The invention relates to an automatic parking control method and device, a medium, equipment and a vehicle. The method comprises the steps that the position of a parking space is detected; determining a parking starting position range of the vehicle according to the position of the parking space; if an automatic parking instruction is received and the vehicle is within the parking starting position range, parking paths are determined according to the parking starting position of the vehicle and the position of the parking space, the parking paths sequentially comprise a first path, a second path, a third path and a fourth path, and every two adjacent paths are tangent; and controlling the vehicle to park along the parking path. The parking path is formed by the four tangent paths of the adjacent paths, smooth and continuous curvature changes can be provided, loss of an electric power steering system in the parking process is reduced, and tire abrasion is reduced.

    本公开涉及一种自动泊车控制方法、装置、介质、设备和车辆。所述方法包括:检测泊车位的位置;根据所述泊车位的位置确定车辆的泊车起始位置范围;若接收到自动泊车指令,且所述车辆处于所述泊车起始位置范围之内,则根据所述车辆的泊车起始位置和所述泊车位的位置确定泊车路径,所述泊车路径依次包括第一路径、第二路径、第三路径和第四路径,相邻的两条路径相切;控制所述车辆沿所述泊车路径进行泊车。采用相邻路径相切的四段路径形成泊车路径,能够提供圆滑且连续的曲率变化,减小了泊车过程中电动助力转向系统的损耗,降低了轮胎磨损。


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    Title :

    Automatic parking control method and device, medium, equipment and vehicle


    Additional title:

    自动泊车控制方法、装置、介质、设备和车辆


    Contributors:
    LIU YANG (author) / YANG DONGSHENG (author) / LIU KE (author) / WANG HUAN (author) / ZHOU XIONG (author)

    Publication date :

    2023-10-24


    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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