The invention relates to a vehicle parking-out method and device, electronic equipment, a readable storage medium and a vehicle, and the method comprises the steps: obtaining an angle deviation value between a target vehicle and a barrier vehicle under the condition that the type of the barrier is detected to be a vehicle type and the barrier vehicle is located in front of the parking-out direction of the target vehicle; when it is detected that the angle deviation value is larger than a preset value, the angle relation between the destination of the parking position of the target vehicle and the initial position of the target vehicle is determined; according to the angle relation, the preset vertical distance between the target vehicle parking-out position end point and the obstacle vehicle and the target vehicle parking-out position end point, a parking-out path corresponding to the target vehicle is obtained, that is, the target vehicle is determined to be at a certain inclination angle through the angle deviation value between the target vehicle and the obstacle vehicle; and a parking path is determined according to the angle relation, the preset vertical distance between the vehicle and the obstacle vehicle and the parking position end point of the target vehicle, so that the reasonability and comfort of the parking position are ensured under the condition that the vehicle has a certain inclination angle.

    本发明涉及一种车辆泊出方法、装置、电子设备、可读存储介质及车辆,包括:在检测到障碍物的类型为车辆类型且障碍物车辆处于目标车辆泊出方向前方的情况下,获取目标车辆和障碍物车辆之间的角度偏差值;在检测到角度偏差值大于预设值的情况下,确定目标车辆泊出位置终点与目标车辆初始位置的角度关系;根据角度关系、目标车辆泊出位置终点与障碍物车辆之间的预设垂直距离和目标车辆泊出位置终点得到目标车辆对应的泊出路径,即本发明通过目标车辆和障碍物车辆之间的角度偏差值确定目标车辆时处于一定倾斜角度,进而通过角度关系、与障碍物车辆之间的预设垂直距离和目标车辆泊出位置终点确定泊出路径,从而保证车辆存在一定倾斜角度的情况下,泊出后的位置的合理性和舒适性。


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    Title :

    Vehicle parking method and device, electronic equipment, readable storage medium and vehicle


    Additional title:

    车辆泊出方法、装置、电子设备、可读存储介质及车辆


    Contributors:
    CHEN BAOGANG (author) / LYU XUEHUI (author) / SHENG JINYUAN (author) / WU YUFEI (author)

    Publication date :

    2023-11-21


    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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