WO2022096027A1 - Procédé de suivi d'espace de garage et appareil associé - Google Patents

Procédé de suivi d'espace de garage et appareil associé Download PDF

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Publication number
WO2022096027A1
WO2022096027A1 PCT/CN2021/139527 CN2021139527W WO2022096027A1 WO 2022096027 A1 WO2022096027 A1 WO 2022096027A1 CN 2021139527 W CN2021139527 W CN 2021139527W WO 2022096027 A1 WO2022096027 A1 WO 2022096027A1
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WIPO (PCT)
Prior art keywords
tracking
storage location
eye view
area
corner point
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PCT/CN2021/139527
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English (en)
Chinese (zh)
Inventor
顾竟潇
霍璐
张立阳
王曦
宋健明
Original Assignee
天津天瞳威势电子科技有限公司
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Publication of WO2022096027A1 publication Critical patent/WO2022096027A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • tracking the storage space and automatically parking is a dynamic process that is easily affected by various scene factors.
  • the driving speed is low, and it is accompanied by a large number of steering wheel rotations, starting and stopping, shifting and other steps.
  • the tracking work of the wheel speedometer will deviate and accumulate continuously, making it easy to park. A misalignment or even a crash occurs.
  • the present invention provides a storage location tracking method and device, and the technical solutions are as follows:
  • a storage location tracking method comprises:
  • the tracking area of the corner point of the storage location in the second panoramic bird's-eye view that is closest to the current time is composed of multiple layers of image areas centered on the corner of the storage location
  • the area of the image area of the upper layer is smaller than the area of the image area of the lower layer in the adjacent two-layer image areas;
  • the corner point of the warehouse location is tracked in the target image area of the first panoramic bird's-eye view to obtain the visual tracking result of the corner point of the warehouse location.
  • the process of determining the target image area includes:
  • the image regions of each layer are used as candidate image regions
  • the movement trend includes movement direction and movement distance
  • the movement trend of the main body is a movement trend in which the movement direction is the same and the proportion of the movement distance belonging to the same range is greater than a preset threshold;
  • the candidate image area is used as the target image area
  • the visual tracking result of the corner point of the warehouse location obtained by tracking the corner point of the warehouse location in the target image area of the first panoramic bird's-eye view based on the optical flow tracking method includes:
  • the movement trajectory of the storage location corner point is determined based on the moving direction and the moving distance of the storage location corner point.
  • the actual tracking results are obtained by processing the visual tracking results and the wheel speed tracking results of the corner points of the warehouse, including:
  • the tracking result of the wheel speed of the corner point of the storage location is used as the actual tracking result.
  • the actual tracking results are obtained by processing the visual tracking results and the wheel speed tracking results of the corner points of the warehouse, including:
  • the visual tracking result of the corner point of the warehouse indicates that the tracking of the warehouse is successful, and the slope of the road where the vehicle is located is greater than the preset gradient threshold, the visual tracking result of the corner of the warehouse is used as the actual tracking result;
  • the gradient of the road where the vehicle is located is less than or equal to the preset gradient threshold, and the distance between the warehouse and the center of the rear axle of the vehicle is less than or equal to If the distance threshold is preset, the visual tracking result of the corner point of the warehouse is used as the actual tracking result.
  • the method further includes:
  • the visual tracking result of the corner point of the warehouse location indicates that the location tracking is successful, and the slope of the road where the vehicle is located is greater than the preset gradient threshold, the visual tracking result of the corner point of the warehouse location is used to correct the location angle Point wheel speed tracking results.
  • the actual tracking results are obtained by processing the visual tracking results and the wheel speed tracking results of the corner points of the warehouse, including:
  • the visual tracking result of the corner point of the storage location indicates that the tracking of the storage location is successful, the slope of the road where the vehicle is located is less than or equal to a preset gradient threshold, and the distance between the storage location and the center of the rear axle of the vehicle is greater than a preset distance threshold , and double-check the visual tracking result and the wheel speed tracking result of the corner point of the storage location to obtain the actual tracking result.
  • a storage location tracking device includes:
  • the image acquisition module is used to acquire panoramic bird's-eye views of the vehicle at different times;
  • the tracking area determination module is used to determine, for the first panoramic bird's-eye view at the current time, the tracking area of the corner point of the storage location in the second panoramic bird's-eye view that is closest to the current time, and the tracking area is composed of multiple layers with the storage location.
