Automatic parking control method, device, equipment and storage medium

Abstract

The embodiment of the present invention provides an automatic parking control method, device, equipment and storage medium, the method comprising: determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle; obtaining the first segmented driving path in the planned driving path as the current driving path, and determining the planned driving speed of the vehicle at each trajectory point included in the current driving path; controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each trajectory point; after completing the current driving path, taking the vehicle's position as the new starting parking position, and returning to continue to execute the steps of determining the planned driving path until the vehicle reaches the target parking position and completes parking. By using this method, the parking of the vehicle is precisely controlled based on the trajectory points in the planned driving path and the planned driving speeds at the trajectory points, which improves the comfort of the passenger experience while ensuring the parking time efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic parking technology, and in particular to an automatic parking control method, device, equipment and storage medium. Background Art

[0002] In the prior art, the comfort of automatic parking is one of the key indicators of parking performance, among which the planning and control of vehicle speed is the key point to determine the parking comfort performance. Therefore, the speed planning and control of automatic parking is very important in product research and development. The human perception of the comfort and efficiency of the vehicle speed of automatic parking are key points for passengers to consider. If the parking speed is too fast, it cannot meet the comfort requirements, and if it is too slow, it cannot meet the efficiency requirements. How to ensure the comfort, efficiency and compliance of the vehicle speed with human habitual perception is a pain point in research and development. Summary of the invention

[0003] The embodiments of the present invention provide an automatic parking control method, device, equipment and storage medium, which improve the passenger experience comfort while ensuring parking time efficiency.

[0004] In a first aspect, an embodiment of the present invention provides an automatic parking control method, comprising:

[0005] Determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, wherein the planned driving path includes at least one segmented driving path;

[0006] Acquire the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path;

[0007] Controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each of the trajectory points;

[0008] After the current driving route is completed, the position of the vehicle is used as a new starting parking position, and the process returns to continue the step of determining the planned driving route until the vehicle reaches the target parking space and completes parking.

[0009] In a second aspect, an embodiment of the present invention provides an automatic parking control device, comprising:

[0010] A path planning module, for determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, wherein the planned driving path includes at least one segmented driving path;

[0011] A speed planning module, used to obtain the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path;

[0012] A driving control module, used for controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each of the trajectory points;

[0013] The return module is used to use the position of the vehicle as a new starting parking position after completing the current driving path, and return to continue executing the step of determining the planned driving path until the vehicle reaches the target parking space and completes parking.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the automatic parking control method as described in the embodiment of the first aspect.

[0018] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the automatic parking control method as described in the embodiment of the first aspect.

[0019] The embodiment of the present invention provides an automatic parking control method, device, equipment and storage medium, the method comprising: firstly, according to the starting parking position and the target parking position of the vehicle, determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position, the planned driving path including at least one segmented driving path; secondly, obtaining the first segmented driving path in the planned driving path as the current driving path, determining the planned driving speed of the vehicle at each trajectory point included in the current driving path; then, according to the planned driving speed corresponding to each trajectory point, controlling the vehicle to complete driving on the current driving path; finally, after completing the current driving path, taking the position of the vehicle as the new starting parking position, returning to continue to execute the step of determining the planned driving path, until the vehicle reaches the target parking position to complete parking. The above technical scheme first plans the parking driving path, then determines the planned driving speed of each trajectory point, realizes the segmented control of vehicle parking based on the trajectory point and the planned driving speed, realizes the precise control of the parking speed, and improves the comfort of the passenger experience while ensuring the parking timeliness.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of a flow chart of an automatic parking control method provided in Embodiment 1 of the present invention;

[0023] Figure 2 A schematic flow chart of another automatic parking control method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is an example diagram of a process flow of an automatic parking control method in a certain application scenario provided by the second embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of an automatic parking control device provided in Embodiment 3 of the present invention;

[0026] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "original", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0030] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0031] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0032] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0033] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0034] The existing semantic service system is very lacking in user privacy protection. The client will send the relevant privacy information to the cloud server intact, which will inevitably cause the cloud server to store a large amount of user privacy data. Although the operator has declared through legal means that it will not abuse user privacy information, as long as the information is in the cloud, there may be a risk of user privacy information being leaked or abused.

[0035] Embodiment 1

[0036] Figure 1 This is a flow chart of an automatic parking control method provided in the first embodiment of the present invention. The method is applicable to the case of controlling the automatic parking of a vehicle. The method can be executed by an automatic parking control device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the automatic parking control method provided in the first embodiment may specifically include the following steps:

[0037] S101. Determine a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle.

[0038] The planned driving route includes at least one segmented driving route.

[0039] The application scenario of this embodiment can be understood as a vehicle that wants to automatically park into a parking space. In this embodiment, the parking space that the vehicle should park into is recorded as the target parking space. Through the processing of the perception, fusion and decision modules in the vehicle integration system, the target parking space and the position of the target parking space can be identified and recorded as the target parking space position. At the same time, the vehicle integration system can locate the current position of the vehicle itself. After knowing the current position of the vehicle itself and the position of the target parking space, it can be determined which parking method the vehicle belongs to if it is parked. The parking types of the vehicle include vertical parking and horizontal parking. For example, reversing into a garage is vertical parking, and side parking is horizontal parking.

