The embodiment of the invention provides a parking control method, device and system. The parking control method comprises the following steps: receiving a parking request message of a to-be-parked vehicle sent by a vehicle controller; a parking space is determined, and the identification of the parking space is sent to the vehicle controller; acquiring point cloud data of a predetermined monitoring area corresponding to the parking space scanned by the laser radar; clustering the point cloud data to obtain a point cloud set of the to-be-parked vehicle; calculating the point cloud set of the to-be-parked vehicle and the vehicle point cloud model by using an iterative closest point ICP algorithm to obtain and send a rotation matrix and a translation matrix between the point cloud set of the to-be-parked vehicle and the vehicle point cloud model, and the vehicle controller controls the driving direction and speed of the to-be-parked vehicle in real time according to the rotation matrix and the translation matrix, and finally the to-be-parked vehicle stops at the parking space. The parking control method provided by the invention has the advantages of high automation degree, high precision and the like, and meets the requirement of realizing automatic and accurate parking in multiple types of parking spaces with narrow spaces.

    本申请的实施方式提供了一种停车控制方法、设备及系统。该停车控制方法包括:接收车辆控制器发送的待停车辆请求停车的消息;确定一停车位并将停车位的标识发送给车辆控制器;获取激光雷达扫描得到的停车位对应的预定监控区域的点云数据;对点云数据聚类得到待停车辆的点云集合;利用迭代最近点ICP算法对待停车辆的点云集合和车辆点云模型进行计算,得到并发送待停车辆的点云集合与车辆点云模型之间的旋转矩阵和平移矩阵,以使车辆控制器根据旋转矩阵和平移矩阵实时控制待停车辆的行驶方向和速度并最终停止在停车位。本申请提出的停车控制方法具有自动化程度高,精度高等优点,满足在多类型且空间狭小的停车位中实现自动化精准停车的需要。


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    Titel :

    Parking control method, equipment and system


    Weitere Titelangaben:

    一种停车控制方法、设备及系统


    Beteiligte:
    LI YIMING (Autor:in) / JIN YUHE (Autor:in) / CAI JINPENG (Autor:in) / WU NAN (Autor:in)

    Erscheinungsdatum :

    2023-08-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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