  • the image area with the corner point as the center is formed, and the area of the upper image area in the adjacent two image areas is smaller than the area of the lower image area;
  • a storage location tracking module is used to track the corner points of the storage location in the target image area of the first panoramic bird's-eye view based on the optical flow tracking method to obtain the visual tracking result of the corner points of the storage location, and the target image area is A first-level image area with the smallest area that can detect the corners of the storage location in the corresponding area of the first panoramic bird's-eye view; obtain the wheel speed tracking results of the corners of the storage location, and process the storage location by processing the storage location.
  • the visual tracking results and wheel speed tracking results of the corner points are used to obtain the actual tracking results.
  • the process of determining the target image area by the storage location tracking module includes:
  • the image regions of each layer are taken as candidate image regions in sequence from the upper layer to the lower layer; the candidate image regions of the first panoramic bird's-eye view and the candidate image regions of the second panoramic bird's-eye view are respectively divided into multiple each sub-region of the first panoramic bird's-eye view and the gray value probability histogram distribution of each sub-region of the second panoramic bird's-eye view are counted separately; for each sub-region of the second panoramic bird's-eye view, based on The gray value probability histogram distribution calculates the similarity between it and each sub-region of the first panoramic bird's-eye view, and selects a sub-region whose similarity meets the preset matching condition to form a region pair;
  • the movement trend includes the movement direction and the movement distance; determine whether there is a movement trend of the main body in the statistical results, and the movement trend of the main body is the movement trend in which the movement direction is the same and the movement distance belongs to the same range and the proportion is greater than the preset threshold;
  • the candidate image area is
  • the storage location tracking module tracks the storage location corner points in the target image area of the first panoramic bird's-eye view based on an optical flow tracking method to obtain visual tracking results of the storage location corner points, including:
  • the movement trend of each area pair belongs to the target area pair of the main body movement trend;
  • the movement distance of the corner point of the storage location is determined;
  • the movement trajectory of the corner point of the storage location is determined based on the movement direction and the movement distance of the corner point of the storage location.
  • the invention provides a storage location tracking method and device.
  • the visual detection method is used to locate the locked storage location in the automatic parking process in real time, so as to correct the cumulative error problem caused by the wheel speed tracking, and greatly improve one time
  • the probability of parking and parking in the center improves the user experience.
  • Fig. 1 is the method flow chart of the storage location tracking method that the embodiment of the present invention provides
  • FIG. 3 is a schematic diagram of optical flow tracking provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of sub-region pair matching provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a parking scene provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a storage location tracking device according to an embodiment of the present invention.
  • the automatic parking function is turned on.
  • the vehicle starts the automatic parking process.
  • the vehicle is equipped with an accurate wheel speedometer to calculate the speed and acceleration of the vehicle, and then calculate the unit time. The distance traveled down, and use this to locate the relative distance between the moving vehicle and the storage location.
  • the work of the wheel speedometer does not depend on other information. Deviations will occur in bad scenarios such as slopes on the ground or poor road conditions, causing deviations in the parking space and even the danger of a collision.
  • an embodiment of the present invention provides a storage location tracking method, and the method includes: Follow the steps below:
  • the vehicle is equipped with a vehicle-mounted 360-degree panoramic camera. Based on the vehicle-mounted 360-degree panoramic camera, an image of the environment where the vehicle is located can be obtained, and then scene recognition is performed on the image to obtain information about the environment where the vehicle is located, including road conditions and obstacles. objects, and ground markings.
  • the image coordinate system of the panoramic bird's-eye view can be obtained by converting the vehicle coordinate system to the image coordinate system of the panoramic bird's-eye view, and the image of the environment where the vehicle is located is mapped to the image coordinate system of the panoramic bird's-eye view to obtain the panoramic bird's eye view of the vehicle at different times.
  • S20 for the first panoramic bird's-eye view at the current time, determine the tracking area of the corner point of the warehouse location in the second panoramic bird's-eye view image that is closest to the current time, and the tracking area is composed of multiple layers of image areas centered on the corner of the warehouse location, And the area of the upper image area in the adjacent two image areas is smaller than the area of the lower image area.
  • a unit interval for storage location tracking can be preset, and the storage location detection is performed on the first frame of panoramic bird's-eye view in each unit interval to determine whether there is a storage location in the frame, and the second frame and For other subsequent frames of panoramic bird's-eye view, the optical flow tracking method is used to track the corners of the warehouse.
