The invention provides an automatic parking control method, a domain controller, a vehicle and a computer program product, according to the automatic parking control method provided by the invention, a parking path is generated according to an initial vehicle position and a target parking position, the parking path comprises at least one path segment and a direction switching node located at the tail end of the path segment, in the period of controlling the vehicle to be automatically parked based on the parking path, a gear switching request is sent to a gear controller before the vehicle moves to a direction switching node, so that gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, gear switching is completed after the vehicle moves to the direction switching node. And controlling the vehicle to move from the current direction switching node to the next direction switching node according to the next path section in the parking path according to the switched gear, and completing parking after the vehicle moves to the target parking position in a target posture along the last path section in the parking path. By the adoption of the method, pause between front and back movement of the vehicle during parking can be eliminated, the problems of parking nodding and starting rising during parking of the vehicle are solved, the vehicle can stably move in a seamless connection mode, and the automatic parking effect and the use experience are improved.

    本发明提出了自动泊车控制方法、域控制器、车辆及计算机程序产品,根据本发明提出的自动泊车控制方法,根据初始车辆位置和目标泊车位置生成泊车路径,泊车路径包括至少一个路径段和位于所述路径段末端的方向切换节点,在基于泊车路径控制车辆自动泊车期间,在车辆移动至方向切换节点之前发送档位切换请求至档位控制器,以使车辆移动至方向切换节点之前完成档位切换,并在车辆移动至方向切换节点之后,根据切换后的档位控制车辆按照泊车路径中的下一路径段从当前方向切换节点移动至下一方向切换节点,以及在车辆沿所述泊车路径中的最后一个路径段以目标姿态移动至所述目标泊车位置后,完成泊车,采用该方法可以消除泊车期间车辆前后移动之间的停顿,避免车辆泊车期间的停车点头以及起步抬头问题,使得车辆可以无缝衔接的平稳移动,提升自动泊车效果和使用体验。


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    Title :

    Automatic parking control method, domain controller, vehicle and computer program product


    Additional title:

    自动泊车控制方法、域控制器、车辆及计算机程序产品


    Contributors:
    LYU YINGBIN (author)

    Publication date :

    2024-12-20


    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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