The invention relates to the technical field of automatic parking, in particular to a vehicle parking method and device, computer equipment and a storage medium. The method comprises the following steps: expanding an expected parking area of a target vehicle to obtain a target parking area of the target vehicle; simulating parking of the target vehicle from the target parking area to obtain a first parking track of the target vehicle in the parking process and a middle parking position corresponding to a track end point in the first parking track; planning a second parking track between the current parking position and the middle parking position of the target vehicle; and integrating the first parking track and the second parking track to obtain a target parking track, so that the target vehicle is parked to the expected parking area according to the target parking track. According to the method, the target vehicle can be automatically parked from any current parking position, and the parking starting position and the vehicle driving direction of the target vehicle do not need to be limited, so that the target vehicle can be automatically parked in a complex parking environment.

    本申请涉及自动泊车技术领域,特别是涉及一种车辆停泊方法、装置、计算机设备和存储介质。方法包括:对目标车辆的期望停泊区域进行扩展,得到目标车辆的目标停泊区域;模拟目标车辆从目标停泊区域中泊出,得到泊出过程中目标车辆的第一泊车轨迹,以及第一泊车轨迹中轨迹终点对应的中间停泊位置;规划目标车辆的当前停泊位置与中间停泊位置之间的第二泊车轨迹;对第一泊车轨迹和第二泊车轨迹进行整合,得到目标泊车轨迹,以使目标车辆根据目标泊车轨迹停泊至期望停泊区域。本申请保证了目标车辆能够从任意当前停泊位置进行自动泊车操作,无需对目标车辆的泊车起始位置和车辆行驶方向进行限定,使得目标车辆能够在复杂泊车环境下进行自动泊车操作。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle parking method and device, computer equipment and storage medium


    Additional title:

    车辆停泊方法、装置、计算机设备和存储介质


    Contributors:
    CHENG WEIGANG (author) / ZHANG CAO (author) / SU XINGYI (author) / LI YANG (author)

    Publication date :

    2024-09-24


    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



    Vehicle parking method and device, computer equipment and storage medium

    JI JUNCHAO | European Patent Office | 2024

    Free access

    Vehicle parking method and device, computer equipment and storage medium

    XU YANG / YANG JIAN / YU BIN et al. | European Patent Office | 2023

    Free access

    Parking method, computer readable storage medium, parking device and vehicle

    LI HEAN | European Patent Office | 2024

    Free access

    Parking space vehicle identification method, device, equipment and computer storage medium

    JI FANG / JIAN ZHONGHUI / GAO CHAO et al. | European Patent Office | 2020

    Free access