The invention relates to the field of path planning, and discloses a parking path planning method and device and a storage medium, and the method comprises the steps: according to the vertex coordinate of a target garage, the minimum turning radius of a current vehicle, the vehicle width of the current vehicle, the first rear axle distance of the current vehicle, the second rear axle distance of the current vehicle and a preset configuration distance, obtaining a parking path; determining a target angle, a parking target point coordinate, a first intermediate point coordinate and a second intermediate point coordinate; determining a first parking path according to the current coordinate, the current attitude angle, the second intermediate point coordinate and the target angle of the current vehicle; determining a second parking path according to the second intermediate point coordinate, the first intermediate point coordinate and the parking target point coordinate; and determining a target parking path according to the first parking path and the second parking path. According to the technical scheme of the invention, multiple path search algorithms are combined, the middle point is set, and the flexibility of horizontal parking is improved.
本发明涉及路径规划领域,公开了一种泊车路径规划方法、设备和存储介质,该方法包括:根据目标车库的顶点坐标、当前车辆的最小转弯半径、当前车辆的车宽、当前车辆的第一后轴距离、当前车辆的第二后轴距离以及预设配置距离,确定目标角度、泊车目标点坐标、第一中间点坐标以及第二中间点坐标;根据当前车辆的当前坐标、当前姿态角、第二中间点坐标以及目标角度,确定第一泊车路径;根据第二中间点坐标、第一中间点坐标以及泊车目标点坐标,确定第二泊车路径;根据第一泊车路径和第二泊车路径,确定目标泊车路径。通过本发明的技术方案,实现了结合多种路径搜索算法并进行中间点设置,提高了水平泊车的灵活性。
Parking path planning method and device and storage medium
泊车路径规划方法、设备和存储介质
15.04.2025
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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