A longitudinal speed control method, device and vehicle for automatic parking

Abstract

The application relates to the field of intelligent automobiles, and relates to a longitudinal speed control method, device and vehicle for automatic parking. The longitudinal speed control method for automatic parking obtains the path length of a parking path of a vehicle, determines the longitudinal speed of the vehicle on the parking path based on the path length and preset parking information, and controls the vehicle to travel according to the longitudinal speed through multiple controllers. The application not only enables the vehicle to start, decelerate and accurately track the planned speed smoothly, but also enables the vehicle to park more accurately and smoothly, thereby improving the experience of passengers.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicles, and more specifically, to a longitudinal speed control method, apparatus, and vehicle for automatic parking. Background Technology

[0002] In many large cities, parking spaces are limited, making it difficult for novice drivers to maneuver into a narrow parking space. Automatic parking solves this problem for them. The longitudinal control of a vehicle affects its stability, passenger comfort, and driving safety. However, current automatic parking systems sometimes experience issues where the vehicle accelerates or decelerates too quickly, causing discomfort to passengers. Summary of the Invention

[0003] The purpose of this invention is to provide a longitudinal speed control method, device, and vehicle for automatic parking.

[0004] In a first aspect, the present invention provides a longitudinal speed control method for automatic parking, the method comprising: Get the path length of the vehicle parking path; The longitudinal speed of the vehicle on the parking path is determined based on the path length and preset parking information; The vehicle's movement is controlled by multiple controllers based on the longitudinal speed.

[0005] In an optional implementation, the preset parking information includes a preset redundancy coefficient, a preset maximum time, and a preset acceleration. Determining the longitudinal speed of the vehicle on the parking path based on the path length and the preset parking information includes: The parking time of the vehicle is calculated based on the preset redundancy coefficient and the preset maximum time, and the average speed of the vehicle is calculated based on the path length and the parking time. The corresponding longitudinal speed is determined based on the average speed, the parking time, and the preset acceleration.

[0006] In an optional implementation, determining the corresponding longitudinal speed based on the average speed, the parking time, and the preset acceleration includes: Based on the average speed, the parking time, and the preset acceleration, the acceleration time period during which the vehicle accelerates to the maximum speed according to the preset acceleration, the constant speed time period during which the vehicle travels at the maximum speed, and the deceleration time period during which the vehicle decelerates from the maximum speed to zero are calculated. The longitudinal velocity at each time point is determined based on the acceleration period, the deceleration period, the constant speed period, and the preset acceleration.

[0007] In an optional implementation, controlling the vehicle's movement via multiple controllers based on the longitudinal speed includes: The parking path is divided into multiple parking stages based on the longitudinal speed, including a starting stage, a constant speed stage, and a deceleration stage. The vehicle's movement is controlled by a corresponding controller based on the longitudinal speed corresponding to each parking phase.

[0008] In an optional implementation, controlling the vehicle's movement via a corresponding controller based on the longitudinal speed corresponding to each parking phase includes: When the vehicle is in the starting phase, the vehicle is controlled by a preset first controller; During the constant speed phase, the vehicle is controlled by a preset second controller; During the deceleration phase, the vehicle is controlled by a preset third controller, wherein the preset first controller, the preset second controller, and the preset third controller are designed according to relevant information.

[0009] In an optional implementation, controlling the vehicle via a preset first controller includes: Obtain relevant vehicle information; The driving force of the vehicle is calculated based on the relevant information, the corresponding torque is calculated based on the driving force, and the vehicle is controlled to execute the torque through a preset first controller.

[0010] In an optional embodiment, the vehicle is equipped with at least one ultrasonic radar, and the method further includes: The distance between the vehicle and an obstacle during driving is acquired by at least one ultrasonic radar to control the longitudinal emergency braking of the vehicle.

[0011] Secondly, the present invention provides a longitudinal speed control device for automatic parking, the device comprising: The acquisition module is used to obtain the path length of the vehicle parking path; The determining module is used to determine the longitudinal speed of the vehicle on the parking path based on the path length and preset parking information; A control module is used to control the vehicle's movement based on the longitudinal speed via multiple controllers.

[0012] Thirdly, the present invention provides a vehicle including a memory and a processor, the memory storing a computer program that executes the longitudinal speed control method for automatic parking when the computer program is run on the processor.

[0013] Fourthly, the present invention provides a readable storage medium storing a computer program that, when run on a processor, executes the longitudinal speed control method for automatic parking.

