A method, device and vehicle for secondary parking path planning

Abstract

This application relates to the field of automatic parking technology, providing a secondary parking path planning method, device, and vehicle. The secondary parking path planning method obtains the vehicle's current pose and target pose when the vehicle deviates from the original path. Based on the current pose, target pose, and parking constraints, it sequentially solves for the path parameters corresponding to each preset candidate path in a preset path set using a candidate path algorithm. The candidate path corresponding to the path parameters is then used as the current planned path, and the vehicle is controlled to drive according to the currently planned path. This application can avoid the failure to correct errors when the vehicle's tracking error is large, thereby improving the parking success rate.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more specifically, to a secondary parking path planning method, device, and vehicle. Background Technology

[0002] Currently, the automatic parking process is usually as follows: The driver starts the vehicle's automatic parking system, which begins to detect parking space information. After a suitable parking space is detected, the system establishes parking trajectory coordinates, determines the starting position of parking, and plans a parking path based on the parking space and the starting position, so that the vehicle follows the original path until the vehicle is completely parked in the parking space, at which point the parking system will automatically shut down.

[0003] During the parking process, the vehicle may experience a large tracking error or a collision warning. If the vehicle is controlled to follow the original path in this case, the parking will fail, affecting the parking success rate. Summary of the Invention

[0004] The purpose of this invention is to provide a secondary parking path planning method, apparatus, vehicle, and readable storage medium.

[0005] In a first aspect, the present invention provides a secondary parking path planning method, the method comprising:

[0006] When the vehicle deviates from the original path, the current pose and target pose of the vehicle are obtained;

[0007] Based on the current pose, the target pose, and the parking constraints, the path parameters corresponding to each preset candidate path in the preset path set are solved sequentially using a candidate path algorithm.

[0008] The candidate path corresponding to the path parameters is taken as the current planned path, and the vehicle is controlled to drive according to the current planned path.

[0009] In an optional implementation, before acquiring the current pose and target pose of the vehicle, the method further includes:

[0010] Obtain the target parking space pose of the parking space to be parked, and determine the target pose of the vehicle according to the target pose constraint conditions and the target parking space pose, wherein the target pose constraint conditions are that the target parking space pose and the target pose have the same vertical coordinate and orientation angle in the same coordinate system.

[0011] In an optional implementation, the method further includes:

[0012] If the path parameters of any candidate path in the preset path set cannot be solved, parking path planning will stop.

[0013] In an optional implementation, the step of sequentially solving for the path parameters corresponding to each preset candidate path in the preset path set using a candidate path algorithm based on the current pose, the target pose, and parking constraints includes:

[0014] Based on the current pose, the target pose, and the parking constraints, the path parameters of each candidate path are solved sequentially using an optimization algorithm.

[0015] If the path parameters of the current candidate path are solved and there is a set of them, then set the set of path parameters as the path parameters of the current candidate path and stop solving.

[0016] In an optional implementation, it further includes:

[0017] If the path parameters of the current candidate path fail to be solved, the next candidate path in the preset path set is solved, and the path parameters of each candidate path are solved sequentially by an optimization algorithm based on the current pose, the target pose, and the parking constraints.

[0018] In an optional implementation, the path parameters include the straight path length and the circular path length of the candidate path, and the method further includes:

[0019] If multiple sets of path parameters for the current candidate path are obtained, then the sum of the straight path length and the circular path length for each set of path parameters is calculated separately.

[0020] Select the path parameter with the smallest sum of the straight path length and the circular path length from the multiple sets of path parameters, set this set of path parameters as the path parameters of the current candidate path, and stop solving.

[0021] In an optional implementation, the parking constraints include vehicle kinematic constraints and vehicle collision constraints.

[0022] Secondly, the present invention provides a secondary parking path planning device, the device comprising:

[0023] The acquisition module is used to acquire the current pose and target pose of the vehicle when the vehicle deviates from the original path.

[0024] The solution module is used to solve the path parameters corresponding to each preset candidate path in the preset path set sequentially through the candidate path algorithm based on the current pose, the target pose and the parking constraints.

