The embodiment of the invention discloses an automatic parking method, device and equipment, and the method comprises the steps: obtaining the visual pose information and mileage pose information of a vehicle, and obtaining the fusion pose information; wherein the visual pose information is determined according to the environment image of the vehicle, the mileage pose information is generated by a wheel type mileage meter, and more accurate fusion pose information of the vehicle can be obtained based on the visual information and the information of the mileage meter. And then parking space position information of the target parking space is obtained, and a parking path is generated according to the obtained relatively accurate fusion pose information and the parking space position information. The parking path is generated based on the accurate fusion pose information, the parking path can be optimized, and automatic parking can be accurately achieved.
本申请实施例公开了一种自动泊车方法、装置及设备,通过获取本车的视觉位姿信息和里程位姿信息,得到融合位姿信息;其中,视觉位姿信息是根据本车的环境图像确定的,里程位姿信息是由轮式里程计生成的,基于视觉的信息和里程计的信息,能够得到更为准确的自车的融合位姿信息。再获取目标车位的车位位置信息,根据得到的较为准确的融合位姿信息和车位位置信息,生成泊车路径。基于较为准确的融合位姿信息生成的泊车路径,能够优化泊车路径,较为准确地实现自动泊车。
Automatic parking method, device and equipment
一种自动泊车方法、装置及设备
2023-03-24
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G07C TIME OR ATTENDANCE REGISTERS , Zeit- oder Anwesenheitskontrollgeräte / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Automatic parking system, vehicle equipment and automatic parking method
European Patent Office | 2024
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