The invention relates to the technical field of intelligent parking, in particular to a parking-out method and device, a vehicle, a storage medium and a program product.The method comprises the steps that under the condition that a current parking space is a vertical parking space, a parking-out request of the vehicle is received, and the vertical parking-out direction of the vehicle is determined in response to the parking-out request; on the basis of the vertical parking-out direction, line parking space angular point information of the current parking space and obstacle information around the vehicle are obtained; and matching a target parking condition of the vehicle according to the obstacle information, determining a parking path of the vehicle according to the target parking condition, the linear parking space angular point information, the obstacle information and the target pose, and controlling the vehicle to be parked along the parking path. Therefore, the problems that a driver needs to take over the vehicle to drive the vehicle out of the parking space completely or the parking space coverage rate is insufficient, the parking efficiency is low, obstacles are difficult to avoid or the parking lot is blocked, the user experience is affected, and the user stickiness is not high in a vertical parking method in the related technology are solved.

    本申请涉及智能泊车技术领域,特别涉及一种泊出方法、装置、车辆、存储介质及程序产品,其中,方法包括:在当前车位为垂直车位的情况下,接收车辆的泊出请求,并响应于泊出请求以确定车辆的垂直泊出方向;基于垂直泊出方向,获取当前车位的线车位角点信息和车辆周围的障碍物信息;根据障碍物信息匹配车辆的目标泊出工况,并根据目标泊出工况、线车位角点信息、障碍物信息及目标位姿确定车辆的泊出路径,并控制车辆沿着泊出路径进行泊出。由此,解决了相关技术中的垂直泊出方法需要令驾驶员接管车辆将车辆完全驶出车位或是泊出场景覆盖率不足,泊出效率较低的同时难以避开障碍物或是造成停车场堵塞,影响用户体验,导致用户粘性不高等问题。


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    Title :

    Parking-out method and device, vehicle, storage medium and program product


    Additional title:

    泊出方法、装置、车辆、存储介质及程序产品


    Contributors:
    HUANG XIANQING (author) / DU JIANYU (author) / CAO TIANSHU (author) / WANG HAONAN (author) / LIU QINGYU (author) / WU GANGGANG (author)

    Publication date :

    2024-11-12


    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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