The embodiment of the invention discloses a vehicle automatic parking method, device and equipment and a medium. The method comprises the following steps: when a parking instruction is received, determining a target parking position and a central point position of the target parking position on a horizontal plane according to current position information of a target vehicle; in the process of controlling the target vehicle to drive into the target parking position, determining an obstacle connecting line corresponding to the target vehicle based on the center point position and the obstacle information associated with the target parking position; and based on the obstacle connecting line, the steering angle of the target vehicle is adjusted in real time, so that the target vehicle is controlled to enter the target parking position based on the adjusted steering angle. According to the technical scheme, in the vehicle driving process, the obstacle lines on the two sides of the parking space are fitted, the driving angle of the vehicle is adjusted based on the obstacle lines, the problem that parking fails due to errors of a vehicle radar is solved, the parking success rate of the target vehicle is achieved, and the vehicle is parked in the middle.

    本发明实施例公开了一种车辆自动泊车的方法、装置、设备及介质。该方法包括:在接收到泊车指令时,根据目标车辆的当前位置信息,确定目标泊车位置以及目标泊车位置在水平面上的中心点位置;控制目标车辆驶入目标泊车位置的过程中,并基于中心点位置和与目标泊车位置相关联的障碍物信息,确定与目标车辆相对应的障碍物连接线;基于障碍物连接线,实时调整目标车辆的转向角,以基于调整的转向角控制目标车辆进入目标泊车位置。本发明实施例的技术方案,通过在车辆行驶过程中,拟合出车位两侧的障碍物线,以基于障碍物线调整车辆的行驶角度,解决车辆雷达出现误差,导致泊车失败的问题,实现了目标车辆泊车的成功率,使车辆居中停放。


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    Title :

    Method, device and equipment for automatically parking vehicle and medium


    Additional title:

    一种车辆自动泊车的方法、装置、设备及介质


    Contributors:
    HUANG XIANQING (author) / DU JIANYU (author) / LIU BIN (author) / LI CHAO (author) / WANG HAONAN (author)

    Publication date :

    2023-03-14


    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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