The invention discloses a vehicle smoothness control method, device, equipment and medium during automatic parking, target operation conditions of a vehicle are determined according to a vehicle speed difference value between a target vehicle speed of an automatic parking function and an actual vehicle speed of the vehicle, and the target operation conditions comprise a steady state condition, an acceleration condition and a deceleration condition; looking up a table according to the target operation condition and the target vehicle speed to determine a corresponding first control torque; determining a corresponding second control moment according to the road gradient; and according to the first control torque and the second control torque, the feedforward control torque of the vehicle is determined, and the vehicle is controlled according to the feedforward control torque. Different table lookup is carried out through different target operation working conditions of the vehicle, the corresponding feedforward control torque is obtained in combination with the road gradient to control the vehicle, precise control over the vehicle torque during braking parking is achieved, the smoothness and comfort of automatic parking can be effectively improved, and the method can adapt to various scenes and is high in robustness.

    本发明公开了一种自动泊车时车辆平顺性控制方法、装置、设备及介质,通过根据自动泊车功能的目标车速与车辆的实际车速之间的车速差值,确定所述车辆的目标运行工况,其中所述目标运行工况包括稳态工况、加速工况和减速工况;根据所述目标运行工况和所述目标车速查表确定对应的第一控制力矩;根据道路坡度确定对应的第二控制力矩;根据所述第一控制力矩和所述第二控制力矩确定所述车辆的前馈控制力矩,并根据所述前馈控制力矩控制所述车辆。通过车辆不同的目标运行工况进行不同的查表,结合道路坡度,获得对应的前馈控制力矩对车辆进行控制,实现在制动泊车时对车辆力矩的精细化控制,能够有效提高自动泊车的平顺性和舒适性,能够适配多种场景,鲁棒性高。


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    Title :

    Vehicle smoothness control method, device and equipment during automatic parking and medium


    Additional title:

    自动泊车时车辆平顺性控制方法、装置、设备及介质


    Contributors:
    LIU BIN (author) / DONG WEI (author) / ZHOU YONGLIANG (author) / XIAO SHUAI (author) / ZHAI RUNGUO (author)

    Publication date :

    2025-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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