[0040] First, according to the current position of the vehicle and the detected target parking space, determine whether the vehicle's parking type is vertical or horizontal parking. After determining the parking type of the vehicle, it can be determined that in order for the vehicle to successfully complete parking in the target parking space, the vehicle must first reach a key point near the parking space, and the key point is recorded as the starting parking position of the vehicle. It can also be considered that the current position of the vehicle is not necessarily a suitable position for the vehicle to enter the target parking space for parking. The vehicle needs to be adjusted to a suitable position before the vehicle can normally complete parking in the target parking space.

[0041] After knowing the starting parking position and the target parking position of the vehicle, the key trajectory points that the vehicle must pass through to complete normal parking from the starting parking position to the target parking position can be planned based on the parking type. After planning the key trajectory points for the vehicle to complete parking from the starting parking position to the target parking position, it is necessary to further plan what kind of trajectory lines are used to connect adjacent key trajectory points. When all adjacent key trajectory points are connected by appropriate trajectory lines, the overall trajectory line formed by connecting multiple complete trajectory lines is recorded as the planned driving path.

[0042] It should be noted that, considering different parking types, the driving paths of vehicles when parking have different characteristics. For different parking types, planning methods corresponding to the parking types can be set. When it is necessary to plan the driving path for parking, the planning method corresponding to the parking type can be used to plan the path of the vehicle. Exemplarily, for the vertical parking type, the trajectory between adjacent key trajectory points can use the heuristic search algorithm A* planning algorithm or the arc + third-order Bezier curve planning algorithm to plan multiple driving paths, but the planned multiple driving paths may not necessarily meet the driver's driving behavior habits. Therefore, the planned multiple driving paths can also be used according to the driver's driving behavior habits. The pruning algorithm is used to select the optimal driving path from the multiple driving paths as the planned driving path. For the horizontal parking type, the path planning can be carried out by connecting the roundabout and the arc to ensure that the curvature of the vehicle path changes continuously.

[0043] Continuing with the above description, in this embodiment, a segmented control method is used to control the vehicle to complete the driving of the planned driving path to complete parking. Therefore, after determining the planned driving path, the planned driving path needs to be segmented to form several segments of driving paths, which are recorded as segmented driving paths in this embodiment. Each segmented driving path can be regarded as a curve. The segmentation idea adopted in this embodiment is to ensure that the terminal speed of each segmented curve is zero. After the planned driving path is segmented, it can be regarded as the planned driving path including one or more segmented driving paths, and the terminal speed of each segmented curve is zero.

[0044] In this embodiment, both the vertical and horizontal planned driving paths can be given in the form of trajectory point sequences, and the point sequence information includes the coordinate positions of the points. Exemplarily, the trajectory points in the planned driving path can be represented by a coded data structure, using C++ coding, and the transmitted data is a structure, represented as:

[0045] typedefstruct

[0046] {int spot_num; / / Number of track points

[0047] point p

[400] ; / / Track point structure

[0048] }OneStep;

[0049] The above structure indicates that a segmented driving path includes 400 track points, and the coordinate information of each track point is recorded in the form of 400 point structures.

[0050] In addition, illustratively, in this embodiment, the vehicle coordinates can be converted into coordinate positions based on parking spaces to facilitate calculation and description, and no specific limitations are made here.

[0051] S102: Acquire the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path.

[0052] The above steps determine the coordinate position of each trajectory point in the planned driving path, that is, where the vehicle should travel to, but it is unclear at what speed the vehicle should travel at this trajectory point. This step is used to assign a speed to each trajectory point.

[0053] In this embodiment, a segmented control method is adopted to divide the planned driving path into several segmented driving paths. Each segmented driving path is connected in sequence, and the vehicle also drives according to the connection order of the segmented driving paths when parking. Because it is segmented control, specifically, the first segmented driving path in the planned driving path is first obtained as the current driving path. The current driving path can be regarded as composed of a certain number of trajectory points. In order to achieve precise control of vehicle parking and improve passenger comfort, this embodiment will determine the planned driving speed of the vehicle at each trajectory point included in the current driving path.

[0054] Continuing with the above description, the step of determining the planned driving speed of the vehicle at each trajectory point included in the current driving path may be: taking into account comfort and efficiency, the speed planning of the inverse tangent curve mode is adopted in this embodiment, and the planned current driving path is divided into front and rear segments according to the curve length (i.e., the number of trajectory points), and the speed of each trajectory point on the path is calculated in the form of inverse tangent increasing and decreasing as the planned driving speed.

[0055] In this embodiment, after determining the planned driving speed at each trajectory point, the planned driving path can be given in the form of a trajectory point sequence, and the point sequence information includes information such as the coordinate position and speed of the point. For example, the trajectory points in the planned driving path and the planned driving speed at the trajectory points can be represented by a coded data structure, using C++ coding, and the transmitted data is a structure, represented as:

[0056]

[0057] It can be seen that the segmented trajectory curve OneStep contains information about multiple trajectory points and the number of trajectory points; a single trajectory point structure point contains the direction, coordinates, heading angle, speed, etc. of the vehicle at this point.

[0058] S103: Control the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each trajectory point.

