The invention provides a parking planning method and device based on four-wheel steering, a storage medium and a vehicle. The method comprises the steps that when it is detected that an automatic parking function is triggered, parking space information of a parking space where a vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked are acquired; according to the parking space information and the obstacle information, parking planning information of the vehicle in two four-wheel steering modes is determined; wherein the parking planning information comprises a parking path, the number of gear switching times and the length of the parking path, and the two four-wheel steering modes comprise a front and rear wheel same-direction mode and a front and rear wheel different-direction mode; based on the gear switching times and/or the parking path lengths in the two kinds of parking planning information, a target parking path is determined from the two kinds of parking paths; and according to the target parking path, the vehicle is controlled to be parked to the parking space.
本发明提供了一种基于四轮转向的泊车规划方法、装置、存储介质及车辆。所述方法包括:在检测到自动泊车功能被触发时,获取所述车辆待停靠的车位的车位信息,以及待停靠的所述车位周围的障碍物信息;根据所述车位信息及所述障碍物信息,确定所述车辆分别在两种四轮转向模式下的泊车规划信息;其中,所述泊车规划信息包括泊车路径、挡位切换次数以及泊车路径长度,两种四轮转向模式包括前后轮同向模式和前后轮异向模式;基于两种所述泊车规划信息中的所述挡位切换次数和/或所述泊车路径长度,从两种所述泊车路径中确定目标泊车路径;按照所述目标泊车路径,控制所述车辆停靠至所述车位。
Parking planning method and device based on four-wheel steering, storage medium and vehicle
基于四轮转向的泊车规划方法、装置、存储介质及车辆
2022-11-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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