The invention relates to a parking-out method and device based on visual perception and radar perception, and the method comprises the steps: obtaining the obstacle information, lane information and parking space information of a vehicle in real time based on visual perception and radar perception in response to a parking-out request of the vehicle; according to the obstacle information, the lane information, the parking space information and a preset parking space type and parking space direction weight table, the effective parking space direction of the vehicle is determined; based on the effective parking-out direction of the vehicle, planning a parking space parking-out track; and carrying out parking-out control on the vehicle according to the parking space parking-out track. According to the invention, through visual perception and radar perception and fusion of real-time data, parking-out and parking-in of the vehicle are decoupled, and different parking-out decisions are made in combination with different parking-out scenes, so that the reliability and safety of the parking-out function are improved.
本发明涉及一种基于视觉感知和雷达感知的泊出方法和装置,其方法包括:响应于自身车辆的泊出请求,基于视觉感知和雷达感知,实时获取自身车辆的障碍物信息、车道信息和车位信息;根据所述障碍物信息、所述车道信息和所述车位信息,以及预设的车位类型与泊出方向的权重表,确定自身车辆的有效泊出方向;基于所述自身车辆的有效泊出方向,规划车位泊出轨迹;根据所述车位泊出轨迹,对自身车辆进行泊出控制。本发明通过视觉感知和雷达感知并融合实时数据,对车辆泊出与泊入解耦合,并结合不同泊出场景作出不同的泊出决策,从而提高了泊出功能的可靠性和安全性。
Parking-out method and device based on visual perception and radar perception
一种基于视觉感知和雷达感知的泊出方法及装置
2023-10-27
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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