The invention discloses an automatic parking method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: calculating a vehicle body polygon according to traversal track points on a vehicle track and a vehicle orientation, and associating the track points, the vehicle orientation and the vehicle body polygon; determining a first target trajectory point closest to the Euclidean distance of the current position of the vehicle from the vehicle trajectory, obtaining a first vehicle body polygon corresponding to the first target trajectory point based on the incidence relation, determining a left boundary and a right boundary based on a vertex coordinate index of the first vehicle body polygon, and determining a to-be-passed region of the vehicle body according to the left boundary and the right boundary, automatic parking is performed according to the to-be-passed area of the vehicle body, and whether the vehicle is braked or not is judged according to the first vehicle body polygon and the polygon where the obstacle is located. The to-be-passed area of the vehicle body is calculated, a driver can visually see the area, whether the vehicle is braked or not is judged according to the change of the angle of the steering wheel, mistaken braking and missing braking can be avoided, and the parking safety is improved.
本申请公开了一种自动泊车方法、装置、设备及介质,涉及自动驾驶技术领域,包括:根据遍历到的车辆轨迹上的轨迹点与车辆朝向计算车身多边形,对轨迹点、车辆朝向与车身多边形进行关联;从车辆轨迹上确定与车辆当前位置欧式距离最近的第一目标轨迹点,基于关联关系得到与第一目标轨迹点对应的第一车身多边形,并基于其顶点坐标索引确定左边界与右边界,根据左边界与右边界确定车身待经过区域,根据车身待经过区域进行自动泊车,根据第一车身多边形与障碍物所在多边形判断是否对车辆进行刹停。本申请计算出车身待经过区域,使驾驶员可以直观看到,并结合方向盘角度的变化判断是否对车辆进行刹停,能够避免误刹车和漏刹车,提高泊车安全性。
Automatic parking method, device, equipment and medium
一种自动泊车方法、装置、设备及介质
2025-01-07
Patent
Electronic Resource
Chinese
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 |
Automatic parking method, equipment, storage medium and device
European Patent Office | 2020
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