The embodiment of the invention provides a parking method and device for correcting a parking space and a vehicle, and relates to the field of automatic driving, and the parking method for correcting the parking space comprises the steps: obtaining at least one parking space around the vehicle, and receiving a selection instruction input by a user; selecting a target parking space from the at least one parking space according to the selection instruction, determining an initial reference line of the vehicle according to the initial position of the vehicle and the vehicle information, and planning an initial parking path according to the initial position and the target parking space; controlling the vehicle to run along the initial parking path, and acquiring a camera ordinate corresponding to a rear camera in real time; and based on the vertical coordinate of the camera, the initial reference line and the relative position of the target parking space, updating a parking driving path in real time, and controlling the vehicle to drive according to the updated parking driving path until the vehicle drives to the target parking space. The parking space can be detected in real time, so that the planned parking route is more accurate, the vehicle is prevented from deviating when entering the parking space, and the success rate of automatic parking can be improved.
本申请实施例提供一种修正车位的泊车方法、装置和车辆,涉及自动驾驶领域,该修正车位的泊车方法通过获取车辆周围的至少一个车位,并接收用户输入的选择指令;根据选择指令从至少一个车位中选取目标车位,根据车辆的初始位置和车辆信息确定车辆的起始参考线,并根据初始位置和目标车位规划初始泊车路径;控制车辆沿初始泊车路径行驶,并实时获取后置摄像头对应的摄像头纵坐标;基于摄像头纵坐标、起始参考线和目标车位的相对位置,实时更新泊车行驶路径,控制车辆按照更新后的泊车行驶路径行驶,直至车辆行驶至目标车位。本申请可以实时检测车位,使得规划出的泊车路线更加准确,避免车辆驶入车位时存在偏斜,从而可以提高自动泊车成功率。
Parking method and device for correcting parking space and vehicle
一种修正车位的泊车方法、装置和车辆
2023-06-13
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 |
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