The invention relates to the technical field of automatic driving, and discloses a parking track generation method and device, equipment and a medium, and the method comprises the steps: constructing a parking planning scene according to obtained parking information; a parking target node is used as a starting node, and candidate node sets which do not collide with obstacles in the parking planning scene are searched out in sequence; and taking the parking starting node as a curve terminal node, taking any candidate node in the candidate node set as a curve starting end node, and performing curve connection on the curve starting end node and the curve terminal node to obtain a candidate curve set. And selecting a target curve which has the shortest driving time and does not collide with the obstacle from the candidate curve set. Sequentially searching father nodes of each node from the curve starting end node of the target curve until the final father node is empty, and obtaining a father node set; and based on the curve starting end node and the father node set of the target curve and the target curve, a parking track can be obtained. And a reliable parking track can be generated under the condition of low computing power.

    本发明涉及自动驾驶技术领域,公开了一种泊车轨迹生成方法、装置、设备和介质,根据获取的泊车信息,构建泊车规划场景;将泊车目标节点作为开始节点,依次搜寻出与泊车规划场景中障碍物不发生碰撞的候选节点集。将泊车起始节点作为曲线终端节点,将候选节点集中任意一个候选节点作为曲线始端节点,对曲线始端节点和曲线终端节点进行曲线连接,以得到候选曲线集。从候选曲线集中选取出行驶时间最短并且与障碍物不发生碰撞的目标曲线。从目标曲线的曲线始端节点开始依次查找各节点的父节点,直至最终的父节点为空,则得到父节点集;基于目标曲线的曲线始端节点、父节点集以及目标曲线,可以得到泊车轨迹。在低算力情况下可以生成可靠的泊车轨迹。


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    Title :

    Parking track generation method and device, equipment and medium


    Additional title:

    一种泊车轨迹生成方法、装置、设备和介质


    Contributors:
    FU YONGZHUO (author) / TIAN CHAO (author) / LU YOUKANG (author) / LI GENSHENG (author) / GUO DI (author) / XU BO (author) / MO BO (author) / XU HAO (author)

    Publication date :

    2024-10-15


    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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