The invention discloses an automatic parking control method which comprises the following steps: when path tracking is started on a current parking path in a parking planning path, obtaining an in-situ steering wheel adjustment angle value according to a direction angle of a vehicle steering wheel, an initial target direction angle on the current parking path and a tracking path distance of the current parking path; adjusting a steering wheel angle according to the in-situ steering wheel adjusting angle value; after the in-situ steering wheel is adjusted, the vehicle is controlled to start, and the steering wheel of the vehicle is further adjusted to the initial target direction angle of the current parking path in the starting stage; performing longitudinal and transverse control processing on the vehicle according to the current parking path; and controlling the speed of the vehicle so that the vehicle stops at the end of the current parking path. The invention further discloses a corresponding device, electronic equipment, a storage medium and a vehicle. By implementing the method, the frequency and time of pivot steering during parking can be reduced, the service life of tires is prolonged, and the user experience in the intelligent driving process is improved.

    本发明公开了一种自动泊车控制方法,包括步骤:在对泊车规划路线中的当前泊车路径开始进行路径追踪时,根据车辆方向盘的方向角、当前泊车路径上初始目标方向角以及当前泊车路径的跟踪路径距离,获得原地方向盘调整角度值,并根据原地方向盘调整角度值调整方向盘角度;在原地方向盘调整后,控制车辆起步,在起步阶段将车辆的方向盘进一步调整至当前泊车路径的初始目标方向角;根据当前泊车路径对所述车辆进行纵横向控制处理;控制车辆速度,使其在当前泊车路径结束时停止。本发明还公开了相应的装置、电子设备、存储介质及车辆。实施本发明,可以降低泊车时原地转向的频次和时间,延长轮胎寿命,提升智驾过程中的用户体验。


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    Titel :

    Automatic parking control method and device, electronic equipment, storage medium and vehicle


    Weitere Titelangaben:

    一种自动泊车控制方法、装置、电子设备、存储介质及车辆


    Beteiligte:
    KONG DEPENG (Autor:in) / LI RONGJIA (Autor:in) / ZHANG ZHIDE (Autor:in)

    Erscheinungsdatum :

    2023-10-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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