The invention discloses a vehicle positioning method and device in a parking scene, electronic equipment and a storage medium, and the method comprises the steps: obtaining signal collection-based CAN data and image collection-based image data of a vehicle in the parking scene, the CAN data comprising wheel pulse data, steering wheel angle data, acceleration data and angular velocity data; performing timestamp alignment on the CAN data and the image data; obtaining a wheel displacement direction according to the wheel pulse data and the steering wheel angle data, obtaining an inertial displacement direction according to the acceleration data and the angular velocity data, and obtaining a camera displacement direction according to the image data; and optimizing the wheel displacement direction, the inertial displacement direction and the camera displacement direction by adopting a graph optimization method to obtain the latest pose data of the vehicle in the parking scene. The method is slightly influenced by the environment, and the precision is guaranteed; the tight coupling method enables the positioning system to be more stable.

    本发明公开了一种泊车场景下车辆定位方法、装置、电子设备及存储介质,方法包括:获取泊车场景下车辆的基于信号采集的CAN数据和基于图像采集的图像数据,CAN数据包括:车轮脉冲数据、方向盘转角数据、加速度数据和角速度数据;将CAN数据和图像数据进行时间戳对齐;根据车轮脉冲数据和方向盘转角数据得到车轮位移方向,根据加速度数据和角速度数据得到惯性位移方向,根据图像数据得到相机位移方向;采用图优化方法,对车轮位移方向、惯性位移方向和相机位移方向进行优化,得到泊车场景下车辆的最新位姿数据。本发明受环境影响很小,精度有保证;紧耦合的方法使得定位系统更具稳定性。


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    Title :

    Vehicle positioning method and device in parking scene, electronic equipment and storage medium


    Additional title:

    泊车场景下车辆定位方法、装置、电子设备及存储介质


    Contributors:
    XU JIAN (author) / ZHANG FANG (author) / WU JIANG (author) / WU GUOSUZHOU (author)

    Publication date :

    2023-04-14


    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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