The invention relates to a parking control method, a controller and a parking system.The parking control method comprises the steps that in the process that a target vehicle is parked in a target parking space, when it is detected that the target vehicle rolls a limiting stopper, the current posture of the target vehicle is obtained; whether the current posture deviates from a preset parking posture range or not is judged; and if yes, the target vehicle is controlled to run for a preset adjustment distance according to a preset adjustment path so as to leave the limiting stopper, then the current posture of the vehicle is adjusted to be within the parking posture range, and the target vehicle is controlled to be parked to a preset parking point in the target parking space. According to the provided vehicle control planning logic, space can be reserved for position and posture adjustment of the vehicle through the adjustment path, parking position and posture adjustment can still be successfully achieved even when the deviation of the position and posture of the vehicle relative to the parking space is large, and the parking success rate is increased.
本申请涉及一种泊车控制方法、控制器和泊车系统,其中,该泊车控制方法包括:在目标车辆于目标车位内泊车的过程中,当检测到目标车辆碾压到限位器时,获取目标车辆的当前姿态;判断当前姿态是否偏离预设的泊车姿态范围;若是,则控制目标车辆按照预设的调整路径行驶预设的调整距离以离开限位器,之后调整车辆的当前姿态处于泊车姿态范围内,控制目标车辆在目标车位内停至预设的停车点。其所提出的控车规划逻辑,能够通过调整路径为车辆的位姿调整预留空间,即使在车辆位姿相对车位偏差较大时依然能够成功实现泊车位姿调整,提高泊车成功率。
Parking control method, controller and parking system
泊车控制方法、控制器和泊车系统
2024-12-03
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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