The invention discloses an automatic parking pose correction method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining sensor parameters, and determining a vehicle real-time pose corresponding to a target vehicle based on the sensor parameters; obtaining a current target parking space coordinate corresponding to the target parking space, and determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinate and the historical target parking space coordinate; and if the real-time pose of the vehicle needs to be corrected, determining a target vehicle pose based on the sensor parameters, and controlling the target vehicle to be parked in the target parking space based on the target vehicle pose. Based on the technical scheme, whether the real-time pose of the vehicle needs to be corrected or not is determined through the parking space coordinates, the pose of the vehicle is re-determined based on the sensor information when the real-time pose of the vehicle needs to be corrected, pose correction can be performed by integrating the sensor and the vehicle kinematic model, the pose judgment efficiency during automatic parking of the vehicle is improved, and the user experience is improved. And the accuracy of automatic parking is improved.
本发明公开了一种自动泊车位姿修正方法、装置、电子设备及存储介质,其中,该方法包括:获取传感器参数,并基于传感器参数确定与目标车辆对应的车辆实时位姿;获取与目标车位对应的当前目标车位坐标,并基于当前目标车位坐标和历史目标车位坐标确定是否修正车辆实时位姿;如果需要修正车辆实时位姿,则基于传感器参数确定目标车辆位姿,并基于目标车辆位姿控制目标车辆泊入目标车位。基于上述技术方案,通过车位坐标确定车辆实时位姿是否需要修正,并在需要修正时基于传感器信息重新确定车辆位姿,可以综合传感器和车辆运动学模型进行位姿修正,提高了车辆在自动泊车时的位姿判断效率,并且提升了自动泊车的准确度。
Automatic parking pose correction method and device, electronic equipment and storage medium
自动泊车位姿修正方法、装置、电子设备及存储介质
2023-08-22
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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