The invention relates to a parking control method and device, electronic equipment and a storage medium. The parking control method comprises the steps that the preview distance is determined according to the curvature of a preview point and the current longitudinal vehicle speed of a vehicle; determining a first front wheel turning angle through a pure tracking algorithm according to the preview distance; determining a second front wheel turning angle according to the reference course angle at the planning track point; determining a target front wheel turning angle according to the first front wheel turning angle and the second front wheel turning angle; and performing parking control on the vehicle according to the target front wheel turning angle. The problems that in the parking process, the navigation direction angle tracking precision is low, the vehicle head swing amplitude is large, and the parking completion pose and parking safety are affected are solved.

    本公开涉及一种泊车控制方法、装置、电子设备和存储介质,该泊车控制方法包括:根据预瞄点处的曲率以及车辆当前的纵向车速确定预瞄距离;根据所述预瞄距离,通过纯跟踪算法确定第一前轮转角;根据规划轨迹点处的参考航向角确定第二前轮转角;根据所述第一前轮转角和所述第二前轮转角确定目标前轮转角;根据所述目标前轮转角对车辆进行泊车控制。解决了泊车过程中航向角跟踪精度低,车头摆动幅度大,影响泊车完成位姿及泊车安全的问题。


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    Title :

    Parking control method and device, electronic equipment and storage medium


    Additional title:

    泊车控制方法、装置、电子设备和存储介质


    Contributors:
    CHEN BO (author)

    Publication date :

    2025-05-16


    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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