The invention discloses an automatic parking planning method and device, electronic equipment and a storage medium, and the method comprises the following steps: determining the current attitude information of a vehicle body when the angular point coordinates of a parking space are recognized, and the attitude information comprises the height Hr of a rear center shaft; similarity calculation of the current attitude information is carried out in an attitude information model corresponding to the rear center axis height Hr, N sets of target attitude information are determined, and N is larger than or equal to 2; calculating a target extrinsic parameter matrix according to N groups of extrinsic parameter matrixes corresponding to the N groups of target attitude information; and updating the parking space angular point coordinates according to the target external parameter matrix. The method has the advantages that the defects that when a single tire of the vehicle is under-pressure and the load of the vehicle is uneven, the height of the looking-around fisheye camera is greatly changed relative to the ground, and consequently vehicle identification parking space deviation and skew are caused are overcome, the identification precision is improved, track deviation caused by continuous insufficient tire pressure is avoided, and the automatic parking accuracy and the environmental adaptability are improved.

    本发明公开了一种自动泊车规划方法、装置、电子设备及存储介质,其中自动泊车规划方法,包括以下步骤:识别到的车位角点坐标时,确定车身当前姿态信息,所述姿态信息包括后中轴高度Hr;在所述后中轴高度Hr对应的姿态信息模型中进行所述当前姿态信息的相似度计算,确定N组目标姿态信息,其中,N≥2;根据所述N组目标姿态信息对应的N组外参矩阵,计算目标外参矩阵;根据所述目标外参矩阵,更新所述车位角点坐标。有益效果:克服当车辆单个轮胎欠压、车辆负载不均时,环视鱼眼相机相对于地面高度发生较大变化,造成的车辆识别车位偏差和歪斜,提高了识别精度,避免持续胎压不足造成的轨迹偏差,提高了自动泊车准确度和环境适应性。


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    Title :

    Automatic parking planning method and device, electronic equipment and storage medium


    Additional title:

    自动泊车规划方法、装置、电子设备及存储介质


    Contributors:
    SHEN JUN (author) / PEI SHUANGHONG (author) / FANG QIANG (author) / WEN YI (author)

    Publication date :

    2023-07-07


    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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