The invention provides a storage location positioning method and device and vehicle-mounted equipment, and is applied to the technical field of automobiles. The method comprises the steps of firstly obtaining a storage location picture, a current pose of a vehicle and a storage location map, and then determining a storage location type of an actual storage location and a storage location center line in the length direction of the storage location according to the storage location picture; and further determining a reference storage location in the storage location map according to the storagelocation type and the current pose of the vehicle, generating a parking track line of the vehicle from the current pose to the reference storage location, and finally determining the actual storage location of which the deviation between the storage location center line and the parking track line in each actual storage location is smaller than a preset deviation threshold value as a target parkingstorage location. According to the method, the positioning of the target parking storage location is realized in combination with the positioning information of the storage location picture, the vehicle pose, the storage location map and the like, and compared with a method for positioning the parking storage location by virtue of single positioning information in the prior art, the storage location positioning precision can be effectively improved, and the success rate of automatic parking can be improved.

    本发明提供一种库位定位方法、装置及车载设备,应用于汽车技术领域,该方法首先获取库位图片、车辆当前位姿以及库位地图,然后根据库位图片确定实际库位的库位类型以及在库位长度方向上的库位中心线,进一步根据库位类型和车辆的当前位姿在库位地图中确定参考库位,并生成车辆由当前位姿至参考库位的泊车轨迹线,最终,将各实际库位中库位中心线与泊车轨迹线的偏差小于预设偏差阈值的实际库位,确定为目标停车库位。本方法结合库位图片、车辆位姿,以及库位地图等多方面的定位信息实现目标停车库位的定位,与现有技术中依靠单一定位信息定位停车库位的方法相比,能够有效提高库位定位精度,有助于提高自动泊车的成功率。


    Access

    Download


    Export, share and cite



    Title :

    Storage location positioning method and device and vehicle-mounted equipment


    Additional title:

    一种库位定位方法、装置及车载设备


    Contributors:
    LI CHAO (author) / ZHOU TIANXIANG (author) / WANG XI (author) / CHENG SHIQING (author)

    Publication date :

    2020-12-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    Vehicle positioning method, vehicle-mounted equipment and storage medium

    XU XIAOHAN / HE XIAO / QI YUE et al. | European Patent Office | 2020

    Free access


    Target positioning method, vehicle-mounted equipment and vehicle

    ZHANG CHAO / GU LIANG | European Patent Office | 2024

    Free access

    Vehicle-mounted equipment positioning and leveling device and method

    ZHANG XU / ZHANG JUN / XU GUOQIANG et al. | European Patent Office | 2020

    Free access

    Vehicle-mounted positioning device and vehicle

    WANG QIANG | European Patent Office | 2015

    Free access