Parking path planning method and device

Abstract

The application discloses a parking path planning method and device, and relates to the technical field of automatic driving. The parking path planning method comprises the following steps: generating path scatter points of a first parking path; controlling a vehicle to follow the path scatter points; in the process of automatic parking based on the first parking path, when a parking path re-planning condition is met, generating a plurality of candidate parking paths according to a current position of the vehicle, a parking space position, a current heading angle of the vehicle and a vehicle heading angle corresponding to the parking space position; determining a weight corresponding to each candidate parking path in the plurality of candidate parking paths; determining a target parking path from the plurality of candidate parking paths according to the weights corresponding to the plurality of candidate parking paths respectively; and determining the target parking path as the first parking path and continuing to perform the step of generating the path scatter points of the first parking path. According to the embodiment of the application, the vehicle can be accurately parked in a parking space, and the parking effect is improved.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a parking path planning method and device. Background Technology

[0002] Autonomous driving, also known as driverless or computer-controlled driving, relies on the collaborative efforts of artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to enable onboard computers to operate motor vehicles automatically and safely without any human intervention. In other words, it fully automates the tasks performed by the vehicle driver and provides highly centralized control over vehicle operation.

[0003] Autonomous driving includes functions such as automatic driving, automatic parking, and automatic entry and exit from parking lots. Automatic parking refers to the vehicle automatically parking itself without human control. However, automatic parking requires planning the parking path.

[0004] In related technologies, when a vehicle attempts to park automatically along a planned path, it often fails to park accurately in the parking space, resulting in poor parking performance. Summary of the Invention

[0005] This application provides a parking path planning method, apparatus, equipment, medium, and product that can solve the problem of poor parking performance.

[0006] In a first aspect, embodiments of this application provide a parking path planning method, including:

[0007] Generate the path points for the first parking path;

[0008] Control the vehicle to follow the path points to perform automatic parking based on the first parking path;

[0009] During the automatic parking process based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position.

[0010] For a target candidate parking path, the weight of the target candidate parking path is determined based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path. The target candidate parking path is any one of multiple candidate parking paths.

[0011] Based on the weights corresponding to the multiple candidate parking paths, the target parking path is determined from the multiple candidate parking paths;

[0012] The target parking path is determined as the first parking path, and the step of generating the path scatter points of the first parking path is continued.

[0013] Secondly, embodiments of this application provide a parking path planning device, comprising:

[0014] The first generation module is used to generate the path scatter points of the first parking path;

[0015] The following module controls the vehicle to follow path points to perform automatic parking based on the first parking path;

[0016] The second generation module is used to generate multiple candidate parking paths during the automatic parking process based on the first parking path, when the parking path replanning conditions are met;

[0017] The first determining module is used to determine the weight of the target candidate parking path based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path. The target candidate parking path is any one of multiple candidate parking paths.

[0018] The second determining module is used to determine the target parking path from multiple candidate parking paths based on the weights corresponding to each candidate parking path.

[0019] The third determination module is used to determine the target parking path as the first parking path and trigger the first generation module.

[0020] Thirdly, embodiments of this application provide an electronic device, the electronic device including: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the parking path planning method provided in the first aspect of embodiments of this application.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the parking path planning method provided in the first aspect of embodiments of this application.

[0022] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the parking path planning method provided in the first aspect of embodiments of this application.

[0023] In this embodiment, a path scatter plot of a first parking path is generated; the vehicle is controlled to follow the path scatter plot; during automatic parking based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position; the weight corresponding to each candidate parking path is determined; based on the weights corresponding to the multiple candidate parking paths, a target parking path is determined from the multiple candidate parking paths; the target parking path is determined as the first parking path, and the step of generating the path scatter plot of the first parking path continues. Thus, during automatic parking, by replanning the parking path, the vehicle can accurately park in the parking space, improving parking efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the parking path planning method provided in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the first candidate parking path provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the second candidate parking path provided in an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the third candidate parking path provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of a fourth candidate parking path provided in an embodiment of this application;

[0030] Figure 6 This is another schematic diagram of the fourth candidate parking path provided in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the fifth candidate parking path provided in the embodiments of this application;

[0032] Figure 8 This is a schematic diagram of the parking path planning device provided in the embodiments of this application;

[0033] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0034] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0035] 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.

[0036] The parking path planning method and apparatus provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0037] Figure 1 This is a flowchart illustrating the parking path planning method provided in an embodiment of this application. Figure 1 As shown, parking path planning methods may include:

[0038] Step 101: Generate the path points for the first parking path.

[0039] In some possible implementations of the embodiments of this application, before automatic parking is performed, a path planning algorithm in related technologies can be used to generate an initial parking path, which is then determined as the first parking path; after automatic parking begins, the parking path planning method provided in the embodiments of this application is used to determine the first parking path.

[0040] Once the first parking path is determined, a path scatter plot of the first parking path can be generated. This application does not limit the method used to generate the path scatter plot of the parking path; any available method can be applied to this application.

[0041] Step 102: Control the vehicle to follow the path points to perform automatic parking based on the first parking path.

[0042] After generating the path points for the parking path, the vehicle can be controlled to follow these path points, enabling the vehicle to park automatically based on the parking path. This application does not limit the method used to control the vehicle to follow the path points; any available method can be applied to this application.

