Parking control method, device and system of transportation tool, transportation tool and vehicle

Abstract

The invention provides a parking control method, device and system of a transportation tool, the transportation tool and a vehicle, and relates to the technical field of automatic driving. The methodcomprises the steps of acquiring to-be-arrived parking position information of the transportation tool; acquiring first position information of the transportation tool in real time according to a first sensor, and controlling the transportation tool to move to the parking position according to the first position information and the parking position information; in the process of controlling the transportation tool to move to the parking position, detecting whether the real-time distance, which is obtained through a second sensor, between the transportation tool and the parking position is obtained or not in real time, wherein the positioning precision of the second sensor is higher than that of the first sensor; and after it is detected that the real-time distance, which is obtained through the second sensor, between the transportation tool and the parking position is obtained, conducting multi-section speed control on a power control system and a braking system of the transportation tool according to the real-time distance and the real-time speed of the transportation tool so as to control the transportation tool to park at the parking position.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a parking control method, device, system, transportation tool and vehicle of a vehicle. Background technique [0002] At present, with the development of automatic driving technology, the control of vehicles in automatic driving technology is very important. In particular, how to control the precise parking of vehicles has become a hot issue. At present, to control the vehicle to stop at the preset end position, the vehicle-mounted GPS (Global Positioning System, Global Positioning System) sensor is generally used to continuously obtain the position information of the vehicle, and detect the distance between the vehicle position and the end position. When the preset braking distance is reached , apply the brakes and stop at the end position. [0003] However, the current self-driving vehicles rely more on GPS signals. For areas with poor GPS signals, it ...

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Problems solved by technology

[0003] However, the current self-driving vehicles rely more on GPS signals. For areas with poor GPS signals, it is easy to cause inaccurate vehicle positioning and affect parking at the end position. In addition, when the preset braking distance is reached, the current self-driving vehicles use One-time braking, which is difficult for self-driving vehicles with high inertia (such as self-driving trucks) to brake sufficiently and stop accurately

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