The invention discloses an automatic parking control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a planned parking track of a vehicle, and predicting first state information representing the driving state of the vehicle; wherein the planned parking track comprises a plurality of planned track points, and the second state information of the planned track points at least comprises second positions and second course angles of the planned track points; based on the first state information and the second state information of each planning track point, selecting the planning track point on the planning parking track as a reference track point; measuring a tracking error between the first state information and second state information of the reference trajectory point; and based on the tracking error, control parameters for automatic parking are obtained through analysis. According to the scheme, the accuracy of tracking the parking track by the vehicle during automatic parking can be improved, so that the parking effect is improved.

    本申请公开了自动泊车控制方法、装置、电子设备及存储介质,方法包括:获取车辆的规划泊车轨迹,并预测表征车辆自车行驶状态的第一状态信息;其中,规划泊车轨迹包括若干规划轨迹点,且规划轨迹点的第二状态信息至少包括规划轨迹点的第二位置和第二航向角;基于第一状态信息和各个规划轨迹点的第二状态信息,在规划泊车轨迹上选择规划轨迹点作为参考轨迹点;度量第一状态信息与参考轨迹点的第二状态信息之间的跟踪误差;基于跟踪误差,分析得到用于自动泊车的控制参数。上述方案,能够提高自动泊车时车辆跟踪泊车轨迹的准确度,以提高泊车效果。


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    Title :

    Automatic parking control method and device, electronic equipment and storage medium


    Additional title:

    自动泊车控制方法、装置、电子设备及存储介质


    Contributors:

    Publication date :

    2023-06-30


    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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