The embodiment of the invention discloses a parking torque determination method and a device, equipment and a medium. The method comprises the steps of determining parking path information of a to-be-parked vehicle according to an initial position and a target position of the to-be-parked vehicle; determining a target parking speed of the to-be-parked vehicle according to the parking path information; and determining the target torque of the to-be-parked vehicle according to the target parking speed, a current gradient and a steering wheel angle. The parking torque is determined in a feedforward and feedback mode, it is guaranteed that the target vehicle speed can be rapidly tracked in real time in the parking process, and the parking control effect is effectively improved.

    本发明实施例公开了一种泊车扭矩的确定方法、装置、设备和介质。其中,该方法包括:根据待泊车辆的初始位置和目标位置,确定待泊车辆的泊车路径信息;根据泊车路径信息确定待泊车辆的目标泊车速度;根据目标泊车速度、当前坡度和方向盘转角,确定待泊车辆的目标扭矩。本发明实施例通过前馈加反馈的方式确定泊车扭矩,保证泊车过程中能够快速实时的跟踪目标车速,有效提高了泊车的控制效果。


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    Title :

    Parking torque determination method and device, equipment and medium


    Additional title:

    泊车扭矩的确定方法、装置、设备和介质


    Contributors:
    LI CHAO (author) / DU JIANYU (author) / LIU BIN (author) / CAO TIANSHU (author) / LI HAIBING (author)

    Publication date :

    2020-10-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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