一种辅助停车控制方法、系统、装置、设备及存储介质

The invention discloses an auxiliary parking control method, an auxiliary parking control system, an auxiliary parking control device, auxiliary parking control equipment and a storage medium. The method comprises the steps of obtaining current state parameters of a vehicle and a relative distance between the vehicle and a stop line, inputting the current state parameters into a state space model, outputting an estimated value of an attachment coefficient of a current road surface, constructing the state space model based on an adaptive Kalman filtering algorithm, determining current expected braking force of the vehicle based on the estimated value of the attachment coefficient, the current state parameters and the relative distance by combining a model prediction control algorithm, and completing auxiliary parking based on the expected braking force and the opening degree of a brake pedal of a current driver. The method can sense road conditions and actual states of vehicles and dynamically optimize braking force through the self-adaptive Kalman filtering algorithm, the model predictive control algorithm and the braking compensation and the comprehensive control of executing the three parts.