The invention discloses an automatic parking method which comprises the following steps: when a target vehicle is in a parking stage, acquiring ultrasonic data in real time through an ultrasonic sensor of the target vehicle; according to the ultrasonic data collected in real time, a parking space group where parking can be carried out is obtained; according to an occupation grid map constructed by the ultrasonic data, adjusting the initial parking space pose of the parking space group to obtain the adjusted parking space pose of the parking space group; obtaining a target parking space in which the target vehicle is to be parked from the parking space group; and controlling the target vehicle to park in the target parking space based on the adjusted parking space pose. According to the automatic parking method and device, the electronic equipment and the medium, the pose estimation error can be effectively reduced when the ultrasonic radar sensor is used for parking space detection, the accuracy of the obtained parking space pose is higher, and then the safety performance during automatic parking is improved.

    本发明公开了一种自动泊车方法,在目标车辆处于泊车阶段时,通过所述目标车辆的超声波传感器实时采集超声波数据;根据实时采集的所述超声波数据,获取可停车的车位组;根据所述超声波数据构建的占据栅格地图,对所述车位组的初始车位位姿进行调整,得到所述车位组的调整车位位姿;从所述车位组中获取所述目标车辆待停入的目标车位;基于所述调整车位位姿,控制所述目标车辆泊入所述目标车位。本发明公开的自动泊车方法、装置、电子设备及介质,能够在使用超声波雷达传感器进行车位检测时有效减小位姿估计误差,使得获取的车位位姿的准确度更高,进而提高自动泊车时的安全性能。


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    Title :

    Automatic parking method and device, electronic equipment and medium


    Additional title:

    自动泊车方法、装置、电子设备及介质


    Contributors:
    JIANG JIAMING (author) / LIU RONG (author)

    Publication date :

    2022-11-01


    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



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