The invention discloses a parking path planning method and system, a vehicle and a storage medium, and the method comprises the steps: obtaining a target vehicle position, a target parking space position and an obstacle position, and constructing a simulation training scene according to the target vehicle position, the target parking space position and the obstacle position; generating an initial Q table according to the simulation training scene, and training the Q table in the simulation training scene according to a preset iterative training process to obtain a target Q table; pre-selected paths are generated according to the target Q table, the total reward of each pre-selected path is calculated, the path with the maximum total reward in the pre-selected paths is selected as a target path, and an automatic parking path is generated according to the target path. According to the parking path planning method, the problem that path planning in different parking space shape scenes cannot be universally achieved in an existing parking path planning method is solved, and the automatic parking path capable of being used for automatic parking is obtained.
本申请公开了一种泊车路径规划方法、系统、车辆及存储介质,所述方法包括:获取目标车辆位置、目标车位位置及障碍物位置,根据所述目标车辆位置、所述目标车位位置和所述障碍物位置构建仿真训练场景;根据所述仿真训练场景生成初始的Q表格,根据预设的迭代训练过程在所述仿真训练场景中训练所述Q表格,得到目标Q表格;根据所述目标Q表格生成预选路径,并计算每条预选路径的总奖励,选取预选路径中总奖励最大的路径作为目标路径,根据所述目标路径生成自动泊车路径。本申请通过泊车路径规划方法,解决了目前泊车路径规划方法中不能通用地解决不同车位形状场景下的路径规划问题,得到可以用于自动泊车的自动泊车路径。
Parking path planning method and system, vehicle and storage medium
一种泊车路径规划方法、系统、车辆及存储介质
2024-03-22
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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