Horizontal autonomous parking control method and device, vehicle and storage medium

Abstract

The invention provides a horizontal autonomous parking control method. The horizontal autonomous parking control method comprises the steps of acquiring position coordinates of a target garage position, position coordinates of an obstacle vehicle and initial pose information of a to-be-parked vehicle; determining a parking reference track of the to-be-parked vehicle; based on the initial pose information and the first arc trajectory of the vehicle, generating a first target trajectory by adopting a forward-looking window tracking algorithm; based on the first target point and the tangent trajectory, generating a second target trajectory by adopting a foresight window tracking algorithm; based on the second target point and the second arc trajectory, generating a third target trajectory byadopting a foresight window tracking algorithm; and according to the first target track, the second target track and the third target track, controlling the vehicle to be parked into the target storage location. The invention further provides a horizontal autonomous parking control device, a vehicle and a storage medium. According to the method, automatic parking can better accord with driving habits, and the driving experience is improved.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a horizontal autonomous parking control method, device, vehicle and storage medium. Background technique [0002] In recent years, with the continuous development and application of autonomous driving technology, the comfort and rationality of autonomous driving have become more and more important. For the automatic parking process, it is mainly for the vehicle to plan the path according to the parking space scene, and the vehicle follows the planned path to complete the automatic parking. [0003] However, in the process of realizing the present invention, the inventors have found that at least the following problems exist in the prior art: traditional horizontal parking adopts CLC trajectory (arc-straight line-arc), which can realize parking, but its curvature is discontinuous, and parking is difficult. The car experience is poor; the cycloid will also be int...

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Problems solved by technology

[0003] However, in the process of realizing the present invention, the inventors have found that at least the following problems exist in the prior art: traditional horizontal parking adopts CLC trajectory (arc-straight line-arc), which can realize parking, but its curvature is discontinuous, and parking is difficult. The car experience is poor; in the design of the horizontal parking trajectory, a cycloid will also be introduced to plan a trajectory with continuous curvature, which is more in line with the user's driving habits, but the calculation of this design is more complicated, and the calculation of the start and end points of the cycloid also more rigid

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