Automatic parking method, system and equipment based on low-speed crawling and storage medium

Abstract

The invention provides an automatic parking method, system and equipment based on low-speed crawling and a storage medium. The method comprises the following steps that whether a vehicle meets low-speed crawling conditions or not is judged, and if yes, a target rotating speed of a motor is controlled to enable the vehicle to achieve low-speed crawling, wherein according to the low-speed crawling conditions, a vehicle gear signal is at the D gear or the R gear, and a braking pedal signal and an accelerator pedal signal of the vehicle are both zero; the running speed of a traffic flow group where the vehicle is located is detected, and whether the running speed of the traffic flow is smaller than a running speed threshold or not is judged, wherein the traffic flow group comprises at least one vehicle near the vehicle; if yes, a second speed threshold of automatic parking is decreased to zero, and then whether the running speed of the vehicle is smaller than the second speed threshold ornot is judged; and if yes, automatic parking is conducted. According to the automatic parking method, a method of an automatic parking service threshold based on the low-speed crawling working condition can be optimized according to the road condition, the shaking phenomenon caused by over-sensitive automatic parking setting in the vehicle low-speed crawling process is overcome, and the better riding experience is provided.

Description

technical field [0001] The invention relates to the field of driving control, in particular to an automatic parking method, system, device and storage medium based on low-speed creep. Background technique [0002] Self-driving vehicles (Autonomous vehicles; Self-driving automobile), also known as unmanned vehicles, computer-driven vehicles, or wheeled mobile robots, are intelligent vehicles that realize unmanned driving through computer systems. Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to work together to allow computers to automatically and safely operate motor vehicles without any active human intervention. [0003] Autohold (AVH, automatic parking system) is an additional value-added function of ESP. When the driver turns on the AVH function, when the vehicle is below a certain threshold and comes to a standstill, the driver steps on the brakes, and the vehicle realizes automatic parking...

AI Technical Summary

Problems solved by technology

However, when the vehicle is crawling at low speed, the vehicle speed may have reached the working threshold of AVH, automatic braking will occur, and then the driver needs to step on the accelerator to drive away and then brake again, which will bring great inconvenience to the driver. Bad driving experience The vehicle is shaking and shaking

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