  • the unit interval can take the number of frames of the panoramic bird's-eye view as the dimension (for example, every 8 frames of the panoramic bird's-eye view is a unit interval), or the duration of the panoramic bird's-eye view can be the dimension (for example, the panoramic bird's eye view in every 30S is one unit interval) unit interval), which is not limited in this embodiment of the present invention.
  • a certain frame of panoramic bird's-eye view is based on the previous frame of panoramic bird's-eye view as the benchmark for storage location tracking.
  • each storage location has four corner points, and the essence of tracking the storage location is to track the four corner points of the storage location. Therefore, the embodiment of the present invention selects the previous frame of the panoramic bird's-eye view, that is, the second panoramic bird's-eye view has been detected. The positions of the corners of the four warehouse locations that come out are then used directly.
  • the four corners of the warehouse in the second panoramic bird's-eye view are used as the tracking start point set, and each corner of the warehouse is centered, and a multi-layer image area is formed in the form of a pyramid, which is used as the tracking of the corner of the warehouse. area.
  • a multi-layer image area is formed in the form of a pyramid, which is used as the tracking of the corner of the warehouse. area.
  • the embodiment of the present invention can also perform self-adaptive adjustment.
  • the vehicle speed can be used as the adjustment basis, for example:
  • the corner points of the warehouse location are tracked in the target image area of the first panoramic bird's-eye view to obtain a visual tracking result of the corner points of the warehouse location.
  • a new frame of panoramic bird's-eye view uses the tracking area of the previous frame of panoramic bird's-eye view, and uses the corner points of the storage location in the tracking area as feature points to perform optical flow tracking to form a new frame of panoramic bird's-eye view.
  • the tracking point set is obtained, and the movement trajectory of the corner point of the location is obtained, including the movement direction and movement distance.
  • the trajectories of all points in the tracking point set are fused to obtain the position and direction changes of the locked storage location relative to the vehicle during the parking process.
  • the new tracking point set means that the positions of the original four corner points of the warehouse location will change after completing one corner point tracking of the warehouse location, so the new location replaces the original location, forming a new tracking point. set. Therefore, what is updated is the position of the corner point of the storage location, and there are still 4 points in the point set.
  • optical flow tracking refers to tracking the small image changes of the target during the translation process of the two frames of images before and after, and using this to determine the position of the target on the next frame.
  • the specific implementation principle of tracking the corner points of the warehouse location based on the optical flow tracking method is to use the tracking area of the corner points of the warehouse location, and for each layer of image areas, determine that the two frames of panoramic bird's-eye views before and after are in the area.
  • the position with the smallest grayscale difference and a high degree of similarity is used as the candidate position, and the position with the smallest grayscale difference is further selected from all the candidate positions as the target position, which is the position of the corner point of the storage location in the next frame of panoramic bird's-eye view.
  • the determination process of the target image area includes the following steps:
  • the image regions of each layer are taken as candidate image regions; the candidate image regions of the first panoramic bird's-eye view and the candidate image regions of the second panoramic bird's-eye view are divided into multiple sub-regions; the first panorama is counted separately
  • the first panoramic bird's-eye view and the second panoramic bird's-eye view are subjected to image grayscale processing, and then the gray value histogram distribution of each sub-area of the A' area and each sub-area of the A area is counted respectively. It can be expressed in the form of a distribution histogram, that is, the gray value with the abscissa as 0, 1...255, and the ordinate as the probability of occurrence of the gray value. Furthermore, the histogram distribution of the grayscale values of each sub-region of the A' region and the histogram of the grayscale value of each sub-region of the A region are converted into 1*256-bit feature vectors.
  • a sub-region with the similarity of the A' region greater than the similarity threshold and the maximum similarity is selected to form a sub-region pair with the sub-region of the A region.
  • a pair of sub-areas indicated by arrows in FIG. 4 is a pair of sub-areas.
  • the moving trend of each sub-region pair that is, the moving direction and the moving distance
  • the moving trend of the main body can be found from it, and the moving trend of the main body can be at least three. Two-thirds of the sub-regions have the same moving trend, that is, the moving direction is the same and the moving distance is within a certain range.
  • step S30 the following steps can be adopted for "tracking the corner points of the warehouse location in the target image area of the first panoramic bird's-eye view based on the optical flow tracking method to obtain the visual tracking results of the corner points of the warehouse location":
  • the area pairs whose movement trend does not belong to the main body movement trend can be deleted.
  • the average value of the moving distance is calculated for all the reserved target area pairs, and the obtained result is the moving distance of the corner point of the storage location.
