The invention relates to the technical field of vehicles, in particular to a parking feasible region calculation method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a vehicle dynamic model, a parking condition, a parking space limiting condition, a parking space position and an initial parking feasible region of a current vehicle, establishing a constraint condition of an initial parking feasible region according to the vehicle dynamics model, the parking condition and the parking space limiting condition, establishing a path planning function according to the vehicle dynamics model and the parking space position, obtaining a nonlinear optimization function according to the constraint condition and the path planning function, and solving the nonlinear optimization function based on a preset genetic strategy, and obtaining an initial iteration point, carrying out iterative solution on the path planning function by using the initial iteration point, and calculating a final parking feasible region. Therefore, the problem that the calculation accuracy of the parking feasible region is low in the automatic parking process is solved, the parking feasible region is judged and optimized, and the accuracy and reliability of automatic parking are greatly improved.
本申请涉及车辆技术领域,特别涉及一种泊车可行域计算方法、装置、车辆及存储介质,其中,方法包括:获取当前车辆的车辆动力学模型、泊车条件、车位限制条件、车位位置和初始泊车可行域,根据车辆动力学模型、泊车条件和车位限制条件建立初始泊车可行域的约束条件,并根据车辆动力学模型和车位位置建立路径规划函数,根据约束条件和路径规划函数得到非线性优化函数,并基于预设的遗传策略求解非线性优化函数,得到初始迭代点,并利用初始迭代点对路径规划函数进行迭代求解,计算出最终泊车可行域。由此,解决了自动泊车过程中泊车可行域的计算精确度低等问题,对泊车可行域进行判断和优化,大大提高了自动泊车的精确度和可靠性。
Parking feasible region calculation method and device, vehicle and storage medium
泊车可行域计算方法、装置、车辆及存储介质
06.12.2024
Patent
Elektronische Ressource
Chinesisch
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 |
Parking device, parking method, vehicle and storage medium
Europäisches Patentamt | 2025
|Parking method, parking device, vehicle and readable storage medium
Europäisches Patentamt | 2021
|Vehicle parking device, parking control method, storage medium, system and vehicle
Europäisches Patentamt | 2024
|Vehicle parking system, vehicle parking method, control device and storage medium
Europäisches Patentamt | 2024
|Parking method, computer readable storage medium, parking device and vehicle
Europäisches Patentamt | 2024
|