A path planning method and a path planning system are disclosed, which are configured to select, by determining a distance between a current pose (A) and a target pose (B) of a vehicle, a corresponding re-planning connection mode for re-planning a parking path and eliminating an error, thereby improving an accuracy of parallel parking of the vehicle. The path planning method includes: obtaining a starting point pose (A) and a target pose (B); determining a distance between the starting point pose (A) and the target pose (B); moving, in response to the distance being greater than a first predetermined threshold, the target pose (B) towards the starting point pose (A) with a first turning radius (R) to obtain a first current pose (M), the first turning radius (R) being greater than or equal to a minimum turning radius (Rmin) of a vehicle; and connecting the first current pose (M) and the starting point pose (A) by using a target connection method, and obtaining a first planned path in response to the connecting being successful. The first planned path includes a path between the starting point pose (A) and the first current pose (M) and a path between the first current pose (M) and the target pose (B).
PATH PLANNING METHOD AND PATH PLANNING SYSTEM
VERFAHREN UND SYSTEM ZUR WEGPLANUNG
PROCÉDÉ DE PLANIFICATION DE TRAJET ET SYSTÈME DE PLANIFICATION DE TRAJET
2022-05-25
Patent
Electronic Resource
English
PATH PLANNING DEVICE, PATH PLANNING METHOD, AND PATH PLANNING PROGRAM
European Patent Office | 2021
|Vehicle path planning method and vehicle path planning device
European Patent Office | 2021
|