The invention provides a vehicle parking path planning method and device, a vehicle and a storage medium. The vehicle parking path planning method comprises the steps of constructing a kinematics model of a vehicle according to size parameters and a motion state of the vehicle; constructing an obstacle model of the vehicle according to the obstacle distribution condition around the vehicle, and obtaining a collision avoidance constraint condition of the vehicle and the obstacle; reconstructing the collision avoidance constraint condition so as to enable the collision avoidance constraint condition to have continuity; representing the kinematic model, and constructing an objective model function; performing initial value selection on the objective model function to obtain an initial value selection result; and solving the objective model function according to the initial value selection result to obtain a parking path planning result of the vehicle. According to the method, the collision-free, smooth and natural vehicle parking path meeting the motion constraint can be planned.

    本发明提供了一种车辆泊车路径规划方法、装置、车辆和存储介质。车辆泊车路径规划方法包括:根据车辆的尺寸参数和运动状态,构建车辆的运动学模型;根据车辆周边的障碍物分布情况,构建车辆的障碍物模型,获取车辆与障碍物的碰撞避免约束条件;对碰撞避免约束条件进行重新构建,以使得碰撞避免约束条件具有连续性;对运动学模型进行表示,构建目标模型函数;对目标模型函数进行初始值选取,获取初始值选取结果;根据初始值选取结果,对目标模型函数进行求解,获得车辆的泊车路径规划结果。本发明能够规划出无碰撞、满足运动约束、平滑自然的车辆泊车路径。


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    Titel :

    Vehicle parking path planning method and device, vehicle and storage medium


    Weitere Titelangaben:

    车辆泊车路径规划方法、装置、车辆和存储介质


    Beteiligte:
    LIU XIN (Autor:in) / WANG WEI (Autor:in) / HE ZHIGUO (Autor:in)

    Erscheinungsdatum :

    2020-10-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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