The invention relates to a parking method, a vehicle controller, a storage medium and a vehicle, and relates to the technical field of vehicle control, and the method comprises the steps: determining a reference position point according to obstacle information, road information and a parking space position, and determining a parking track according to a vehicle pose, the road information, the parking space position and the reference position point, and controlling the vehicle to park according to the parking track. Wherein the reference position point is a point through which the vehicle passes and can avoid the obstacle, and the vehicle pose and the reference position point influence the size of the track radius of the parking track, so that the obstacle can be considered in real time, the reference position point used for determining the parking track is adjusted according to the obstacle information, and the planning of the parking track is more flexible. According to the invention, the influence of the obstacle can be considered during trajectory planning, so that the obtained parking trajectory can well avoid the obstacle, thereby ensuring smooth completion of automatic parking and avoiding scratching or collision of vehicles.
本公开涉及一种泊车方法、车辆控制器、存储介质和车辆,涉及车辆控制技术领域,该方法包括:根据障碍物信息、道路信息和车位位置,确定参考位置点,并根据车辆位姿、道路信息、车位位置以及参考位置点确定泊车轨迹,并根据泊车轨迹控制车辆进行泊车。其中,参考位置点为车辆经过且能避开障碍物的点,且车辆位姿以及参考位置点影响泊车轨迹的轨迹半径的大小,从而能够实时考虑障碍物并根据障碍物信息调整用于确定泊车轨迹的参考位置点,从而使泊车轨迹的规划更加灵活。能够在轨迹规划时考虑到障碍物的影响,使得到的泊车轨迹能够较好地实现障碍物的避让,从而保证自动泊车顺利完成且避免车辆的擦挂或者碰撞。
Parking method, vehicle controller, storage medium and vehicle
泊车方法、车辆控制器、存储介质和车辆
2024-07-02
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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