  • the moving direction of the target area pair is the moving direction of the corner point of the storage location.
  • the wheel speed tracking is always performed during the parking process, so the wheel speed tracking result and the visual tracking result of the corner point of the storage location can be simultaneously obtained when the storage location tracking is performed.
  • the embodiment of the present invention can switch wheel speed tracking and visual tracking in combination with the visual tracking result and the parking scene, so as to ensure the parking continuity.
  • a double check method can also be used to ensure the tracking accuracy. specific:
  • Visual tracking may be affected by exceeding the frame or being occluded.
  • the visual inspection cannot detect the storage position, or the storage position does not exceed the frame but is blocked, resulting in at least 2 corners of the storage position not being tracked. Or visual tracking has no output due to other environmental reasons. In this case, considering the parking continuity, the wheel speed tracking result is used as the actual tracking result.
  • the visual tracking result of the corner point of the warehouse location indicates that the location tracking is successful, and the slope of the road where the vehicle is located is greater than the preset gradient threshold, the visual tracking result of the corner point of the warehouse location is used as the actual tracking result.
  • the visual tracking successfully outputs the moving trajectories of at least three corner points of the warehouse, and the road slope is greater than 3°, because the error of the wheel speed tracking is very large at this time, the visual tracking result is used as the actual tracking result.
  • the visual tracking result of the corner point of the storage location indicates that the tracking of the storage location is successful, the slope of the road where the vehicle is located is less than or equal to the preset gradient threshold, and the distance between the storage location and the center of the rear axle of the vehicle is less than or equal to the preset distance threshold, then The visual tracking result of the corner point is used as the actual tracking result.
  • Visual tracking successfully outputs the moving trajectories of at least three corner points of the storage location, and the road slope is less than or equal to 3°, and the distance between the storage location and the center of the rear axle of the vehicle is less than or equal to 3 meters. At this time, the visual effect is the best, so the visual tracking result is used as the Actual tracking results.
  • the distance from the storage location to the center of the rear axle of the vehicle is the straight-line distance from the midpoint of the line segment from the storage location to the near end of the vehicle to the center of the rear axle of the vehicle.
  • the visual tracking results of the corner points of the storage location indicate that the tracking of the storage location is successful, the slope of the road where the vehicle is located is less than or equal to the preset gradient threshold, and the distance between the storage location and the center of the rear axle of the vehicle is greater than the preset distance threshold.
  • the actual tracking results are obtained by double-checking the visual tracking results and the wheel speed tracking results.
  • the distance between the storage location and the center of the rear axle of the vehicle is the straight-line distance from the midpoint A of the line segment between the storage location and the near end of the vehicle to the center O of the rear axle, and the length is D1.
  • the actual tracking result visual tracking result* ⁇ +wheel speed tracking result*(1- ⁇ ).
  • the visual tracking of the present invention is only processed within a certain range around the locked storage location, and the feature point tracking method is adopted, which can effectively perform tracking under various working conditions such as rotation, bumping, and deformation, and is stable and efficient. Therefore, the locked storage space in automatic parking can be tracked in real time, and the accumulated error of wheel speed tracking can be corrected, so as to realize automatic and precise parking.
  • the storage space may exceed the image frame or be occluded.
  • the tracking method will switch to wheel speed tracking.
  • the warehouse position returns to the screen or gets closer and closer to the car, the tracking method is switched from wheel speed to visual tracking, and double-checking is performed to achieve seamless connection.
  • the wheel speed tracking is corrected once within a period of time, so as to keep the error of the corrected wheel speed information to a minimum, and the track deviation will not occur due to the accumulation of errors.
  • the present invention is a method that can track and correct the parking route in real time during the automatic parking process. It can effectively improve the parking accuracy and success rate.
  • the invention has clear structure, concise method, good real-time performance and strong robustness.
  • an embodiment of the present invention provides a device for executing the above storage location tracking method.
  • the schematic structural diagram of the device is shown in FIG. 6 , including:
  • the image acquisition module 10 is used to acquire panoramic bird's-eye views of the vehicle at different times;
  • the tracking area determination module 20 is used to determine, for the first panoramic bird's-eye view at the current time, the tracking area of the corner point of the storage location in the second panoramic bird's-eye view that is closest to the current time.
  • the image area in the center is formed, and the area of the upper image area in the adjacent two image areas is smaller than the area of the lower image area;
  • the storage location tracking module 30 is used for tracking the corner points of the storage location in the target image area of the first panoramic bird's-eye view based on the optical flow tracking method to obtain the visual tracking result of the corner points of the storage location, and the target image area is the smallest in area and can be located in the first panoramic bird's eye view.
