Parking control method and device, vehicle and readable storage medium

Abstract

The embodiment of the invention provides a parking control method and device, a vehicle and a readable storage medium. The method comprises the following steps: acquiring obstacle information in a parking area in the automatic parking process of the vehicle; acquiring current speed control information of the vehicle; determining output torque information required to be generated by a motor of thevehicle according to the obstacle information and the current speed control information; calling a preset prediction model to determine target acceleration information required to be generated by a brake of the vehicle according to the output torque information; and controlling the motor to adjust the current rotating torque according to the output torque information, and controlling the brake toadjust the current braking torque according to the target acceleration information, and completing automatic parking after the vehicle passes through the obstacle. According to the embodiment of the invention, the predictability of brake control is improved while the vehicle can effectively cross the obstacle, and the comfort and parking precision of the vehicle during braking are guaranteed.

Description

technical field [0001] The present invention relates to the technical field of vehicles, in particular to a parking control method, a parking control device, a vehicle and a computer-readable storage medium. Background technique [0002] Automatic parking means that the car automatically parks in place without manual control. At present, the automatic parking of smart cars is usually realized through external sensors. By setting the external sensor at a certain fixed calibration position to detect the vehicle, when the target vehicle is sensed, the vehicle is guided to park, so that it can be parked within the designated parking space line. [0003] However, the existing parking methods are only suitable for situations where the environment is relatively fixed and the consistency of vehicle actuators is relatively good. When the environment is random, for example, there are speed bumps on the ground, or the response of the braking device is slow, etc., it is difficult to g...

AI Technical Summary

Problems solved by technology

[0003] However, the existing parking methods are only suitable for situations where the environment is relatively fixed and the consistency of vehicle actuators is relatively good.

When the environment is random, for example, there are speed bumps on the ground, or the response of the braking device is slow, etc., it is difficult to guarantee the parking accuracy and comfort of automatic parking

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