An automatic parking path planning method, device, medium and equipment

Abstract

This application discloses an automatic parking path planning method, apparatus, medium, and device, belonging to the field of autonomous driving technology. It mainly includes: extracting perceived information from the vehicle within a predetermined parking space, including the target parking space; identifying the ground side lines, road edge lines, and actual obstacle outlines of the target parking space based on the perceived information; trimming the ground side lines and the road edge lines intersecting with them, and using the remaining ground side lines and road edge lines as the corresponding boundaries of the available parking space of the target parking space; and performing collision detection using the corresponding boundaries of the available parking space and the actual obstacle outlines, and planning the vehicle trajectory based on the collision detection results to obtain the automatic parking planning path. This application can provide a larger free parking space compared to existing technologies for the automatic parking process in specific environments, improving the success rate of parking route planning and increasing parking efficiency.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an automatic parking path planning method, apparatus, medium and equipment. Background Technology

[0002] Automated parking is a crucial function in autonomous driving. Existing technologies include various automated parking path planning methods, such as the real-time circular arc method. This method, based on the vehicle's and parking space's positions, uses multiple circular arcs to construct a pre-planned parking path, ensuring no collisions with the parking space defined by space boundaries, road edges, and obstacles, and adhering to kinematic constraints. Another method utilizes the Hybrid A* search algorithm to calculate and plan the parking path. Both of these methods require significant space for path planning and are limited by the specific parking environment, resulting in low success rates and low parking efficiency. Summary of the Invention

[0003] To address the problems existing in the prior art, this application mainly provides an automatic parking path planning method, device, medium, and equipment. By trimming the ground side lines and road edge lines, the available parking space during path planning is increased, the success rate of path planning is improved, the space required for parking is reduced, and the parking efficiency is improved.

[0004] To achieve the above objectives, one technical solution adopted in this application is: providing an automatic parking path planning method, which includes:

[0005] Extract the perceived information of the vehicle within the predetermined parking space, including the target parking space; identify the ground side line, road edge line, and actual obstacle outline of the target parking space based on the perceived information; trim the ground side line and the road edge line intersecting with the ground side line, and use the remaining ground side line and road edge line as the corresponding boundaries of the available parking space of the target parking space; perform collision detection using the corresponding boundaries of the available parking space and the actual obstacle outline, and perform vehicle trajectory planning based on the collision detection results to obtain the automatic parking planning path.

[0006] Another technical solution adopted in this application is: providing an automatic parking path planning device, which includes:

[0007] The system comprises the following modules: a perception module for extracting perceived information about the predetermined parking space, including the target parking space; a recognition module for recognizing the ground side lines, road edges, and actual obstacle outlines of the target parking space based on the perceived information; a module for obtaining the corresponding boundaries of the available parking space, which clips the ground side lines and the road edges intersecting with them, and uses the remaining clipped ground side lines and road edges as the corresponding boundaries of the available parking space of the target parking space; and a collision detection and planning module for performing collision detection using the corresponding boundaries of the available parking space and the actual obstacle outlines, and for planning the vehicle trajectory based on the collision detection results to obtain an automatic parking planning path.

[0008] Another technical solution adopted in this application is to provide a computer-readable storage medium storing computer instructions that are operated to execute the automatic parking path planning method in the above solution.

[0009] Another technical solution adopted in this application is: providing a computer device, which includes a processor and a memory, the memory storing computer instructions, which are operated to execute the automatic parking path planning method in the above solution.

[0010] The beneficial effects of the technical solution of this application are: an automatic parking path planning method, device, medium, and equipment. This application, by trimming the ground side lines and road edge lines of parking spaces with side boundaries as ground markings, provides a larger available free parking space compared to existing technologies during the automatic parking path planning process. This improves the success rate of parking route planning, reduces the space required for parking, and increases parking efficiency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating a use case of an automatic parking path planning method according to this application;

[0013] Figure 2 This is a diagram illustrating the vehicle crossing the side line of the ground during normal parking.

[0014] Figure 3 This is a schematic diagram of a specific implementation of an automatic parking path planning method according to this application;

[0015] Figure 4 This is a schematic diagram of a predetermined parking space in a specific embodiment of an automatic parking path planning method according to this application;

[0016] Figure 5 This is a specific embodiment of an automatic parking path planning method of this application, which utilizes a reduced outline diagram of the vehicle;

[0017] Figure 6 This is a schematic diagram of a specific implementation of an automatic parking path planning method according to this application;

[0018] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0019] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.