[0059] After the planned driving speed corresponding to each trajectory point is determined as described above, the current driving speed of the vehicle can be obtained at any trajectory point the vehicle travels to, and the planned driving speed at the next trajectory point of the trajectory point can also be obtained. For each trajectory point, the speed difference can be determined based on the current driving speed of the vehicle at the trajectory point and the planned driving speed at the next trajectory point; based on the speed difference and the preset tracking control algorithm, the acceleration of the vehicle from the current trajectory point to the next trajectory point is determined; based on the acceleration, the vehicle is controlled to travel from the current trajectory point to the next trajectory point. This is the way the vehicle travels for each trajectory point in the current driving path. When the vehicle travels to the last trajectory point in the current driving path, the vehicle has completed the travel on the current driving path.

[0060] It should be noted that this step only completes the driving of a segmented driving path, and the following steps need to be performed to continue controlling the vehicle to park.

[0061] S104: After the current driving route is completed, the vehicle's current location is used as a new starting parking location, and the process returns to continue executing the step of determining the planned driving route until the vehicle reaches the target parking space and completes parking.

[0062] This embodiment uses a segmented control method to control the parking of the vehicle, which is equivalent to first controlling the vehicle to complete a segmented driving path, and then returning to re-plan the remaining path. If the control is more accurate when the vehicle is controlled to complete a segmented driving path, the remaining path planning is consistent with the path planning of the last planned driving path. If there is a deviation in the control when the vehicle is controlled to complete a segmented driving path, the position of the vehicle is used as the new starting parking position, and the remaining path planning is re-executed, so that the path can be corrected.

[0063] For example, assuming that the vertical parking of the vehicle includes four segmented driving paths, the driving control of one segmented driving path can be completed first, and then the planning of the remaining three segments of the driving path can be returned, and then the driving control of another segmented driving path can be performed, until all the segmented driving paths are completed, which is equivalent to the vehicle completing automatic parking.

[0064] In this embodiment, the relevant management of intermediate variables and parameters can be performed based on the state machine, such as obtaining the remaining distance of the ultrasonic wave, determining the final remaining distance based on the remaining distance of the ultrasonic wave and the set safety distance, and monitoring the trajectory point inside the segmented driving path to which the vehicle is tracked, which can be recorded as a process count, and monitoring the number of segments of the segmented driving path that the vehicle is tracking, which can be recorded as a step count. These intermediate variables and parameters can provide basic data for planning the driving path. In addition, the state machine can also be used to trigger which steps to execute. For example, if the planned driving speed can be calculated normally and the vehicle control can be achieved, the state machine triggers another jump to the planning step for new planning.

[0065] The embodiment of the present invention provides an automatic parking control method, which includes: first, according to the starting parking position and the target parking position of the vehicle, determine the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position, and the planned driving path includes at least one segmented driving path; secondly, obtain the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each track point included in the current driving path; then, according to the planned driving speed corresponding to each track point, control the vehicle to complete driving on the current driving path; finally, after completing the current driving path, use the vehicle's position as the new starting parking position, return to continue to execute the step of determining the planned driving path, until the vehicle reaches the target parking position to complete parking. The above technical solution first plans the parking driving path, and then determines the planned driving speed of each track point, so as to realize the segmented control of the vehicle parking based on the track point and the planned driving speed, realize the precise control of the parking speed, and improve the comfort of the passenger experience while ensuring the parking time.

[0066] As an optional embodiment of the embodiment of the present invention, on the basis of the above embodiment, after determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position, it can be optimized to further include: taking the trajectory point where the vehicle's driving speed is zero in the planned driving path as a segmentation point, segmenting the planned driving path, and obtaining a plurality of segmented driving paths.

[0067] In this optional embodiment, in the two types of parking planning, after the planning calculation calculates all the trajectories of the vehicle reaching the end point at one time, it is also necessary to perform segmentation processing, which is equivalent to the segmentation point being the point where the vehicle is to park. When it reaches zero, it is necessary to change gears and change the driving direction. At this point, the arc is cut out so that the key speed of each section of the trajectory is zero, that is, the end of the curve must be a parking situation. It should be noted that there is no need to segment vertical parking, because each section of the curve planned vertically ends at zero. For example, when parking vertically, it is planned to be up to four sections, and these four sections of the curve have been segmented, that is, there is no need to specifically segment them. The first section is to back up inside. When you back up to a certain position at the entrance of the garage and find that there is not enough parking space, you need to stop because you have to drive forward again. Since this section must be parked, this section of the curve can be used as a segmented path. It can be considered that the vertical parking type, the planned driving path meets the segmentation principle, and the planned driving path is originally segmented, so each section can be directly used as a segmented driving path. Horizontal parking requires segmentation processing, and the principle of segmentation processing is to use the point with zero speed as the segmentation point to obtain the segmented driving path.

[0068] The above technical solution adds a step of dividing the planned driving path into segments. Each end point of the segmented driving path obtained by segmenting the planned driving path is zero. By controlling the parking of the vehicle in segments, it is ensured that the parking planning control is convenient and fast.

[0069] As another optional embodiment of the embodiment of the present invention, based on the above embodiment, it can also be optimized that before determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, the following steps are further included:

[0070] According to the current position of the vehicle and the target parking space position, the parking type and the starting parking position of the vehicle are determined and the vehicle is controlled to reach the starting parking position.

