The invention relates to the technical field of automatic parking, and provides a parking path optimization method and system. When automatic parking is carried out in an underground garage, on one hand, image acquisition and inertial data acquisition are carried out by using the data acquisition and analysis capability of a vehicle, and then key frames and vehicle pose information are obtained through processing; and finally, local mapping is carried out for parking path planning. On the other hand, directly acquiring a ground surface data set of the current parking scene, performing error calculation on trajectory data in local mapping based on local data, performing global mapping in combination with trajectory errors and local mapping, and performing three-dimensional space reconstruction to output a parking optimization path; by means of reference correction of real-time collected data and local landmark data, the situation that the error is larger than 30 m can be corrected and reduced to be within 20 cm during turning parking, accurate positioning is achieved, parking track deviation is reduced, and the automatic parking accuracy is greatly improved.
本发明涉及自动泊车技术领域,提供一种泊车路径优化方法及系统,在地下车库进行自动泊车时,一方面利用车辆自身的数据采集分析能力,进行图像采集、惯性数据获取,进而通过处理得到关键帧与车辆位姿信息,最后进行局部建图以供泊车路径规划;另一方面,直接获取当前泊车场景的地表数据集,基于本地数据对局部建图中的轨迹数据进行误差计算,进而结合轨迹误差和局部建图进行全局建图,执行三维空间重建以输出泊车优化路径;通过实时采集数据与本地地标数据的参考修正,在转弯泊车时,可将误差大于30m的情况得以修正,缩小至20cm以内,实现精准定位,减小泊车轨迹偏离,大幅度提高自动泊车准确率。
Parking path optimization method and system
一种泊车路径优化方法及系统
28.05.2024
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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