Automatic parking control method

Abstract

The invention discloses an automatic parking control method, and the method comprises the following steps of judging whether a relationship between a parking depth DR and a parking space depth DL is satisfied or not when a vehicle is parked in a parking space: if so, judging whether an included angle alpha formed by a vehicle body and a long side of the parking space is less than or equal to 6 degrees or not: if so, controlling the vehicle to continue parking at a second vehicle speed V2 until parking is completed, or else, controlling the vehicle to continue to park according to the first vehicle speed V1 until parking is completed; or else, controlling the vehicle to continue to park according to the first vehicle speed V1, and continuously judging whether the relationship between the parking depth DR and the parking space depth DL meets the condition or not until the relationship meets the condition that the second vehicle speed V2 is greater than the first vehicle speed V1. By theadoption of the control method, in the initial stage that the vehicle is parked into the parking space, obstacles on the parking space parking path can be fully recognized at a low vehicle speed, thesituations of false detection and missing detection are avoided, and parking safety is guaranteed.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to an automatic parking control method. Background technique [0002] With the rapid development of the automotive field, intelligent assisted driving systems have been widely used in various car models. As one of the intelligent driving assistance systems, the automatic parking assistance system has also become the standard configuration of high-end or high-end models of all models. With the widespread application of automatic parking assistance systems, the challenges it faces from complex and diverse parking environments are becoming increasingly severe. In the process of automatic parking, the existing automatic parking technology has the following disadvantages: the automatic parking system based on the arrangement of ultrasonic probes has limited real-time detection and identification of obstacles on the parking path, and is prone to false detection and missed dete...

AI Technical Summary

Problems solved by technology

In the process of automatic parking, the existing automatic parking technology has the following disadvantages: the automatic parking system based on the arrangement of ultrasonic probes has limited real-time detection and identification of obstacles on the parking path, and is prone to false detection and missed detection. situation; based on the limitations of ultrasonic detection performance, when the current automatic parking system detects obstacles that are missed on the parking path at a relatively short distance, it will appear a relatively large emergency brake to prevent the occurrence of scratches. Uncomfortable experience brought to the user is unavoidable; for obstacles that suddenly break into the parking path, if the system does not stop in time, there will be a risk of scratching

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