The invention discloses a collision-free parking path determination method, system and device and a storage medium. The method comprises the steps that vehicle position information and parking space position information of a current vehicle are determined; when the vehicle position information and the parking space position information do not meet the preset collision condition, a parking area is determined according to the vehicle position information and the parking space position information; rasterizing the parking area to obtain vehicle nodes, parking space nodes and a plurality of adjacent nodes corresponding to the vehicle nodes; and determining the minimum parking path cost according to the vehicle node, the parking space node and the plurality of adjacent nodes, and generating a collision-free parking path through an RS curve according to the starting node corresponding to the minimum parking path cost and the parking space node. According to the method, the parking area is rasterized, and then the collision-free parking path is generated through the RS curve according to the vehicle nodes, the parking space nodes and the adjacent nodes, so that the collision-free parking path is quickly obtained, and the processing efficiency is improved.

    本发明公开了一种无碰撞泊车路径确定方法、系统、设备及存储介质,所述方法包括:确定当前车辆的车辆位置信息和车位位置信息;在车辆位置信息与车位位置信息不满足预设碰撞条件时,根据车辆位置信息和车位位置信息确定泊车区域;对泊车区域进行栅格化,以获取车辆节点、车位节点及车辆节点对应的多个相邻节点;根据车辆节点、车位节点及多个相邻节点确定最小泊车路径代价,并根据最小泊车路径代价对应的起始节点与车位节点通过RS曲线生成无碰撞泊车路径。本发明中对泊车区域进行栅格化,然后根据车辆节点、车位节点及多个相邻节点通过RS曲线生成无碰撞泊车路径,从而实现了快速获取无碰撞泊车路径,进而提高了处理效率。


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    Title :

    Collision-free parking path determination method, system and device and storage medium


    Additional title:

    无碰撞泊车路径确定方法、系统、设备及存储介质


    Contributors:
    LI SENLIN (author) / ZHU HENG (author)

    Publication date :

    2024-02-06


    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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