The invention discloses a parking path planning method and device, a medium and electronic equipment. The method comprises the steps that a grid map and a first operation resource of a vehicle controller are acquired; establishing a blank open list and a closed list, and putting the starting point into the open list; according to the first operation resource, determining an obtaining sequence of obtaining a target evaluation method from a cost function method and a first geometric method; determining a target evaluation method obtained this time according to the obtaining sequence, judging whether nodes exist in the open list or not, if yes, determining the node with the minimum cost value in the open list as a first node by applying the target evaluation method, and putting the first node into a closed list; and judging whether the first node meets a node preset requirement or not, if not, expanding the first node, and returning to the step of determining the target evaluation method obtained this time according to the obtaining sequence, and if yes, generating a target parking path according to the nodes of the grid map and the closed list. According to the invention, the parking path can be quickly generated.
本申请公开了一种泊车路径规划方法、装置、介质、电子设备,所述方法包括:获取栅格地图、车辆控制器的第一运算资源;建立空白的开放列表和闭合列表,将起点放入开放列表中;根据所述第一运算资源,确定从代价函数法和第一几何法中获取目标评估方法的获取顺序;根据获取顺序确定本次获取的目标评估方法,判断开放列表是否存在节点,若是,则运用目标评估方法,确定开放列表中代价值最小的节点为第一节点,将第一节点放入闭合列表;判断第一节点是否符合节点预设要求,若否,则扩展第一节点,返回执行根据获取顺序确定本次获取的目标评估方法的步骤,若是,则根据栅格地图和闭合列表的节点生成目标泊车路径。本申请可以快速生成泊车路径。
Parking path planning method and device, medium and electronic equipment
一种泊车路径规划方法、装置、介质、电子设备
2025-02-14
Patent
Electronic Resource
Chinese
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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