The invention discloses a parking method and system based on parking space tracking, and the method comprises the following steps: obtaining the vehicle operation information and the parking space corner information of a parking space when the parking operation of a vehicle is detected; according to the vehicle operation information, error processing is carried out on the parking space corner point information through Kalman filtering; generating an arc linear parking track based on the parking space angular point information after error processing; the vehicle is controlled to conduct parking operation according to the arc linear parking track; therefore, the problem of error accumulation caused by control and perception can be solved on the basis of not occupying large computing power.
本发明公开了一种基于库位跟踪的泊车方法及系统,其方法包括以下步骤:当检测到车辆进行泊车操作时,获取车辆运行信息及车位的库位角点信息;根据所述车辆运行信息,并通过卡尔曼滤波对所述库位角点信息进行误差处理;基于误差处理后的库位角点信息生成圆弧直线泊车轨迹;控制车辆按照所述圆弧直线泊车轨迹进行泊车操作;因此可在不占用较大算力的基础上解决控制和感知带来的误差积累问题。
Parking method and system based on parking space tracking
基于库位跟踪的泊车方法及系统
13.12.2022
Patent
Elektronische Ressource
Chinesisch
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