The invention provides an automatic parking control method and device in automatic driving and electronic equipment. The method comprises the steps that planned parking information of a current automatic driving vehicle in current-round parking control is acquired; determining whether the braking type is a gradual-speed-change braking type or not; if yes, determining a target braking distance of the current round of parking control according to a braking type in the previous round of parking control, and determining an actual parking distance of the current round of parking control by using a difference value between the target braking distance and a previous round of driving distance increment; according to the actual parking distance and the current vehicle speed, the parking acceleration and the parking speed in current-round parking control are determined, and the parking acceleration, the parking speed and the current vehicle speed are input into a PID model to obtain the pedal opening degree; and performing current-round parking control on the current automatic driving vehicle according to the pedal opening degree. By adopting the automatic parking control method and device in automatic driving and the electronic equipment, the problem of low speed control smoothness in the automatic parking process is solved.

    本申请提供了一种自动驾驶中的自动泊车控制方法、装置及电子设备,该方法包括:获取针对当前自动驾驶车辆在本轮泊车控制中的规划泊车信息;确定制动类型是否为渐变速制动类型;若是渐变速制动类型,根据上一轮泊车控制中的制动类型确定本轮泊车控制的目标制动距离,利用目标制动距离与上一轮行驶距离增量之间差值确定本轮泊车控制的实际停车距离;根据实际停车距离及当前车速确定本轮泊车控制中泊车加速度及泊车速度,将泊车加速度、泊车速度及当前车速输入PID模型获得踏板开度;根据踏板开度对当前自动驾驶车辆进行本轮泊车控制。通过采用上述自动驾驶中的自动泊车控制方法、装置及电子设备,解决了自动泊车过程中速度控制平顺性低的问题。


    Access

    Download


    Export, share and cite



    Title :

    Automatic parking control method and device in automatic driving and electronic equipment


    Additional title:

    一种自动驾驶中的自动泊车控制方法、装置及电子设备


    Contributors:
    HU DALIN (author) / YOO JAE-JUN (author) / YANG QIANG (author)

    Publication date :

    2023-07-07


    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



    Automobile automatic driving method, automobile automatic parking method and electronic equipment

    LIU XIAONAN / FAN MILI / ZHENG ZENGGUANG | European Patent Office | 2020

    Free access


    Parking redundancy control method, automatic driving system and driving equipment

    LU LAN / GUAN HAO / XU HUALIN et al. | European Patent Office | 2020

    Free access

    AUTOMATIC PARKING SYSTEM, CONTROL METHOD FOR AUTOMATIC PARKING SYSTEM, AND AUTOMATIC DRIVING VEHICLE

    SUGANO TATSUYA / MORITA KOJI | European Patent Office | 2023

    Free access

    AUTOMATIC PARKING SYSTEM, AUTOMATIC PARKING CONTROL DEVICE, AND AUTOMATIC PARKING CONTROL METHOD

    KIMURA JUNICHI / SATO YOSHIO / SHIMOTANI MITSUO | European Patent Office | 2017

    Free access