Automatic parking control method and device, electronic equipment and storage medium

Abstract

The application relates to the field of intelligent driving, and discloses an automatic parking control method and device, electronic equipment and a storage medium. The automatic parking control method comprises the following steps: collecting obstacle information; the obstacle information comprises a height and an obstacle position; when it is determined according to the obstacle position that the obstacle is in a parking path, the height of the obstacle is determined to determine a surmounting torque; a vehicle driving torque is determined according to a target vehicle speed and the surmounting torque; and the vehicle wheel is controlled to surmount the obstacle according to the vehicle driving torque. According to the automatic parking control method, the surmounting time can be shortened, and the obstacle can be successfully surmounted to realize parking.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and in particular to an automatic parking control method and device, electronic equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] With the rapid development of intelligent driving technology, automatic parking has become an important component of vehicle driver assistance. Parking environments are complex and diverse. Traditional automatic parking control methods usually only operate on flat surfaces and do not consider scenarios with obstacles. In mechanical parking scenarios, there are more obstacles, requiring multiple attempts to overcome them, which results in poor comfort for automatic parking in this scenario.

[0003] In the automatic parking solutions of related technologies, when the wheels travel to contact an obstacle, the vehicle's movement is sensed to be obstructed. Then, the speed is controlled by increasing torque after contacting the obstacle. As a result, the vehicle will stop first due to the obstruction of the obstacle, and then roll over, which increases the rollover time and makes the ride smoother when the wheels roll over the obstacle. Summary of the Invention

[0004] This application provides an automatic parking control method and device, electronic device, and storage medium to reduce overturning time and improve the smoothness of automatic parking when overturning obstacles.

[0005] In a first aspect, embodiments of this application provide an automatic parking control method, including: Collect obstacle information; the obstacle information includes obstacle height and obstacle location; When it is determined that the obstacle is within the parking path based on its position, the overturning torque is determined based on the obstacle's height. Based on the target vehicle speed and the overturning torque, determine the target value of the vehicle driving torque; Before the vehicle comes into contact with the obstacle, the vehicle's drive torque is controlled to increase to the target value.

[0006] The technical solution provided in the above embodiments of this application calculates the overturning torque based on the obstacle height, and determines the target value of the vehicle driving torque based on the target vehicle and the overturning torque. Before the vehicle contacts the obstacle, the vehicle driving torque is controlled to reach the target value, so that the vehicle can smoothly overturn when it contacts the obstacle, reducing the overturning time, making parking smoother, and eliminating the need to stop and wait for the torque to increase before overturning when contacting the obstacle.

[0007] In one embodiment, determining the overturning torque based on the obstacle height includes: The overturning torque is determined based on the known weight component of the overturning axle, the wheel radius, and the height of the obstacle.

[0008] The above embodiments calculate the accurate overturning torque in advance based on the obstacle height and the vehicle's basic parameters. This allows the vehicle to smoothly overturn the obstacle when it comes into contact with it, shortening the overturning time and increasing parking safety.

[0009] In one embodiment, determining the target value of the vehicle driving torque based on the target vehicle speed and the overturning torque includes: The target value of the vehicle drive torque is determined based on the control torque corresponding to the target vehicle speed and the overturning torque.

[0010] The above embodiments determine the target value of the vehicle's driving torque based on the target vehicle speed and the overturning torque, thereby enabling the vehicle to maintain the target vehicle speed when overturning obstacles, making the parking process smoother.

[0011] In one embodiment, controlling the vehicle's drive torque to increase to the target value before the vehicle contacts the obstacle includes: As the vehicle approaches the obstacle, the vehicle's driving torque is controlled to gradually increase from the control torque to the target value at a preset rate.

[0012] The above embodiments control the vehicle's driving torque to gradually increase from the control torque to the target value at a preset rate, avoiding power fluctuations that may be caused by a sudden increase in driving torque, and ensuring the stability of the vehicle.

[0013] In one embodiment, controlling the vehicle drive torque to increase to the target value before the vehicle contacts the obstacle further includes: A braking torque equal to the increase in driving torque is applied synchronously, and the applied braking torque is released when the vehicle contacts the obstacle.

[0014] The above embodiment avoids the problem of increased vehicle speed due to increased torque. By applying braking force of appropriate magnitude simultaneously, it maintains overall longitudinal force balance and ensures stable vehicle speed. The applied braking torque is immediately released the moment the vehicle contacts the obstacle, achieving a smooth overpass.

[0015] In one embodiment, the obstacle information includes obstacle type, and the method further includes: When the vehicle climbs over the highest point of the obstacle, the climbing torque is reduced to zero, and the vehicle speed is controlled according to the control torque corresponding to the target vehicle speed. Determine whether to apply braking torque based on the type of obstacle.

