The invention relates to a container truck autonomous parking motion planning method, device and equipment and a medium. The method comprises the following steps: constructing a parking map; determining an initial pose and a target pose of the vehicle based on the parking task; establishing a future moment pose state prediction model of the semitrailer; establishing a pose state evaluation function of the semitrailer in the scene according to the specific parking scene and the parking task; path planning is conducted on the basis of a parking path planning method for fusion improvement of a hybrid A * algorithm and Reed Sheep curve extension facing straight and lateral parking spaces, collision detection is conducted on the basis of a bounding box model of a vehicle in the path planning process, and the quality of path nodes is evaluated on the basis of a pose state evaluation function; and constructing a nonlinear optimal control model, extracting a coarse path node from a path planning result as a reference initial solution, and solving to obtain a parking optimal track state sequence. Compared with the prior art, the collision-free parking track sequence of the articulated vehicle can be planned in a complex unstructured scene.
本发明涉及一种集装箱卡车自主泊车运动规划方法、装置、设备及介质,其中方法包括以下步骤:构建泊车地图;基于泊车任务确定车辆的初始位姿与目标位姿;建立半挂车未来时刻位姿状态预测模型;针对具体的泊车场景和泊车任务建立半挂车在场景中的位姿状态评价函数;基于面向直方和侧方库位的融合改进hybrid A*算法和Reed Sheep曲线扩展的泊车路径规划方法进行路径规划,在路径规划过程中基于车辆的包围盒模型进行碰撞检测,并基于位姿状态评价函数评价路径节点的好坏;构建非线性最优化控制模型,从路径规划结果中提取粗路径节点作为参考初始解,求解得到泊车最优轨迹状态序列。与现有技术相比,本发明可以在复杂非结构化场景下规划出铰接式车辆的无碰撞泊车轨迹序列。
Container truck autonomous parking motion planning method, device and equipment and medium
一种集装箱卡车自主泊车运动规划方法、装置、设备及介质
2024-07-09
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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