The invention relates to an automatic parking method, device and apparatus and a medium. The method comprises the steps pf determining a target parking space where a current vehicle is to be parked and a target parking position; determining an initial to-be-parked position of the current vehicle; determining the shortest parking path of the current vehicle based on the initial to-be-parked position and the target parking position; based on the vehicle body information of the current vehicle and the shortest parking path, determining the position of a vehicle body occupied area in the parking process of the current vehicle; acquiring position information of an obstacle in a preset range of the current vehicle; judging whether the current vehicle collides with the obstacle or not when parking according to the shortest parking path based on the vehicle body occupied area position and the position information of the obstacle; and if not, controlling the current vehicle to park in the target parking space according to the shortest parking path. The complexity of a parking path calculation process can be reduced, and the steps of parking the vehicle into the parking space according to the parking path are reduced.
本发明涉及一种自动泊车方法、装置、设备及介质,所述方法包括:确定当前车辆待泊入的目标车位和目标泊车位置;确定当前车辆的初始待泊车位置;基于所述初始待泊车位置和所述目标泊车位置确定所述当前车辆的最短泊车路径;基于所述当前车辆的车身信息和所述最短泊车路径确定所述当前车辆泊车过程中的车身占据区域位置;获取所述当前车辆的预设范围内的障碍物的位置信息;基于所述车身占据区域位置和所述障碍物的位置信息判断当前车辆在按照所述最短泊车路径进行泊车时是否会与所述障碍物发生碰撞;若否,控制当前车辆按照所述最短泊车路径泊入所述目标车位。实施本发明,可降低泊车路径计算过程的复杂度,以及减少车辆按照泊车路径泊入停车位的步骤。
Automatic parking method, device and apparatus medium and
一种自动泊车方法、装置、介质及设备
2020-08-07
Patent
Electronic Resource
Chinese
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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