[0071] Among them, the current position of the vehicle refers to the position of the vehicle at the current moment when parking is planned, which is recorded as the current position of the vehicle. It is understandable that the current position of the vehicle may be a suitable position for parking, and the current position of the vehicle can be directly recorded as the starting parking position. If the current position of the vehicle is not a suitable position for parking, it is necessary to adjust the position of the vehicle to a suitable position to ensure that the vehicle can be parked, then the position of the vehicle after adjustment from the current position is recorded as the starting parking position. The starting parking position can be understood as a key starting point for parking the vehicle.

[0072] Specifically, first determine whether the parking type is vertical parking or horizontal parking based on the current position of the vehicle and the detected target parking space, determine the appropriate starting parking position that the vehicle should reach under the corresponding parking type, and control the vehicle to reach the starting parking position.

[0073] The above optional embodiment adds the step of determining the parking type and the starting parking position of the vehicle according to the current position of the vehicle and the target parking space position, and controlling the vehicle to reach the starting parking position. Before planning the driving route, the starting parking position and the parking type are first determined, which provides a basis for subsequent parking route planning.

[0074] As another optional embodiment of the present invention, based on the above embodiment, the method can be optimized to also include: if the vehicle cannot be controlled to travel according to the planned driving path during the process of controlling the vehicle to park, then the planned driving path for the vehicle to complete the parking is re-planned according to the vehicle's position and current road conditions; or, according to the vehicle's position and current road conditions, the planned driving path for parking cannot be re-planned, then the automatic parking mode is switched to the manual parking mode.

[0075] In this optional embodiment, if the vehicle cannot be controlled to the target area within the error tolerance range, the current road condition information is obtained and relevant information is returned, such as: encountering obstacles, etc., and further decision is made to re-plan or re-position, and then a new round of planning and control calculation is performed. Or if it is determined that planning cannot continue, the automatic parking control ends, and the automatic parking mode is switched to the manual parking mode, and the driver takes over to manually control the parking.

[0076] This optional embodiment adds a situation where the vehicle cannot be controlled to move. When encountering this situation, the parking path can be replanned or manual parking can be taken over.

[0077] Embodiment 2

[0078] Figure 2A flow chart of another automatic parking control method provided for Embodiment 2 of the present invention. This embodiment is a further optimization of the above embodiment. In this embodiment, "determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position based on the vehicle's starting parking position and the target parking position" is further limited and optimized, and "determining a planned driving speed of the vehicle at each trajectory point included in the current driving path" is further limited and optimized, and "controlling the vehicle to complete driving on the current driving path based on the planned driving speed corresponding to each trajectory point".

[0079] like Figure 2 As shown, this embodiment 2 provides an automatic parking control method, which specifically includes the following steps:

[0080] S201. Determine key planning points for completing parking of a vehicle from the starting parking position to the target parking position according to the starting parking position and the target parking position.

[0081] Specifically, after determining the starting parking position and the target parking space, determine the key points for completing parking from the starting parking position to the target parking space according to the parking type. The key points can be the starting point, turning point, and ending point, etc., which are recorded as planning key points. Exemplarily, after obtaining the starting parking position and the target parking space, the planning key points can be determined according to the shape and size of the parking space. For example, when reversing into a garage for vertical parking, the first key point may be to adjust the vehicle to a suitable point, which is the first key point; the second key point may be to reverse to the parking space entrance when reversing in the first step, and stop at a point where the rear end of the vehicle can fit in part, which is recorded as another key point, and so on, to obtain the planning key points.

[0082] S202: Determine a planned driving path for the vehicle to complete parking from a starting parking position to a target parking position according to each planning key point and the parking type of the vehicle.

[0083] In this embodiment, for different parking types, the corresponding planning methods are used to process each planning point. This process is equivalent to appropriately connecting each planning key point and using the trajectory formed after the connection as the planned driving path. For example, for vertical parking, the A* algorithm or arc + third-order Bezier curve planning can be used, and then the pruning algorithm can be combined to plan the driving path. For horizontal parking, the clothoid + arc method can be used to plan the driving path.

[0084] Furthermore, according to each planning key point and the parking type of the vehicle, a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position is determined, including:

[0085] a1) If the parking type of the vehicle is perpendicular parking, a planned driving path is obtained according to each planning key point and in combination with a preset first planning method.

[0086] The first planning method is a heuristic search algorithm and a pruning algorithm. Specifically, if the parking type of the vehicle is vertical parking, the heuristic search algorithm and the pruning algorithm are used to plan between each planning key point to form a planned driving path.

[0087] Furthermore, the step of obtaining the planned driving path according to each of the planned key points in combination with a preset first planning method includes:

[0088] a11) generating a plurality of candidate driving paths according to each of the planning key points by using the heuristic search algorithm.

[0089] In this embodiment, for the vertical parking type, the A* algorithm is used for planning, that is, the trajectory points between adjacent planning key points are filled in in a way that minimizes the cost function to generate a number of candidate driving paths.

[0090] a12) pruning the candidate driving paths using a pruning algorithm according to the pre-stored driving behavior information to obtain the planned driving path.

[0091] Among them, the driving behavior information can be specifically understood as the driver's driving habits. For example, the driver prefers to turn right when moving forward out of the warehouse and drive left when reversing into the warehouse, or the driver prefers a path with a smaller curvature. There is no specific restriction on the driving behavior information here, and all driving paths that meet the driver's driving habits can be pre-stored. After obtaining each candidate driving path in the above steps, the candidate driving paths are pruned based on the pre-stored driving behavior information, and the paths that do not meet the driver's behavior habits are deleted, and the screened paths are obtained as the planned driving paths.

