The invention discloses a real-time self-adaptive surround-view parking space tracking method for automatic driving parking and a vehicle. The method comprises the following steps: S1, checking a visual surround-view perception result and updating a conversion matrix based on vehicle driving information; s2, for the visual perception parking space, the historical tracking parking space and the conversion matrix which are verified successfully, performing point cloudization on the parking space and performing alignment processing to the current moment; s3, performing parking space tracking with high, medium and low precisions on the parking space angular points in sequence, merging the successfully tracked parking spaces to obtain a tracked available parking space, otherwise, entering parking space tracking in a next precision range, and newly building a parking space after all tracking fails; and S4, taking the current parking space tracking result as a historical tracking parking space at the next moment, repeatedly executing the steps S1-S3, and continuously obtaining the latest parking space tracking result. According to the invention, the problem of poor parking space tracking robustness under the condition of abnormal parameters of the vehicle and the sensor is solved.

    本发明公开了一种自动驾驶泊车实时自适应环视车位跟踪方法和车辆,该方法包括以下步骤:S1、对视觉环视感知结果进行校验和基于车辆驾驶信息更新转换矩阵;S2、对于校验成功的视觉感知车位、历史跟踪车位和转换矩阵,对车位进行点云化并对齐处理到当前时刻;S3、对车位角点依次进行高、中、低三种不同精度的车位跟踪,对跟踪成功的车位进行合并,得到跟踪后的可泊车位,否则进入下一种精度范围的车位跟踪,对于所有跟踪失败后新建车位;S4、将当前的车位跟踪结果作为下一时刻的历史跟踪车位,重复执行上述步骤S1‑S3,不断获得最新的车位跟踪结果。本发明解决了车辆和传感器参数异常情况下车位跟踪鲁棒性差的问题。


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    Title :

    Automatic driving parking real-time self-adaptive looking-around parking space tracking method and vehicle


    Additional title:

    一种自动驾驶泊车实时自适应环视车位跟踪方法和车辆


    Contributors:
    SHI XINGLING (author) / ZHU TIANYI (author) / TAN JIE (author)

    Publication date :

    2024-11-22


    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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