[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0021] Automated parking is an important function in autonomous driving, and its use cases include... Figure 1 As shown, the Automatic Parking Assist (APA) system automatically parks the vehicle by controlling its acceleration, deceleration, and steering angle. The system uses sensors to detect collisions and perceive the parking environment, estimating the vehicle's attitude (position and direction of travel). Based on the driver's selection, it automatically or manually sets the target parking space. The system then calculates the automatic parking path and, through precise vehicle positioning and control, automates the parking process along the defined path until the final target parking space is reached.

[0022] Several automatic parking path planning methods already exist in the technology. In the process of parking path planning, these existing technologies use sensors to perceive the environment and detect obstacles, treating the complete parking space boundary as the parking boundary and performing collision detection to avoid collisions between the vehicle and the parking space boundary. This ensures that even if the parking space boundary is marked on the ground, the ground edge that a normally parked vehicle can cross is still within the boundary. Figure 2 As shown, when performing route planning, it is also necessary to avoid vehicles hitting the ground edge lines, which would result in the actual planned route being less than optimal, requiring more parking space, and having a lower route planning success rate.

[0023] This application increases the available space during path planning by identifying the ground edge line of the target parking space and allowing the vehicle body to collide with the ground edge line during path planning, thereby increasing the success rate of parking path planning, reducing the space required for parking, and making the final planned path optimal, thus improving parking efficiency.

[0024] The technical solutions of this application will now be described in detail with reference to specific embodiments and accompanying drawings. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0025] Figure 3 This application illustrates a specific implementation of an automatic parking path planning method.

[0026] exist Figure 3 The specific implementation of the automatic parking path planning method of this application shown includes the following steps: Step 301: Extracting perception information of the predetermined parking space, including the target parking space, perceived by the vehicle; Step 302: Identifying the ground side line, road edge line, and actual obstacle outline of the target parking space based on the perception information; Step 303: Trimming the ground side line and the road edge line intersecting with the ground side line, and using the remaining ground side line and road edge line as the corresponding boundaries of the available parking space of the target parking space; and Step 304: Performing collision detection using the corresponding boundaries of the available parking space and the actual obstacle outline, and performing vehicle trajectory planning based on the collision detection results to obtain the automatic parking planning path.

[0027] This application, by trimming the ground side lines and road edge lines of parking spaces with side boundaries as ground markings, provides a larger available free parking space compared to existing technologies during the automatic parking path planning process. This increases the success rate of parking route planning, reduces the space required for parking, and improves parking efficiency.

[0028] The process S301, which involves extracting the perception information of the vehicle within the predetermined parking space, including the target parking space, facilitates the subsequent identification of the ground side line, road edge line, and actual obstacle outline of the target parking space based on the perception information.

[0029] In one specific embodiment of this application, the process of extracting the predetermined parking space perceived by the vehicle, including the target parking space, includes determining the predetermined parking space based on the vehicle's dimensions and minimum turning radius, such as... Figure 4 As shown, for example, the above parking environment range can be determined as a 30m x 30m square based on empirical values, or the above parking environment range can be determined as a square with a side length of: vehicle length + minimum turning radius.

[0030] In one specific embodiment of this application, the process of extracting the predetermined parking space, including the target parking space, perceived by the vehicle includes acquiring an image of the physical environment in which the vehicle is located using at least one sensor configured on the vehicle, and extracting parking-related objects to facilitate further identification of the ground side lines and subsequent cropping of the ground side lines. Specifically, the vehicle can be any type of vehicle that carries people and / or objects and moves via a power system such as an engine or battery, including but not limited to cars, trucks, buses, electric vehicles, motorcycles, RVs, trains, etc. The image includes parking-related objects, such as parking space boundaries, including information on pillars, cones, and edge lines; as well as objects unrelated to parking, such as other vehicles and scenery, requiring the identification of parking-related objects from a large number of objects.

[0031] Optionally, the above-mentioned at least one sensor may include an AVM (around-view fisheye camera) and a USS (ultrasonic radar).

[0032] In a specific example of this application, the process of extracting parking-related objects includes parking space detection, obstacle detection, and grounding wire detection. Specifically, the parking space detection process includes parking space boundary detection; the obstacle detection process includes detecting other vehicles, people, and traffic cones within a predetermined range; and the grounding wire detection process includes detecting the boundaries of walls, pillars, and other building structures that contact the ground within a predetermined range.

[0033] In one specific embodiment of this application, the process of extracting parking-related objects further includes an object fusion process. This involves fusing object information perceived by multiple cameras into a single object information; for example, fusing information about the same obstacle captured by multiple cameras into a single obstacle information for output; fusing camera perception results with ultrasonic perception results; for example, fusing parking space information captured by cameras and parking space information obtained by ultrasonic radar into a single parking space information for output; or fusing multiple frames of perception information into a single information; for example, fusing multiple frames of images of the same grounding wire captured by a single camera into a single obstacle information for output. This results in more stable and accurate object information.

