The invention provides an automatic parking method and device, a storage medium and computer equipment. The method comprises the steps of performing scene recognition by using a scene recognition model, and determining a target parking lot scene; according to the target parking scene, selecting a parking space selection model corresponding to the target parking scene from the plurality of parking space selection models as a parking space selection target model, and selecting a trajectory planning model corresponding to the target parking scene from the plurality of trajectory planning models as a trajectory planning target model; selecting a target parking space in the current road environment by using a parking space selection target model; planning a target trajectory by using the trajectory planning target model, wherein the target trajectory is used for indicating the vehicle to move from the current position to the target parking space; and controlling the vehicle to park according to the parking mode corresponding to the target parking scene and the target track. The method can be adapted to various complex scenes, the flexibility is improved, the used model has the optimal parking space selection capability and path planning capability in the corresponding scene, and the accuracy is improved.

    本申请提供了一种自动泊车方法、装置、存储介质、计算机设备。该方法包括:利用场景识别模型进行场景识别,确定目标停车场景;根据目标停车场景从多个车位选取模型中选择与目标停车场景对应的车位选取模型为车位选取目标模型,并从多个轨迹规划模型中选择与目标停车场景对应的轨迹规划模型为轨迹规划目标模型;利用车位选取目标模型在当前的道路环境中选择目标车位;利用轨迹规划目标模型规划目标轨迹,目标轨迹用于指示车辆从当前位置运动至目标车位;根据目标停车场景对应的停车方式和目标轨迹控制车辆泊车。该方法可适配于各类复杂场景,提高了灵活性,且所使用的模型在对应的场景下有最优的车位选取能力和路径规划能力,提高了准确性。


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    Title :

    Automatic parking method and device, storage medium and computer equipment


    Additional title:

    自动泊车方法、装置、存储介质、计算机设备


    Contributors:

    Publication date :

    2022-12-27


    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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