[0016] The above embodiment adjusts the driving torque in a timely manner after overtaking to the highest point, reducing the overtaking torque to zero, thus avoiding vehicle acceleration due to excessive residual driving force, which could cause danger and improve parking safety.

[0017] In one embodiment, determining whether to apply braking torque based on the type of obstacle includes: If the obstacle type is a step, no braking torque is applied after the overcoming torque reaches zero. If the obstacle is a speed bump, a braking torque is applied when the overpass torque reaches zero, and the applied braking torque is canceled after the vehicle has passed the speed bump.

[0018] The above embodiments improve parking safety by distinguishing different obstacle types and determining whether to apply braking torque, thereby suppressing vehicle speed increase and greatly improving driving smoothness in mechanical parking scenarios.

[0019] In one embodiment, before determining that the obstacle is within the parking path, the method further includes: Based on the location of the obstacle, determine the obstacle distance between the vehicle and the obstacle; When the distance to the obstacle is less than or equal to the distance between the vehicle's current position and the target position, the obstacle is determined to be within the parking path; otherwise, it is not within the parking path.

[0020] The above embodiments, by determining whether an obstacle is within the parking path, can avoid meaningless overtaking control operations, making the parking process smoother and faster.

[0021] Secondly, embodiments of this application also provide an automatic parking control device, comprising: An information acquisition module is used to collect obstacle information; the obstacle information includes obstacle height and obstacle location; The torque calculation module is used to determine the overturning torque based on the height of the obstacle when the obstacle is determined to be within the parking path based on the obstacle's position. The torque determination module is used to determine the vehicle drive torque based on the target vehicle speed and the overturning torque; The vehicle control module is used to control the wheels to roll over the obstacle according to the vehicle's drive torque.

[0022] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor, wherein the memory is communicatively connected to the processor, and the memory stores instructions. The processor invokes the instructions in the memory, causing the electronic device to execute the above-described automatic parking control method.

[0023] Fourthly, embodiments of this application also provide a computer-readable storage medium storing instructions that, when executed by a processor, implement the above-described automatic parking control method.

[0024] Fifthly, embodiments of this application also provide a computer program product, which includes computer-executable instructions stored in a computer-readable storage medium; The above-mentioned automatic parking control method is implemented when the processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions.

[0025] For the technical effects of the aforementioned automatic parking control device, electronic equipment, computer-readable storage medium, and computer program product, please refer to the corresponding effects of the automatic parking control method described above. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0027] Figure 1 This is a flowchart of an automatic parking control method provided according to an embodiment of this application; Figure 2 This is a flowchart of an automatic parking control method according to another embodiment of this application; Figure 3 This is a force diagram illustrating the interaction between a wheel and an obstacle in one embodiment of the automatic parking control method according to this application. Figure 4 This is a flowchart illustrating the control process after overcoming obstacles based on different obstacle types, as described in this application. Figure 5 This is a schematic diagram of one embodiment of the automatic parking control device according to this application; Figure 6 This is a schematic diagram of the hardware structure of an embodiment of the electronic device according to this application. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0029] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] The relevant technology can only control the vehicle speed based on the longitudinal control target when overcoming obstacles, which has a lag. Specifically, the movement is hindered before overcoming the obstacle, the vehicle speed decreases before the torque can be increased to overtake, and the vehicle speed increases again after overtaking before braking and decelerating. In actual vehicle control, the vehicle must stop before overtaking, which increases parking time, and the vehicle speed fluctuates, resulting in a poor driving experience and an increased risk of collision.

[0032] Figure 1 This is a flowchart illustrating an automatic parking control method provided in an embodiment of this application. Figure 1 As shown, the method includes steps S110-S140.

[0033] Step S110: Collect obstacle information; the obstacle information includes obstacle height and obstacle location.

[0034] Specifically, obstacle information can be obtained through radar and / or cameras. Obstacle information may include obstacle height and obstacle location. In another embodiment, obstacle information may also include obstacle type. In other embodiments, obstacle information may also include obstacle distance. Obstacle distance can be calculated based on obstacle location and vehicle location, or it can be directly detected by radar.

[0035] Step S120: When it is determined that the obstacle is within the parking path based on the obstacle's position, the overturning torque is determined based on the obstacle's height.

