The invention provides an acceleration control method and device in a parking stage, a storage medium and electronic equipment. The method comprises the following steps: acquiring a front acceleration, a vehicle speed and an obstacle distance corresponding to a current sampling time point; determining a planned speed and a planned distance based on the vehicle speed and the obstacle distance; determining an expected end acceleration; determining an expected average acceleration according to the planned speed, the planned distance, the front acceleration and the expected tail end acceleration; determining a planned jerk; determining Bezier curve data of the current sampling time point according to the expected average acceleration, the preposed acceleration, the planned jerk acceleration and the expected end acceleration, and determining a curve planned acceleration based on the Bezier curve data; and carrying out slope limiting processing on the curve planning acceleration, and taking a processing result as the current request acceleration. By applying the method provided by the invention, acceleration planning is realized based on the Bezier curve, so that acceleration change is smooth, and user experience is improved.

    本发明提供一种停车阶段的加速度控制方法及装置、存储介质及电子设备,该方法包括:获取当前采样时间点对应的前置加速度、车辆速度和障碍距离;基于车辆速度和障碍距离,确定规划速度和规划距离;确定期望末端加速度;依据规划速度、规划距离、前置加速度和期望末端加速度,确定期望平均加速度;确定规划加加速度;依据期望平均加速度、前置加速度、规划加加速度和期望末端加速度,确定当前采样时间点的贝塞尔曲线数据,并基于贝塞尔曲线数据确定曲线规划加速度;对曲线规划加速度进行斜率限制处理,将处理结果作为当前的请求加速度。应用本发明的方法,基于贝塞尔曲线实现加速度规划,使加速度变化平滑,有利于改善用户体验。


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    Title :

    Acceleration control method and device in parking stage, storage medium and electronic equipment


    Additional title:

    停车阶段的加速度控制方法及装置、存储介质及电子设备


    Contributors:
    LI CHENPU (author) / WU NAN (author) / LU JIAWEI (author)

    Publication date :

    2025-01-03


    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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