The invention provides a parking track optimization method, a parking track optimization device and a computer storage medium, and the parking track optimization method comprises the steps: obtaining an original parking track, and dividing the original parking track into a plurality of parking track segments in a single driving direction according to a vehicle driving direction; initializing the initial state of each parking track section, extending the parking track section according to the extension distance until the length between the latest expansion point and the end point of the parking track section exceeds the extension distance, and generating an extended parking track section; calculating a front wheel turning angle control quantity based on a preview point in the extended parking track section and a current vehicle pose; and restraining the front wheel steering angle control quantity by utilizing steering angular velocity constraint and maximum steering angle constraint, and updating the vehicle state of the extended parking track section to obtain an optimized parking track section. By means of the mode, the optimized parking track can meet the reality.
本申请提出一种泊车轨迹优化方法、泊车轨迹优化装置及计算机存储介质,所述泊车轨迹优化方法包括:获取原始泊车轨迹,按照车辆行驶方向将所述原始泊车轨迹划分为若干段单一行驶方向的泊车轨迹段;初始化每一泊车轨迹段的初始状态,按照延长距离对所述泊车轨迹段进行延长,直至最新的拓展点与所述泊车轨迹段的终点之间的长度超过所述延长距离,生成延长泊车轨迹段;基于所述延长泊车轨迹段内的预瞄点,以及当前车辆位姿计算前轮转角控制量;利用转向角速度约束和最大转角约束对所述前轮转角控制量进行约束,对所述延长泊车轨迹段的车辆状态进行更新,得到优化泊车轨迹段。通过上述方式,可以使优化后的泊车轨迹符合实际。
Parking trajectory optimization method, parking trajectory optimization device and computer storage medium
泊车轨迹优化方法、泊车轨迹优化装置及计算机存储介质
2024-03-22
Patent
Electronic Resource
Chinese
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 TRAJECTORY CALCULATION DEVICE AND PARKING TRAJECTORY CALCULATION METHOD
European Patent Office | 2016
|Automatic parking reference trajectory optimization method
European Patent Office | 2024
|Parking trajectory calculation apparatus and parking trajectory calculation method
European Patent Office | 2020
|