The invention discloses a parking positioning method, a parking method and a parking device based on image key frames, and the parking method comprises the steps: triggering automatic parking according to GPS positioning and a high-precision map, and determining a world coordinate origin of a parking positioning track according to GPS positioning information; recording a driving track, and performing image retrieval on a current frame video image in the driving track in the key frame image descriptor subset; if the current frame video image is matched with the key frame image descriptors in the key frame image descriptor set, automatic parking is triggered; in the automatic parking process, the current video image is matched with the positioning data used for assisting parking, and the vehicle is controlled to be parked in the parking space according to the parking positioning track in the positioning data used for assisting parking. According to the invention, the driving video image and the stored positioning data for assisting parking are subjected to multiple data matching, so that the vehicle can be parked according to the memorized parking completion positioning track, and the driving route is more accurate.
本发明公开了基于图像关键帧的泊车定位方法、泊车方法及泊车装置,其泊车方法包括根据GPS定位和高精地图触发自动泊自动定位泊车,并根据GPS定位的信息确定泊车定位轨迹的世界坐标原点;记录行车轨迹,并将行车轨迹中的当前帧视频图像在所述关键帧图像描述子集合中做图像检索;若所述当前帧视频图像与所述关键帧图像描述子集合中的关键帧图像描述子匹配,则触发自动泊车;自动泊车过程中将当前视频图像与用于辅助泊车的定位数据进行匹配,控制车辆根据辅助泊车的定位数据中的泊车定位轨迹泊入车位。本发明将行车视频图像与已经存储的辅助泊车的定位数据进行多个数据匹配,使得车辆可以根据已经记忆的完成泊车定位轨迹完成泊车,且行车路线更精准。
Parking positioning method, parking method and parking device based on image key frame
基于图像关键帧的泊车定位方法、泊车方法及泊车装置
2024-08-16
Patent
Electronic Resource
Chinese
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 |
PARKING FRAME CONSTRUCTION DEVICE AND PARKING FRAME CONSTRUCTION METHOD
European Patent Office | 2019
|PARKING FRAME DETECTION DEVICE AND PARKING FRAME DETECTION METHOD
European Patent Office | 2019
|European Patent Office | 2019
|PARKING FRAME DETECTION APPARATUS AND PARKING FRAME DETECTION METHOD
European Patent Office | 2019
|European Patent Office | 2024
|