[0025] The planning module is used to select a candidate path corresponding to the path parameters as the current planned path and control the vehicle to travel according to the current planned path.

[0026] Thirdly, the present invention provides a vehicle including a memory and a processor, wherein the memory stores a computer program, and the computer program executes the secondary parking path planning method when it is run on the processor.

[0027] Fourthly, the present invention provides a readable storage medium storing a computer program that executes the secondary parking path planning method when run on a processor.

[0028] The beneficial effects of the embodiments of the present invention are:

[0029] This application provides a secondary parking path planning method. When the vehicle deviates from the original path, the method obtains the vehicle's current pose and target pose. Based on the current pose, target pose, and parking constraints, it sequentially solves for the path parameters corresponding to each preset candidate path in a preset path set using a candidate path algorithm. The candidate path corresponding to the path parameters is then selected as the current planned path, and the vehicle is controlled to travel according to this planned path. This application can avoid the failure to correct errors when the vehicle's tracking error is large, thereby improving the parking success rate.

[0030] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0031] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0032] Figure 1 This paper shows a first flowchart of a secondary parking path planning method proposed in an embodiment of this application;

[0033] Figure 2 This paper shows a second flowchart of a secondary parking path planning method proposed in an embodiment of this application;

[0034] Figure 3 A schematic diagram of the basic path in a secondary parking path planning method proposed in an embodiment of this application is shown;

[0035] Figure 4 This illustration shows a schematic diagram of a candidate path in a secondary parking path planning method proposed in an embodiment of this application;

[0036] Figure 5This paper illustrates the first flowchart of solving path parameters in a secondary parking path planning method proposed in an embodiment of this application.

[0037] Figure 6 This illustration shows a second flowchart of solving path parameters in a secondary parking path planning method proposed in an embodiment of this application;

[0038] Figure 7 A schematic diagram of a secondary parking path planning device provided in an embodiment of this application is shown.

[0039] Explanation of key component symbols:

[0040] 100 - Secondary parking path planning device; 110 - Acquisition module; 120 - Solution module; 130 - Planning module. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0042] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0043] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0044] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0045] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0046] This application proposes a secondary parking path planning method. When the vehicle has a large error in tracking the original path or a collision warning occurs, the vehicle re-plans and tracks the parking path based on the environment and the vehicle's current position through secondary path planning, thereby improving the parking success rate.

[0047] During automatic parking, uneven ground and tire slippage can cause significant tracking errors when the vehicle follows the original path. The controller may be unable to correct these errors within the limited space, and the vehicle may also encounter obstacles during the error correction process, triggering a collision warning and causing parking failure. Therefore, this application proposes a secondary parking path planning method. When the vehicle experiences a large tracking error or a collision warning, it initiates secondary parking path planning. This method re-plans and tracks the parking path based on the current environment and vehicle information, thereby improving the parking success rate.

[0048] Example 1

[0049] Please refer to Figure 1 This application proposes a secondary parking path planning method, which, by way of example, includes steps S100 to S300.

[0050] Step S100: When the vehicle deviates from the original path, obtain the vehicle's current pose and target pose.

[0051] Understandably, when a vehicle deviates from its original path while traveling on it—for example, due to a collision or failure to track the original path—it will restart parking path planning. This will be achieved by using the vehicle's positioning system, such as GPS, BeiDou, or other positioning systems, to obtain the vehicle's current pose in the geodetic coordinate system, i.e., the vehicle's position and attitude at the current moment. This application will also obtain the vehicle's target pose after entering the target parking space, using the target pose and the current position to determine the vehicle's secondary parking path.

[0052] In one implementation, such as Figure 2 As shown, step S400 is included before step S100.

[0053] Step S400: Obtain the target parking space pose of the parking space to be parked, and determine the target pose of the vehicle according to the target pose constraint conditions and the target parking space pose. The target pose constraint conditions are that the target parking space pose and the target pose have the same vertical coordinate and orientation angle in the same coordinate system.

