The invention discloses a horizontal parking space vehicle automatic parking method and device, and belongs to the technical field of automatic driving, and the method comprises the steps: carrying out the handshake with a related control system protocol, executing a horizontal reversing strategy, and judging whether the safe distance of a rear obstacle is greater than or equal to 0.8 m and whether the vehicle is in a parallel state with a parking space line P1/P2 connection line are satisfied at the same time; if yes, a parking strategy is executed; if not, executing the posture adjustment strategy until the requirement is met. According to the method and device for automatically parking the vehicle in the horizontal parking space, automatic parking of the horizontal parking space is achieved by automatically switching algorithms according to the direction condition of the horizontal parking space, wide and large parking spaces can be covered to narrow parking spaces, the automatic parking success rate is greatly increased, and the parking performance is effectively improved; meanwhile, the algorithm has self-adaptability, the optimal parking algorithm can be selected according to the parking space condition, and the function application feeling of drivers and passengers is improved.

    本发明公开了一种水平车位车辆自动泊入方法及装置,属于自动驾驶技术领域,包括:与相关控制系统协议握手执行水平倒车策略,判断是否同时满足后方障碍物安全距离大于等于0.8m以及车辆与车位线P1/P2连线处于平行状态;若是,执行泊车入位策略;若否,执行姿态调整策略直至满足要求。本发明提供一种水平车位车辆自动泊入方法及装置,通过根据水平车位的方向情况,自动切换算法,实现水平车位的自动泊入,可以从宽大车位覆盖到窄车位,大大提高自动泊车成功率,并有效提高泊车性能;同时,本发明算法具有自适应性,可根据车位情况选取最优泊入算法,提高驾乘人员功能应用感受。


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    Title :

    Method and device for automatically parking vehicle in horizontal parking space


    Additional title:

    一种水平车位车辆自动泊入方法及装置


    Contributors:
    WU DI (author) / CAO BAOHUA (author) / PAN ZEXUN (author)

    Publication date :

    2024-08-02


    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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