The invention discloses a parking path planning method and device, and relates to the technical field of automatic driving. The parking path planning method comprises the following steps: generating path scatter points of a first parking path; controlling the vehicle to follow the path scatter; in the process of automatic parking based on the first parking path, when a parking path re-planning condition is met, generating a plurality of candidate parking paths according to the current position of the vehicle, the position of the parking space, the current course angle of the vehicle and the vehicle course angle corresponding to the position of the parking space; determining a weight corresponding to each candidate parking path in the plurality of candidate parking paths; according to the weights corresponding to the multiple candidate parking paths, a target parking path is determined from the multiple candidate parking paths; and determining the target parking path as a first parking path, and continuing to execute the step of generating the path scatter points of the first parking path. According to the embodiment of the invention, the vehicle can be accurately parked to the parking space, and the parking effect is improved.

    本申请公开了一种泊车路径规划方法及装置,涉及自动驾驶技术领域。泊车路径规划方法包括:生成第一泊车路径的路径散点;控制车辆跟随路径散点;在基于第一泊车路径进行自动泊车的过程中,当满足泊车路径重新规划条件时,根据车辆当前位置、泊车位位置、车辆当前航向角和泊车位位置对应的车辆航向角,生成多条候选泊车路径;确定多条候选泊车路径中每条候选泊车路径对应的权重;根据多条候选泊车路径分别对应的权重,从多条候选泊车路径中,确定目标泊车路径;将目标泊车路径确定为第一泊车路径,继续执行生成第一泊车路径的路径散点的步骤。根据本申请实施例,能够使车辆准确停驶到泊车位,提高泊车效果。


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    Title :

    Parking path planning method and device


    Additional title:

    泊车路径规划方法及装置


    Contributors:
    SHENG YUHUAN (author) / FAN XIAOQIAN (author) / LIU XIANG (author) / LIU SHUANG (author)

    Publication date :

    2024-01-16


    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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