[0054] When a vehicle needs to replan its parking path due to a large tracking error or a collision, the pose of the target parking space will be obtained as the target parking space pose, which is the parking space the vehicle is waiting to park in. It is understood that when the vehicle is parked in the target parking space, a certain distance will be maintained between the vehicle and the parking lines of the target parking space to ensure safe parking and avoid violations or obstructing other vehicles' passage.

[0055] Therefore, after obtaining the target parking space pose, the target pose of the vehicle when parked in that target parking space will be determined according to the pre-set target pose constraints and the target parking space pose. The target pose constraints stipulate that the target parking space pose and the target pose have the same vertical coordinate and orientation angle in the same coordinate system. In other words, in the geodetic coordinate system, the target pose of the vehicle in the secondary planning is on the same vertical axis as the target parking space pose, and the latitude and azimuth angle of the vehicle's target pose are consistent with the latitude and azimuth angle of the target parking space pose in the geodetic coordinate system.

[0056] Step S200: Based on the current pose, target pose, and parking constraints, sequentially solve the path parameters corresponding to each preset candidate path in the preset path set using the candidate path algorithm.

[0057] After obtaining the vehicle's current pose and target pose, the path parameters corresponding to each candidate path in the preset path set will be solved sequentially according to the vehicle's current pose, target pose, and pre-set parking constraints to determine whether any candidate path in the preset path set can be solved successfully. If the solution is successful, the parking path planning is considered successful, and the solution of the path parameters of the remaining candidate paths in the preset path set will be stopped.

[0058] If the path parameters of any candidate path in the preset path set cannot be solved, the secondary path planning is considered to have failed. At this time, the vehicle will be kept in its original state and the secondary parking path planning will be interrupted and exited.

[0059] Understandably, parking constraints include vehicle kinematic constraints and vehicle collision constraints. The preset path set is pre-set by staff based on actual needs, and each candidate path consists of one or more of a variety of basic paths.

[0060] For example, the preset path set may include 16 candidate paths, each candidate path consisting of one or more of six basic paths. For example... Figure 3As shown, the six basic paths are: forward, straight ahead, S... + (like Figure 3 Middle path a) Backwards straight S - (like Figure 3 Middle path b) Forward and turn left (like Figure 3 Path c) Forward and turn right (like Figure 3 Path d) Back and left (like Figure 3 Middle path e) and back turn right (like Figure 3 The path is f), where "+" and "-" represent forward and backward respectively, and "r" and "l" represent right turn and left turn respectively. This indicates the steering angle; furthermore, the vehicle has a maximum steering angle. In this application, the left-turn radius or right-turn radius in various basic paths can take any value under the condition of satisfying kinematic constraints.

[0061] like Figure 4 As shown, the 16 candidate paths can be (a) (b) (c) (d) (e) (f) (g) (h) (i) (j) (k) (l) (m) (n) (o) (p) Among them, P S P is the starting point of each candidate path. g P is the endpoint of each candidate path. i For the nodes between the various basic paths that constitute this candidate path, in other words, P i Starting from point P S To the destination P g The nodes in the array, such as P1, P2, P3, ... P i Where i is an integer greater than or equal to 1, i represents the order in which vehicles travel according to the candidate path, based on P in the candidate path. i The number of nodes determines the complexity of the candidate path. For example, if the candidate path is only a straight line or a turning path, then the corresponding nodes only include points P1 and P2. Figure 4The candidate path (a) is shown in the figure. The candidate path is the path from point P1 to point P2.

[0062] In one implementation, such as Figure 5 As shown, step S200 includes sub-steps S210 to S230.

[0063] Sub-step S210: Based on the current pose, target pose, and parking constraints, solve the path parameters of each candidate path sequentially using an optimization algorithm.

[0064] The preset path set includes multiple candidate paths, which can be selected sequentially according to a pre-set order. The order of the candidate paths in the preset path set can be pre-set based on actual conditions, such as from straight paths to turning paths, or from simple paths to complex paths; alternatively, the path parameters of each candidate path in the preset path set can be solved in a specific order.

