The invention provides a parking method and device, an electronic equipment system and a storage medium. The parking method comprises the steps that image features collected by a plurality of image recording devices around a vehicle are converted into aerial view bev features of a panoramic aerial view; according to the bev features, through the relative position relation between the obstacles around the vehicle and the vehicle, the angular points of the obstacles are determined to serve as reference points of an obstacle detection frame; according to the reference point, predicting position information from the reference point to a midpoint of two adjacent sides adjacent to the reference point, and obtaining the size, position and orientation of an obstacle detection frame; the size of the obstacle detection frame is used for reflecting an obstacle area; and determining whether to avoid the obstacle area for parking or not according to the obstacle area, the position and the orientation. In this way, the accuracy of the obstacle detection frame in the parking process is improved, obstacles can be avoided more easily during parking, and therefore the collision possibility is reduced.

    本申请提供一种泊车方法、装置、电子设备系统和存储介质。其中,泊车方法包括将车辆周围的多个影像记录设备采集的图像特征,转换为全景鸟瞰图的鸟瞰图bev特征;根据bev特征,通过车辆周围障碍物与车辆的相对位置关系,确定障碍物的角点,作为障碍物检测框的参考点;根据参考点,预测参考点到参考点相邻两个邻边中点的位置信息,得到障碍物检测框的尺寸、位置及朝向;障碍物检测框的尺寸用于反映障碍物的区域;根据障碍物区域、位置及朝向,确定是否避开障碍物区域进行泊车。这样提高泊车过程中障碍物检测框的准确性,使得泊车更容易避开障碍物,从而降低碰撞的可能性。


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    Titel :

    Parking method and device, electronic equipment system and storage medium


    Weitere Titelangaben:

    泊车方法、装置、电子设备系统和存储介质


    Beteiligte:
    ZHANG ZHENGMING (Autor:in) / WANG BIN (Autor:in)

    Erscheinungsdatum :

    23.02.2024


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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