The invention relates to an automatic parking control method and device and a storage medium. According to the main technical scheme, the method comprises the steps that environment information of the surrounding environment of a vehicle is obtained, the environment information comprises position information of a target parking space and obstacle information, a splicing track of automatic parking is determined according to the position information and the obstacle information, the track type of the splicing track is determined according to a historical track, and the target parking space is obtained according to the track type of the splicing track. And calculating an expected target rotation angle, wherein the expected target rotation angle is used for controlling the vehicle to park in the target parking space. According to the method, the accurate expected target rotating angle can be obtained when the vehicle arrives at the terminal point, the track types of the spliced tracks are different, the calculated expected target rotating angles are different, track sudden changes are flexibly coped, the control error of the vehicle is further reduced, the vehicle is accurately parked in the target parking space, and the safety of the vehicle is improved.

    本申请涉及一种自动泊车控制方法、设备和存储介质。主要技术方案包括:获取车辆周围环境的环境信息,其中,环境信息包括目标车位的位置信息和障碍物信息,根据位置信息和障碍物信息,确定自动泊车的拼接轨迹,根据历史轨迹,确定拼接轨迹的轨迹类型,根据拼接轨迹的轨迹类型,计算期望目标转角,期望目标转角用于控制车辆泊入目标车位。本申请能够在车辆到达终点时获得准确的期望目标转角,且拼接轨迹的轨迹类型不同,计算得到的期望目标转角不同,灵活应对轨迹突变,进一步减少车辆的控制误差,将车辆准确地泊入目标车位,提高车辆的安全性。


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    Title :

    Automatic parking control method and device and storage medium


    Additional title:

    一种自动泊车控制方法、设备和存储介质


    Contributors:
    LI QIAN (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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