The invention discloses an automatic parking reverse path planning method and device, equipment and a medium. The method comprises the steps that the maximum track range of a current vehicle driving in all directions based on a given starting pose is determined according to the vehicle performance; acquiring an obstacle grid map, and determining a target parking space position and a target vehicle pose in the obstacle grid map; taking a set position when the head of the vehicle is driven out of the parking space as a middle vehicle pose, taking the middle vehicle pose as a starting pose, superposing a maximum track range in the direction of the target vehicle pose on the barrier grid map, and analyzing to obtain a track range capable of avoiding the barrier; random sampling is carried out in the track range, path point selection is carried out from the middle vehicle pose, a reverse path planning sequence is obtained, and a forward path planning sequence is obtained through overturning. According to the invention, a path planning problem of parking demands in a complex environment can be solved.
本发明公开了一种自动泊车逆向路径规划方法、装置、设备及介质,所述方法包括:根据车辆性能确定当前车辆基于给定起始位姿向各个方向行驶时的最大轨迹范围;获取障碍物栅格地图,并确定障碍物栅格地图中的目标车位位置和目标车辆位姿;以车辆的车头驶出车位时的设定位置时作为中间车辆位姿,以所述中间车辆位姿为起始位姿,在所述障碍物栅格地图上叠加向目标车辆位姿方向的最大轨迹范围,分析得到能够避开障碍物的轨迹范围;在所述轨迹范围内进行随机采样,自中间车辆位姿起进行路径点选取,得到逆向路径规划序列,翻转即得到正向路径规划序列。本发明能够处理复杂环境下泊车需求的路径规划问题。
Automatic parking reverse path planning method, device, equipment and medium
一种自动泊车逆向路径规划方法、装置、设备及介质
2025-02-28
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 |
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