The invention provides a parking assist device, a parking assist method, and a computer-readable storage medium, which improve the recognition accuracy of the inclination angle of the ground during parking assist. A parking assist device according to an embodiment is provided with: a tilt angle calculation unit that calculates first tilt angle information, which is information indicating a tilt angle of a ground surface on which a vehicle is traveling, on the basis of a time sequence; the second tilt angle information is calculated by filtering waveform information represented by a plurality of pieces of first tilt angle information calculated according to a time-series arrangement and removing a high-frequency component equal to or greater than a predetermined threshold value, and when it is determined that there is a deviation between the first tilt angle information and the second tilt angle information on the basis of a predetermined reference, the second tilt angle information is calculated. Resetting the plurality of pieces of first tilt angle information used in the filtering processing, and performing filtering processing by using the plurality of pieces of first tilt angle information calculated after resetting to calculate second tilt angle information; and a movement control unit that adjusts the driving force and the braking force on the basis of the second tilt angle information.
本发明提供驻车辅助装置、驻车辅助方法以及计算机可读存储介质,提高驻车辅助时的地面的倾斜角的识别精度。实施方式的驻车辅助装置具备:倾斜角计算部,根据时间序列计算表示车辆正在行驶的地面的倾斜角的信息亦即第一倾斜角信息,并且,对于通过根据时间序列配置计算出的多个第一倾斜角信息而表示的波形信息进行除去规定阈值以上的高频成分的滤波处理来计算第二倾斜角信息,在基于规定基准判定为第一倾斜角信息与第二倾斜角信息之间存在偏差的情况下,重置滤波处理中使用的多个第一倾斜角信息,使用重置后计算出的多个第一倾斜角信息进行滤波处理来计算第二倾斜角信息;以及移动控制部,根据第二倾斜角信息调整驱动力和制动力。
Parking assist device, parking assist method, and computer-readable storage medium
驻车辅助装置、驻车辅助方法、以及计算机可读存储介质
2022-04-12
Patent
Elektronische Ressource
Chinesisch
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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