The invention provides a parking path planning method and device and a computer readable storage medium, and the method comprises the steps: setting a target coordinate system which is established by taking a target position of a target state during parking of a mount as an original point, obtaining an initial state during parking of the mount under the target coordinate system, and obtaining a parking path based on the initial state of the mount, the target state and a preset constraint condition; the optimization objective function established according to the speed, the acceleration and the hinge angle is solved under the target coordinate system, the motion trails of the vehicle in different states are accurately predicted so as to obtain the mounting motion trail when the mounting reaches the target state under the scene without the structured road information, meanwhile, the parameters such as the speed and the acceleration of vehicle driving are considered, and the accuracy of the mounting motion trail is improved. Therefore, the vehicle has smoothness and drivability when driving based on the solved track. And then the mounting motion trail is converted into a world coordinate system where the tractor is located, the motion trail of the tractor is obtained, and semi-trailer tractor parking in the scene without the structured road information is achieved.

    本说明书提供一种泊车路径规划方法、设备及计算机可读存储介质,通过设置以挂载停位时的目标状态目标位置为原点建立的目标坐标系,获取目标坐标系下挂载进行停位时的初始状态,基于挂载的初始状态、目标状态与预设的约束条件,在目标坐标系下对根据速度、加速度、铰接角建立的优化目标函数进行求解,准确的预测车辆在不同状态下的运动轨迹,以得到在无结构化道路信息场景下使挂载达到目标状态时的挂载运动轨迹,同时考虑了车辆行驶的速度、加速度等参数,使得车辆基于求解的轨迹行驶时具有平滑性和可驾驶性。其后将挂载运动轨迹转换至牵引车所在的世界坐标系中,得到牵引车运动轨迹,实现无结构化道路信息场景下的半挂牵引车泊车。


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    Title :

    Parking path planning method and device and computer readable storage medium


    Additional title:

    泊车路径规划方法、设备及计算机可读存储介质


    Contributors:
    ZHANG RUIZHI (author) / WEI JIANLIN (author) / HAYASHI MOTONORI (author) / LIU DECHUN (author) / YE TING (author)

    Publication date :

    2025-01-17


    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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