The embodiment of the invention provides a method for planning a parking track and a related device. The method comprises the steps that the position of a vehicle outside a parking space and the position of the vehicle inside the parking space are acquired; based on a transition curve theory, geometric transformation methods such as translation, rotation, mirroring and the like are applied to generate a curve track that a vehicle is parked into the parking space from a position outside the parking space or a curve track that the vehicle is driven out of the parking space from a position inside the parking space. According to the embodiment of the invention, the transition curve is adopted to solve the problem that the curvature at the joint of the circular arc and the straight line in the parking track changes suddenly. And geometric transformation is carried out on the transition curve so as to determine the parking track, which is more suitable for application in practical engineering, so that the process of planning the parking track is simpler, more convenient and easier.
本申请实施例提供一种规划泊车轨迹的方法及相关装置。该方法包括:获取车辆在车位外的位置和在车位内的位置;基于过渡曲线理论,应用平移、旋转、镜像等几何变换方法,生成车辆从车位外的位置泊入车位内的曲线轨迹,或从车位内的位置驶出车位外的曲线轨迹。采用本申请实施例,采用过渡曲线来解决泊车轨迹中圆弧和直线连接处曲率突变的问题。对过渡曲线进行几何变换从而确定泊车轨迹,更符合实际工程中的应用,使得规划泊车轨迹的过程更加简便易行。
Method for planning parking track and related device
一种规划泊车轨迹的方法及相关装置
2024-07-02
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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