[0092] The above technical solution specifies that when the parking type is vertical parking, a planned driving path is obtained based on a heuristic search algorithm and a pruning algorithm, which ensures the efficiency and practicality of the planned trajectory, improves the speed and intelligence of the planning operation, shortens the response time and improves the driver's trajectory experience, while satisfying the driver's driving habits and improving the driver's driving comfort.

[0093] b1) If the parking type of the vehicle is horizontal parking, a planned driving path is obtained according to each planning key point and in combination with a preset second planning method.

[0094] Among them, the second planning method is a method in which the clothoid line is connected with the arc.

[0095] If the parking type of the vehicle is horizontal parking, the path planning is performed by connecting the clothoid and the arc to ensure that the curvature of the vehicle path changes continuously. For example, adjacent planning key points are connected by arcs, and the arcs are connected by clothoids, which ensures that the curvature changes slowly and does not jump.

[0096] Specifically, each planning key point is connected by geometric calculation of arcs and clothoids, and the connected overall path is used as the planned driving path.

[0097] The above technical solution specifically adopts different path planning methods for different parking types to obtain the planned driving path required for the vehicle to complete parking.

[0098] S203: Acquire the first segmented driving path in the planned driving path as the current driving path, and evenly divide the current driving path into a first driving path and a second driving path.

[0099] Specifically, the current driving path is evenly divided into two sections, the first section is recorded as the first driving path, and the second section is recorded as the second driving path.

[0100] S204: Obtain the position information of each track point on the current driving path.

[0101] In this embodiment, the current driving path can be understood as being composed of a certain number of trajectory points, and the trajectory points can be represented in the form of structures, and a certain number of trajectory points correspond to the same number of structures. It is further possible to determine the rank of the structure corresponding to each trajectory point in the total number of trajectory points in the current driving path, and record the number of the trajectory point in the current driving path as the position information of the trajectory point on the current driving path.

[0102] S205: If the trajectory point is on the first driving path, the position information is substituted into the arctangent increasing formula to obtain the planned driving speed of the vehicle at the trajectory point.

[0103] Specifically, if the trajectory point is on the first driving path, that is, the vehicle is on the first half of the current driving path, it can be understood that the vehicle's speed is increasing. Here, the inverse tangent increasing formula is used to substitute the position information into the inverse tangent increasing formula to calculate the planned driving speed of the vehicle at the trajectory point. The planned driving speed at each trajectory point on the first driving path is calculated using the inverse tangent increasing formula.

[0104] The inverse tangent increase formula can be expressed as:

[0105] target speed =2v max arctan(ρ*i)+v start,0≤i≤len / 2, where target speed represents the planned driving speed at the trajectory point, v max represents the upper speed limit of the vehicle, ρ represents an adjustable parameter, which is a manually set constant. By adjusting the size of ρ, the shape of the curve can be adjusted. start represents the starting speed of the vehicle, len represents the number of trajectory points on the current driving path, and i represents the position information of the trajectory point on the current driving path, that is, the number sorting of the trajectory points.

[0106] S206: If the trajectory point is on the second driving path, the position information is substituted into the arc tangent decreasing formula to obtain the planned driving speed of the vehicle at the trajectory point.

[0107] Specifically, if the trajectory point is on the second driving path, that is, the vehicle is on the second half of the current driving path, it can be understood that the vehicle's speed is decreasing. Here, the inverse tangent decreasing formula is used to substitute the position information into the inverse tangent decreasing formula to calculate the planned driving speed of the vehicle at the trajectory point. The planned driving speed at each trajectory point on the second driving path is calculated using the inverse tangent decreasing formula.

[0108] The inverse tangent subtraction formula can be expressed as:

[0109] target speed =-2v max arctan(ρ*i-len),len / 2≤i≤len, where the meaning of each letter is not repeated here.

[0110] It is important to know that the speed planning adopts inverse tangent speed planning. Without significantly increasing the system computing requirements, each acceleration and deceleration is determined according to its own length, thereby improving the parking speed experience.

[0111] S207: For each trajectory point, determine a speed difference according to the current driving speed of the vehicle at the trajectory point and the planned driving speed at the next trajectory point.

[0112] In this embodiment, when the vehicle is parking, the vehicle is traveling according to the planned driving path. No matter which trajectory point in the planned driving path the vehicle travels to, the driving speed of the vehicle at the trajectory point can be obtained from the vehicle's self-integrated system, which is recorded as the current driving speed in this embodiment. The above steps have planned the planned driving speed of the vehicle at each trajectory point on the planned driving path. Further, the planned driving speed at the next trajectory point and the current driving speed at the trajectory point can be subtracted to calculate the speed difference.

[0113] It is understandable that when the vehicle travels to the next trajectory point, it is necessary to determine the new speed difference based on the driving speed of the next trajectory point and the planned driving speed of the next trajectory point to provide a data basis for the subsequent calculation of the new acceleration. This process is continuous, that is, the vehicle is constantly traveling to the next trajectory point, and the speed difference needs to be continuously calculated until the vehicle completes parking.

