The invention relates to the technical field of automatic driving, in particular to an automatic parking control method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: constructing a state vector of the vehicle and a system process and observation equation corresponding to the state vector based on an initial pose, left and right wheels and an angle scale factor of a target vehicle; calculating an information error and an extended Kalman gain so as to estimate the current pose of the target vehicle and obtain a corresponding pose estimation result; and on the basis of the information error, the extended Kalman gain and the noise adaptive factor, system noise is obtained, the state vector is corrected in combination with the pose estimation result, an updating result is obtained, the current pose estimation operation is iteratively executed, a final pose estimation result of the vehicle is generated, and automatic parking operation is executed. Therefore, the problem that in the prior art, real-time changes of system process errors and system observation errors cannot be tracked, and the vehicle pose estimation precision is greatly affected is solved.
本申请涉及自动驾驶技术领域,特别涉及一种车辆的自动泊车控制方法、装置、车辆及存储介质,其中,方法包括:基于目标车辆的初始的位姿、左右轮和角度比例因子,构建车辆的状态向量及其对应的系统过程和观测方程,并计算信息误差和扩展卡尔曼增益,以估算目标车辆的当前位姿,得到对应的位姿估算结果;基于信息误差、扩展卡尔曼增益和噪声自适应因子,得到系统噪声,并结合位姿估算结果校正状态向量得到更新结果,以迭代执行当前位姿估算操作,生成车辆最终位姿估算结果,以执行自动泊车操作。由此,解决了现有技术无法对系统过程误差和系统观测误差的实时变化进行跟踪,极大影响了车辆位姿估算精度等问题。
Automatic parking control method and device of vehicle, vehicle and storage medium
车辆的自动泊车控制方法、装置、车辆及存储介质
2024-09-10
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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