The invention belongs to the technical field of automatic parking. The invention provides an automatic parking path planning method and system, a medium, a product, equipment and a vehicle, and is used for lateral parking of a rectangular parking space, so that the vehicle enters the rectangular parking space along a parking path, and the parking path sequentially comprises a first clothoid, a first circular curve, a second clothoid, a first straight line, a third clothoid and a second circular curve. The vehicle is controlled to walk along an adjusting path to complete final parking, the adjusting path comprises a forward road section and a backward road section, the forward road section sequentially comprises a fourth clothoid, a fifth clothoid, a third arc curve, a sixth clothoid, a seventh clothoid, a fourth arc curve and an eighth clothoid, and the backward road section is a second straight line; according to the method, the clothoid, the straight line and the circular curve are combined for planning, smooth transition between paths with different curvatures is achieved, and accurate and automatic lateral parking under the condition of small parking spaces is achieved.

    本发明属自动泊车技术领域。提供了一种自动泊车路径规划方法、系统、介质、产品、设备及车辆,用于矩形车位的侧方停车,使得车辆沿泊入路径进入矩形车位,所述泊入路径依次包括:第一回旋曲线、第一圆弧曲线、第二回旋曲线、第一直线、第三回旋曲线和第二圆弧曲线;控制车辆沿调整路径行走以完成最终泊车,所述调整路径包括前进路段和后退路段,所述前进路段依次包括第四回旋曲线、第五回旋曲线、第三圆弧曲线、第六回旋曲线、第七回旋曲线、第四圆弧曲线和第八回旋曲线,所述后退路段为第二直线;本发明将回旋曲线、直线、圆弧曲线进行组合规划,实现了不同曲率路径之间的平滑过渡,实现了小车位情况下的精准自动侧方停车。


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    Titel :

    Automatic parking path planning method and system, medium, product, equipment and vehicle


    Weitere Titelangaben:

    自动泊车路径规划方法、系统、介质、产品、设备及车辆


    Beteiligte:
    LI ZHIJIN (Autor:in) / QIAN WEI (Autor:in)

    Erscheinungsdatum :

    28.02.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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