[0114] S208: Determine the acceleration of the vehicle from the current trajectory point to the next trajectory point according to the speed difference and a preset tracking control algorithm.

[0115] The preset tracking control algorithm is a position proportional integral differential (PID) control algorithm or a remaining distance-based speed control.

[0116] Specifically, the acceleration of the vehicle from the current trajectory point to the next trajectory point is calculated based on the speed difference and the preset tracking control algorithm. When PID control is used for calculation, PID integral saturation suppression, actuator saturation suppression, smoothing filtering, friction compensation and other methods are used in the calculation process to ensure the safety and comfort of the vehicle, so that the acceleration of the vehicle will not increase too much or too little. For example, in order to achieve precise control, the acceleration of the vehicle can be represented by a double-precision data type.

[0117] It is understandable that when the vehicle reaches the next trajectory point, it is necessary to determine the acceleration of the vehicle from the next trajectory point to the next trajectory point based on the speed difference between the next trajectory point and the next trajectory point and the preset tracking control algorithm. This process is continuous, that is, the vehicle is constantly driving to the next trajectory point, and the acceleration needs to be continuously calculated to control the vehicle's driving based on the acceleration until the vehicle completes parking. Multiple saturation suppression and smoothing filtering are used in the control stage, making the acceleration and deceleration of driving smoother and enhancing the experience.

[0118] S209: Based on the acceleration, control the vehicle to travel from the current trajectory point to the next trajectory point.

[0119] Specifically, the vehicle is controlled to travel from the current trajectory point to the next trajectory point according to the acceleration of the vehicle traveling from the current trajectory point to the next trajectory point determined in the above steps. When the vehicle travels to the next trajectory point, it then travels to the next trajectory point based on the corresponding newly calculated acceleration. This process continues, that is, the vehicle continues to travel to the next trajectory point until the vehicle completes parking.

[0120] S210, after completing the current driving route, the position of the vehicle is used as a new starting parking position, and the process returns to step S201 to continue the step of determining the planned driving route until the vehicle reaches the target parking space and completes parking.

[0121] The above technical solution specifies the steps of planning the driving path, planning the speed at each trajectory point, and controlling the parking of the vehicle according to the planned speed at each trajectory point. Corresponding algorithms are used for different parking types to ensure the efficiency and practicality of the planned trajectory, improve the speed and intelligence of the planning operation, and enable the driver to experience a significant reduction in response time and improved trajectory experience when using it. At the same time, the speed planning adopts inverse tangent speed planning. Under the premise of not significantly increasing the system computing requirements, each acceleration and deceleration is determined according to its own length, but the parking speed experience is improved. In addition, multiple saturation suppression and smoothing filtering are used in the control stage, and the driving acceleration and deceleration are smoother, and the experience is enhanced. While ensuring the timeliness of the entire automatic parking process, the vehicle speed is relatively stable, which improves the comfort of passengers.

[0122] In order to more clearly describe the automatic parking control method provided by the embodiment of the present invention, the automatic parking control of a vehicle in a certain actual application scenario is taken as an example for explanation. Figure 3 This is an example flow chart of an automatic parking control method executed in a certain application scenario provided by the second embodiment of the present invention, such as Figure 3 As shown, the execution steps of the automatic parking control method specifically include:

[0123] S1. Determine the parking type and the starting parking position of the vehicle according to the current position of the vehicle and the target parking space position, and control the vehicle to reach the starting parking position.

[0124] S2. According to the starting parking position and the target parking position, determine the key planning points for the vehicle to complete parking from the starting parking position to the target parking position.

[0125] S3. If the parking type of the vehicle is perpendicular parking, a heuristic search algorithm is used to generate several candidate driving paths according to each planning key point.

[0126] S4. According to the pre-stored driving behavior information, a pruning algorithm is used to prune each candidate driving path to obtain a planned driving path.

[0127] S5. If the parking type of the vehicle is horizontal parking, a planned driving path is obtained according to each planning key point in combination with a preset second planning method.

[0128] The second planning method is a method in which the clothoid line is connected with the arc.

[0129] S6. Taking the trajectory points where the vehicle's driving speed is zero in the planned driving path as segmentation points, segmenting the planned driving path to obtain a plurality of segmented driving paths.

[0130] S7. Obtain the first segmented driving path in the planned driving path as the current driving path.

[0131] S8. Divide the current driving path into a first driving path and a second driving path on an equal basis.

[0132] S9. Obtaining the position information of each track point on the current driving path.

[0133] S10: If the trajectory point is on the first driving path, the position information is substituted into the arctangent increasing formula to obtain the planned driving speed of the vehicle at the trajectory point.

[0134] S11. If the trajectory point is on the second driving path, the position information is substituted into the arctangent decreasing formula to obtain the planned driving speed of the vehicle at the trajectory point.

[0135] S12. For each trajectory point, determine a speed difference according to the current driving speed of the vehicle at the trajectory point and the planned driving speed at the next trajectory point.

[0136] S13, determining the acceleration of the vehicle from the current trajectory point to the next trajectory point according to the speed difference and a preset tracking control algorithm.

[0137] S14. Based on the acceleration, control the vehicle to travel from the current trajectory point to the next trajectory point.

