The invention provides a parking segmentation real-time correction method and device based on visual inspection, and the method comprises the steps: obtaining a parking region in which a vehicle is interested, and enabling the parking region in which the vehicle is interested to comprise a parking space; performing visual detection on the parking space form, and dividing the automatic parking process of the vehicle into a track section before parking and a track section after parking according to a visual detection result; errors existing in the track section before parking and errors existing in the track section after parking are sequentially corrected in real time, the correction precision of the automatic parking process of the vehicle is improved, and the vehicle can be accurately parked in the parking space. According to the invention, the track segments are divided in the automatic parking process of the vehicle, and different real-time correction strategies are adopted for different track segments. The technical problems that error correction is not timely and transverse errors and course errors still exist after parking due to the fact that dynamic errors in the vehicle parking process are corrected based on the last section of fixed track in the prior art can be solved, and the vehicle parking precision is improved.
本发明提供一种基于视觉检测的泊车分段实时补正的方法和装置,其中,方法包括:获取车辆感兴趣的泊车区域,其中,车辆感兴趣的泊车区域中包括车位;对车位形态进行视觉检测,根据视觉检测的结果,将车辆自动泊车过程划分为入库前的轨迹段和入库后的轨迹段;依次对入库前的轨迹段和入库后的轨迹段中存在的误差进行实时补正,提升车辆自动泊车过程的补正精度,使得车辆能精准泊入至车位中。本发明通过将车辆自动泊车过程进行轨迹段划分,并针对不同轨迹段分别采取不同的实时补正策略,可解决传统基于最后一段固定轨迹来修正车辆泊车过程中的动态误差所存在的误差修正不及时、入库后仍存在横向误差和航向误差的技术问题,提升车辆泊入精度。
Parking segmentation real-time correction method and device based on visual inspection
一种基于视觉检测的泊车分段实时补正的方法和装置
09.01.2024
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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