The embodiment of the invention discloses a parking track planning method and device, electronic equipment and a storage medium, and the method comprises the steps: taking a parking position as a pre-planning starting point, then obtaining a pre-planning terminal point, determining a pre-planning track from the starting point to the pre-planning terminal point, taking the parking position as the starting point, and setting a terminal point. Parking trajectory planning is converted into vehicle driving path planning, then the pre-planned trajectory from the parking position to the pre-planned terminal point is rapidly and accurately obtained, the parking path of the vehicle is determined based on the pre-planned trajectory, and the situation that the parking trajectory is obtained by directly taking the parking position as the terminal point, and consequently the parking path of the vehicle cannot be determined when the vehicle is parked in an extremely small parking space is avoided. The problem that a vehicle cannot accurately arrive at an extremely small parking space according to a parking track due to the fact that the driving space around the parking space is small and the planning accuracy of the parking track is low is solved.

    本申请的实施例公开了一种泊车轨迹规划方法、装置、电子设备及存储介质,通过将泊车位置作为预规划起点,然后获取预规划终点,并确定起点到预规划终点的预规划轨迹,通过将泊车位置作为起点,并设置一个终点的方式,将泊车轨迹规划转化为车辆行驶路径规划,进而实现了快速并准确获取从泊车位置到预规划终点处的预规划轨迹,并基于该预规划轨迹确定车辆的泊车路径,避免了直接将泊车位置作为终点获取泊车轨迹,导致在泊入极小车位时,由于车位周边可行驶空间较小,泊车轨迹的规划准确性较低,导致车辆根据该泊车轨迹无法准确到达极小停车位的问题。


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    Title :

    Parking trajectory planning method and device, electronic equipment and storage medium


    Additional title:

    一种泊车轨迹规划方法、装置、电子设备及存储介质


    Contributors:
    CAO YANGQIU (author)

    Publication date :

    2023-10-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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