The embodiment of the invention provides a motor vehicle memory parking positioning and deviation rectifying method and device and a readable storage medium. The method comprises the steps that a global map of a parking site is created according to visual images collected and provided by a vehicle-mounted camera, key frames are inserted, and lane line information in the parking site is determined; extracting a current image frame from the visual image, performing global matching positioning on the current image frame, determining positioning information of the motor vehicle in a global map, and correspondingly generating an initial parking planning track; and according to the positioning information and the lane line information, calculating the offset distance Dcenter of the center point of the current motor vehicle relative to the center of the traffic lane, according to the Dcenter value, correcting the initial parking planning track so as to correct the position of the motor vehicle in the width direction of the traffic lane, and outputting the corrected parking planning track. According to the embodiment of the invention, the positioning accuracy of the motor vehicle in the width direction of the traffic lane can be effectively enhanced, the parking planning track is corrected in time, and the collision accident of the vehicle is avoided.
本发明实施例提供一种机动车记忆泊车定位与纠偏方法、装置及可读存储介质,所述方法包括:依据车载摄像头采集和提供的视觉图像创建泊车场地的全局地图,插入关键帧并确定泊车场地中的车道线信息;从视觉图像中提取出当前图像帧并对当前图像帧进行全局匹配定位,确定机动车在全局地图中的定位信息,并对应生成初始泊车规划轨迹;以及依据定位信息以及车道线信息计算出当前机动车的中心点相对于行车道中心的偏移距离Dcenter并根据Dcenter值修正初始泊车规划轨迹以对机动车在行车道的宽度方向上位置进行纠偏,并输出修正后的泊车规划轨迹。本发明实施例能有效增强机动车在行车道宽度方向上的定位精准度并对停车规划轨迹进行及时纠偏,避免车辆发生碰撞事故。
Motor vehicle memory parking positioning and deviation correcting method and device and readable storage medium
机动车记忆泊车定位与纠偏方法、装置及可读存储介质
2024-02-27
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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