The invention discloses a vehicle parking control method, device and equipment and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that parking state information of a vehicle conducting automatic parking based on a rotating speed control mode is obtained, and the rotating speed control mode is a mode that automatic parking is achieved by controlling the rotating speed of a motor; under the condition that the parking state information meets the mode switching condition, it is determined that the vehicle is in a wheel rolling blocking scene, and decision reference information influencing the parking safety of the vehicle is obtained; and under the condition that the decision reference information meets the safety condition, the rotating speed control mode is switched into a torque control mode, automatic parking is conducted based on the torque control mode, and the torque control mode is the mode that automatic parking is achieved by controlling the torque of a motor. A rotating speed control mode is replaced by a torque control mode, the situation that the vehicle exits from parking due to the fact that the rotating speed reaches the limit is avoided, and the continuity of the automatic parking process of the vehicle is guaranteed.

    本申请公开了一种车辆泊车的控制方法、装置、设备及存储介质,属于车辆控制技术领域。该方法包括:获取基于转速控制模式进行自动泊车的车辆的泊车状态信息,转速控制模式为通过控制电机的转速实现自动泊车的模式;在泊车状态信息满足模式切换条件的情况下,确定车辆处于车轮滚动受阻场景,获取影响车辆泊车安全的决策参考信息;在决策参考信息满足安全条件的情况下,将转速控制模式切换为扭矩控制模式,基于扭矩控制模式进行自动泊车,扭矩控制模式为通过控制电机的扭矩实现自动泊车的模式。通过扭矩控制模式代替转速控制模式,避免了因转速达到极限导致的车辆退出泊车情况发生,保障了车辆的自动泊车过程的连贯性。


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    Titel :

    Vehicle parking control method, device and equipment and storage medium


    Weitere Titelangaben:

    车辆泊车的控制方法、装置、设备及存储介质


    Beteiligte:
    SUN YU (Autor:in) / LAN GUANGJIAN (Autor:in)

    Erscheinungsdatum :

    2023-12-05


    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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