[0065] After determining the candidate path, the path parameters are determined by solving the candidate path using an optimization algorithm, specifically the LD_SLSQP algorithm in NLOPT, based on the obtained current pose, target pose, and parking constraints. The solved candidate parameters must satisfy the parking constraints, namely, vehicle kinematic constraints and vehicle collision constraints. The collision constraints ensure that the vehicle avoids colliding with other obstacles when traveling on the candidate path to any pose. NLOPT is an open-source nonlinear optimization library.

[0066] Sub-step S220: If the path parameters of the current candidate path are solved and there is a set of them, then set the set of path parameters as the path parameters of the current candidate path and stop solving.

[0067] It is understandable that if a set of path parameters corresponding to the candidate paths in the preset path set is solved, it means that the vehicle's secondary parking planning is successful. At this time, the solution of the path parameters of the remaining candidate paths in the preset path set is terminated, and the calculated set of path parameters is set as the path parameters of the current candidate path.

[0068] In this application, if the path parameters of a candidate path fail to be solved, the next candidate path will be selected as the candidate path according to the pre-set order in the preset path set, and sub-step S120 will be executed.

[0069] In one implementation, such as Figure 6 As shown, step S200 includes sub-steps S230 to S240.

[0070] Sub-step S230: If multiple sets of path parameters for the current candidate path are obtained, calculate the sum of the straight path length and the circular path length for each set of path parameters.

[0071] In this application, path parameters include parameters such as the straight path length, arc radius, and arc path length of the candidate path. When solving for the candidate path and calculating multiple sets of path parameters corresponding to the current candidate path, the sum of the straight path length and arc path length corresponding to each set of path parameters will be calculated separately. In other words, the sum of the lengths of the basic paths in each set of path parameters in the current candidate path will be calculated.

[0072] Sub-step S240: Select the path parameter with the smallest sum of straight path length and circular arc path length among multiple sets of path parameters, set this set of path parameters as the path parameters of the current candidate path, and stop solving.

[0073] After calculating the sum of the straight path length and the circular path length for each set of path parameters, the path parameter with the smallest sum of the straight path length and the circular path length is selected from the multiple sets of path parameters. In other words, the path parameter with the shortest path length is selected when the straight path length and the circular path length are l1(x), ..., l... i When (x), min(l1(x)+…+l) i (x) is used as the path parameter for the current candidate path.

[0074] Step S300: Select a candidate path corresponding to the path parameters as the current planned path, and control the vehicle to drive according to the current planned path.

[0075] Understandably, after successfully solving the problem and determining the corresponding path parameters, a candidate path corresponding to the solved path parameters will be used as the current planned path, and the vehicle will be controlled to drive according to the current candidate path corresponding to the determined path parameters until it successfully drives to the target pose, that is, the vehicle successfully completes parking.

[0076] In this application, the parking path will be replanned based on the vehicle's current pose and target pose. The parking path can be replanned within a limited space, avoiding collision warnings and parking failures caused by the vehicle during error correction, thereby improving the parking success rate.

[0077] The secondary parking path planning method based on the above embodiments Figure 7 This diagram illustrates the structure of a secondary parking path planning device 100 according to an embodiment of this application. The secondary parking path planning device 100 includes:

[0078] The acquisition module 110 is used to acquire the current pose and target pose of the vehicle when the vehicle deviates from the original path.

[0079] The solving module 120 is used to solve the path parameters corresponding to each preset candidate path in the preset path set sequentially through the candidate path algorithm based on the current pose, the target pose and the parking constraints.

[0080] The planning module 130 is used to select a candidate path corresponding to the path parameters as the current planned path and control the vehicle to drive according to the current planned path.

[0081] The secondary parking path planning device 100 in this embodiment is used to execute the secondary parking path planning method of the above embodiment. The implementation schemes and beneficial effects involved in the above embodiments are also applicable in this embodiment, and will not be repeated here.

[0082] This application also provides a terminal device, including a memory and a processor. The memory stores a computer program, and the computer program executes the above-described secondary parking path planning method when it runs on the processor.

