The invention relates to the technical field of vehicles, in particular to an automatic parking assisting method and device, a vehicle and a storage medium, and the method comprises the steps: building a three-dimensional environment model according to obtained environment data, a dynamic obstacle and a static obstacle, obtaining an initial path according to the position and a target parking space, the initial path is optimized based on a preset optimization strategy to obtain a target path, the vehicle speed is adjusted through a preset control algorithm to obtain a target vehicle speed, the steering angle is adjusted through a preset controller to obtain a target steering angle, and the target steering angle is obtained. And controlling the vehicle to drive to the target parking space based on the three-dimensional environment model, the target path, the target vehicle speed and the target steering angle. Therefore, the problems that an automatic parking method is limited in sensing ability, lacks accurate control over the vehicle speed and steering, cannot cope with complex environments and the like are solved, a more reliable automatic parking auxiliary technology is provided, the automatic parking efficiency is improved, the stability of the vehicle in the parking process is guaranteed, and interactivity with a user is enhanced.

    本申请涉及车辆技术领域,特别涉及一种自动泊车辅助方法、装置、车辆及存储介质,方法包括:根据获取到的环境数据、动态障碍物和静态障碍物建立三维环境模型,根据位置和目标停车位得到初始路径,基于预设的优化策略对初始路径进行优化,得到目标路径,通过预设的控制算法调整车速,得到目标车速,通过预设的控制器调整转向角度,得到目标转向角度,基于三维环境模型、目标路径、目标车速和目标转向角度控制车辆驾驶至目标停车位。由此,解决了自动泊车方法存在感知能力有限,缺少对车速和转向的精准控制,无法应对复杂环境等问题,提供更为可靠的自动泊车辅助技术,提高自动泊车的效率,保证车辆在泊车过程中的平稳性,增强与用户的互动性。


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    Title :

    Automatic parking assisting method and device, vehicle and storage medium


    Additional title:

    自动泊车辅助方法、装置、车辆及存储介质


    Contributors:
    DU XIUDA (author) / YANG LIQIU (author) / PEI LISHAN (author) / XU HAIBIN (author) / TAN MINGWEI (author) / WANG LILI (author)

    Publication date :

    2024-07-12


    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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