[0036] Specifically, before step S120, it can be determined whether the obstacle is within the parking path. In one embodiment, the obstacle distance between the vehicle and the obstacle can be determined based on the obstacle's position. Figure 2 As shown, when the distance to the obstacle is less than or equal to the distance between the vehicle's current position and the target position (i.e., the endpoint distance), the obstacle is determined to be within the parking path; otherwise, it is not. If the obstacle is within the parking path, a jump-over control is required; otherwise, no jump-over control is required. By determining whether the obstacle is within the parking path, meaningless jump-over control operations can be avoided, making the parking process smoother and faster.

[0037] In one embodiment, step S120 specifically includes determining the overturning torque based on the known overturning axle gravity component, wheel radius, and obstacle height.

[0038] The overturning torque refers to the additional torque required to overturn an obstacle. The overturning axle gravity component refers to either the front axle gravity component or the rear axle gravity component. If the front wheels overturn the obstacle, the front axle gravity component is used. If the rear wheels overturn the obstacle, the rear axle gravity component is used.

[0039] Figure 3 This is a force diagram illustrating the interaction between a wheel and an obstacle in one embodiment of the automatic parking control method according to this application. The wheel 610 contacts the obstacle 620, which is illustrated using a step as an example.

[0040] When wheel 610 contacts obstacle 620, it generates a resisting force. resistance Perpendicular to the tangent at the point of contact, according to the law of conservation of mechanics, the opposing force... The components generated in the horizontal and vertical directions are respectively , The mechanical conservation relationship in the longitudinal direction is: ; In the above formula, This refers to the component of the vehicle's weight along the overturned axle, which could be the component of the weight along the front axle. Or the component of gravity at the rear axle The following relationship exists: ; ; in, This represents the component of the vehicle's weight on the front axle. This represents the component of the vehicle's weight at the rear axle. This refers to the front wheelbase. Rear wheelbase For the vehicle's weight. Because... All are known quantities, therefore here It can be used as a known quantity, according to It can provide the required lateral driving force The solution is as follows: ; ; ; in, For the wheel radius, Given the height of the obstacle, the required lateral driving force is... for: ; The target value of the additional drive torque (i.e., overturn torque) can be calculated. for: ; In actual control, when the obstacle is a speed bump, its contact height is not the same as the actual height. In actual control, the overpass torque can be dynamically adjusted according to the type of obstacle.

[0041] The above embodiments calculate the accurate overturning torque in advance based on the obstacle height and the vehicle's basic parameters. This allows the vehicle to smoothly overturn the obstacle when it comes into contact with it, shortening the overturning time and increasing parking safety.

[0042] Step S130: Determine the target value of the vehicle driving torque based on the target vehicle speed and the overturning torque.

[0043] In one embodiment, step S130 specifically includes determining a target value of the vehicle driving torque based on the control torque corresponding to the target vehicle speed and the overturning torque.

[0044] The control torque, used to maintain the vehicle at the target speed, can be determined using PID (Proportional Integral Derivative) control, hence it can be called PID control torque. For example, the target acceleration / target driving force can be calculated based on the target speed and the real-time speed. Then, the PID control torque is calculated based on the target driving force. The target value of the vehicle's driving torque can be the sum of the PID control torque and the overturning torque. The specific calculation formula is as follows: The target value for vehicle drive torque. For PID control of torque, For overturning torque.

[0045] The above embodiments determine the target value of the vehicle's driving torque based on the target vehicle speed and the overturning torque, thereby enabling the vehicle to maintain the target vehicle speed when overturning obstacles, making the parking process smoother.

[0046] Step S140: Before the vehicle contacts the obstacle, control the vehicle's drive torque to increase to the target value.

[0047] Therefore, when the vehicle comes into contact with an obstacle, the vehicle's driving torque has already reached the target value, and the force of the obstacle is less than the driving force, so it can be successfully overturned without being blocked by the obstacle, shortening the time to overturn the obstacle and making the parking process more stable and smooth.

[0048] In one embodiment, step S140 specifically includes: during the process of the vehicle approaching the obstacle, the vehicle driving torque can be controlled to gradually increase from the control torque to the target value at a preset rate.

[0049] It should be noted that increasing the drive torque at the moment of contact with an obstacle may cause power fluctuations. Therefore, the drive torque needs to be increased in advance before overtaking. This process is dynamically adjusted based on the real-time distance between the vehicle and the obstacle to ensure vehicle stability. Specifically, the longitudinal controller receives the current distance between the vehicle and the obstacle. During the approach, the vehicle's drive torque is slowly increased at a fixed slope until the additional increase in drive torque reaches the overtaking torque value, that is, the vehicle's drive torque reaches the target value.

