The embodiment of the invention discloses a parking collision detection method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a deviation between a vehicle and a current tracking path; if the deviation is greater than a preset deviation, determining a predicted driving track of the vehicle based on the current pose of the vehicle and a preset kinematic model; if the deviation is smaller than or equal to the preset deviation, determining a predicted driving track of the vehicle based on a projection point of the vehicle on the current tracking path and a road point set of the current tracking path; and acquiring a collision risk level corresponding to the predicted driving track. According to the method, the driving track is predicted, collision detection is carried out, the system is allowed to make a response when the vehicle is not close to the obstacle, possible hard braking under the emergency condition is avoided, and the risk of accidental collision is reduced.

    本申请实施例公开了一种泊车碰撞检测方法、装置、车辆及存储介质。所述方法包括:获取车辆与当前跟踪路径之间的偏差;若所述偏差大于预设偏差,基于所述车辆的当前位姿和预设运动学模型,确定所述车辆的预测行驶轨迹;若所述偏差小于或等于所述预设偏差,基于所述车辆在所述当前跟踪路径上的投影点和所述当前跟踪路径的路点集合,确定所述车辆的预测行驶轨迹;获取所述预测行驶轨迹对应的碰撞风险等级。通过上述方法,通过预测行驶轨迹并进行碰撞检测,允许系统在车辆尚未接近障碍物时做出反应,避免了紧急情况下可能的硬刹车,减少了意外碰撞的风险。


    Access

    Download


    Export, share and cite



    Title :

    Parking collision detection method and device, vehicle and storage medium


    Additional title:

    泊车碰撞检测方法、装置、车辆及存储介质


    Contributors:
    HU YUNHAO (author) / CHOU WEN-LI (author) / ZHONG GUOQI (author)

    Publication date :

    2025-04-11


    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



    Parking device, parking method, vehicle and storage medium

    WANG DONGXU / YANG RUI / GAO MENGQIAO et al. | European Patent Office | 2025

    Free access

    Automatic parking collision avoidance method and device, medium and vehicle

    YANG LINGWEN / WAN KAILIN / ZHOU ZENGBI et al. | European Patent Office | 2024

    Free access

    Parking method, parking device, vehicle and readable storage medium

    YAN ZHENJIE / RAO HENG / HU ZHIMIAO | European Patent Office | 2021

    Free access

    Vehicle parking device, parking control method, storage medium, system and vehicle

    ZHOU YUNFENG / CHEN JINHAN / PAN LI et al. | European Patent Office | 2024

    Free access

    Vehicle parking system, vehicle parking method, control device and storage medium

    YU YANG / MA YUE / DING YAOGANG et al. | European Patent Office | 2024

    Free access