The embodiment of the invention discloses a path optimization method and device and a vehicle. The method comprises the steps that after multiple path points in a reference reversing path are obtained, a target path point is obtained based on steering wheel rotation angles corresponding to the multiple path points, smoothing operation is conducted on the reference reversing path based on the target path point, and the smoothed reference reversing path serves as a target reversing path; the steering wheel angle corresponding to the target path point is smaller than the angle threshold. Through the mode, the reference reversing path can be smoothed based on the target path point representing that the steering wheel rotation angle is greater than the rotation angle threshold value, so that the steering wheel rotation angle of the target path point in the target reversing path is smaller than the rotation angle threshold value, and thus the steering wheel rotation angle of the target path point is smaller than the rotation angle threshold value in the reversing process of the vehicle. The steering wheel turning angles of all the path points in the target reversing path are within the drive-by-wire angle range of the EPS actuator, so that the vehicle is smoothly backed up based on the target reversing path, and the problem that the steering wheel turning angles are limited, so that a reversing tracking application scene is limited is avoided.
本申请实施例公开了一种路径优化方法、装置以及车辆。该方法包括:在获取参考倒车路径中的多个路径点后,基于多个路径点各自对应的方向盘转角,得到目标路径点,基于目标路径点对参考倒车路径进行平滑操作,并将平滑后的参考倒车路径作为目标倒车路径,目标路径点对应的方向盘转角小于转角阈值。通过上述方式使得,可以基于表征方向盘转角大于转角阈值的目标路径点对参考倒车路径进行平滑,使得目标倒车路径中的目标路径点方向盘转角小于转角阈值,从而使得在车辆倒车过程中,目标倒车路径中所有路径点的方向盘转角均在EPS执行器线控角度范围内,以使车辆基于目标倒车路径顺利倒车,进而避免因方向盘转角受限的问题导致倒车循迹应用场景受限。
Path optimization method and device and vehicle
路径优化方法、装置以及车辆
2024-04-12
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 |
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