The invention relates to a vehicle positioning method and device for automatic parking, and the method comprises the steps: obtaining a parking starting command, responding to the parking starting command, obtaining a look-around image of a current vehicle in real time, obtaining a parking space information set and a skeleton point set around the position where the current vehicle is located based on the look-around image, and carrying out the positioning of the vehicle. And traversing the parking space information set, establishing a parking coordinate system under the condition that the parking space information meets a preset condition, generating a positioning map according to the skeleton point set and the parking coordinate system, and positioning the current vehicle in real time. The visual information is used for positioning, accumulated errors caused by the inertial measurement unit and the wheel speed sensor can be eliminated, the positioning precision is improved, the skeleton points are adopted for matching positioning, the number of feature points is reduced while the structural information is reserved, the calculated amount can be reduced, and the positioning precision can be guaranteed.

    本公开涉及一种自动泊车的车辆定位方法及装置,上述方法包括获取泊车启动命令,响应于上述泊车启动命令,实时获取当前车辆的环视图像,基于上述环视图像,获取上述当前车辆所处位置的周围的车位信息集合和骨架点集合,遍历上述车位信息集合,在上述车位信息满足预设条件的情况下,建立泊车坐标系,根据上述骨架点集合和上述泊车坐标系生成定位地图,实时对上述当前车辆进行定位。本公开利用视觉信息进行定位,可以消除惯性测量单元和轮速传感器带来的累计误差,提高定位精度,并且采用骨架点进行匹配定位,在保留结构信息的同时减少了特征点的数量,既能降低计算量,又能保证定位精度。


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    Title :

    Vehicle positioning method and device for automatic parking


    Additional title:

    一种自动泊车的车辆定位方法及装置


    Contributors:
    HE SHIZHENG (author) / TANG PEIPEI (author) / CHEN YINZI (author) / ZHANG ZHENLIN (author)

    Publication date :

    2024-07-09


    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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