The embodiment of the invention discloses a parking path planning method, device and equipment and a storage medium, and the method comprises the steps: constructing a parking path set in a parking space according to vehicle parameter information and parking space parameter information, and determining an optimal parking path in the parking space and an optimal parking posture; a vehicle kinematic model is constructed according to the vehicle parameter information, and a vehicle parking performance function with the optimal parking attitude as a terminal point is constructed through a Gaussian pseudo-spectral method and the vehicle kinematic model; solving the vehicle parking performance function meeting a preset constraint condition by taking the shortest time and the flat behavior target of the course angle of the vehicle body before parking and the course angle corresponding to the to-be-parked parking space, and determining a parking path outside the first parking space and a middle parking posture; the parking path outside the second parking space is determined according to the middle parking posture and the current vehicle posture, the complete parking path is determined according to the parking path outside the second parking space, the parking path outside the first parking space and the parking path inside the optimal parking space, and the parking difficulty and the parking failure possibility of the determined path are reduced.
本发明实施例公开了一种泊车路径规划方法、装置、设备及存储介质,包括:根据车辆参数信息和车位参数信息构建车位内泊车路径集合,确定最优车位内泊车路径和最优泊入姿态;根据车辆参数信息构建车辆运动学模型,并通过高斯伪谱法和车辆运动学模型构建以最优泊入姿态为终点的车辆泊入性能函数;以时间最短且泊入前车身航向角与待泊入车位对应航向角平行为目标对车辆泊入性能函数进行满足预设约束条件的求解,确定第一车位外泊车路径以及中间泊入姿态;根据中间泊入姿态和当前车辆姿态确定第二车位外泊车路径,根据第二车位外泊车路径、第一车位外泊车路径和最优车位内泊车路径确定完整泊车路径,降低了所确定路径的泊车难度和泊车失败的可能性。
Parking path planning method, device and equipment and storage medium
一种泊车路径规划方法、装置、设备及存储介质
2024-06-18
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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