The invention relates to a driving area determining method and device for home area parking and a storage medium. The method comprises the following steps: acquiring an obstacle occupation grid map and a vehicle track route of a parking map in a family area; generating reference key points on the vehicle track route; searching two sides of the vehicle track route at the reference key point along the vertical direction of the vehicle course until a target point is searched, the target point being an obstacle point closest to the reference key point on a straight line along the searching direction determined according to the grid map occupied by the obstacle; the target points on the same side of the vehicle track route are sequentially connected to obtain the driving area contour line in the home area parking, and the driving area in the home area parking is determined according to the driving area contour line. By adopting the method, the processing data volume of the grid map occupied by the obstacles required by vehicle trajectory planning can be reduced.
本申请涉及一种家庭区域泊车的可行驶区域确定方法、设备和存储介质。该方法包括:获取家庭区域泊车建图的障碍物占据栅格地图和车辆轨迹路线;在车辆轨迹路线上生成参考关键点;在参考关键点沿车辆航向的垂直方向,向车辆轨迹路线两侧搜索,直至搜索到目标点结束搜索,目标点为根据障碍物占据栅格地图确定的在沿搜索方向的直线上与参考关键点距离最近的障碍物点;通过将车辆轨迹路线同侧的目标点依次连接,得到家庭区域泊车中的可行驶区域轮廓线,根据可行驶区域轮廓线确定家庭区域泊车中的可行驶区域。采用本方法能够降低车辆轨迹规划所需的障碍物占据栅格地图的处理数据量。
Method and device for determining drivable area for home area parking and storage medium
家庭区域泊车的可行驶区域确定方法、设备和存储介质
14.03.2023
Patent
Elektronische Ressource
Chinesisch
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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