The invention discloses an automatic parking method, device and equipment and a storage medium, and the method comprises the steps: determining a target parking track and target parking parameters of a vehicle based on a pre-optimized parking track planning algorithm; the parking track planning algorithm is obtained by optimizing historical parking tracks and historical parking parameters in the historical parking process; the target parking parameters comprise target rudder kneading times, target track feature points, a target steering wheel rotation angle and a target steering wheel rotation angular velocity; a target parking space is determined according to the target parking track, and obstacle information around the target parking space is determined; and controlling the vehicle to park based on the target parking track and the target parking parameters, and adjusting the parking angle and the parking position of the vehicle according to the parking space angular point coordinates and the information of obstacles around the target parking space. According to the scheme, automatic parking can be carried out according to the driving habits of the driver, and the parking experience of the driver is improved.
本发明公开了一种自动泊车方法、装置、设备和存储介质,包括:基于预先优化的泊车轨迹规划算法,确定车辆的目标泊车轨迹和目标泊车参数;所述泊车轨迹规划算法根据历史泊车过程中的历史泊车轨迹和历史泊车参数优化得到;所述目标泊车参数包括:目标揉舵次数、目标轨迹特征点、目标方向盘转动角度和目标方向盘转动角速度;根据所述目标泊车轨迹确定目标车位,并确定所述目标车位周围的障碍物信息;控制所述车辆基于所述目标泊车轨迹和所述目标泊车参数进行泊车,并根据车位角点坐标,以及所述目标车位周围的障碍物信息,对车辆的泊车角度和泊车位置进行调整。上述方案,可以根据驾驶员的驾驶习惯进行自动泊车,提高驾驶员的泊车体验。
Automatic parking method, device and equipment and storage medium
一种自动泊车方法、装置、设备和存储介质
2023-03-14
Patent
Elektronische Ressource
Chinesisch
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