The invention relates to the technical field of automatic driving, in particular to an automatic parking method and device, electronic equipment and a storage medium. The method is applied to a four-wheel steering vehicle and comprises the steps that in response to vehicle parking operation, a parking control parameter set is obtained; controlling the vehicle to automatically park on the basis of parking control parameters in the parking control parameter set; in the automatic parking process of the vehicle, the current front wheel turning angle, the current driving track information and the planned driving track information of the vehicle are obtained; determining a front and rear wheel proportionality coefficient corresponding to the current front wheel steering angle, wherein the front and rear wheel proportionality coefficient indicates the ratio between the rear wheel steering angle and the front wheel steering angle of the vehicle; and controlling the driving track of the vehicle in the automatic parking process based on the corner proportionality coefficient, the driving track information and the planned driving track information. The parking control parameter calibration efficiency is improved, and the safety, stability, practicability and comfort of automatic parking are improved.

    本申请涉及自动驾驶技术领域,尤其涉及一种自动泊车方法、装置、电子设备及储存介质。应用于四轮转向车辆,方法包括:响应于车辆泊车操作,获取泊车控制参数集;基于泊车控制参数集中的泊车控制参数控制车辆的进行自动泊车;在车辆的自动泊车过程中,获取车辆的当前前轮转角、当前行驶轨迹信息和规划行驶轨迹信息;确定当前前轮转角对应的前后轮比例系数,前后轮比例系数指示车辆的后轮转角与前轮转角间的比;基于转角比例系数、行驶轨迹信息和规划行驶轨迹信息控制车辆在自动泊车过程中的行驶轨迹。本申请提高了泊车控制参数标定的效率,提高了自动泊车的安全性、稳定性、实用性和舒适性。


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    Title :

    Automatic parking method and device, electronic equipment and storage medium


    Additional title:

    一种自动泊车方法、装置、电子设备及储存介质


    Contributors:
    SU YUHONG (author) / HOU FAWEI (author)

    Publication date :

    2023-03-07


    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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