The invention provides an automatic parking method and device, equipment and a medium, and the method comprises the steps: obtaining an initial path which is obtained through the connection of a current vehicle position and a target parking space position through a Durbin curve; constructing a discrete path point set for the initial path; according to the target pose information and the target discrete waypoint, constructing a target function, the target pose information corresponding to the target discrete waypoint, and the target discrete waypoint being any discrete waypoint in the discrete waypoint set; performing optimization processing on the target discrete path points by using a target function to obtain a target trajectory; and controlling the vehicle according to the target track so as to execute automatic parking operation. Through the method, a better driving path can be planned for automatic parking.
本申请提供一种自动泊车方法及装置、设备和介质,其中,该方法包括:获取初始路径,初始路径是利用杜宾斯曲线将当前本车位置和目标车位位置进行连接得到的;对初始路径构建离散路径点集合;根据目标位姿信息和对目标离散路径点构建目标函数,目标位姿信息对应于目标离散路径点,目标离散路径点为离散路径点集合中的任意一个离散路径点;利用目标函数对目标离散路径点进行优化处理,得到目标轨迹;根据目标轨迹对本车进行控制,以执行自动泊车操作。通过该方法,有利于为自动泊车规划更优的行驶路径。
Automatic parking method and device, equipment and medium
一种自动泊车方法及装置、设备和介质
2022-11-04
Patent
Electronic Resource
Chinese