[0050] In one embodiment, to avoid an increase in vehicle speed due to increased torque, the system simultaneously applies a corresponding amount of braking force while requesting an increase in drive torque to maintain overall longitudinal force balance and ensure stable vehicle speed. Specifically, step S140 further includes: simultaneously applying a braking torque equal to the increase in drive torque, and releasing the applied braking torque when the vehicle contacts the obstacle.

[0051] The moment the vehicle contacts an obstacle, the applied braking torque is immediately released, and the established overtaking torque is used to overcome the obstacle's resistance, achieving a smooth overtaking maneuver. Simultaneously, the system dynamically coordinates drive and braking torque based on the vehicle's real-time status, further enhancing the smoothness and responsiveness of the overtaking process and improving parking comfort.

[0052] In one embodiment, the obstacle information may further include the obstacle type. Therefore, the method provided in this application embodiment further includes: when the vehicle rolls over to the highest point of the obstacle, the rollover torque is reduced to zero, and the vehicle speed is controlled according to the control torque corresponding to the target vehicle speed; and whether to apply braking torque is determined according to the obstacle type.

[0053] This involves setting the overturning torque to zero, thereby controlling the vehicle according to the PID control torque corresponding to the target speed. Obstacle types can include steps, speed bumps, etc. Figure 4 As shown, if the obstacle type is a step, the overpass torque is reduced to zero and no braking torque is applied; if the obstacle type is a speed bump, when the overpass torque is reduced to zero, braking torque is applied, and the applied braking torque is canceled after the vehicle crosses the speed bump.

[0054] If the added overtaking torque before the overtaking is not adjusted promptly after the overtaking is completed, excessive residual driving force can cause the vehicle to accelerate, creating a dangerous situation. Therefore, this driving torque must be rapidly reduced the moment the overtaking is completed to improve parking safety. Furthermore, the system employs differentiated braking strategies for two different obstacle types: steps and speed bumps. After overtaking a step, the overtaking torque only needs to be reduced to zero, and subsequent tracking control continues at the target speed. When overtaking a speed bump, due to its symmetrical structure, the vehicle will be affected by gravitational acceleration as it descends. While reducing the overtaking torque to zero, an additional braking torque equivalent to the overtaking torque must be applied to suppress speed increase. This additional braking torque is reduced to zero after the vehicle has completely left the speed bump. Through these controls, even when obstacles are present, the vehicle can be brought to a stop within a safe distance when overtaking obstacles, improving parking safety and significantly enhancing the smoothness of driving in mechanical parking scenarios.

[0055] In summary, the technical solution provided in this application has the following major advantages: 1. Shorten the crossing time Existing parking methods rely on passively increasing drive torque after encountering an obstacle to achieve a target speed and eventually overcome it. This often results in the vehicle stopping before attempting to overcome the obstacle. The technical solution provided in the above embodiments of this application increases drive torque before overcoming a speed bump, counteracting the obstacle's resistance. This reduces the time required to overcome the obstacle and makes the entire parking process smoother.

[0056] 2. Improve parking safety performance The technical solution provided in the above embodiments of this application determines the amount of torque required to overcome an obstacle (i.e., overturning torque) through precise calculation. Existing parking methods, which increase torque by tracking vehicle speed, cannot determine the exact amount of torque needed to overcome an obstacle. During overturning, the drive torque may increase significantly to support the vehicle's movement, and after overturning, the drive torque cannot be reduced in time, resulting in excessively high speeds. If a collision is present, the vehicle may not be able to stop, increasing the risk of a crash. The technical solution provided in the above embodiments of this application can greatly reduce the risk of a crash.

[0057] 3. Improve parking comfort The technical solution provided in the above embodiments of this application precisely coordinates braking and driving before and after overcoming obstacles, smoothly passes through obstacles, reduces speed fluctuations, and improves the driving comfort of automatic parking in this scenario.

[0058] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0059] Figure 5 This is a block diagram of an automatic parking control device provided in an embodiment of this application, such as... Figure 5 As shown, the device includes: an information acquisition module 510, a torque calculation module 520, a torque determination module 530, and a vehicle control module 540.

[0060] The information acquisition module 510 is used to acquire obstacle information; the obstacle information includes obstacle height and obstacle position. The torque calculation module 520 is used to determine the overturning torque based on the height of the obstacle when the obstacle is determined to be within the parking path based on the obstacle's position. The torque determination module 530 is used to determine the vehicle drive torque based on the target vehicle speed and the overturning torque; The vehicle control module 540 is used to control the wheels to roll over the obstacle according to the vehicle's driving torque.

