The invention discloses a parking planning method and device, electronic equipment and a storage medium, and the method is applied to a vehicle-mounted terminal, and comprises the steps: carrying out the motion compensation of a previous frame of look-around image according to the track plotting information and vehicle body pose information corresponding to a current frame of look-around image, and obtaining a current frame of look-around image; determining a dynamic area in the current frame look-around image according to the current frame look-around image and the previous frame look-around image after motion compensation; performing feature extraction on the current frame look-around image to obtain one or more target feature maps; inputting the target feature map into a multi-task model, and determining output results corresponding to the multiple tasks according to the target feature map through the multi-task model; fusing the output result corresponding to each task and the dynamic region, and mapping the output result and the dynamic region into a three-dimensional space to obtain a fusion result; and planning the parking path of the vehicle in the three-dimensional space according to the fusion result. By implementing the embodiment of the invention, the safety of parking planning can be improved.

    本申请公开一种泊车规划方法、装置、电子设备及存储介质,该方法应用于车载终端,该方法包括:根据当前帧环视图像对应的航迹推算信息及车身位姿信息,对上一帧环视图像进行运动补偿,并根据当前帧环视图像及运动补偿后的上一帧环视图像,确定当前帧环视图像中的动态区域;对当前帧环视图像进行特征提取,以得到一张或多张目标特征图;将目标特征图输入至多任务模型,通过多任务模型根据目标特征图确定多个任务分别对应的输出结果;将各个任务对应的输出结果和动态区域进行融合,并映射到三维空间中,得到融合结果;根据融合结果对车辆在三维空间中的泊车路径进行规划。实施本申请实施例,能够提高泊车规划的安全性。


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    Title :

    Parking planning method and device, electronic equipment and storage medium


    Additional title:

    泊车规划方法、装置、电子设备及存储介质


    Contributors:
    TONG LIESHU (author) / CAO XINMING (author) / ZHANG RAN (author) / SHI WENJING (author) / CHAI LINGBIN (author) / TANG QIANQIAN (author) / WANG MIN (author) / ZHANG HONGYING (author)

    Publication date :

    2023-07-25


    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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