The invention discloses a valet parking method and device based on a hierarchical finite-state machine, and relates to the technical field of automatic driving automobiles, and the valet parking method and device based on the hierarchical finite-state machine comprises the following steps: obtaining driving state information of a vehicle and surrounding vehicles, upper-layer state machine events of switching of the initial state, the driving state, the parking state and the ending state of the vehicle are set; according to the selection of a driver, the own vehicle information and the surrounding vehicle state information, defining a driving and parking lower-layer state machine event, and according to the upper-layer state machine event and the driving and parking lower-layer state machine event, selecting a current optimal vehicle behavior; and according to the current optimal vehicle behavior, vehicle recall or parking is completed. By means of the method, behavior decisions of the vehicle in the valet parking and fixed-point recall process can be achieved, and it is guaranteed that the vehicle safely and efficiently completes the corresponding valet parking and fixed-point recall functions.

    本发明公开了一种基于分层有限状态机的代客泊车方法与装置,涉及自动驾驶汽车技术领域,一种基于分层有限状态机的代客泊车方法及装置,包括以下步骤:获取自身车辆以及周围车辆行驶状态信息,并设置车辆在初始状态、行车状态、泊车状态以及结束状态转换的上层状态机事件;根据驾驶员选择,并根据所述自身车辆信息以及周围车辆状态信息,定义行车与泊车下层状态机事件,依据所述上层状态机事件以及行车与泊车下层状态机事件,选择当前最优车辆行为;根据所述当前最优车辆行为,完成自身车辆召回或泊车。通过该方法,可以实现车辆完成在代客泊车以及定点召回过程中的行为决策,保证车辆安全,高效的完成对应的代客泊车与定点召回功能。


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    Title :

    Valet parking method and device based on hierarchical finite-state machine


    Additional title:

    一种基于分层有限状态机的代客泊车方法与装置


    Contributors:
    QU ZIJUN (author) / QIANG XIAOWEN (author) / LEI MINGXING (author) / GUO QIXIANG (author) / CHEN HUI (author) / HE WEI (author) / LI NEN (author) / HU BOLUN (author) / GAO CHONGZHI (author) / LIU LEI (author)

    Publication date :

    2023-11-17


    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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