The invention relates to the technical field of automobiles, and provides an automatic driving parking method and device based on path planning, electronic equipment and a storage medium. The method comprises the steps of determining a target parking space for vehicle parking, and loading the target parking space into a garage map; according to the environmental data of the garage map, taking the vehicle as a mass point, and generating a driving path from an initial position to a final position; predicting an obstacle according to the external environment information; when the obstacle is a pedestrian, collision prediction is carried out on the vehicle according to the movement track and the safe distance; when the obstacles are other vehicles, collision prediction is carried out according to the driving path of the current vehicle and the driving speed and direction of other vehicles; controlling the vehicle according to the collision prediction result; and controlling the vehicle to arrive at the target parking space according to the real-time position of the controlled vehicle. According to the invention, the problem that automatic parking cannot be realized through accurate path planning based on recommended parking spaces in the prior art is solved.
本申请涉及汽车技术领域,提供了一种基于路径规划的自动驾驶停车方法、装置、电子设备及存储介质。该方法包括:确定用于车辆停车的目标车位,并载入车库地图;根据所述车库地图的环境数据,将所述车辆作为质点,生成从初始位置到终点位置的行驶路径;根据外部环境信息对障碍物进行预测;障碍物为行人时,根据运动轨迹和安全距离,对车辆进行碰撞预测;所述障碍物为其他车辆时,根据当前车辆的行驶路径以及其他车辆的行驶速度和方向进行碰撞预测;根据碰撞预测结果进行车辆控制;根据车辆控制后的实时位置,控制车辆到达目标车位。本申请解决了相关技术中存在无法基于推荐车位进行精确的路径规划来实现自动停车的问题。
Automatic driving parking method and device based on path planning
基于路径规划的自动驾驶停车方法及装置
2023-12-08
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 |
Automatic parking path planning method, automatic parking method and related device
European Patent Office | 2023
|OBSTACLE AVOIDANCE METHOD IN AUTOMATIC PARKING PATH PLANNING AND PARKING PATH PLANNING SYSTEM
European Patent Office | 2021
|Obstacle avoidance method for automatic parking path planning and parking path planning system
European Patent Office | 2020
|