A parking control method, device, vehicle and readable storage medium

Abstract

An embodiment of the present invention provides a parking control method, device, vehicle and readable storage medium. The method includes: obtaining obstacle information in the parking area during the automatic parking process of the vehicle; obtaining the current speed control of the vehicle information; according to the obstacle information and the current speed control information, determine the output torque information required by the motor of the vehicle; call the preset prediction model to determine the brake of the vehicle according to the output torque information The target acceleration information that needs to be generated; control the motor to adjust the current rotation torque according to the output torque information, and control the brake to adjust the current braking torque according to the target acceleration information, so that the vehicle passes through the obstacle. Automatic parking. According to the embodiments of the present invention, while the vehicle can effectively overcome obstacles, the predictability of brake control is improved, and the comfort and parking accuracy of the vehicle during braking are ensured.

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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