The invention discloses a parking space memory method for a parking system based on parking space calculation. The parking space memory method comprises the following steps: establishing a parking space target coordinate system; constructing coordinates of two ends of a parking space entrance in an absolute coordinate system; vehicle coordinate system position coordinates at the two ends of a parking space entrance are established, coordinates and pixel coordinates of the parking space entrance in an absolute coordinate system are constructed through a rotation matrix and a translation vector, the pixel coordinates of back projection are compared with the pixel coordinates of the received parking space, and a residual error is positioned and optimized; optimizing and correcting the vehicle position data; solving the corrected vehicle position; outputting the relative position of the parking space: obtaining the position of the vehicle at any moment based on the back projection residual error of the parking space; and circulation planning control: controlling the vehicle to be parked in the parking space. The invention further discloses a parking space memory device of the parking system for parking space calculation and a computer system. The method can quickly lock the target parking space, guarantees the reliability and efficiency of parking space recognition, and can be widely applied to the field of automatic parking of vehicles.

    本发明公开了一种车位推算的泊车系统车位记忆方法,步骤如下:建立车位目标坐标系:构建车位入口处两端在绝对坐标系下的坐标;任意时刻车位位置推算:建立车位入口处两端的车辆坐标系位置坐标,通过旋转矩阵和平移向量构建车位入口在绝对坐标系下的坐标和像素坐标,并将反投影的像素坐标与接收车位的像素坐标进行比较,定位优化残差;车辆位置数据的优化矫正:求取矫正后的车辆位置;车位相对位置输出:基于车位反投影残差,得到任意时刻车辆位置;循环规划控制:控制车辆停入车位。本发明还公开了一种车位推算的泊车系统车位记忆装置和计算机系统。本发明能将目标车位迅速锁定,保证车位识别的可靠和效率,可以广泛应用于车辆自动泊车领域。


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    Titel :

    Parking system parking space memory method and device based on parking space calculation, and computer system


    Weitere Titelangaben:

    一种车位推算的泊车系统车位记忆方法、装置及计算机系统


    Beteiligte:
    LI HONGLIN (Autor:in) / WEN YI (Autor:in) / DING ZONGYANG (Autor:in) / CHEN SONG (Autor:in) / YANG SHIHUI (Autor:in)

    Erscheinungsdatum :

    2023-08-25


    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



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