The invention relates to a method and a device for determining a vehicle parking attitude angle and a vehicle. The method comprises the following steps: acquiring contour point data of an obstacle within a preset distance of a parking space; an obstacle edge line segment is determined according to the contour point data, the obstacle edge line segment is used for representing the edge of an obstacle in a plane parallel to the parking space, the line segment length of the obstacle edge line segment is larger than a preset target length, and the obstacle edge line segment with the target length covers the multiple contour points; and according to the obstacle edge line segment, the parking attitude angle of vehicle parking is determined. According to the method, the edge of the obstacle is represented by the line segment with the target length, the influence of factors such as environmental noise and sensor errors can be reduced, and then the calculation accuracy of the vehicle parking attitude angle is improved.
本发明涉及一种车辆泊车姿态角度的确定方法、装置及车辆,该方法包括:获取泊车车位预设距离内的障碍物的轮廓点数据;根据轮廓点数据确定障碍物边缘线段,障碍物边缘线段用于表示在平行于泊车车位的平面内障碍物的边缘,障碍物边缘线段的线段长度大于预设的目标长度,目标长度的障碍物边缘线段覆盖多个轮廓点;根据障碍物边缘线段,确定车辆泊车的泊车姿态角度。通过本方法,将障碍物的边缘用目标长度的线段表示,可以减少由于环境噪声、传感器误差等因素的影响,进而提高对车辆泊车姿态角度的计算准确度。
Vehicle parking attitude angle determination method and device and vehicle
车辆泊车姿态角度的确定方法、装置及车辆
28.03.2025
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 |
Europäisches Patentamt | 2019
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|Europäisches Patentamt | 2024
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