[0014] The beneficial effects of the embodiments of the present invention are: This application provides a longitudinal speed control method for automatic parking. This method obtains the path length of the vehicle's parking path, determines the vehicle's longitudinal speed along the parking path based on the path length and preset parking information, and controls the vehicle's movement according to the longitudinal speed through multiple controllers. This application not only enables the vehicle to start smoothly, decelerate accurately, and precisely track the planned speed, but also makes parking more precise and smooth, thereby improving the passenger experience.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0017] Figure 1 A schematic flowchart of a longitudinal speed control method for automatic parking according to an embodiment of this application is shown; Figure 2 The diagram illustrates a process for determining the longitudinal speed in an automatic parking longitudinal speed control method according to an embodiment of this application. Figure 3 A schematic diagram of the path length in a longitudinal speed control method for automatic parking according to an embodiment of this application is shown; Figure 4 This paper illustrates a flowchart of a longitudinal speed control method for automatic parking proposed in an embodiment of this application, which is divided into multiple parking stages. Figure 5 A schematic diagram of the longitudinal speed control device for automatic parking provided in an embodiment of this application is shown.

[0018] Explanation of key component symbols: 10-Longitudinal speed control device for automatic parking; 11-Acquisition module; 12-Determination module; 13-Control module. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0022] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0023] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0024] Understandably, in the process of automatic parking control, vehicle control is usually divided into lateral control and longitudinal control. Longitudinal control refers to controlling the vehicle's forward and backward movement. The longitudinal control of the vehicle affects the vehicle's driving stability, passenger comfort, and driving safety, and is therefore very important for automatic parking.

[0025] The longitudinal control of a vehicle can be divided into three stages: the starting stage, the constant speed stage, and the deceleration stage. The starting stage typically requires the vehicle to accelerate comfortably to the target speed; the constant speed stage requires the vehicle to smoothly track the target speed; and the deceleration stage requires the vehicle to decelerate comfortably to zero.

[0026] Example 1 Please refer to Figure 1 This application provides a longitudinal speed control method for automatic parking. Exemplarily, the longitudinal speed control method for automatic parking includes steps S100 to S300.

[0027] Step S100: Obtain the path length of the vehicle parking path.

[0028] Understandably, after receiving an automatic parking command, the vehicle will plan a corresponding parking path in the vehicle's planning layer based on the vehicle's current pose and the parking space information, and determine the corresponding path length based on the planned parking path. When parking, the vehicle may be in an underground parking lot or a remote corner where GPS signal is generally almost nonexistent. Therefore, positioning can be achieved through DR (path estimation), thereby outputting the vehicle's real-time position, i.e., its current pose, and calculating the corresponding path length based on the real-time position.

[0029] In this application, at least one ultrasonic radar may be installed around the vehicle, such as at the front and rear, to detect the distance between the vehicle and surrounding obstacles. When the distance between the vehicle and an obstacle is less than a preset distance, the vehicle will be controlled to perform longitudinal emergency braking. This allows the method of this application to be applied to parking control in various parking spaces, including but not limited to parallel, perpendicular, and angled parking spaces. When determining the longitudinal speed of the vehicle, the path length will be obtained to determine the longitudinal speed of the vehicle based on preset parking information.

[0030] Step S200: Determine the longitudinal speed of the vehicle on the parking path based on the path length and preset parking information.

[0031] In this application, preset parking information is provided, including preset redundancy coefficient, preset maximum time, and preset acceleration. After determining the path length, relevant information about the planned parking path can be calculated based on the path length and the preset redundancy coefficient, preset maximum time, and preset acceleration, such as average speed and parking time. The longitudinal speed of the vehicle on the parking path can then be determined based on the calculated information.

[0032] In one implementation, such as Figure 2 As shown, step S200 includes sub-steps S210 to S220.

[0033] Sub-step S210: Calculate the parking time of the vehicle based on the preset redundancy coefficient and the preset maximum time, and calculate the average speed of the vehicle based on the path length and parking time.

[0034] Understandably, the preset redundancy coefficient is adjusted by staff in advance based on information such as parking space and road conditions within a safe parking time range. For example, if the parking space is narrow or the road conditions are poor, the preset redundancy coefficient can be set higher; if the road conditions are good, the parking space is wide, and a quick parking time is required, the preset redundancy coefficient can be reduced. The preset redundancy coefficient falls within a preset range, and adjusting it can reduce parking time to some extent, ensuring the vehicle can complete parking within the specified maximum preset time, thereby improving the customer experience. The preset maximum time is the maximum permitted parking time, set in advance by staff based on the customer's (OEM's) needs.

