The invention provides an automatic parking path planning method and device, electronic equipment and a storage medium. The method comprises the steps that target information used for parking planning is acquired; performing abstract modeling on the obstacle and the parking space based on the target information to obtain a target vehicle driving environment; the current position of the target vehicle is determined as the parking planning starting point, the position of the parking space is used as the parking planning terminal point, discrete point sampling is performed in the driving environment of the target vehicle, the parking path is planned based on the sampling result, and the parking path can be flexibly determined based on the sampling result. The combination of geometric figures corresponding to the planned parking path can theoretically have infinite types and is not limited by the starting posture and the ending posture of the target vehicle, and the success rate of any posture is high. And the parking path is planned based on the sampling result, so that the parking path is closer to global optimum, vehicle dynamics constraints are met, and the smoothness of the parking path is ensured.
本发明提供一种自动泊车路径规划方法、装置、电子设备及存储介质,该方法包括:获取用于进行泊车规划的目标信息;基于目标信息对障碍物和车位进行抽象建模,得到目标车辆行驶环境;将目标车辆的当前位置确定为泊车规划起点,将车位所在位置作为泊车规划终点,在目标车辆的行驶环境中进行离散点采样,基于采样结果规划出泊车路径,基于采样结果就能够灵活性地确定出泊车路径,使得规划的泊车路径对应的几何图形的组合理论上可以有无限种,不受限于目标车辆的起始姿态和终止姿态,任意姿态的成功率较高。且基于采样结果规划出泊车路径能够使得泊车路径更接近于全局最优,并且满足车辆动力学约束且保证泊车路径的平顺性。
Automatic parking path planning method and device, electronic equipment and storage medium
一种自动泊车路径规划方法、装置、电子设备及存储介质
2023-12-29
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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