  • the process of determining the target image area by the location tracking module 30 includes:
  • the image regions of each layer are taken as candidate image regions; the candidate image regions of the first panoramic bird's-eye view and the candidate image regions of the second panoramic bird's-eye view are divided into multiple sub-regions; the first panorama is counted separately
  • the storage location tracking module 30 tracks the corner points of the storage location in the target image area of the first panoramic bird's-eye view based on the optical flow tracking method to obtain the visual tracking results of the corner points of the storage location, including:
  • the storage location tracking module 30 obtains actual tracking results by processing the visual tracking results and the wheel speed tracking results of the corner points of the storage location, including:
  • the wheel speed tracking result of the corner of the warehouse is used as the actual tracking result.
  • the storage location tracking module 30 obtains actual tracking results by processing the visual tracking results and the wheel speed tracking results of the corner points of the storage location, including:
  • the visual tracking result of the corner point of the warehouse indicates that the tracking of the warehouse is successful, and the slope of the road where the vehicle is located is greater than the preset gradient threshold, the visual tracking result of the corner of the warehouse is used as the actual tracking result;
  • the storage location angle The visual tracking result of the point is used as the actual tracking result.
  • the location tracking module 30 is also used for:
  • the visual tracking result of the corner point of the warehouse location indicates that the location tracking is successful, and the slope of the road where the vehicle is located is greater than the preset gradient threshold, use the visual tracking result of the corner point of the warehouse location to correct the wheel speed tracking result of the corner point of the warehouse location.
  • the storage location tracking module 30 obtains the actual tracking result by processing the visual tracking result and the wheel speed tracking result of the corner point of the storage location, including:
  • the visual tracking results of the corner points of the storage location indicate that the tracking of the storage location is successful, the slope of the road where the vehicle is located is less than or equal to the preset gradient threshold, and the distance between the storage location and the center of the rear axle of the vehicle is greater than the preset distance threshold.
  • the actual tracking results are obtained by double-checking the tracking results and the wheel speed tracking results.
  • the storage space tracking device uses the visual detection method to locate the locked storage space in the automatic parking process in real time, thereby correcting the cumulative error problem caused by wheel speed tracking, and greatly improving one parking time.
  • the probability of car entry and center parking improves user experience.

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  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
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Abstract

Sont décrits ici un procédé de suivi d'espace de garage et un appareil, le procédé comprenant les étapes consistant à : obtenir une image en vue plongeante panoramique d'un véhicule à différents instants ; et pour une première image en vue plongeante panoramique à un instant courant, déterminer une région de suivi d'un point d'angle d'espace de garage dans une seconde image en vue plongeante panoramique la plus proche de l'instant courant ; sur la base d'un procédé de suivi de flux optique, suivre le point d'angle d'espace de garage dans une région d'image cible de la première image en vue plongeante panoramique afin d'obtenir un résultat de suivi visuel pour le point d'angle d'espace de garage, la région d'image cible étant la couche de région d'image ayant la plus petite surface, et dans laquelle le point d'angle d'espace de garage peut être détecté dans la région correspondante dans la première image en plongée panoramique ; et obtenir un résultat de suivi de vitesse de roue du point d'angle d'espace de garage, et obtenir un résultat de suivi réel au moyen du traitement du résultat de suivi visuel et du résultat de suivi de vitesse de roue du point d'angle d'espace de garage. Dans la présente invention, un procédé de détection visuelle est utilisé pour localiser en temps réel un espace de garage qui a été verrouillé dans un processus de stationnement de véhicule, ce qui permet de corriger le problème d'erreurs de calcul accumulées impliquées dans le suivi de vitesse de roue, et d'améliorer considérablement la probabilité de se garer correctement du premier coup et de s'arrêter au centre de l'espace, améliorant ainsi l'expérience de l'utilisateur.
PCT/CN2021/139527 2020-11-04 2021-12-20 Procédé de suivi d'espace de garage et appareil associé WO2022096027A1 (fr)

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CN112037265B (zh) * 2020-11-04 2021-02-02 天津天瞳威势电子科技有限公司 一种库位跟踪方法及装置
CN112356831B (zh) * 2021-01-12 2021-04-20 天津天瞳威势电子科技有限公司 一种库位跟踪方法及库位跟踪***
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