The invention provides a control method for an automatic parking system, and the method comprises the steps: in a self-learning stage, according to conversion parameters, obtained based on positioning information, of a self-vehicle coordinate system and a global coordinate system, coordinate values, obtained based on visual detection information, of all angular points in the self-vehicle coordinate system, and a relation between a parking space coordinate system and the angular points, obtaining a global coordinate system; calculating to obtain conversion parameters of the parking space coordinate system and the global coordinate system; according to conversion parameters of the own vehicle coordinate system and the global coordinate system at different positions obtained based on the positioning information and conversion parameters of the parking space coordinate system and the global coordinate system obtained through calculation, conversion parameters of the corresponding parking space coordinate system and the own vehicle coordinate system at all the positions are obtained through calculation; and according to the conversion parameters of the parking space coordinate system and the own vehicle coordinate system at the corresponding position obtained based on the visual information and the conversion parameters of the parking space coordinate system and the own vehicle coordinate system corresponding to each position obtained through calculation, the correction amount of the conversion parameters of the parking space coordinate system and the own vehicle coordinate system at the corresponding position is obtained through calculation.
本公开提供一种自动泊车系统的控制方法,在自学习阶段,包括:根据基于定位信息得到的自车坐标系与全局坐标系的转换参数、基于视觉检测信息得到的各个角点在自车坐标系中的坐标值,以及车位坐标系与角点的关系,计算得到车位坐标系与全局坐标系的转换参数;根据基于定位信息得到的不同位置下自车坐标系与全局坐标系的转换参数,以及计算得到的车位坐标系与全局坐标系的转换参数,计算得到各个位置下对应的车位坐标系与自车坐标系的转换参数;根据基于视觉信息得到的对应位置下车位坐标系与自车坐标系的转换参数,以及计算得到的各个位置下对应的车位坐标系与自车坐标系的转换参数,计算得到对应位置下车位坐标系与自车坐标系的转换参数的修正量。
Control method of automatic parking system, automatic parking system and computer readable storage medium
自动泊车系统的控制方法、自动泊车系统以及计算机可读存储介质
2024-06-04
Patent
Electronic Resource
Chinese
IPC: | G06V / 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |
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