[0035] The parking time is obtained by multiplying a preset redundancy coefficient and a preset maximum time. This parking time should be less than or equal to the preset maximum time; in other words, the preset redundancy coefficient should be less than or equal to 1. The average speed of the vehicle traveling on the parking path can be calculated by dividing the obtained path length by the parking time.

[0036] For example, the preset redundancy coefficient can be 0.8, the preset maximum time is represented by T_lim, L is the path length, and the average speed v_average will be calculated using the corresponding formula: .

[0037] Sub-step S220: Determine the corresponding longitudinal speed based on the average speed, parking time, and preset acceleration.

[0038] In this application, the preset acceleration is set by the staff according to the actual situation. The preset acceleration is within the specified acceleration range, which can limit the vehicle's starting acceleration and deceleration acceleration, making the starting acceleration and deceleration acceleration more in line with the vehicle's physical limitations. At the same time, it can make the vehicle's starting and deceleration smoother, which can improve the customer's riding experience.

[0039] After calculating the parking time and average speed, the vehicle can be calculated using a preset method based on the average speed, parking time, and preset acceleration. This method calculates the acceleration period when the vehicle reaches its maximum speed at the preset acceleration, the constant speed period when the vehicle travels at the maximum speed, and the deceleration period when the vehicle decelerates from the maximum speed to zero using a corresponding formula. The longitudinal speed at each time point is then determined based on the acceleration period, deceleration period, constant speed period, and preset acceleration.

[0040] During real-time parking, the distance traveled by a vehicle at average speed is the same as the distance traveled by a vehicle that first accelerates to its maximum speed at a preset speed and then decelerates at a preset speed after a period of time. Therefore, if... Figure 3 As shown, the length formula can be obtained: Where OA represents the average speed, OC (t) represents the parking time, DF and GF both represent the maximum speed, DF represents the time the vehicle travels at the maximum speed, OF represents the time the vehicle accelerates to the maximum speed according to the preset acceleration, GC represents the time the vehicle decelerates from the maximum speed to 0 according to the preset acceleration, and DF and GF are both unknowns.

[0041] This application also includes an acceleration formula: Where 'a' represents the preset acceleration, and the acceleration range of 'a' can be 0.1 m / s² to 0.3 m / s², such as... Figure 3 As shown, Therefore, DE and DF can be calculated using the length formula and acceleration formula. From this, the maximum speed, acceleration time period t1, constant speed time period t2-t1, and deceleration time period t-t2 can be obtained. When the vehicle actuators are set, the longitudinal speed corresponding to each time point in each time period can be determined based on the parking time t, each time period, and the preset acceleration a. Furthermore, a series of planned speed points can be generated by combining the working cycles of vehicle actuators, such as ESC (Electronic Stability Control), BMS (Battery Management System), and TCU (Transmission Control System), thereby determining the longitudinal speed of the vehicle at each time point on the parking path.

[0042] Step S300: Control the vehicle's movement based on longitudinal speed using multiple controllers.

[0043] After determining the longitudinal speed of the vehicle on the parking path, the longitudinal speed of the vehicle will be different at different positions on the parking path or at different times. In this application, multiple controllers will be used to control the vehicle to travel to the corresponding parking position at the corresponding longitudinal speed. In this application, only the longitudinal speed of the vehicle is planned. Therefore, if the vehicle brakes and the parking path is replanned, the longitudinal speed will also be replanned.

[0044] In one implementation, such as Figure 4 As shown, step S300 includes sub-steps S310 to S320.

[0045] Sub-step S310: Divide the parking path into multiple parking stages based on the longitudinal speed. The multiple parking stages include a starting stage, a constant speed stage, and a deceleration stage.

[0046] There are multiple longitudinal speeds along the parking path. Based on the calculated longitudinal speeds and the corresponding time points, the parking path is divided into multiple parking stages. In other words, the corresponding parking stages can be determined based on the time periods when the vehicle is accelerating, maintaining a constant speed, and decelerating. These multiple parking stages include, but are not limited to, the starting stage, the constant speed stage, and the deceleration stage.

[0047] Sub-step S320: Control the vehicle's movement according to the longitudinal speed corresponding to each parking stage via the corresponding controller.

[0048] Understandably, each parking phase involves corresponding acceleration, speed, and time. Within the time frame of each parking phase, the speed at different points in time may differ or remain the same. After determining the multiple parking phases corresponding to the parking path, the vehicle will be controlled by a corresponding controller to travel at the longitudinal speed corresponding to each time point in each parking phase.