[0138] S15. After the current driving route is completed, the vehicle's current position is used as a new starting parking position, and the process returns to step S2 to continue the steps of determining the planned driving route until the vehicle reaches the target parking space and completes parking.

[0139] Embodiment 3

[0140] Figure 4 FIG. 1 is a schematic diagram of the structure of an automatic parking control device provided in Embodiment 3 of the present invention. The device can be applied to the situation of controlling the automatic parking of a vehicle. The automatic parking control device can be configured in an electronic device, such as Figure 4 As shown, the device includes: a path planning module 31, a speed planning module 32, a driving control module 33 and a return module 34; wherein,

[0141] A path planning module 31 is used to determine a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, wherein the planned driving path includes at least one segmented driving path;

[0142] The speed planning module 32 is used to obtain the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path;

[0143] The control module 33 is used to control the vehicle to complete the driving on the current driving path according to the planned driving speed corresponding to each trajectory point;

[0144] The return module 34 is used to use the position of the vehicle after completing the current driving path as the new starting parking position, and return to continue to execute the step of determining the planned driving path until the vehicle reaches the target parking space and completes parking.

[0145] The embodiment of the present invention provides an automatic parking control device. First, according to the starting parking position and the target parking position of the vehicle, the planned driving path of the vehicle from the starting parking position to the target parking position is determined, and the planned driving path includes at least one segmented driving path; secondly, the first segmented driving path in the planned driving path is obtained as the current driving path, and the planned driving speed of the vehicle at each track point included in the current driving path is determined; then, according to the planned driving speed corresponding to each track point, the vehicle is controlled to complete the driving on the current driving path; finally, the position of the vehicle after completing the current driving path is used as the new starting parking position, and the step of determining the planned driving path is returned to continue until the vehicle reaches the target parking position to complete the parking. The above technical scheme first plans the parking driving path, and then determines the planned driving speed of each track point, so as to realize the segmented control of the vehicle parking based on the track point and the planned driving speed, realize the precise control of the parking speed, and improve the comfort of the passenger experience while ensuring the parking time.

[0146] Optionally, the path planning module 31 may specifically include:

[0147] A key point determination unit, used to determine the key points of the vehicle from the starting parking position to the target parking position according to the starting parking position and the target parking position;

[0148] The path planning unit is used to determine the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to each planning key point and the parking type of the vehicle.

[0149] Optional, path planning unit, specifically can be used for:

[0150] If the parking type of the vehicle is perpendicular parking, then according to each planning key point, combined with the preset first planning method, a planned driving path is obtained, and the first planning method is a heuristic search algorithm and a pruning algorithm;

[0151] If the parking type of the vehicle is horizontal parking, the planned driving path is obtained according to each planning key point in combination with a preset second planning method, and the second planning method is a method in which a clothoid is connected with an arc.

[0152] Optionally, the path planning unit is used to execute the step of obtaining the planned driving path according to each planning key point in combination with a preset first planning method, which may specifically include:

[0153] According to each planning key point, a heuristic search algorithm is used to generate several candidate driving paths;

[0154] According to the pre-stored driving behavior information, a pruning algorithm is used to prune each candidate driving path to obtain a planned driving path.

[0155] Optionally, the device further includes a path segmentation module, which can be specifically used for:

[0156] The trajectory points where the vehicle's driving speed is zero in the planned driving path are taken as segmentation points, and the planned driving path is segmented to obtain several segments of segmented driving paths.

[0157] Optionally, the speed planning module 32 may be specifically used for:

[0158] Divide the current driving path into a first driving path and a second driving path evenly;

[0159] Get the location information of each track point on the current driving path;

[0160] If the trajectory point is on the first driving path, the position information is substituted into the arc tangent increasing formula to obtain the planned driving speed of the vehicle at the trajectory point;

[0161] If the trajectory point is on the second driving path, the position information is substituted into the arc tangent decreasing formula to obtain the planned driving speed of the vehicle at the trajectory point.

[0162] Optionally, the driving control module 33 may be specifically used for:

[0163] For each trajectory point, determining a speed difference based on the current driving speed of the vehicle at the trajectory point and the planned driving speed at the next trajectory point;

[0164] Determine the acceleration of the vehicle from the current trajectory point to the next trajectory point based on the speed difference and the preset tracking control algorithm;

[0165] Based on the acceleration, the vehicle is controlled to move from the current trajectory point to the next trajectory point.

[0166] Optionally, the device further includes a parking type determination module, which can be specifically used for:

[0167] According to the current position of the vehicle and the target parking space position, the parking type and the starting parking position of the vehicle are determined and the vehicle is controlled to reach the starting parking position.

[0168] Optionally, the device includes a re-planning module, which can be specifically used for:

[0169] If the vehicle cannot be controlled to drive according to the planned driving path during the parking process, the planned driving path for the vehicle to complete the parking is replanned according to the vehicle's location and current road conditions;

[0170] Alternatively, if the planned driving path for parking cannot be replanned based on the vehicle's location and current road conditions, the automatic parking mode is switched to the manual parking mode.

[0171] The automatic parking control device provided in the embodiment of the present invention can execute the automatic parking control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0172] Embodiment 4

[0173] Figure 5 A schematic diagram of the structure of an electronic device provided for Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0174] like Figure 5 As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0175] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0176] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the automatic parking control method.

