The invention provides a memory automatic parking method and system, and the method comprises the steps: searching a matched historical parking track in an SLAM positioning feature map when the planning of a parking path according to a searched parking space and a vehicle position fails in an automatic parking process; parking path key points of the historical parking track are extracted; re-planning a new parking path based on the extracted parking path key points; and the vehicle is parked in the parking space based on the new parking path. Aiming at a parking space scene with failed path planning of the automatic parking system, the automatic parking system extracts key path points of the parking space path of the driver through the memorized historical path of the driver parking in the parking space, and re-plans and fits the automatic parking path, so that automatic parking in the parking space is realized. The problem that automatic parking cannot be automatically parked into the parking space due to the fact that automatic parking path planning fails is solved.
本发明提供一种记忆自动泊车方法及泊车系统,方法包括:在自动泊车过程中,当根据搜索的停车位和自车位置进行泊车路径规划失败时,在SLAM定位特征地图中寻找匹配的历史泊车轨迹;提取所述历史泊车轨迹的泊车路径关键点;基于提取的泊车路径关键点,重新规划泊车新路径;基于所述泊车新路径,将车辆泊入停车位。本发明针对自动泊车系统路径规划失败的停车位场景,自动泊车系统通过记忆的驾驶员泊入此车位的历史轨迹,提取驾驶员泊入车位轨迹的关键路径点,重新规划并拟合自动泊车轨迹,从而实现自动泊入停车位。解决了自动泊车路径规划失败,导致自动泊车无法自动泊入停车位的问题。
Memory automatic parking method and parking system
一种记忆自动泊车方法及泊车系统
2022-07-12
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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