[0049] Different parking stages correspond to different controllers. When the vehicle travels to different parking stages, the longitudinal speed of the vehicle will be controlled by the controller corresponding to that parking stage, so that the vehicle travels at the longitudinal speed corresponding to each time point in that parking stage.

[0050] In this application, the vehicle is controlled by a preset first controller during the starting phase; by a preset second controller during the constant speed phase; and by a preset third controller during the deceleration phase. The preset first, second, and third controllers are all set by operators based on actual conditions. These controllers can be PID controllers (Proportional-Integral-Derivative controllers). It is understood that the design of the preset first controller will consider relevant information during the vehicle parking process, such as the vehicle's mass, road gradient, and frictional resistance; the design of the preset third controller will consider relevant vehicle information, such as the vehicle's inertia, gradient, and mass; and the design of the preset second controller only requires designing a controller based on the longitudinal speed tracking effect.

[0051] The initial acceleration phase involves increasing the vehicle's speed from 0 to its maximum speed using a preset acceleration. When the vehicle is controlled by a preset first controller to travel at the corresponding longitudinal speed during this initial acceleration phase, relevant vehicle information is acquired. This information includes, but is not limited to, the vehicle's mass, friction coefficient, and pitch angle. The driving force of the vehicle is then calculated based on this information. Specifically, this includes deriving the corresponding formula based on mechanical analysis. ; In the formula, F_driving force is the driving force provided by the vehicle engine, μ is the friction resistance coefficient, m is the mass of the vehicle, g = 9.8 m / s^2, and a is the preset acceleration of the vehicle. In addition, to cope with complex parking roads, the road slope during parking will also be considered, thus yielding: In the formula, θ is the vehicle's pitch angle, which can be measured by a gyroscope sensor installed on the vehicle, thus determining the value of the driving force F in the formula: , where m, μ, a, θ and g are all known quantities.

[0052] Therefore, the required starting engine torque can be calculated using the engine torque calculation formula based on the calculated driving force. By controlling the starting engine torque, the vehicle's longitudinal speed during the starting phase can be maintained according to the planned longitudinal speed. In this application, a preset first controller can be designed to control the engine torque, and the corresponding calculation formula for the controller is: ; In the formula, U(t) is the controller output, kp is the proportional coefficient, 1 / TI is the integral coefficient, TD is the derivative coefficient, and e(t) is the error, which is the error between the desired torque and the actual torque. By controlling the vehicle's engine torque according to the preset output of the first controller, the vehicle is controlled to travel at the corresponding longitudinal speed during the starting phase. This satisfies the acceleration requirements of the parking system and makes the vehicle start more smoothly.

[0053] During the constant speed phase, a pre-set second controller is designed to track the maximum speed corresponding to this phase, without considering other vehicle information. This pre-set second controller ensures that the longitudinal speed during the constant speed phase remains near the desired maximum speed, thus making parking path tracking more accurate.

[0054] In this application, when the vehicle is in the deceleration phase, the vehicle's inertia and the gradient need to be considered; therefore, the corresponding mechanical formulas can be listed: In the formula, F_braking force is the braking force provided by the engine, and θ is the slope. In this application, the corresponding braking force and engine torque are calculated, and the vehicle is controlled by a preset third controller to execute the engine torque, which is the same as the calculated driving force and corresponding torque. Further details are omitted here. When the vehicle's speed approaches or equals 0, or when the rear ultrasonic sensor detects an obstacle, the vehicle will be braked, and the electronic parking brake will engage, completing the parking process. The preset third controller allows for smooth vehicle deceleration, which is beneficial for braking and improves the user experience.

[0055] It is understandable that the PID controllers corresponding to each stage of the above design are only one solution. Other controllers can be selected and designed according to the actual control effect, such as MPC for tracking control.

[0056] In this application, not only can the desired speed during parking be calculated through the global parking path, and the vehicle's redundancy time be considered to plan a longitudinal speed curve, making parking more stable and timely, but also the vehicle can start, decelerate, and accurately track the planned speed, making the vehicle parking more precise and smooth; it can also enable the vehicle to park on a certain slope.

[0057] The longitudinal speed control method for automatic parking based on the above embodiments, Figure 5 A schematic diagram of the longitudinal speed control device 10 for automatic parking provided in an embodiment of this application is shown. The longitudinal speed control device 10 for automatic parking includes: Module 11 is used to obtain the path length of the vehicle parking path; The determining module 12 is used to determine the longitudinal speed of the vehicle on the parking path based on the path length and preset parking information; The control module 13 is used to control the vehicle's movement according to the longitudinal speed through multiple controllers.

