Horizontal parking path planning method and device, readable storage medium and terminal

Abstract

The invention discloses a horizontal parking path planning method and device, a readable storage medium and a terminal, and the method comprises the steps: obtaining target parking space information, environment information and starting position information of a vehicle, the starting position information comprises a starting course angle of the vehicle and a parking starting point, and the starting course angle is not equal to zero; the two sides of a vehicle body of the vehicle are restrained from colliding with obstacles on the corresponding sides, and the optimal turning radius is calculated according to the parking starting point of the vehicle, the starting course angle, the obstacle information and the vehicle attribute parameters; according to the optimal turning radius, the parking end point, a preset final course angle when parking succeeds and a preset turning radius, a parking path is determined, the parking path comprises a first arc section, a second arc section and a middle section, and the middle section is located between the first arc section and the second arc section, and two ends of the middle section are two ends of a common tangent of the first arc section and the second arc section. By adopting the scheme, the success rate of single parking can be improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of path planning, and in particular, to a horizontal path planning method and device, a readable storage medium, and a terminal. Background technique [0002] According to the relative position of the parking space and the parking space, the parking space usually includes a horizontal parking space and a vertical parking space. In most horizontal parking systems, the initial position of the vehicle is artificially parked, so there may be a certain deviation between the heading angle of the vehicle and the horizontal parking space, that is, the vehicle body is not parallel to the horizontal parking space, thus The body of the vehicle is not parallel to the long side direction of the horizontal parking space. [0003] At present, when there is a certain deviation angle between the heading angle of the vehicle and the horizontal parking space, it is usually necessary to adjust the pos...

AI Technical Summary

Problems solved by technology

[0004] However, in the process of adjusting the body of the vehicle to be parallel to the horizontal parking space, it is usually necessary to perform multiple reversing or moving forwards to adjust the body of the vehicle to be parallel to the horizontal parking space, and multiple adjustments may lead to path planning Deviation, which leads to parking failure

However, if a vehicle with a non-parallel starting pose is used as a parallel pose for parking path planning, errors in parking path planning may occur, and even parking failure may occur, resulting in a low parking success rate.

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