Automatic driving vehicle parking control method and device

• Main Authors: LI XINGJIA, LI YURUI, CAI LISONG, ZUO SHUAI, ZHANG LIZENG, ZHU MIN
• Format: Patent
• Language: Chinese; English
• Published: 12.02.2021
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention relates to an automatic driving vehicle parking control method and device, and belongs to the technical field of automatic driving passenger cars. The control method comprises the following steps of obtaining the actual off-station distance between a vehicle and a front parking point, the current deceleration of the vehicle and the current vehicle speed, and estimating the braking distance according to the current deceleration of the vehicle and the current vehicle speed; obtaining a parking control error according to the difference between the actual off-station distance and thebraking distance; obtaining a given deceleration through PID control according to the parking control error; controlling the brake using the difference between the given deceleration and the currentdeceleration as a controlled variable for brake control or using the given deceleration as a controlled variable for brake control. According to the method, the deceleration is controlled according tothe error between the actu