The invention discloses a parking path planning method, device and equipment and a storage medium, and relates to the technical field of vehicle control, and the parking path planning method comprises the steps that node extension is carried out according to a current node in an environment map to obtain a reference node; obtaining a reference node cost of the reference node according to a preset distance threshold value; performing secondary expansion according to the reference node with the minimum reference node cost until the target node is expanded; forming a parking path of the vehicle according to the plurality of reference nodes; according to the method, reference nodes are obtained by expanding a current node, the node cost of each reference node is determined according to the route length of each reference node and the current node and a preset route threshold value, a relatively high cost value is set for the reference nodes with too short route lengths, and node screening is performed on the reference nodes based on the cost. According to the method, the problem that parking fails due to the fact that the length of the path is too short and a chassis actuator cannot respond during path planning is solved.

    本申请公开了一种泊车路径规划方法、装置、设备及存储介质,涉及车辆控制技术领域,公开了泊车路径规划方法,包括:根据环境地图中当前节点进行节点扩展得到参考节点;根据预设路程阈值得到参考节点的参考节点代价;根据参考节点代价最小的参考节点进行二次扩展,直到扩展至目标节点;根据多个参考节点构成自车泊车路径;该方法通过扩展当前节点得到参考节点,并根据各个参考节点和当前节点的路线长度与预设路程阈值确定各个参考节点的节点代价,针对路径路线长度太短的参考节点设定较高代价值,基于代价对参考节点进行节点筛选,得到自车当前节点到终点的泊车路径,解决在路径规划时,路径长度过短,底盘执行器不能响应,导致泊车失败的问题。


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    Title :

    Parking path planning method, device and equipment and storage medium


    Additional title:

    泊车路径规划方法、装置、设备及存储介质


    Contributors:
    ZHANG CANMING (author) / FU BIN (author) / TU NINGNING (author) / ZHANG HAIQIANG (author) / HOU MINGYANG (author)

    Publication date :

    2025-01-24


    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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