The invention provides a parking lot fused underground garage autonomous valet parking positioning and pose evaluation method. The method comprises the following steps that 1, a vehicle obtains a high-precision map and target parking space information of a parking lot from a parking lot end; 2, positioning underground parking of the vehicle according to a field end map and vehicle-mounted all-round vision, and automatically driving the vehicle to a target parking space from an entrance of a garage at a low speed; step 3, obstacle detection and obstacle avoidance are carried out in combination with an Internet of Vehicles map and vehicle-mounted all-round view until the vehicle is parked in a target parking space; 4, vehicle-mounted vision captures real-time target parking space information, and the parking space information is converted; 5, in combination with the three-dimensional feature information of the high-precision map, the precise positioning coordinates of the vehicle are obtained by fusing the two-dimensional code identification information; step 6, autonomous valet parking attitude estimation is carried out through combination of vehicle-mounted look-around top view alignment two-dimensional code information; and 7, the parking posture is evaluated according to the parking space information.
本发明提供了一种车场融合的地下车库自主代客泊车定位和位姿评估方法,包括以下步骤:步骤1、车辆从场端获取停车场的高精地图和目标车位信息;步骤2、根据场端地图和车载环视视觉进行车辆地下停车的定位,从车库入口低速自动行驶到目标车位;步骤3、结合车联网地图和车载环视进行障碍物检测和避障,直至停入目标车位;步骤4、车载视觉捕获实时目标停车位信息,对停车位信息进行转换;步骤5、结合高精度地图的三维特征信息,通过融合二维码识别信息得到车辆的精确定位坐标;步骤6、采用车载环视俯视图找中二维码信息结合的自主代客泊车姿态估计;步骤7、依据车位信息对泊车姿态进行评估。
Parking lot fused underground garage autonomous valet parking positioning and pose evaluation method
车场融合的地下车库自主代客泊车定位和位姿评估方法
22.03.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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