The invention relates to the technical field of automatic driving, and discloses an artificial intelligence-based parking control method, which comprises the following steps that: step 1, a vehicle dynamic model is adopted to carry out modeling on the motion of a vehicle, the motion model of the vehicle describes the relationship among the position, the speed, the direction angle and the acceleration of the vehicle, and the vehicle dynamic model is a nonlinear differential equation; step 2, after the dynamic model of the vehicle is determined, constructing a target function of path planning; a weighting coefficient in a path planning objective function is dynamically adjusted into an environment-related adaptive coefficient, and the priority of path planning and the smoothness of control input are adjusted in real time by combining the obstacle density and the vehicle motion state in the parking lot, so that the problem of dynamic change of obstacles in a complex parking lot environment is solved, and the path planning efficiency is improved. The stable parking performance in a high-density dynamic environment is realized, and the efficient and flexible path planning capability is obtained.
本发明涉及自动驾驶技术领域,公开一种基于人工智能的泊车控制方法,包括:步骤1、采用车辆动力学模型对车辆的运动进行建模,车辆的运动模型描述车辆的位置、速度、方向角和加速度间的关系,所述车辆动力学模型为非线性微分方程;步骤2、在确定车辆的动力学模型后,构建路径规划的目标函数。通过将路径规划目标函数中的加权系数动态调节为环境相关的自适应系数,结合停车场内障碍物密度和车辆运动状态,实时调整路径规划的优先级和控制输入的平滑度,解决复杂停车场环境中障碍物动态变化的问题,实现在高密度动态环境中的稳定泊车性能,得到高效、灵活的路径规划能力。
Parking control method based on artificial intelligence
一种基于人工智能的泊车控制方法
2025-04-11
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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