[0061] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0062] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. Each method step is implemented by a corresponding module, which will not be described in detail here. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0063] Figure 6 This specification illustrates a hardware structure diagram of an electronic device housing an automatic parking control unit, according to an exemplary embodiment. Figure 6As shown, the device may include: a processor 301, a memory 302, an input / output interface 303, a communication interface 304, and a bus 305. The processor 301, memory 302, input / output interface 303, and communication interface 304 are interconnected within the device via the bus 305.

[0064] The processor 301 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the steps of the automatic parking control method provided in the embodiments of this specification.

[0065] The memory 302 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 302 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 302 and is called and executed by the processor 301.

[0066] Input / output interface 303 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0067] Communication interface 304 is used to connect a communication module (not shown in the figure) to enable communication and interaction between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0068] Bus 305 includes a pathway for transmitting information between various components of the device (e.g., processor 301, memory 302, input / output interface 303, and communication interface 304).

[0069] It should be noted that although the above-described device only shows the processor 301, memory 302, input / output interface 303, communication interface 304, and bus 305, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0070] This specification also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of any of the automatic parking control methods described in this specification.

[0071] This specification also provides a computer program product, which includes computer-executable instructions stored in a computer-readable storage medium; wherein, when the processor of an electronic device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, it implements the steps of the automatic parking control method described in the above embodiments of this application.

[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

Claims

1. An automatic parking control method, characterized in that, include: Collect obstacle information; The obstacle information includes the obstacle height and the obstacle location; When it is determined that the obstacle is within the parking path based on its position, the overturning torque is determined based on the obstacle's height. Based on the target vehicle speed and the overturning torque, determine the target value of the vehicle driving torque; Before the vehicle comes into contact with the obstacle, the vehicle's drive torque is controlled to increase to the target value.

2. The automatic parking control method according to claim 1, characterized in that, Determining the overturning torque based on the height of the obstacle includes: The overturning torque is determined based on the known weight component of the overturning axle, the wheel radius, and the height of the obstacle.

3. The automatic parking control method according to claim 1, characterized in that, Determining the target value of the vehicle driving torque based on the target vehicle speed and the overturning torque includes: The target value of the vehicle drive torque is determined based on the control torque corresponding to the target vehicle speed and the overturning torque.

4. The automatic parking control method according to claim 3, characterized in that, The step of controlling the vehicle's drive torque to increase to the target value before the vehicle contacts the obstacle includes: As the vehicle approaches the obstacle, the vehicle's driving torque is controlled to gradually increase from the control torque to the target value at a preset rate.

5. The automatic parking control method according to claim 4, characterized in that, The step of controlling the vehicle's drive torque to increase to the target value before the vehicle contacts the obstacle further includes: A braking torque equal to the increase in driving torque is applied synchronously, and the applied braking torque is released when the vehicle contacts the obstacle.

6. The automatic parking control method according to claim 1, characterized in that, The obstacle information includes the obstacle type, and the method further includes: When the vehicle climbs over the highest point of the obstacle, the climbing torque is reduced to zero, and the vehicle speed is controlled according to the control torque corresponding to the target vehicle speed. Determine whether to apply braking torque based on the type of obstacle.

7. The automatic parking control method according to claim 6, characterized in that, The step of determining whether to apply braking torque based on the type of obstacle includes: If the obstacle type is a step, no braking torque is applied after the overcoming torque reaches zero. If the obstacle is a speed bump, a braking torque is applied when the overpass torque reaches zero, and the applied braking torque is canceled after the vehicle has passed the speed bump.

8. The automatic parking control method according to claim 1, characterized in that, Before determining that the obstacle is within the parking path, the method further includes: Based on the location of the obstacle, determine the obstacle distance between the vehicle and the obstacle; When the distance to the obstacle is less than or equal to the distance between the vehicle's current position and the target position, the obstacle is determined to be within the parking path; otherwise, it is not within the parking path.

9. An automatic parking control device, characterized in that, include: The information acquisition module is used to collect obstacle information; The obstacle information includes the obstacle height and the obstacle location; The torque calculation module is used to determine the overturning torque based on the height of the obstacle when the obstacle is determined to be within the parking path based on the obstacle's position. The torque determination module is used to determine the vehicle drive torque based on the target vehicle speed and the overturning torque; The vehicle control module is used to control the wheels to roll over the obstacle according to the vehicle's drive torque.

10. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being communicatively connected to the processor, and the memory storing instructions. The processor invokes the instructions in the memory, causing the electronic device to execute the automatic parking control method according to any one of claims 1 to 8.

11. A computer-readable storage medium storing instructions thereon, characterized in that, When the instruction is executed by the processor, it implements the automatic parking control method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, The computer program product includes computer-executable instructions stored in a computer-readable storage medium; When the processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, it implements the automatic parking control method according to any one of claims 1 to 8.

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