宽度范围内的多个离散点分别作为车辆泊入目标车位的起始点,并基于各起始点利用几何法生成多个初始泊入轨迹,各初始泊入轨迹包括位于道路区域的第一轨迹和位于车位区域的第二轨迹;根据当前位置和第一轨迹上的离散点,生成车辆从当前位置行驶至起始多个过渡轨迹;将各过渡轨迹分别与初始泊入轨迹进行拼接,得到多个泊入轨迹,并从多个泊入轨迹中确定出目标泊入轨迹。


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    Title :

    Parking path planning method, device and equipment and storage medium


    Additional title:

    一种泊车路径规划方法、装置、设备及存储介质


    Contributors:
    LEI PENG (author) / HOU FAWEI (author) / WANG DONGKE (author) / ZHANG ZHENLIN (author)

    Publication date :

    2023-12-05


    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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