[0034] Process S302 represents the process of identifying the ground side line, road edge line, and actual obstacle outline of the target parking space based on the perceived information, which facilitates the construction of parking space boundaries based on the identified ground side line, road edge line, and actual obstacle outline.

[0035] Specifically, the process of identifying the ground side lines of a target parking space based on perceived information includes determining whether the boundary of the parking space is a ground marking. In actual parking scenarios, the boundary of a parking space may include one ground side line or both of its lateral boundaries may be ground side lines.

[0036] In one specific embodiment of this application, the process of identifying the outline of an actual obstacle based on perception information includes identifying the outline of a fixed obstacle, such as identifying the outline of an obstacle like a wall, a pillar, or a cone.

[0037] In one specific embodiment of this application, the process of identifying the outline of an actual obstacle based on perception information includes identifying the outline of a moving obstacle, for example, detecting people, vehicles, and animals appearing in a predetermined parking space.

[0038] Process S303 represents the process of trimming the ground side lines and the road edges that intersect with the ground side lines, and using the remaining ground side lines and road edges as the corresponding boundaries of the available parking space of the target parking space. This allows subsequent collision detection to be performed directly using the trimmed ground side lines and road edges to form the corresponding boundaries of the available parking space, ultimately optimizing the planned path, increasing the available parking space, and improving the success rate of parking path planning.

[0039] Specifically, the boundaries of the available parking space also include the actual boundaries of obstacles such as cones, walls, and pillars. Vehicles that need to park must avoid colliding with the boundaries of the parking space during the actual parking process.

[0040] In one specific embodiment of this application, if the side boundary of the target parking space has one side defined by ground markings and the other side by a wall or other obstacle, then the process of trimming the ground side line described above includes trimming only the ground side line defined by ground markings.

[0041] In one specific embodiment of this application, if the side boundaries of the target parking space are both defined by ground side lines, the process of trimming the ground side lines includes trimming one of the two side lines of the target parking space according to the size of the vehicle to be parked and the size of the target parking space. Specifically, during parking, if the vehicle to be parked is small, the target parking space is wide, and the vehicle is close to the parking space, trimming the side line closer to the vehicle allows for the planning of the shortest parking path that allows direct entry into the garage without having to turn back. This increases the usable space in parking route planning, improves the success rate of parking route planning, and increases parking efficiency.

[0042] In one specific embodiment of this application, if the side boundaries of the target parking space are both defined by ground side lines, the process of trimming the ground side lines includes trimming both side lines. Specifically, during parking, if the vehicle to be parked is large, the target parking space is narrow, and the vehicle is close to the parking space, ideally the vehicle could be successfully parked without turning back and tilting. However, if the vehicle might simultaneously cross both side lines during parking, then both side lines are trimmed before subsequent collision detection and path planning. This improves the usable space in parking route planning, increases the success rate of parking route planning, and improves parking efficiency.

[0043] In one specific embodiment of this application, the process of trimming the ground side lines and the road edges intersecting with the ground side lines includes: trimming the ground side lines, starting from the portion closest to the road edge, by 0.3 to 1 times their length; and trimming the road edges intersecting with the ground side lines, starting from the portion closest to the ground side lines, by 0.5 to 1.5 times the length of the trimmed ground side lines. Trimming the outer edge of the parking space's ground side lines by more than 0.3 times, and trimming the intersecting ground markings by 0.5 to 1.5 times the length of the trimmed ground side lines, can significantly improve the success rate of parking route planning and increase parking efficiency.

[0044] Preferably, the process of trimming the ground side line and the road edge line intersecting with it includes trimming the ground side line, starting from the portion closest to the road edge line, by 0.3-0.5 times its length. When the remaining side line length is less than 0.5 times the original side line length, the parking route planning success rate will no longer improve. Specifically, since vehicle motion conforms to kinematic constraints, and the planned parking path must also conform to these constraints, trimming the length of the target parking space's ground side line to below a certain value will no longer help improve the parking route planning success rate.

[0045] Process S304 represents the process of using the corresponding boundaries of the available parking space and the outline of the actual obstacle to perform collision detection, and then using the collision detection results to plan the vehicle trajectory to obtain an automatic parking planning path. This process can ultimately plan a parking path that intersects with the bottom edge of the original parking space with a high success rate. During the parking process, parking can be performed efficiently while avoiding collisions with obstacles.

