The invention discloses an automatic parking method and device, a vehicle and a storage medium, and the automatic parking method comprises the steps: predicting the predicted position information of a potential limiting device in a target parking space in a current parking scene according to the scene information of the current parking scene where the vehicle is located and pre-obtained priori knowledge in the parking process; the sensing position information of the limiting device detected by a sensor in the parking process of the vehicle is obtained; and according to the predicted position information and the sensed position information, target position information corresponding to the limiting device is determined, and automatic parking is carried out according to the target position information. According to the method, the target position information of the limiting device is determined by combining the predicted position information, predicted by priori knowledge, of the limiting device and the sensed position information, detected by the sensor, of the limiting device, sensing errors caused by sensing precision of the sensor are reduced, and the target position information of the limiting device is more accurate.
本申请公开了一种自动泊车方法、装置、车辆及存储介质,该自动泊车方法包括:在泊车过程中,根据本车所在的当前泊车场景的场景信息以及预先获取的先验知识,预测所述当前泊车场景中潜在的限位装置于目标车位中的预测位置信息;获取所述本车在所述泊车过程中通过传感器检测到的所述限位装置的感知位置信息;根据所述预测位置信息以及所述感知位置信息,确定所述限位装置对应的目标位置信息,并根据所述目标位置信息进行自动泊车。本方法通过结合利用先验知识预测到的限位装置的预测位置信息及利用传感器检测到的限位装置的感知位置信息确定限位装置的目标位置信息,降低了传感器因为感知精度带来的感知误差,使得限位装置的目标位置信息更加准确。
Automatic parking method and device, vehicle and storage medium
自动泊车方法、装置、车辆及存储介质
06.08.2024
Patent
Elektronische Ressource
Chinesisch
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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