The scheme of the invention relates to the field of parking, and provides an automatic parking track planning method, which comprises the following steps: obtaining a parking starting point and an iteration site, the iteration site being a site for determining a parking track; in the drivable area, determining a parking-out arc track based on the obtained iteration site; and in response to determining that the parking-out arc track passes collision verification, determining a starting linear track and an ending linear track based on the parking-out starting point and the parking-out arc track, splicing the starting linear track, the parking-out arc track and the ending linear track into a parking track, and outputting the parking track. According to the method, a straight line, arc and straight line parking track is designed by using a pure geometric algorithm, smoothing processing is not needed, the calculation amount is reduced, only the key parking arc track is selected for collision verification, the parking track planning time is saved, the vehicle parking time is shortened, the parking process is smooth, and the user experience is improved.
本申请方案涉及泊车领域,提供一种自动泊车轨迹规划方法,获取泊出起点及迭代位点,其中,所述迭代位点为用于确定所述泊车轨迹的位点;在可行驶区域内,基于获取的迭代位点确定泊出圆弧轨迹;响应于确定所述泊出圆弧轨迹通过碰撞校验,基于所述泊出起点及所述泊出圆弧轨迹确定起始直线轨迹及终止直线轨迹,将所述起始直线轨迹、泊出圆弧轨迹及终止直线轨迹拼接为泊车轨迹,并输出。本申请使用纯几何算法设计出一条直线加圆弧加直线的泊车轨迹,无需做平滑处理,减少了计算量,且仅选取关键的泊出圆弧轨迹做碰撞校验,节约了泊车轨迹规划时间,进而缩短了车辆泊出时间,且泊出过程顺畅,提升了用户体验。
Automatic parking track planning method, electronic equipment and vehicle
自动泊车轨迹规划方法、电子设备及车辆
2024-08-16
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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