The invention discloses a vehicle parking path planning method and device, equipment and a storage medium. The method comprises the steps that if a parking event of a vehicle is detected, a kinetic model of the vehicle is constructed, and constraint conditions corresponding to the kinetic model are determined; based on the current position of the vehicle and the target parking position, performing preliminary path planning according to constraint conditions, and determining at least two candidate parking planning paths; and performing iterative adjustment on the size of the convex polygon area corresponding to the target obstacle according to the attribute information of the target obstacle around the vehicle based on a preset adaptive co-location hot start algorithm, and performing accurate path planning according to the attribute information of the target obstacle after iterative adjustment to determine an optimal parking route. According to the method, the optimal parking route of the vehicle is optimized on the basis of an iteration mode by combining more comprehensive constraint conditions and adopting a self-adaptive co-location hot start algorithm on the basis of a vehicle dynamics model, and more accurate and effective automatic parking can be realized.

    本发明公开了一种车辆的泊车路径规划方法、装置、设备以及存储介质。该方法包括:若检测到对车辆的泊车事件,则构建车辆的动力学模型,并确定动力学模型对应的约束条件;基于车辆当前位置和目标泊车位置,根据约束条件,进行初步路径规划,确定出至少两条候选泊车规划路线;基于预设的自适应同位热启动算法,根据车辆周围目标障碍物的属性信息,对目标障碍物对应的凸多边形区域的大小进行迭代调整,并根据迭代调整之后目标障碍物的属性信息,进行精确路径规划,确定出最优泊车路线。通过基于车辆动力学模型,结合更全面的约束条件,并采用自适应同位热启动算法,基于迭代的方式寻优出车辆最佳的泊车路线,可以实现更精准有效的自动泊车。


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    Title :

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


    Additional title:

    一种车辆的泊车路径规划方法、装置、设备以及存储介质


    Contributors:
    CHEN PEIWEN (author)

    Publication date :

    2023-08-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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