The invention provides a vehicle parking path planning method and device and a vehicle, and the method comprises the steps: determining a plurality of candidate paths from a target node to an end point region through a method for constructing a geometric curve, the geometric curve is a curve formed by at least one arc line segment and one straight line segment which are determined according to the course angle of the target node and a preset course angle, and the radius of the arc line segment is the minimum turning radius of the vehicle; the path with the minimum cost is selected from the multiple candidate paths through a cost function to serve as a target path, the cost function is constructed according to the number of times of library rubbing in each candidate path and the target distance, and the target distance is the distance between the end point position of each candidate path and the center position of the end point area in the direction parallel to the side line of the parking space. According to the method, the number of times of garage rubbing of the final path is minimum, the parking efficiency is improved, the safe distance between the vehicle and obstacles on the two sides is kept in the parking process and after the vehicle is parked, and passengers can get on and off the vehicle conveniently.

    本申请提供一种车辆泊车的路径规划方法、装置及车辆,该方法包括:通过构建几何曲线的方法确定从目标节点行驶到终点区域的多个候选路径,几何曲线是根据目标节点的航向角和预设航向角确定的至少一条圆弧线段和一条直线线段构成的曲线,圆弧线段的半径为车辆最小转弯半径;通过代价函数在多个候选路径中选取代价最小的路径作为目标路径,代价函数是根据每条候选路径中揉库次数和目标距离构建的,目标距离是每条候选路径的终点位置与终点区域的中心位置在平行于车位侧边线方向上的距离。通过本方法确保最终路径的揉库次数最少,提高了泊出效率,并且使车辆泊出过程中和泊出后与两侧障碍物保持安全距离,方便乘客上下车。


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    Title :

    Vehicle parking path planning method and device and vehicle


    Additional title:

    车辆泊车的路径规划方法、装置及车辆


    Contributors:
    XIE NINGMENG (author) / CHEN DAYU (author) / WANG XIAOYUN (author) / WANG YAWEI (author) / CHEN HONGYI (author)

    Publication date :

    2024-08-09


    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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