[0083] This application also provides a computer-readable storage medium storing a computer program that, when executed on a processor, implements the above-described secondary parking path planning method.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0085] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0086] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0087] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for secondary parking path planning, characterized in that, The method includes: When the vehicle deviates from the original path, the current pose and target pose of the vehicle are obtained; Based on the current pose, the target pose, and parking constraints, the path parameters corresponding to each preset candidate path in the preset path set are solved sequentially using a candidate path algorithm. Specifically, this includes: solving the path parameters of each candidate path sequentially using an optimization algorithm based on the current pose, the target pose, and parking constraints; if the path parameters of the current candidate path are solved and there is a set of them, then the set of path parameters is set as the path parameters of the current candidate path, and the solution is stopped; wherein, the order includes from straight path to turning path or from simple path to complex path; If it fails to solve the path parameters of the current candidate path, then solve the next candidate path in the preset path set, and execute the path parameters of each candidate path sequentially by using an optimization algorithm based on the current pose, the target pose and parking constraints. The preset path set is set in advance by staff according to actual needs. Each candidate path includes one or more basic paths. The basic paths include: forward straight, backward straight, forward left turn, forward right turn, backward left turn, and backward right turn. The path parameters include the straight path length and the arc path length of the candidate path. If multiple sets of path parameters for the current candidate path are solved, the sum of the straight path length and the arc path length of each set of path parameters is calculated. The path parameter with the smallest sum of the straight path length and the arc path length among the multiple sets of path parameters is selected and set as the path parameter of the current candidate path, and the solution is stopped. The candidate path corresponding to the path parameter is taken as the current planned path, and the vehicle is controlled to drive according to the current planned path.

2. The secondary parking path planning method according to claim 1, characterized in that, Before acquiring the current pose and target pose of the vehicle, the method further includes: Obtain the target parking space pose of the parking space to be parked, and determine the target pose of the vehicle according to the target pose constraint conditions and the target parking space pose, wherein the target pose constraint conditions are that the target parking space pose and the target pose have the same vertical coordinate and orientation angle in the same coordinate system.

3. The secondary parking path planning method according to claim 1, characterized in that, The method further includes: If the path parameters of any candidate path in the preset path set cannot be solved, parking path planning will stop.

4. The secondary parking path planning method according to claim 1, characterized in that, The parking constraints include vehicle kinematic constraints and vehicle collision constraints.

5. A secondary parking path planning device, characterized in that, The device includes: The acquisition module is used to acquire the current pose and target pose of the vehicle when the vehicle deviates from the original path. The solution module is used to sequentially solve for the path parameters corresponding to each preset candidate path in the preset path set using a candidate path algorithm based on the current pose, the target pose, and parking constraints. Specifically, the solution module is used to: sequentially solve for the path parameters of each candidate path using an optimization algorithm based on the current pose, the target pose, and parking constraints; if the path parameters of the current candidate path are solved and there is a set of them, then the set of path parameters is set as the path parameters of the current candidate path, and the solution is stopped; wherein, the order includes from straight path to turning path or from simple path to complex path; If it fails to solve the path parameters of the current candidate path, then solve the next candidate path in the preset path set, and execute the path parameters of each candidate path sequentially by using an optimization algorithm based on the current pose, the target pose and parking constraints. The preset path set is set in advance by staff according to actual needs. Each candidate path includes one or more of multiple basic paths. The basic paths include: forward straight, backward straight, forward left turn, forward right turn, backward left turn, and backward right turn. The path parameters include the straight path length and the arc path length of the candidate path. If multiple sets of path parameters for the current candidate path are solved, the sum of the straight path length and the arc path length of each set of path parameters is calculated. The path parameters with the smallest sum of the straight path length and the arc path length among the multiple sets of path parameters are selected, and this set of path parameters is set as the path parameters of the current candidate path, and the solution is stopped. The planning module is used to select a candidate path corresponding to the path parameters as the current planned path and control the vehicle to travel according to the current planned path.

6. A vehicle, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the secondary parking path planning method according to any one of claims 1 to 4.

7. A readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the secondary parking path planning method according to any one of claims 1 to 4.

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