[0177] In some embodiments, the automatic parking control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the automatic parking control method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the automatic parking control method in any other appropriate manner (e.g., by means of firmware).

[0178] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0179] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0180] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0181] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0182] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0183] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0184] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0185] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic parking control method, characterized in that: include: Determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, wherein the planned driving path includes at least one segmented driving path; Acquire the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path; Controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each of the trajectory points; After the current driving route is completed, the position of the vehicle is used as a new starting parking position, and the process returns to the step of determining the planned driving route until the vehicle reaches the target parking space and completes parking; Wherein, determining the planned driving speed of the vehicle at each trajectory point included in the current driving path includes: Dividing the current driving path into a first driving path and a second driving path on an even basis; Obtaining position information of each of the track points on the current driving path; If the trajectory point is on the first driving path, the position information is substituted into the arc tangent increasing formula to obtain the planned driving speed of the vehicle at the trajectory point; If the trajectory point is on the second driving path, substituting the position information into the arc tangent decreasing formula to obtain the planned driving speed of the vehicle at the trajectory point; Wherein, controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each of the trajectory points includes: For each trajectory point, determining a speed difference according to a current driving speed of the vehicle at the trajectory point and a planned driving speed at a next trajectory point; Determining the acceleration of the vehicle from the trajectory point to the next trajectory point according to the speed difference and a preset tracking control algorithm, wherein the tracking control algorithm adopts PID integral saturation suppression, actuator saturation suppression, smoothing filtering or friction compensation; Based on the acceleration, the vehicle is controlled to travel from the trajectory point to the next trajectory point.

2. The method according to claim 1, characterized in that The step of determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle includes: Determining key planning points for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position; According to each of the planning key points and the parking type of the vehicle, a planned driving path for the vehicle to complete parking from a starting parking position to a target parking position is determined.

3. The method according to claim 2, characterized in that The step of determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to each of the planned key points and the parking type of the vehicle includes: If the parking type of the vehicle is perpendicular parking, the planned driving path is obtained according to each of the planning key points in combination with a preset first planning method, where the first planning method is a heuristic search algorithm and a pruning algorithm; If the parking type of the vehicle is horizontal parking, the planned driving path is obtained according to each of the planning key points in combination with a preset second planning method, and the second planning method is a method in which a clothoid is connected with an arc.

4. The method according to claim 3, characterized in that The step of obtaining the planned driving path according to each of the planning key points and in combination with a preset first planning method includes: According to each of the planning key points, the heuristic search algorithm is used to generate a plurality of candidate driving paths; According to the pre-stored driving behavior information, a pruning algorithm is used to prune the candidate driving paths to obtain the planned driving path.

5. The method according to claim 1, characterized in that After determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position, the method further includes: The trajectory points where the vehicle has a zero driving speed in the planned driving path are taken as segmentation points, and the planned driving path is segmented to obtain a plurality of segmented driving paths.

6. The method according to claim 1, characterized in that Before determining the planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, the method further includes: According to the current position of the vehicle and the target parking space position, the parking type and the starting parking position of the vehicle are determined, and the vehicle is controlled to reach the starting parking position.

7. The method according to claim 1, characterized in that Also includes: If the vehicle cannot be controlled to travel along the planned driving path during the process of controlling the vehicle to park, the planned driving path for the vehicle to complete parking is replanned according to the location of the vehicle and the current road conditions; Alternatively, if the planned driving path for parking cannot be replanned according to the location of the vehicle and the current road conditions, the automatic parking mode is switched to the manual parking mode.

8. An automatic parking control device, characterized in that: include: A path planning module, for determining a planned driving path for the vehicle to complete parking from the starting parking position to the target parking position according to the starting parking position and the target parking position of the vehicle, wherein the planned driving path includes at least one segmented driving path; A speed planning module, used to obtain the first segmented driving path in the planned driving path as the current driving path, and determine the planned driving speed of the vehicle at each trajectory point included in the current driving path; A driving control module, used for controlling the vehicle to complete driving on the current driving path according to the planned driving speed corresponding to each of the trajectory points; A return module, used to take the position of the vehicle as a new starting parking position after completing the current driving path, and return to continue to execute the step of determining the planned driving path until the vehicle reaches the target parking space and completes parking; Among them, the speed planning module is specifically used for: Dividing the current driving path into a first driving path and a second driving path on an even basis; Obtaining position information of each of the track points on the current driving path; If the trajectory point is on the first driving path, the position information is substituted into the arc tangent increasing formula to obtain the planned driving speed of the vehicle at the trajectory point; If the trajectory point is on the second driving path, substituting the position information into the arc tangent decreasing formula to obtain the planned driving speed of the vehicle at the trajectory point; The driving control module is specifically used for: For each trajectory point, determining a speed difference according to a current driving speed of the vehicle at the trajectory point and a planned driving speed at a next trajectory point; Determining the acceleration of the vehicle from the trajectory point to the next trajectory point according to the speed difference and a preset tracking control algorithm, wherein the tracking control algorithm adopts PID integral saturation suppression, actuator saturation suppression, smoothing filtering or friction compensation; Based on the acceleration, the vehicle is controlled to travel from the trajectory point to the next trajectory point.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the automatic parking control method according to any one of claims 1 to 7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the automatic parking control method as described in any one of claims 1 to 7 when executed by a computer processor.

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