The invention relates to a vehicle parking method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining first environment perception information collected when a vehicle is parked in an ultrasonic parking space, and determining an initial course angle based on the first environment perception information; acquiring second environment sensing information acquired when the vehicle is parked in the ultrasonic parking space according to the initial course angle, wherein the acquisition time of the second environment sensing information is later than the acquisition time of the first environment sensing information; updating the initial course angle to a target course angle based on the second environment perception information; and parking the vehicle in the ultrasonic parking space according to the target course angle. According to the embodiment of the invention, the accuracy of ultrasonic parking space parking of the vehicle can be improved, the parking posture of the vehicle is more matched with the posture of the ultrasonic parking space, and the vehicle is prevented from colliding with obstacles around the ultrasonic parking space.

    本申请涉及一种车辆泊入方法、装置、电子设备及存储介质,车辆泊入方法包括:获取车辆在泊入超声车位时采集的第一环境感知信息,并基于第一环境感知信息确定初始航向角;获取车辆在按照初始航向角泊入超声车位时采集的第二环境感知信息,第二环境感知信息的采集时刻晚于第一环境感知信息的采集时刻;基于第二环境感知信息将初始航向角更新为目标航向角;根据目标航向角将车辆泊入超声车位。本申请实施例可以提高车辆进行超声车位泊入的准确性,使车辆的泊入姿态与超声车位的姿态更加匹配,避免车辆碰撞超声车位周围的障碍物。


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    Title :

    Vehicle parking method and device, electronic equipment and storage medium


    Additional title:

    车辆泊入方法、装置、电子设备及存储介质


    Contributors:
    DU WEI (author) / WAN KAILIN (author) / SHENG JINYUAN (author)

    Publication date :

    2024-08-23


    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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