The invention discloses an automatic parking method and device, a vehicle and a computer readable storage medium. The automatic parking method comprises the steps that a driving area of the surrounding environment of the vehicle and parking space information are dynamically recognized; according to the parking space information, narrow parking spaces in all the parking spaces are detected, and the real-time expansion size for expanding the narrow parking spaces is dynamically calculated based on the dynamically-recognized drivable area; under the latest observation time sequence updated in a rolling mode at present, according to the dynamically-calculated real-time expansion size, a weighted moving average algorithm is utilized, and the target expansion size under the latest observation time sequence is obtained through calculation; according to the target expansion size under the newest observation time sequence, the narrow parking space is expanded, a target virtual parking space is obtained, and automatic parking is conducted according to the target virtual parking space. According to the method, automatic parking can be effectively completed in the current environment that the garage position is not standard, and the safety and reliability of automatic parking are improved.

    本发明公开了一种自动泊车方法、装置、车辆及计算机可读存储介质,本发明自动泊车方法包括:动态识别自身周围环境的可行驶区域,以及库位信息;根据库位信息,检测各库位中的窄库位,并基于动态识别的可行驶区域,动态计算对窄库位进行扩展的实时扩张尺寸;在当前滚动更新的最新观测时间序列下,根据动态计算的实时扩张尺寸,利用加权滑动平均算法,计算得到最新观测时间序列下的目标扩张尺寸;根据最新观测时间序列下的目标扩张尺寸,对窄库位进行扩展,得到目标虚拟库位,并根据目标虚拟库位进行自动泊车。本发明在面对目前车库位不规范的环境下,能够有效完成自动泊车,增加自动泊车的安全性和可靠性。


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    Title :

    Automatic parking method and device, vehicle and computer readable storage medium


    Additional title:

    自动泊车方法、装置、车辆及计算机可读存储介质


    Contributors:
    JIN CANCAN (author) / DENG ZELU (author) / LUO GENG (author) / CHEN CHAOYUE (author)

    Publication date :

    2024-07-02


    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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