Parking path planning method and system, vehicle and storage medium

Abstract

The invention discloses a parking path planning method and system, a vehicle and a storage medium, and the method comprises the following steps: S1, building a simulation model: building a regular parking model, and determining the input quantity and output quantity of the parking model; S2, simulating the parking model by setting different variable parameters; S3, recording simulation data: recording a result of the simulation data, evaluating the result of the simulation data, if the simulation track point collides with the obstacle, considering that the group of simulation data is unavailable data, otherwise, considering that the group of simulation data is available data; and S4, curve fitting: performing curve fitting on the available data to obtain a curve function equation. According to the invention, the calculation of the parking path node is simpler, and the node is accurate.

Description

technical field [0001] The invention belongs to the technical field of parking, and in particular relates to a parking route planning method, system, vehicle and storage medium. Background technique [0002] Existing parking path planning methods generally use rules, spirals, etc. for trajectory planning. It is necessary to fully consider the limitations of the vehicle itself, the location of the parking space and the location of the vehicle. It is necessary to formulate complex logical judgments and continue to process each possible plan. If the planning logic is incomplete, there may be program loopholes, resulting in planning failure. [0003] For example, the patent document CN110949374A discloses an automatic parallel parking path planning method based on two second-order Bezier curves. The environmental adaptability of the planning method, but because this method is based on the key points of the parking path calculated by the rules, a large amount of environmental in...

AI Technical Summary

Problems solved by technology

It is necessary to fully consider the limitations of the vehicle itself, the location of the parking space and the location of the vehicle. It is necessary to formulate complex logical judgments and continue to process each possible plan. If the planning logic is incomplete, there may be program loopholes, resulting in planning failure.

[0003] For example, the patent document CN110949374A discloses an automatic parallel parking path planning method based on two second-order Bezier curves. The environmental adaptability of the planning method, but because this method is based on the key points of the parking path calculated by the rules, a large amount of environmental information data needs to be collected to provide logical judgments for the second-stage planning, and the parking process needs to be completed within limited space resources. Make full use of the limited space, the design algorithm code is much, and it is very cumbersome, which increases the risk of program error

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