The invention relates to a parking path determination method and device, equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that first obstacle information in a first area is collected through a millimeter wave radar, and the first obstacle information is constructed into a parking coordinate system; marking line information in the second area is collected through a camera, the marking line information and the parking coordinate system are subjected to fusion processing, and a target parking space and a parking path are determined; second obstacle information in the third area is collected through the ultrasonic radar, fusion processing is carried out on the second obstacle information and marker line information collected by the camera, and the parking path is updated in real time till the vehicle is parked to the target parking space. Therefore, the parking path can be determined and updated in real time based on the millimeter wave radar, the camera and the ultrasonic radar, and the technical problems that when the parking path is determined based on the camera and the ultrasonic radar, the parking space recognition capacity is poor, the parking space recognition range is small, and the parking path determination cost based on the camera and the laser radar is high are solved.

    本申请涉及一种泊车路径确定方法、装置、设备及存储介质,涉及汽车技术领域。该方法包括:通过毫米波雷达采集第一区域内的第一障碍物信息,并将第一障碍物信息构建至泊车坐标系中;通过摄像头采集第二区域内的标志线信息,并将标志线信息与泊车坐标系进行融合处理,确定目标车位和泊车路径;通过超声波雷达采集第三区域内的第二障碍物信息,并与摄像头采集的标志线信息进行融合处理,实时更新泊车路径直至车辆停放至目标车位。由此,可以基于毫米波雷达、摄像头和超声波雷达,确定并实时更新泊车路径,解决基于摄像头与超声波雷达确定泊车路径时,识别车位的能力较差、范围较小,以及基于摄像头与激光雷达确定泊车路径的成本较高的技术问题。


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    Titel :

    Parking path determination method and device, equipment and storage medium


    Weitere Titelangaben:

    泊车路径确定方法、装置、设备及存储介质


    Beteiligte:
    YANG FENG (Autor:in) / FU YING (Autor:in) / WU YONGJIANG (Autor:in)

    Erscheinungsdatum :

    2023-11-03


    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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