[0046] In one specific embodiment of this application, the process of collision detection using the corresponding boundaries of the available parking space and the actual obstacle contours includes using the actual contours of the vehicle to perform collision detection on the corresponding boundaries of the available parking space and the actual obstacle contours.

[0047] In one specific embodiment of this application, the process of collision detection using the corresponding boundaries of the available parking space and the outlines of actual obstacles includes: performing collision detection on the corresponding boundaries of the available parking space using a reduced outline of the vehicle; and performing collision detection on the outlines of actual obstacles using the actual outline of the vehicle. In this embodiment, the corresponding boundaries of the available parking space do not include actual obstacles such as cones, walls, and pillars. In the actual parking process, using the reduced outline of the vehicle to perform collision detection with the boundaries of the available parking space means that the vehicle can further cross the two-dimensional parking space edges and road edges located on the ground, such as... Figure 5 As shown, this increases the available parking space for vehicles during the parking process, improves the success rate of parking path planning, and increases parking efficiency.

[0048] In one specific embodiment of this application, the vehicle's scaled-down outline is a virtual outline obtained by scaling down the vehicle to no more than 0.8 times its actual outline, with the vehicle's center as the center. Starting from when the vehicle outline is less than 0.8 times, the success rate of parking path planning is significantly improved.

[0049] Preferably, the scaled-down vehicle outline is a virtual outline obtained by scaling down the vehicle to no more than 0.5 times its actual outline, centered on the vehicle's center. The success rate of parking path planning increases more significantly when the vehicle outline is less than 0.5 times its actual outline.

[0050] In one specific embodiment of this application, the process of obtaining an automatic parking planning path by planning the vehicle trajectory based on the collision detection results includes planning the path using the real-time circular arc method based on the collision detection results.

[0051] In one specific embodiment of this application, the process of obtaining an automatic parking planning path by planning the vehicle trajectory based on the collision detection results includes calculating the planned parking path using the HybridA* search algorithm based on the collision detection results.

[0052] In one specific embodiment of this application, in parking scenarios where vehicles need to be parked frequently, such as in a home garage, the automatic parking path planning method of this application further includes storing the parking path obtained by performing the above-mentioned automatic parking path planning, so that it can be directly called and followed according to the stored path when parking in the future.

[0053] Figure 6 This application illustrates a specific embodiment of an automatic parking path planning device.

[0054] exist Figure 6 The specific implementation of the automatic parking path planning device of this application shown includes...

[0055] The system includes a perception module 601, which extracts perception information from the vehicle within a predetermined parking space, including the target parking space; a recognition module 602, which identifies the ground side lines, road edge lines, and actual obstacle outlines of the target parking space based on the perception information; a available parking space boundary acquisition module, which clips the ground side lines and the road edge lines intersecting with them, and uses the remaining ground side lines and road edge lines as the corresponding boundaries of the available parking space of the target parking space; and a collision detection and planning module, which performs collision detection using the corresponding boundaries of the available parking space and the actual obstacle outlines, and plans the vehicle trajectory based on the collision detection results to obtain an automatic parking planning path.

[0056] This application, by trimming the ground side lines and road edge lines of parking spaces with side boundaries as ground markings, provides a larger available free parking space compared to existing technologies during the automatic parking path planning process. This increases the success rate of parking route planning, reduces the space required for parking, and improves parking efficiency.

[0057] The perception module 601, used to extract perception information within a predetermined parking space, including the target parking space, as perceived by the vehicle, facilitates subsequent identification of the ground side lines, road edge lines, and actual obstacle outlines of the target parking space based on the perception information. In one specific embodiment of this application, the aforementioned side line perception module 601 includes at least one sensor configured on the vehicle, such as an AVM (Around View Camera) and a USS (Ultrasonic Radar).

[0058] The recognition module 602 is used to identify the ground side lines, road edge lines, and actual obstacle outlines of the target parking space based on the perceived information. It can facilitate the construction of parking space boundaries based on the identified ground side lines, road edge lines, and actual obstacle outlines.

[0059] The available parking space boundary acquisition module 603 is used to cut the ground side lines and the road edge lines intersecting with the ground side lines, and use the remaining ground side lines and road edge lines as the corresponding boundaries of the available parking space of the target parking space. This allows subsequent collision detection to be performed directly using the remaining ground side lines and road edge lines to form the corresponding boundaries of the available parking space, ultimately optimizing the planned path, increasing the available parking space, and improving the success rate of parking path planning.

