The invention provides a parking path planning method and device, and the method comprises the steps: selecting a candidate position node of which the distance between a target position node and the target position node meets a preset requirement; searching the heuristic cost of the candidate position node in an offline database, and screening out a parking path position node of the target vehicle from the candidate position nodes according to the heuristic cost of the candidate position node; and forming a parking path according to the screened parking path position nodes of the target vehicle. According to the scheme of the invention, the heuristic cost is determined by using a search mode instead of an original algorithm for determining the heuristic cost by calculating the Manhattan distance or Euclidean distance from the position node to the parking end point, and the mode considers the motion constraint and obstacle constraint of the vehicle. And the planning of the parking path can better conform to the motion characteristics of the vehicle.
本申请提供了一种泊车路径的规划方法和规划装置,其中,该泊车路径的规划方法包括:选取目标位置节点与目标位置节点之间的距离符合预设要求的候选位置节点;在离线数据库中查找所述候选位置节点的启发式代价,根据所述候选位置节点的启发式代价,从候选位置节点中筛选出目标车辆的泊车路径位置节点;根据筛选出的目标车辆的泊车路径位置节点,形成泊车路径。根据本申请的方案,通过使用搜索的方式确定启发式代价,以替代通过计算位置节点到停车终点的曼哈顿距离或者欧式距离来确定启发式代价的原始算法,这种方式考虑了车辆的运动约束、障碍物约束,能够使得泊车路径的规划更加符合车辆的运动特性。
Parking path planning method and device
一种泊车路径的规划方法和规划装置
12.07.2024
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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