The embodiment of the invention provides a parking path planning method and device, electronic equipment and a storage medium. The electronic equipment can obtain a parking starting point pose, a parking terminal point pose and a parking map; the parking starting point pose, the parking ending point pose and the parking map are input into a gear shifting point prediction model, and the predicted gear shifting point pose is obtained; and planning a parking path based on the parking starting point pose, the parking ending point pose, the predicted gear shifting point pose and the heuristic function. The gear shifting point prediction model is obtained based on gear shifting point sample training in the actual parking scene, the gear shifting point sample can represent factors such as the steering degree and the steering frequency of the gear shifting point and the expectation of a driver on a parking path, and the gear shifting point prediction model is suitable for the actual parking scene. Therefore, the value of the heuristic function determined based on the predicted position and posture of the gear shifting point also considers factors such as the steering degree and the number of times of the gear shifting point and expectation of a driver on a parking path, the method can adapt to a scene where a parking vehicle is located, and the quality of the parking path and scene adaptability can be improved.

    本申请实施例提供了一种泊车路径规划方法、装置、电子设备及存储介质,电子设备可以获取泊车起点位姿、泊车终点位姿以及泊车地图;将泊车起点位姿、泊车终点位姿以及泊车地图输入换挡点预测模型,获得预测换挡点位姿;基于泊车起点位姿、泊车终点位姿和预测换挡点位姿以及启发函数,规划泊车路径。由于换挡点预测模型是基于实际泊车场景中的换挡点样本训练得到的,换挡点样本能表征换挡点转向程度、次数以及驾驶员对泊车路径的预期等因素,并且适应于实际泊车场景。因此基于预测换挡点位姿确定的启发函数的值也考虑了换挡点转向程度、次数以及驾驶员对泊车路径的预期等因素,且能够适应泊车车辆所在场景,可以提高泊车路径的质量以及场景适应性。


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    Title :

    Parking path planning method and device, electronic equipment and storage medium


    Additional title:

    一种泊车路径规划方法、装置、电子设备及存储介质


    Contributors:
    DU GUANGZE (author)

    Publication date :

    2024-03-29


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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