The invention relates to a parking control method and device, computer equipment and a storage medium, and relates to the technical field of automatic driving and artificial intelligence. A parking control model is obtained through training based on real parking track data and simulated parking track data, current wheel control information corresponding to a vehicle is output through the parking control model according to initial pose information and target pose information of the vehicle relative to a target parking space, and the vehicle is controlled according to wheel control information in the current wheel control information. And the vehicle is controlled to run at the corresponding steering angle for the corresponding distance to gradually drive into the target parking space. Compared with a traditional method for realizing parking through a manual design rule, the method has the advantages that the model is trained through real and simulated trajectory data in various forms, the model is combined with the initial pose information and the target pose information, control information such as the wheel angle and the driving distance of the vehicle is output, the vehicle is gradually controlled to enter the target parking space, and the parking efficiency is improved. And the parking efficiency is improved.
本申请涉及一种停车控制方法、装置、计算机设备和存储介质,涉及自动驾驶及人工智能技术领域。通过基于真实停车轨迹数据和模拟停车轨迹数据训练得到停车控制模型,通过停车控制模型根据车辆相对于目标车位的初始位姿信息和目标位姿信息,输出车辆对应的当前车轮控制信息,根据当前车轮控制信息中的车轮控制信息,控制车辆以相应的转向角度行驶相应的距离逐步驶入目标车位。相较于传统的通过手动设计规则实现停车,本方案通过真实和模拟多种形式的轨迹数据训练模型,利用模型结合初始位姿信息和目标位姿信息,输出对车辆的车轮角度和行驶距离等控制信息,逐步控制车辆驶入目标车位,提高了停车的效率。
Parking control method and device, computer equipment and storage medium
停车控制方法、装置、计算机设备和存储介质
2024-07-05
Patent
Electronic Resource
Chinese
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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