The invention relates to the technical field related to automobiles, and provides a vehicle positioning method and device for automatic parking and a vehicle. The vehicle positioning method for automatic parking determines corresponding target parking space line information and a planned parking track based on an initial pose of the vehicle and a target parking space determined by a user; the method comprises the steps of obtaining target parking space line information, determining a target angular point position based on the target parking space line information, controlling a vehicle to run according to a parking track, determining corresponding running parking space line information based on the real-time pose of the vehicle in the vehicle moving process, and determining a corresponding running angular point position based on the running parking space line information. And determining a driving pose of the vehicle based on the target parking space line information, the driving parking space line information, the driving angular point position and the target angular point position, and correcting positioning information of the vehicle in the parking process according to the driving pose. According to the invention, the positioning precision of the vehicle is improved, and no additional equipment is added, so that the cost of correcting and positioning the vehicle is lower.

    本申请涉及汽车相关技术领域,提供一种自动泊车的车辆定位方法、装置和车辆,该自动泊车的车辆定位方法基于车辆的初始位姿和用户确定的目标车位确定相应的目标车位线信息和规划泊车轨迹,并基于目标车位线信息确定目标角点位置,控制车辆按照泊车轨迹行驶,在车辆移动过程中,基于车辆的实时位姿确定相应的行驶车位线信息,基于行驶车位线信息确定相应的行驶角点位置,基于目标车位线信息、行驶车位线信息、行驶角点位置和目标角点位置确定车辆的行驶位姿,并根据行驶位姿修正车辆在泊车过程中的定位信息。本申请提高车辆的定位精度,还可以不增加额外设备,从而使车辆修正定位的成本更加低廉。


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    Title :

    Vehicle positioning method and device for automatic parking and vehicle


    Additional title:

    一种自动泊车的车辆定位方法、装置和车辆


    Contributors:
    QUE QIUGEN (author) / HE TIANYI (author)

    Publication date :

    2023-01-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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