The invention provides a path planning method and device for automatic parking in a parking space, equipment and a medium. The method comprises the following steps: acquiring to-be-parked vehicle information, obstacle position information and to-be-parked parking space information; determining the position information of a parking target point in the parking space to be parked according to the information of the parking space to be parked and the position information of the midpoint of the rear axle of the wheel; according to the obstacle position information and the vehicle size information, taking the parking target point as a starting point, simulating that the to-be-parked vehicle is driven out of the parking space, and obtaining vehicle driving-out tracks corresponding to a plurality of different steering angles; according to the obstacle position information, the current vehicle course information, the vehicle steering angle range and the position information of the wheel rear axle midpoint, a target cut-in path from the wheel rear axle midpoint to the target vehicle driving-out track is determined; and combining the target cut-in path and the target vehicle driving-out track to obtain a target automatic parking path corresponding to the to-be-parked vehicle. According to the method, the flexibility of the initial parking position of the vehicle is improved, and the success rate of automatic parking of the vehicle is also improved.

    本申请提供自动泊入车位的路径规划方法、装置、设备及介质,方法包括:获取待泊车辆信息、障碍物位置信息和待泊入车位信息;根据待泊入车位信息和车轮后轴中点的位置信息,确定待泊入车位中泊车目标点的位置信息;根据障碍物位置信息和车辆尺寸信息,以泊车目标点为起点,模拟待泊车辆驶出车位,得到多个不同转向角度分别对应的车辆驶出轨迹;根据障碍物位置信息、当前车辆航向信息、车辆转向角度范围和车轮后轴中点的位置信息确定车轮后轴中点到达目标车辆驶出轨迹的目标切入路径;组合目标切入路径和目标车辆驶出轨迹,得到待泊车辆对应的目标自动泊入路径。该方法提高了车辆初始停泊位置的灵活性,也提高了车辆自动泊入的成功率。


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    Title :

    Path planning method, device and equipment for automatically parking in parking space and medium


    Additional title:

    自动泊入车位的路径规划方法、装置、设备及介质


    Contributors:
    LI XIAOLONG (author) / LI GANG (author) / FENG HAOWEN (author)

    Publication date :

    2024-08-23


    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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