[0060] The collision detection and planning module 604 is used to perform collision detection using the corresponding boundaries of the available parking space and the outline of the actual obstacle, and to plan the vehicle trajectory based on the collision detection results to obtain an automatic parking planning path. It can ultimately plan a parking path that intersects with the bottom edge of the original parking space with a high success rate. During the parking process, it can park efficiently and avoid collisions with obstacles.

[0061] In one specific embodiment of this application, the collision detection and planning module 604 described above can perform vehicle trajectory planning to obtain an automatic parking planning path based on the collision detection results. This process includes planning the parking path using the real-time circular arc method based on the collision detection results.

[0062] In one specific embodiment of this application, the collision detection and planning module 604 described above can calculate and plan a parking path using the HybridA* search algorithm based on the collision detection results.

[0063] In one specific embodiment of this application, in parking scenarios where vehicles need to be parked frequently, such as in a home garage, the automatic parking path planning device of this application further includes a path storage device, which is used to store the parking path obtained by performing the above-mentioned automatic parking path planning, so that it can be directly called and followed according to the stored path when parking in the future.

[0064] The extended automatic parking path planning device provided in this application can be used to execute the extended automatic parking path planning method described in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0065] In one specific embodiment of this application, the functional modules of the automatic parking path planning device of this application can be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0066] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0067] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0068] In another specific embodiment of this application, a computer-readable storage medium stores computer instructions that are operated to perform the extended automatic parking path planning method described above.

[0069] In another specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions that are operated to execute the automatic parking path planning method in the above scheme.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. An automatic parking path planning method characterized by comprising: include: Extract the perceived information of the vehicle within the predetermined parking space, including the target parking space; The ground side line, road edge line, and actual obstacle outline of the target parking space are identified based on the perceived information. The ground side line and the road edge line intersecting with the ground side line are cut off, and the remaining ground side line and road edge line after cutting are used as the corresponding boundaries of the available parking space of the target parking space. as well as Collision detection is performed using the corresponding boundaries of the available parking space and the outlines of the actual obstacles, and an automatic parking planning path is obtained by planning the vehicle trajectory based on the collision detection results.

2. The automatic parking path planning method according to claim 1, characterized in that, The process of trimming the ground side line and the road edge line intersecting with the ground side line includes: Starting from the portion closest to the road edge, trim off 0.3 to 1 times the length of the ground side line; as well as Starting from the portion closest to the ground side line, cut off 0.5 to 1.5 times the length of the cut-off ground side line.

3. The automatic parking path planning method according to claim 2, characterized in that, The process of trimming the ground side line and the road edge line intersecting with the ground side line includes: Starting from the portion of the ground side line closest to the road edge line, cut off 0.3-0.5 times the length of the ground side line.

4. The automatic parking path planning method according to claim 1, characterized in that, The process of collision detection using the corresponding boundaries of the available parking space and the outline of the actual obstacle includes, Collision detection is performed on the corresponding boundaries of the available parking space and the actual obstacle outlines using the actual contours of the vehicle.

5. The automatic parking path planning method according to claim 1, characterized in that, The process of collision detection using the corresponding boundaries of the available parking space and the outline of the actual obstacle includes, Collision detection is performed on the corresponding boundaries of the available parking space using the reduced outline of the vehicle; as well as Collision detection is performed on the actual obstacle outline using the actual contour of the vehicle.

6. The automatic parking path planning method according to claim 5, characterized in that, The scaled-down outline of the vehicle is a virtual outline obtained by scaling down the vehicle to no more than 0.8 times its actual outline, with the vehicle's center as the center.

7. The automatic parking path planning method according to claim 6, characterized in that, The scaled-down outline of the vehicle is a virtual outline obtained by scaling down the vehicle to no more than 0.5 times its actual outline, with the vehicle's center as the center.

8. An automatic parking path planning device characterized by comprising: include, The perception module is used to extract perception information from the vehicle within the predetermined parking space, including the target parking space. The recognition module is used to recognize the ground side line, road edge line, and actual obstacle outline of the target parking space based on the perceived information. A module for obtaining the corresponding boundary of available parking space is used to cut the ground side line and the road edge line intersecting with the ground side line, and use the remaining ground side line and road edge line after cutting as the corresponding boundary of the available parking space of the target parking space. as well as The collision detection and planning module is used to perform collision detection using the corresponding boundaries of the available parking space and the outline of the actual obstacle, and to plan the vehicle trajectory based on the collision detection results to obtain an automatic parking planning path.

9. A computer-readable storage medium storing computer instructions, wherein, The computer instructions are operated to perform the automatic parking path planning method according to any one of claims 1-7.

10. A computer device comprising a processor and a memory storing computer instructions, wherein the processor operates the computer instructions to perform the automatic parking path planning method according to any one of claims 1-7.

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