The invention provides a memory parking positioning method and device, and relates to the technical field of vehicles. The method comprises the following steps: determining the result of the pose of the current fusion positioning in a map coordinate system according to the current fusion positioning of a vehicle and the fusion positioning stored during mapping, then correcting the pose of the current fusion positioning in the map coordinate system through the current detection of a parking space, and finally searching a sub-map closest to the corrected pose, and according to the feature points and the parking space angular points, matching with corresponding features in the sub-graphs to obtain the pose of the vehicle in the map so as to realize memory parking positioning. Therefore, the result of the pose of the current fusion positioning in the map coordinate system is determined through the current fusion positioning and the fusion positioning stored during mapping, then the result is corrected, and the pose of the vehicle in the map is obtained according to the sub-map closest to the corrected pose and matching of the feature points and the parking space angular points with the corresponding features in the sub-maps. And the memory parking positioning can be simply and efficiently realized.
本申请提供了了一种记忆泊车的定位方法及装置,涉及车辆技术领域。先根据车辆的当前融合定位和建图时保存的融合定位,确定当前融合定位的位姿在地图坐标系下的结果,后通过当前对库位的检测对在地图坐标系下的融合定位的位姿进行修正,最后,搜索距离修正后的位姿最近的子图,根据特征点和库位角点与子图中对应的特征匹配得到车辆在地图中的位姿,以实现记忆泊车的定位。这样,通过当前融合定位和建图时保存的融合定位,确定当前融合定位的位姿在地图坐标系下的结果,在对该结果进行修正,并根据修正后的位姿最近的子图,根据特征点和库位角点与子图中对应的特征匹配得到车辆在地图中的位姿,可以简单、高效地实现记忆泊车的定位。
Memory parking positioning method and device
一种记忆泊车的定位方法及装置
2025-03-25
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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