The invention discloses an automatic parking track optimization method and device, equipment and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining vehicle parameters, an original parking track and obstacle information; performing coordinate conversion according to the vehicle parameters to obtain relative vehicle coordinates; obtaining a safe driving area according to the relative vehicle coordinates and the obstacle information; performing optimization according to a preset optimization strategy and the original parking track to obtain a target cost function; condition constraint is carried out according to the safe driving area and the original parking track to obtain a constraint equation; and calculating according to the target cost function and the constraint equation to obtain an optimized parking track, thereby improving the accuracy and stability of parking, and enhancing the safety and reliability in the parking process.
本申请公开了一种自动泊车轨迹优化方法、装置、设备及存储介质,涉及自动驾驶的技术领域,本申请的方法包括:获取车辆参数、原始泊车轨迹以及障碍物信息;根据所述车辆参数进行坐标转换得到相对车辆坐标;根据所述相对车辆坐标和所述障碍物信息得到安全行驶区域;根据预设优化策略和所述原始泊车轨迹进行优化得到目标代价函数;根据所述安全行驶区域和所述原始泊车轨迹进行条件约束得到约束方程;根据所述目标代价函数和所述约束方程计算得到优化泊车轨迹,提高了泊车的准确性和稳定性,增强了泊车过程中的安全性和可靠性。
Automatic parking track optimization method and device, equipment and storage medium
自动泊车轨迹优化方法、装置、设备及存储介质
2024-12-20
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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