The invention discloses an automatic parking method and device considering comprehensive risks, equipment and a medium, and the method comprises the steps: carrying out the global path planning according to the current position of a vehicle and a plurality of selectable parking positions in a parking region, and generating a plurality of feasible paths; according to the safety field force of any position of the parking area, calculating the total safety field force of the vehicle parking in the optional parking position according to each feasible path, and obtaining a parking risk coefficient corresponding to the total safety field force of each feasible path based on a preset safety field force-parking risk corresponding relation; and selecting a feasible path of the minimum parking risk coefficient in the plurality of parking risk coefficients, and taking an optional parking space corresponding to the selected feasible path as a target parking space so as to control the vehicle to be parked in the target parking space. According to the method, the comprehensive risk is considered, and compared with a mode of selecting or randomly selecting the parking space by the user, the risk of automatic parking is reduced, and the stability and reliability of the parking process are improved.
本申请公开了一种考虑综合风险的自动泊车方法、装置、设备及介质,其中,方法包括:根据车辆的当前位置和停车区域内的多个可选停车位置进行全局路径规划,生成多条可行路径;根据停车区域任一位置的安全场力计算车辆按照每条可行路径停入可选停车位置的总安全场力,并基于预设的安全场力‑停车风险对应关系得到每条可行路径的总安全场力对应的停车风险系数;选取多个停车风险系数中的最小停车风险系数的可行路径,并将选取的可行路径对应的可选停车位作为目标停车位,以控制车辆停入目标停车位。本申请考虑综合风险,相比由用户选择或随机选择停车位的方式,降低了自动泊车的风险,提高了泊车过程的稳定性与可靠性。
Automatic parking method and device considering comprehensive risk, equipment and medium
考虑综合风险的自动泊车方法、装置、设备及介质
2023-02-24
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 |