The embodiment of the invention provides a motor vehicle automatic parking device and method. The device comprises a video collection and extraction module which is used for collecting a video image around a motor vehicle, and obtaining image frames through frame-by-frame extraction from the video image; a depth processing module which is used for carrying out depth processing on the image framesframe by frame; an information processing module which is used for constructing a motor vehicle pose map and a scene map according to the image frames subjected to deep processing, and acquiring parking space information around the motor vehicle from the scene map; a track calculation module which is used for calculating and generating a parking track route according to the parking space information, the motor vehicle pose map and the scene map; and a parking module which is used for controlling the motor vehicle to drive into the parking space according to the parking track route. According to the embodiment of the invention, the image frames are deeply processed frame by frame, the motor vehicle pose map and the scene map are constructed, and the parking space information around the motor vehicle is acquired through the motor vehicle pose map and the scene map, so that the path and scene reconstruction precision is improved, and the automatic parking precision can be improved.
本发明实施例提供一种机动车自动泊车装置及方法,所述装置包括:视频采集及提取模块,用于采集机动车周围的视频影像,并从视频影像中逐帧提取获得图像帧;深度处理模块,用于对图像帧逐帧进行深度处理;信息处理模块,用于根据深度处理后的图像帧构建机动车位姿图和场景地图,并从场景地图中获取机动车周围的泊车位信息;轨迹计算模块,用于根据泊车位信息和机动车位姿图和场景地图,计算生成泊车轨迹路线;泊车模块,用于根据泊车轨迹路线,控制机动车驶入泊车位中。本实施例对图像帧逐帧深度处理,构建机动车位姿图和场景地图,通过机动车位姿图和场景地图获取机动车周围的泊车位信息,提高了路径和重建场景的精度,能提高自动泊车的精确度。
Motor vehicle automatic parking device and method
机动车自动泊车装置及方法
2020-04-17
Patent
Elektronische Ressource
Chinesisch
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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