The invention discloses a vertical parking space parking method, device and equipment and a storage medium, and the method comprises the steps: responding to a parking instruction based on a target vertical parking space, and generating a parking map of a target vehicle based on a target coordinate system; based on the parking map, obtaining an initial position of a target vehicle and a position of a target vertical parking space; based on the minimum turning radius of the target vehicle and a tracking control algorithm, controlling the target vehicle to advance from the initial position to a first final position; based on the longitudinal center line position and the minimum turning radius, controlling the target vehicle to transversely retreat to a second final position; based on the longitudinal center line position and the transverse front side line position, controlling the target vehicle to retreat to a third final position at the maximum steering wheel angle; and controlling the target vehicle to retreat to the parking point position based on the transverse rear side line position and a tracking control algorithm. By using the technical scheme provided by the invention, the initial position and course of the target vehicle do not need to be restrained, so that the universality of the vertical parking space parking method is improved.

    本申请公开了一种垂直车位泊车方法、装置、设备及存储介质,所述方法包括:响应于基于目标垂直车位的泊车指令,基于目标坐标系生成目标车辆的泊车地图;基于泊车地图,获取目标车辆的初始位置和目标垂直车位的位置;基于目标车辆的最小转弯半径和跟踪控制算法,控制目标车辆从初始位置前进至第一终点位置;基于纵向中心线位置和最小转弯半径,控制目标车辆横向后退至第二终点位置;基于纵向中心线位置和横向前边线位置,控制目标车辆以最大方向盘转角后退至第三终点位置;基于横向后边线位置和跟踪控制算法,控制目标车辆后退至停车点位置。利用本申请提供的技术方案,无需约束目标车辆的初始位置和航向,从而提升了垂直车位泊车方法的普适性。


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    Title :

    Vertical parking space parking method, device and equipment and storage medium


    Additional title:

    一种垂直车位泊车方法、装置、设备及存储介质


    Contributors:
    LI FENGJUN (author) / ZHOU JIANGUANG (author) / HOU FAWEI (author)

    Publication date :

    2021-09-24


    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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