The invention relates to the technical field of intelligent driving, and discloses an automatic valet parking method and device, a vehicle, a storage medium and a program product, and the method comprises the steps: obtaining a parking lot map and the current initial position and initial course of the vehicle; based on lane information and parking space information in the parking lot map, constructing a road topological graph including an association relationship between lanes and parking spaces; path planning is carried out based on the initial position, the initial course and the road topological graph, and a target cruising path with the most passing parking spaces and non-repeated lanes is determined; and controlling the vehicle to run based on the target cruise path, and if an idle parking space is detected in the vehicle running process, controlling the vehicle to park in the idle parking space. When the vehicle is controlled to cruise, the vehicle can pass through the parking space with the maximum number on the premise that the lane is not repeated, the probability of detecting the idle parking space is improved, automatic parking is achieved, the problem that parking is difficult when driving is finished is solved, the driving experience of a user is improved, the requirement for system resources is low, and implementation is easy.
本发明涉及智能驾驶技术领域,公开了自动代客泊车方法、装置、车辆、存储介质及程序产品,包括:获取停车场地图以及车辆当前的初始位置和初始航向;基于停车场地图中的车道信息和车位信息,构建包含车道与车位之间关联关系的道路拓扑图;基于初始位置、初始航向以及道路拓扑图进行路径规划,确定经过车位数量最多且车道不重复的目标巡游路径;基于目标巡游路径控制车辆行驶,若在车辆行驶过程中检测到空闲车位,控制车辆泊入空闲车位。本发明在控制车辆巡游行驶时,能够在车道不重复的前提下经过数量最多的车位,提高检测到空闲车位的概率,实现自动泊车,解决驾车结束时停车难的问题,提升用户的驾车体验,且对系统资源要求低,容易实现。
Automatic valet parking method and device, vehicle, storage medium and program product
自动代客泊车方法、装置、车辆、存储介质及程序产品
15.11.2024
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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