The embodiment of the invention relates to a parking method and device based on visual perception, equipment and a medium, and the method comprises the steps: taking a parking target position as a preset marker, responding to a parking instruction, obtaining an initial image coordinate and an initial relative motion coordinate of the parking target position based on a camera of a vehicle, and in the parking process, determining the initial image coordinate and the initial relative motion coordinate of the parking target position; acquiring a real mark image coordinate of the parking target position based on the camera, acquiring a reckoning relative motion coordinate of the parking target position based on a dead reckoning algorithm and the initial relative motion coordinate, converting the reckoning relative motion coordinate into a target image coordinate, determining a real-time conversion matrix based on the target image coordinate and the real mark image coordinate, and storing the real-time conversion matrix in the parking target position. And converting the target image coordinates based on the real-time conversion matrix to obtain a correction value of the parking target position, and performing parking adjustment on the vehicle based on the correction value. The position posture of the parking target position relative to the vehicle can be continuously and accurately sensed so as to carry out parking adjustment, and the parking precision and the parking experience are improved.

    本公开实施例涉及一种基于视觉感知的泊车方法、装置、设备及介质,其中方法包括:泊车目标位置为预设标志物,响应于泊车指令,基于车辆的摄像头获取泊车目标位置的初始图像坐标和初始相对运动坐标,在泊车过程中,基于摄像头获取泊车目标位置的真实标志图像坐标,基于航位推算算法和初始相对运动坐标获取泊车目标位置的推算相对运动坐标,将推算相对运动坐标转换为目标图像坐标,基于目标图像坐标和真实标志图像坐标确定实时转换矩阵,基于实时转换矩阵对目标图像坐标进行转换得到泊车目标位置的修正值,基于修正值对车辆进行泊车调整。能够不间断地准确感知泊车目标位置对于车辆的位置姿态以进行泊车调整,提高泊车精度和提升泊车体验。


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    Titel :

    Parking method, device and equipment based on visual perception and medium


    Weitere Titelangaben:

    一种基于视觉感知的泊车方法、装置、设备及介质


    Beteiligte:
    WAN LI (Autor:in) / ZHAO LAIGANG (Autor:in)

    Erscheinungsdatum :

    06.12.2024


    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



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