The invention belongs to the field of automatic parking, and discloses an automatic parking control method and device, a control terminal and a storage medium, and the method comprises the following steps: obtaining an acceleration error and a speed error when a vehicle runs, and determining an accelerator variable quantity according to the acceleration error and the speed error; according to the accelerator variable quantity, the brake variable quantity is determined; judging whether the speed error is within a preset interval, and if not, judging whether the speed error is greater than an upper limit of the preset interval or less than a lower limit of the preset interval; and if the speed error is smaller than the lower limit of the preset interval, brake control is conducted on the vehicle according to the brake variable quantity, and if the speed error is larger than the upper limit of the preset interval, accelerator control is conducted on the vehicle according to the accelerator variable quantity. The automatic control of the vehicle speed is realized, so that the vehicle speed is within a certain range and is close to the theoretical speed.
本发明属于自动泊车领域,公开了一种自动泊车控制方法、装置、控制终端及存储介质,该方法包括:获取车辆行驶时的加速度误差和速度误差,根据所述加速度误差和所述速度误差确定油门变化量;根据所述油门变化量,确定制动变化量;判断所述速度误差是否在预设区间内,若不是,则判断所述速度误差大于所述预设区间的上限还是小于所述预设区间的下限;若所述速度误差小于所述预设区间的下限,则根据所述制动变化量,对车辆进行制动控制,若所述速度误差大于所述预设区间的上限,则根据油门变化量,对车辆进行油门控制。实现对车辆速度的自动控制,使得车辆速度在一定范围内,接近理论速度。
Automatic parking control method and device, control terminal and storage medium
自动泊车控制方法、装置、控制终端及存储介质
2023-01-24
Patent
Electronic Resource
Chinese
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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