The invention discloses an automatic parking road edge detection method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a road edge point coordinate set and a target parking space coordinate set after the vehicle is detected to start parking, the road edge point coordinate set comprises at least one road edge point coordinate, and the target parking space coordinate set comprises at least one target parking space coordinate; the target parking space coordinate set comprises at least one target parking space coordinate of the target parking space; coordinate system conversion is carried out on the coordinates of all the road edge points, and candidate road edge point coordinates under a vehicle coordinate system at the current moment are obtained; filtering the candidate road edge point coordinates according to the target parking space coordinate set to obtain target road edge point coordinates; the distance between the target parking space and the road edge is determined according to the coordinates of the target road edge points, the problems of inaccurate road edge information detection and high cost during automatic parking are solved, the method is simple in implementation process, the detection result is accurate and reliable, a high-cost chip is not needed, and the cost is reduced.

    本发明公开了一种自动泊车路沿检测方法、装置、车辆及存储介质,该方法包括:当检测到车辆启动泊车后,获取路沿点坐标集合和目标车位坐标集合,路沿点坐标集合包括至少一个路沿点坐标,目标车位坐标集合包括目标车位的至少一个目标车位坐标;对各路沿点坐标进行坐标系转换,得到当前时刻的车辆坐标系下的候选路沿点坐标;根据目标车位坐标集合对各候选路沿点坐标进行过滤,得到目标路沿点坐标;根据各目标路沿点坐标确定目标车位与路沿的距离,解决了自动泊车时,路沿信息检测不准确以及成本较高的问题,方法实现过程简单,检测结果准确、可靠,无需高成本的芯片,降低了成本。


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    Title :

    Automatic parking road edge detection method and device, vehicle and storage medium


    Additional title:

    一种自动泊车路沿检测方法、装置、车辆及存储介质


    Contributors:

    Publication date :

    2023-03-07


    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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