The embodiment of the invention provides a method and equipment for assisting parking, a vehicle and a computer program product. The method comprises the steps that in response to a received auxiliary parking instruction, the initial pose of a vehicle and the target pose of parking are obtained, and a standby node set at least related to the initial pose of the vehicle is determined; in the process of planning the parking path by using the nodes in the standby node set as planning nodes, merging extended nodes obtained by extension based on the planning nodes into the standby node set; comparing a plurality of parking paths respectively determined based on the plurality of planning nodes in the standby node set to determine a preferred parking path; and controlling the vehicle to perform parking operation according to the determined optimal parking path. According to the method disclosed by the embodiment of the invention, the expansion nodes can be continuously iterated after the feasible parking path is determined, and the optimal parking path is finally selected, so that the user experience is improved.

    本公开的实施例提供了一种用于辅助泊车的方法、设备、车辆和计算机程序产品。该方法包括:响应于接收到进行辅助泊车的指令,获取车辆的初始位姿和泊车的目标位姿,以确定至少与车辆的初始位姿相关的备用节点集;在使用备用节点集中的节点作为规划节点规划泊车路径的过程中,将基于规划节点扩展得到的扩展节点并入到备用节点集中;比较分别基于备用节点集中的多个规划节点而确定的多个泊车路径,以确定优选泊车路径;以及根据所确定的优选泊车路径控制车辆进行泊车操作。根据本公开实施例的方法能够在确定可行泊车路径后继续迭代扩展节点,并最终选择优选泊车路径来由此提高用户体验。


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    Title :

    METHOD, DEVICE, VEHICLE AND COMPUTER PROGRAM PRODUCT FOR ASSISTING PARKING


    Additional title:

    用于辅助泊车的方法、设备、车辆和计算机程序产品


    Contributors:
    BIAN CHENTONG (author) / WANG PENG (author) / LIU CHUANXIU (author) / XU PENGFEI (author) / CHAI HUA (author)

    Publication date :

    2024-07-12


    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



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