The invention discloses an automatic parking method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining the environment element information around a vehicle through an environment sensing module, and the element type comprises a parking space; when the idle parking spaces are detected, a target parking space is determined from the idle parking spaces; a parking space coordinate system of the target parking space is established, a parking end point and a first parking pose of the parking end point under the current vehicle coordinate system are determined, and the parking end point is the position of a reference point on the vehicle in the target parking space when parking is completed; according to the environment element information, planning an initial parking path for moving a reference point on the vehicle to the position of the first parking pose, wherein the reference point on the vehicle is taken as an original point in the vehicle coordinate system; and controlling the vehicle to park according to the initial parking path. A vehicle coordinate system and a parking space coordinate system are respectively established, the position of a reference point on a vehicle in a parking space when the vehicle is parked is determined, and parking path planning can be carried out after pose conversion without depending on a GPS (Global Positioning System).

    本发明公开了一种自动泊车方法、系统、电子设备和存储介质,包括:通过环境感知模块获取车辆周围的环境元素信息,元素类型包括泊车位;当检测到空闲的泊车位时,从空闲的泊车位中确定出目标泊车位;建立目标泊车位的车位坐标系以及确定泊车终点和泊车终点在当前的车辆坐标系下的第一泊车位姿,泊车终点为泊车完成时车辆上的参考点在目标泊车位中的位置,根据环境元素信息规划车辆上的参考点移动至第一泊车位姿所在位置的初始泊车路径,车辆坐标系以车辆上的参考点为原点;根据初始泊车路径控制车辆泊车。分别建立车辆坐标系和车位坐标系,并确定车辆泊车完成时在车辆上的参考点在车位中的位置,进行位姿转换后即可进行泊车路径规划,无需依赖GPS。


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    Title :

    Automatic parking method, electronic equipment and storage medium


    Additional title:

    一种自动泊车方法、电子设备和存储介质


    Contributors:
    LI XIONG (author) / CHEN LINYU (author) / LIU BEIBEI (author) / WANG JIN (author) / GUO XIAOYANG (author)

    Publication date :

    2025-02-18


    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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