The invention provides a parallel parking path planning method, system and device and a medium, and relates to the technical field of parallel parking. The method comprises the steps that whether the current position of a vehicle is located in a parking feasible starting area or not is determined, and the parking feasible starting area is an area where the vehicle can be automatically parked into a target parking space and meets the parallel parking condition at the same time; when the current position of the vehicle is located in a parking feasible starting area, a parallel parking path of the vehicle from the parking feasible starting area to a target parking space is planned based on a curve formed by superposing a constant-speed offset function and a sine function of a vehicle lane changing track, so that the planned path is continuous in curvature and easy to track, calculation is simple, and the method is easy to implement. The accuracy of automatic parallel parking is improved, and good practicability and usability are achieved.
本申请提供一种平行泊车路径规划方法、系统、设备及介质,涉及平行泊车技术领域。该方法包括:确定车辆当前位置是否位于泊车可行起始区域中,泊车可行起始区域为车辆能够自动泊入目标车位,且同时满足平行泊车条件的区域;当车辆当前位置位于泊车可行起始区域时,基于车辆换道轨迹的等速偏移函数和正弦函数叠加的曲线,规划车辆从泊车可行起始区域到目标车位的平行泊车路径,使得所规划的路径曲率连续且易于跟踪,而且计算简单,提高了自动平行泊车的准确率,具有较好的实用性和易用性。
Parallel parking path planning method, system, equipment and medium
一种平行泊车路径规划方法、系统、设备及介质
2024-03-08
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 |
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