The invention discloses a method, a device and a system for evaluating the true value of a perceptual parking space, and the method comprises the steps: carrying out the collection of a vehicle in an initial state, obtaining the initial coordinates of all targets on a first wheel and a second wheel of the vehicle, building three coordinate systems in the initial state based on the initial coordinates of all targets, and determining the transformation relation between all coordinate systems; at the moment t after the vehicle moves, the vehicle is collected, and target coordinates of all the targets and angular point coordinates of the parking space are obtained; then determining a third transformation relation between the equipment coordinate system and the target coordinate system at the t moment; based on the three transformation relations and the angular point coordinates, calculating parking space angular point coordinates of the parking space in the vehicle body coordinate system at the t moment; and finally, evaluating the perceived parking space angular point coordinates of the APA system at the t moment and the parking space angular point coordinates in the vehicle body coordinate system. Therefore, the method is not limited to vehicles of the same vehicle type, the universality is high, the implementation cost is low, and true value evaluation can be conveniently carried out on the perceptual parking space of the APA.
本发明公开一种感知车位真值评估方法、装置及系统,通过在初始状态下对车辆进行采集,获取车辆的第一车轮、第二车轮上各靶标的初始坐标,然后基于各靶标的初始坐标,建立初始状态下的三个标系,并确定各坐标系之间的变换关系;在车辆运动后的t时刻,再对车辆进行采集,获取各靶标的目标坐标以及车位的角点坐标;然后确定设备坐标系与t时刻的靶标坐标系之间的第三变换关系;基于三个变换关系、角点坐标,计算t时刻车位在车身坐标系中的车位角点坐标;最后将t时刻APA系统的感知车位角点坐标与车身坐标系中的车位角点坐标进行评估。如此,不用局限于同一车型的车辆,具有较强的通用性,且实施成本低,可以便捷的对APA的感知车位进行真值评估。
Perceptual parking space truth value evaluation method, device and system
一种感知车位真值评估方法、装置及系统
2024-08-02
Patent
Electronic Resource
Chinese
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