The invention provides a parking control method and a parking control unit. The parking control method comprises the steps that a plurality of preset rotation centers are obtained, wherein the preset rotation centers at least comprise four wheels of a vehicle; a plurality of feasible steering schemes are determined on the basis of the multiple preset rotation centers, and each feasible steering scheme comprises the steps that a vehicle body is controlled to rotate around one or more rotation centers in the multiple preset rotation centers one or more times, so that the posture of the vehicle body is adjusted to be a parking preparation posture suitable for being parked in a target parking space; determining a parking control strategy for parking the vehicle into the target parking space by means of the respective feasible steering schemes; evaluating the parking efficiency of each parking control strategy based on one or more efficiency parameters characterizing the parking efficiency of the vehicle; and the parking control strategy which is evaluated as the highest parking efficiency is sent to an execution unit of the vehicle, so that the execution unit controls the vehicle to park in the target parking space in a mode with the highest parking efficiency.
本发明提供了泊车控制方法和泊车控制单元。所述泊车控制方法包括:获取预定的多个旋转中心,所述预定的多个旋转中心至少包含车辆的四个车轮;基于所述预定的多个旋转中心确定多个可行转向方案,每个可行转向方案都包括:控制车身绕所述预定的多个旋转中心中的一个或多个旋转中心旋转一次或多次,以将车身位姿调整成适于泊入目标泊车位的泊入预备位姿;确定借助于各个可行转向方案来将车辆泊入目标泊车位的泊车控制策略;基于表征车辆泊车效率的一个或多个效率参数评估各个泊车控制策略的泊车效率;以及将评估为泊车效率最高的泊车控制策略发送给车辆的执行单元,以便执行单元控制车辆按照泊车效率最高的方式泊入目标泊车位。
Parking control method and parking control unit
泊车控制方法和泊车控制单元
2024-08-02
Patent
Electronic Resource
Chinese
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