[0058] The longitudinal speed control device 10 for automatic parking in this embodiment is used to execute the longitudinal speed control method for automatic parking in the above embodiment. The implementation schemes and beneficial effects involved in the above embodiments are also applicable in this embodiment, and will not be repeated here.

[0059] This application also provides a terminal device, including a memory and a processor. The memory stores a computer program, and the computer program executes the above-described longitudinal speed control method for automatic parking when it runs on the processor.

[0060] This application also provides a computer-readable storage medium storing a computer program that, when executed on a processor, implements the above-described longitudinal speed control method for automatic parking.

[0061] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0062] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0063] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0064] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A longitudinal speed control method for automatic parking, characterized in that, The method includes: Get the path length of the vehicle parking path; The longitudinal speed of the vehicle on the parking path is determined based on the path length and preset parking information; The vehicle's movement is controlled by multiple controllers based on the longitudinal speed; The preset parking information includes a preset redundancy coefficient, a preset maximum time, and a preset acceleration. Determining the longitudinal speed of the vehicle on the parking path based on the path length and the preset parking information includes: The parking time of the vehicle is calculated based on the preset redundancy coefficient and the preset maximum time, and the average speed of the vehicle is calculated based on the path length and the parking time; wherein, the preset redundancy coefficient is a coefficient that is adjusted in advance by the staff according to the parking space and road condition information within the safe parking time range; The corresponding longitudinal speed is determined based on the average speed, the parking time, and the preset acceleration.

2. The longitudinal speed control method for automatic parking according to claim 1, characterized in that, Determining the corresponding longitudinal speed based on the average speed, the parking time, and the preset acceleration includes: Based on the average speed, the parking time, and the preset acceleration, the acceleration time period during which the vehicle accelerates to the maximum speed according to the preset acceleration, the constant speed time period during which the vehicle travels at the maximum speed, and the deceleration time period during which the vehicle decelerates from the maximum speed to zero are calculated. The longitudinal velocity at each time point is determined based on the acceleration period, the deceleration period, the constant speed period, and the preset acceleration.

3. The longitudinal speed control method for automatic parking according to claim 1, characterized in that, The method of controlling the vehicle's movement based on the longitudinal speed using multiple controllers includes: The parking path is divided into multiple parking stages based on the longitudinal speed, including a starting stage, a constant speed stage, and a deceleration stage. The vehicle's movement is controlled by a corresponding controller based on the longitudinal speed corresponding to each parking phase.

4. The longitudinal speed control method for automatic parking according to claim 3, characterized in that, The step of controlling the vehicle's movement via a corresponding controller based on the longitudinal speed corresponding to each parking stage includes: When the vehicle is in the starting phase, the vehicle is controlled by a preset first controller; During the constant speed phase, the vehicle is controlled by a preset second controller; During the deceleration phase, the vehicle is controlled by a preset third controller, wherein the preset first controller, the preset second controller, and the preset third controller are designed according to relevant information.

5. The longitudinal speed control method for automatic parking according to claim 4, characterized in that, The control of the vehicle via a preset first controller includes: Obtain relevant vehicle information; The driving force of the vehicle is calculated based on the relevant information, the corresponding torque is calculated based on the driving force, and the vehicle is controlled to execute the torque through a preset first controller.

6. The longitudinal speed control method for automatic parking according to claim 1, characterized in that, The vehicle is equipped with at least one ultrasonic radar, and the method further includes: The distance between the vehicle and an obstacle during driving is acquired by at least one ultrasonic radar to control the longitudinal emergency braking of the vehicle.

7. A longitudinal speed control device for automatic parking, characterized in that, The device includes: The acquisition module is used to obtain the path length of the vehicle parking path; The determining module is used to determine the longitudinal speed of the vehicle on the parking path based on the path length and preset parking information; A control module is used to control the vehicle's movement based on the longitudinal speed via multiple controllers; The preset parking information includes a preset redundancy coefficient, a preset maximum time, and a preset acceleration. Determining the longitudinal speed of the vehicle on the parking path based on the path length and the preset parking information includes: The parking time of the vehicle is calculated based on the preset redundancy coefficient and the preset maximum time, and the average speed of the vehicle is calculated based on the path length and the parking time; wherein, the preset redundancy coefficient is a coefficient that is adjusted in advance by the staff according to the parking space and road condition information within the safe parking time range; The corresponding longitudinal speed is determined based on the average speed, the parking time, and the preset acceleration.

8. A vehicle, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the longitudinal speed control method for automatic parking as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the longitudinal speed control method for automatic parking as described in any one of claims 1 to 6.

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