The embodiment of the invention relates to an automatic parking positioning method. The method comprises the steps of acquiring acceleration information and angular velocity information of a vehicle, acquiring wheel speed information of the vehicle, and obtaining first position information and first course information of the vehicle in a first coordinate system; acquiring point cloud data of the vehicle in a second coordinate system to obtain second position information and second course information; fusing the first position information, the first course information, the second position information and the second course information through a first algorithm to obtain first pose information of the vehicle in the first coordinate system; acquiring image data of a parking space to be parked, and constructing an equation; determining coordinates of each angular point of the parking space to be parked in a third coordinate system, and determining second pose information of the vehicle in the third coordinate system; converting the first pose information of the first coordinate system into third pose information of the third coordinate system; and carrying out fusion processing on the second pose information and the third pose information, and determining target position information and target course information of the vehicle.
本发明实施例涉及一种自动泊车定位方法,包括获取车辆的加速度信息和角速度信息,获取车辆的轮速信息,得到车辆在第一坐标系下的第一位置信息和第一航向信息;获取车辆在第二坐标系下的点云数据,得到第二位置信息和第二航向信息;通过第一算法将第一位置信息、第一航向信息、第二位置信息和第二航向信息进行融合处理,得到车辆在第一坐标系下的第一位姿信息;获取待泊车位的图像数据,构建方程;确定待泊车位的每个角点在第三坐标系中的坐标,并确定车辆在第三坐标系下的第二位姿信息;将第一坐标系的第一位姿信息转换为第三坐标系的第三位姿信息;对第二位姿信息和第三位姿信息进行融合处理,确定车辆的目标位置信息和目标航向信息。
Automatic parking positioning method and device
一种自动泊车定位方法和装置
2021-07-23
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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