The invention discloses a vertical parking space path planning method and system and a vehicle. The method comprises the steps of determining a starting area range of a vehicle according to constraint conditions; judging whether the current position of the vehicle is in the starting area range or not; under the condition that the current position of the vehicle is within the starting area range, a parking reference path is determined according to the current position of the vehicle and the constraint condition, and the parking reference path is a one-section type parking reference path composed of a section of arc and a section of straight line; and uniformly taking points in the parking reference path by adopting an equal-division point taking method so as to obtain a plurality of parking track points. Through the one-section parking reference path, the parking path planning is simpler and more practical, and the efficiency of automatic parking path planning is improved; and uniform point taking is carried out in the parking reference path by adopting equal-division point taking, so that the parking process is more stable and efficient.
本申请公开了一种垂直车位路径规划的方法、系统及车辆。该方法包括:根据约束条件确定车辆的起始区域范围;判断车辆的当前位置是否在起始区域范围内;在车辆的当前位置在起始区域范围内的情况下,根据车辆的当前位置和约束条件确定泊车参考路径,泊车参考路径为由一段圆弧和一段直线组成的一段式泊车参考路径;以及采用等分取点的方法在泊车参考路径中均匀取点,以得到多个泊车轨迹点。本申请通过一段式泊车参考路径,使得泊车路径规划更加简单实用,提高自动泊车路径规划的效率;并且采用等分取点在泊车参考路径中均匀取点,使得泊车过程更加平稳高效。
Vertical parking space path planning method and system and vehicle
垂直车位路径规划的方法、系统及车辆
2023-07-14
Patent
Electronic Resource
Chinese
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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