The invention discloses a parking track selection method and device, a vehicle and a storage medium, and the method comprises the steps: delimiting an evaluation region of a parking range according to an end point, and obtaining different parking points in the evaluation region and corresponding initial values; constructing a retriever under time and position dimensions according to the predicted trajectory of the obstacle in the vehicle driving environment; taking the transverse and longitudinal speed change rate of the vehicle as a constraint of dynamic planning, taking the transverse and longitudinal acceleration change rate of the vehicle and the distance from the vehicle to an obstacle as transfer cost, and taking different parking points and corresponding initial values as terminal points to carry out multi-terminal-point dynamic planning to obtain a numerical value of each point in the T-V-S-L four-dimensional graph; and taking the numerical values of the closest points of the tail ends of the plurality of theoretical parking tracks in the T-V-S-L four-dimensional graph as track evaluation values, and selecting the lowest point as an actual parking track. Therefore, different parking tracks are comprehensively evaluated by taking the distance between the parking point and the terminal point and the safety and comfort degree as consideration factors, and automatic evaluation of the parking tracks is facilitated.

    本发明公开了一种停车轨迹选择方法、装置、交通工具及存储介质,方法包括:根据终点划定停车范围的评价区域,获取评价区域内的不同停车点及其对应的初始值;根据车辆行驶环境中的障碍物的预测轨迹构建时间和位置维度下的检索器;将车辆的横纵向速度变化率作为动态规划的约束,将车辆的横纵向加速度变化率、与障碍物距离作为转移代价,将不同停车点及其对应的初始值作为终点进行多终点动态规划,得到T‑V‑S‑L四维图中每个点的数值;将多条理论停车轨迹末端在T‑V‑S‑L四维图中最接近的点的数值作为轨迹评价值,选择最低的作为实际停车轨迹。这样,将停车点与终点的距离、安全舒适程度作为考虑因素综合评价不同的停车轨迹,有助于自动实现停车轨迹的评价。


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    Title :

    Parking track selection method and device, vehicle and storage medium


    Additional title:

    一种停车轨迹选择方法、装置、交通工具及存储介质


    Contributors:
    GUO JINGWEI (author) / GAO YANG (author)

    Publication date :

    2024-09-10


    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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