The embodiment of the invention discloses a spatial oblique parking space automatic parking method and a device, a vehicle and a storage medium. The method comprises the steps that the detecting a first transverse distance between obstacles around a vehicle and the side of the vehicle in the process of automatic parking according to a first parking path; if the change trend of the first transversedistance meets a preset condition, determining that a target parking space for current automatic parking is a spatial oblique parking space, and determining whether the first transverse distance is smaller than a preset distance threshold value; if the first transverse distance is smaller than a preset distance threshold value, stopping the current automatic parking action and determining an oblique parking space angle of the spatial oblique parking space; determining a second parking path according to the oblique parking space angle; and carrying out automatic parking according to the secondparking path. According to the embodiment of the invention, the system irons out the defects of a conventional automatic parking system, enriches the functions and application scenes of an automaticparking product, and facilitates the promotion of the appearance of an automatic parking product with a spatial inclined parking space.

    本发明实施例公开了一种空间斜向车位自动泊车方法、装置、车辆及存储介质,所述方法包括:在根据第一泊车路径进行自动泊车的过程中检测车辆周围障碍物与车辆侧方的第一横向距离;若第一横向距离的变化趋势符合预设条件,则确定当前自动泊车的目标车位为空间斜向车位,并确定第一横向距离是否小于预设距离阈值;若第一横向距离小于预设距离阈值,则停止当前自动泊车动作并确定空间斜向车位的斜向车位角度;根据斜向车位角度确定第二泊车路径;根据第二泊车路径进行自动泊车。本发明实施例解决了以往自动泊车系统的不足,丰富了自动泊车产品的功能和应用场景,有利于推动空间斜向车位自动泊车产品的面世。


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    Title :

    Spatial oblique parking space automatic parking method and device, vehicle and storage medium


    Additional title:

    空间斜向车位自动泊车方法、装置、车辆及存储介质


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