Parking path planning method and device, electronic equipment and storage medium
A path planning and parking technology, applied in measurement devices, road network navigators, instruments, etc., can solve the problem of unreasonable parking path planning, unsuccessful parking planning path planning, and inability to use complex and variable actual parking. environment and other issues to achieve the effect of improving reliability and rationality and avoiding limitations
Active Publication Date: 2021-11-26
东风悦享科技有限公司
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[0004] In view of this, it is necessary to provide a parking path planning method, device, electronic equipment and storage medium to solve the problem that a single path planning algorithm in the prior art cannot use the complex and variable actual parking environment, resulting in parking problems. Technical problems of unreasonable vehicle path planning and unsuccessful parking planning path planning
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[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
[0055] Hereinafter, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means ...
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The invention provides a parking path planning method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a starting point and a target point of a parking path in a pre-established parking environment model; based on the starting point and the target point, planning a parking path by using at least two path planning algorithms to obtain at least one planned path; wherein when the at least one planned path only comprises one planned path, the planned path is a target planned path; and when the at least one planning path comprises at least two planning paths, determining one of the at least two planning paths as the target planning path according to a preset selection algorithm. According to the invention, the limitation of a single path planning algorithm is avoided, and the reliability and rationality of the target planning path are improved.
Description
technical field [0001] The present invention relates to the technical field of automatic parking, in particular to a parking path planning method, device, electronic equipment and storage medium. Background technique [0002] Parking planning for automatic driving is to plan a collision-free parking trajectory when the vehicle is near the parking space (field) according to the position and posture of the self-vehicle and the target parking space and the current environmental obstacles. The current methods of automatic driving parking planning mostly use three-stage, deep learning or hybrid A-star. The three-stage method is simple, and the planning method with a fixed Ackermann corner is not comfortable enough during the parking process, and it is difficult to face the complex parking environment; the planning method of deep learning requires high computing power, and it is difficult to solve the problem when the training data is insufficient. In the face of complex and chan...
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IPC IPC(8): G01C21/34
CPCG01C21/3415G01C21/3446Y02T10/40
Inventor 熊胜健曹恺骆嫚罗庚
Owner 东风悦享科技有限公司