The invention provides a parking method and system, a readable storage medium and a vehicle, and the method comprises the steps: obtaining surrounding view images of the vehicle in real time, splicing the surrounding view images into a bird's-eye view, carrying out the recognition of a parking space and an obstacle in the bird's-eye view based on a parking space model in a deep learning model, and carrying out the recognition of the parking space in the bird's-eye view. The method comprises the following steps: acquiring a plurality of parking spaces, acquiring image coordinates of the parking spaces and obstacle coordinates, acquiring vehicle coordinates in real time, converting the vehicle coordinates into vehicle world coordinates, converting the image coordinates of the parking spaces into world coordinates of the parking spaces based on the vehicle world coordinates, and converting the obstacle coordinates into obstacle world coordinates based on the vehicle world coordinates; and on the basis of the world coordinates of the parking spaces and the world coordinates of the obstacles, optimal parking space world coordinates are obtained, and a parking line is planned according to the optimal parking space world coordinates and the world coordinates of the obstacles. According to the invention, the position of the parking space can be obtained more accurately, and the more effective parking space can be searched, so that the vehicle can be parked in the garage more accurately.

    本发明提供一种泊车方法、系统、可读存储介质及车辆,方法包括实时获取车辆四周环视图像,并将四周环视图像拼接成鸟瞰图,基于深度学习模型中的库位模型对鸟瞰图中的库位以及障碍物进行识别,并得到各库位的图像坐标以及障碍物坐标,实时获取车辆坐标,并将车辆坐标转换成车辆世界坐标,基于车辆世界坐标将各所库位的图像坐标转换成各库位的世界坐标,并基于车辆世界坐标将障碍物坐标转换成障碍物世界坐标,基于各库位的世界坐标以及障碍物世界坐标,得到最优库位世界坐标,并根据最优库位世界坐标以及障碍物世界坐标规划泊车线路。本发明能够更加精确得到库位的位置,以及能够搜索更加有效的库位,进而使得车辆泊车入库更加精确。


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    Title :

    Parking method and system, readable storage medium and vehicle


    Additional title:

    一种泊车方法、系统、可读存储介质及车辆


    Contributors:
    ZHOU ZHIFEN (author) / HUANG SHAOTANG (author) / WANG AICHUN (author) / JIANG HUIHUA (author) / ZHENG LIPING (author) / ZHANG JIN (author) / ZHANG RUIXUE (author) / HUA YIQING (author) / WU JIAJIE (author) / PENG CHENRUO (author)

    Publication date :

    2023-06-09


    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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