The invention relates to a parking path planning method and device for a rear wheel steering vehicle, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring parking space environment information of parallel parking spaces; obtaining structural parameters of the vehicle, and constructing a kinematic model of the vehicle according to the structural parameters; according to the structure parameters of the vehicle and the parking space environment information, a kinematic model is used for calculating a first motion path for enabling the vehicle to be parked out of the parallel parking space; according to the parking space environment information and a kinematic model, generating a second motion path for enabling the vehicle to move from the current position to the end point of the first motion path based on a graph search algorithm; and smoothing a path obtained by connecting a reverse path of the first motion path and the second motion path to obtain a target parking path for enabling the vehicle to park in the parallel parking space from the current position. By adopting the method, the efficiency of path planning and the scene applicability can be considered, and the path capable of enabling the rear-wheel steering vehicle to stably park in the parallel parking space is obtained.
本申请涉及一种后轮转向车辆的泊车路径规划方法、装置、计算机设备、存储介质和计算机程序产品。所述方法包括:获取平行车位的车位环境信息;获取车辆的结构参数,根据结构参数,构建车辆的运动学模型;根据车辆的结构参数和车位环境信息,利用运动学模型计算使车辆从平行车位泊出的第一运动路径;根据车位环境信息和运动学模型,基于图搜索算法生成使车辆从当前位置运动至第一运动路径的终点的第二运动路径;对第一运动路径的反向路径与第二运动路径连接得到的路径进行平滑处理,得到使车辆从当前位置泊入平行车位的目标泊车路径。采用本方法能够兼顾路径规划的效率和场景适用性,得到能使后轮转向车辆平稳泊入平行车位的路径。
Parking path planning method, device, equipment and medium for rear-wheel steering vehicle
后轮转向车辆的泊车路径规划方法、装置、设备、介质
2024-06-04
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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