The invention relates to a vehicle parking method and device, a vehicle and a storage medium, and the method comprises the steps: recognizing the actual parking space type of a target parking space, and judging whether the vehicle meets a preset adaptive posture adjustment condition or not; if the vehicle meets the preset adaptive attitude adjustment condition, generating a first parking track plan of the vehicle based on the actual parking space type, the current position information of the vehicle, the target parking space coordinate information and the sensing information, and outputting a first adjustment position; and controlling the vehicle to move to a first adjustment position, and controlling the vehicle to execute a corresponding attitude adjustment action based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the sensing information until the vehicle is parked in the target parking space. According to the embodiment of the invention, the adjusting position can be generated when the parking track is planned, so that the posture adjustment can be carried out at the adjusting position, the self-adaptive posture adjustment is realized, the coherence of vehicle parking is ensured, and the parking efficiency is improved.

    本申请涉及一种车辆的泊车入库方法、装置、车辆及存储介质,其中,方法包括:识别目标车位的实际车位类型,判断车辆是否满足预设自适应姿态调节条件;如果车辆满足预设自适应姿态调节条件,则基于实际车位类型、车辆的当前位置信息、目标车位坐标信息和感知信息,生成车辆的第一泊入轨迹规划,并输出第一调节位置;控制车辆移动至第一调节位置,并基于实际车位类型、第一调节位置、目标车位坐标信息和感知信息,控制车辆执行相应的姿态调整动作,直至停入目标车位。本申请实施例可以在进行泊入轨迹规划时,生成调节位置,以在调节位置进行姿态调整,实现自适应姿态调整,从而保证车辆泊车入库的连贯性,提高泊车效率。


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    Title :

    Vehicle parking method and device, vehicle and storage medium


    Additional title:

    车辆的泊车入库方法、装置、车辆及存储介质


    Contributors:
    YANG FENG (author)

    Publication date :

    2023-08-22


    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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