The invention discloses a path planning method, device and equipment and a storage medium, relates to the technical field of intelligent driving, and is at least used for improving the success rate and efficiency of the automatic parking process of a vehicle. The method comprises the following steps: acquiring path information corresponding to a plurality of candidate paths; the candidate path is used for representing a path of the vehicle which is parked from the current pose to a target pose in the parking space to be parked; the path information comprises information that obstacles can be climbed over on the candidate paths, the number of times of gear switching when the vehicle runs according to the candidate paths, and the lengths of the candidate paths; determining path cost values corresponding to the plurality of candidate paths based on the path information corresponding to the plurality of candidate paths; the path cost value is in positive correlation with the frequency of crossing the obstacle capable of being climbed, the gear switching frequency and the length of the candidate path when the vehicle travels according to the candidate path; and based on the path cost values corresponding to the plurality of candidate paths, determining a target path for the vehicle to be parked in the to-be-parked parking space.

    本申请公开了一种路径规划方法、装置、设备及存储介质,涉及智能驾驶技术领域,至少用于提高车辆自动泊车过程的成功率和效率。该方法包括:获取多条候选路径各自对应的路径信息;候选路径用于表示车辆由当前位姿泊入至待泊车位中目标位姿的路径;路径信息包括候选路径上可翻越障碍物的信息、车辆按照候选路径行驶时档位切换的次数、候选路径的长度;基于多条候选路径各自对应的路径信息,确定多条候选路径各自对应的路径代价值;路径代价值与车辆按照候选路径行驶时越过可翻越障碍物的频繁度、档位切换的次数、候选路径的长度呈正相关;基于多条候选路径各自对应的路径代价值,确定车辆泊入待泊车位的目标路径。


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    Title :

    Path planning method and device, equipment and storage medium


    Additional title:

    路径规划方法、装置、设备及存储介质


    Contributors:
    CUI JUNHAO (author)

    Publication date :

    2024-09-06


    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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