[0043] In some possible implementations of the embodiments of this application, a single-point pre-aiming method can be used for path scattering.

[0044] Step 103: During the automatic parking process based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position.

[0045] In some possible implementations of the embodiments of this application, during the automatic parking process, when the parking path replanning condition is met, it means that the current parking path is no longer the optimal parking path or is no longer effective. At this time, it is necessary to replan the parking path to ensure that the vehicle can accurately park in the parking space.

[0046] In some possible implementations of the embodiments of this application, the parking route replanning conditions in the embodiments of this application include at least one of the following:

[0047] The path follows the last path point of the parking path, but the vehicle has not reached the parking space.

[0048] The deviation between the vehicle's position and the path scatter points corresponding to the path following is greater than the first threshold.

[0049] The parking space position correction value or the vehicle position correction value is greater than the second threshold.

[0050] In some possible implementations of this application's embodiments, during the automatic parking process, after the parking path is planned, multiple path markers are typically set on the parking path for path following during automatic parking, ensuring the vehicle accurately parks in the parking space. When the path follows to the last path marker of the parking path, but the vehicle has not reached the parking space, the parking path needs to be replanned. Similarly, when the deviation between the vehicle's position and the path marker corresponding to the path following is large, it indicates that the vehicle has deviated significantly from the parking path, and the parking path also needs to be replanned. In this application's embodiments, the first threshold value can range from 10 to 30 centimeters (cm).

[0051] In some possible implementations of this application's embodiments, during the automatic parking process, sensors (e.g., surround view sensors, positioning sensors, etc.) are typically used to collect the distances of objects close to the vehicle body around it, in order to make real-time corrections to the vehicle's position and the parking space's position. When the position correction value of the parking space or the vehicle's position correction value is large, it is necessary to replan the parking path. In this application's embodiments, the second threshold value can be in the range of 9 to 11 cm.

[0052] In some possible implementations of the embodiments of this application, the multiple candidate parking paths in the embodiments of this application include at least one of the following:

[0053] A first candidate parking path consisting of a first forward circular arc, a forward line segment, and a first backward circular arc;

[0054] The second candidate parking path is composed of the second forward circular arc and the second backward circular arc;

[0055] The third candidate parking path is composed of the third forward arc, the backward line segment, and the third backward arc;

[0056] The fourth candidate parking path consists of two backward circular arcs with different curvature directions;

[0057] The fifth candidate parking path consists of a backward circular arc;

[0058] The radii of the first forward arc, the first backward arc, the second forward arc, the second backward arc, the third forward arc, and the third backward arc are all the minimum turning radius that the vehicle can achieve, and the radii of the two backward arcs are equal.

[0059] For example, such as Figures 2 to 7 As shown. Figure 2 This is a schematic diagram of the first candidate parking path provided in an embodiment of this application; Figure 3 This is a schematic diagram of the second candidate parking path provided in an embodiment of this application; Figure 4 This is a schematic diagram of the third candidate parking path provided in the embodiments of this application; Figure 5 This is a schematic diagram of a fourth candidate parking path provided in an embodiment of this application; Figure 6 This is another schematic diagram of the fourth candidate parking path provided in the embodiments of this application; Figure 7 This is a schematic diagram of the fifth candidate parking path provided in the embodiments of this application.

[0060] exist Figure 2In the diagram, the first candidate parking path includes a first forward arc AB, a forward line segment BC, and a first backward arc CO. The radii of both the first forward arc AB and the first backward arc CO are the minimum turning radius R that the vehicle can reach. Point A is the vehicle's current position, point O is the parking space location, and point D is the intersection of the reverse extension of the first forward arc AB and the straight line passing through point O and parallel to BC. DO is parallel to BC and of equal length. When automatically parking according to the first candidate parking path, the vehicle starts from its current position at point A, first moving forward along the first forward arc AB to point B, then moving forward along the forward line segment BC to point C, and then moving backward along the first backward arc CO to reach the parking space at point O.

[0061] exist Figure 3 In the diagram, the second candidate parking path includes a second forward arc AB and a second backward arc BO. The radii of both arcs are the minimum turning radius R that the vehicle can reach. Point A is the vehicle's current position, and point O is the parking space location. When automatically parking according to the second candidate parking path, the vehicle starts from its current position A, first moving forward along the second forward arc AB to point B, then moving backward along the second backward arc BO to reach the parking space O.

[0062] exist Figure 4 In the diagram, the third candidate parking path includes a third forward arc AB, a backward line segment BC, and a third backward arc CO. The radii of both the third forward arc AB and the third backward arc CO are the minimum turning radius R that the vehicle can reach. Point A is the vehicle's current position, point O is the parking space location, and point D is the intersection of the backward extension of the third forward arc AB and the straight line passing through point O and parallel to BC. DO is parallel to BC and of equal length. When automatically parking according to the third candidate parking path, the vehicle starts from its current position at point A, first moving forward along the third forward arc AB to point B, then backward along the backward line segment BC to point C, and finally backward along the third backward arc CO to reach the parking space at point O.

[0063] exist Figure 5 and Figure 6 In the diagram, the fourth candidate parking path includes a first backward circular arc AB and a second backward circular arc BO. The curvatures of the first backward circular arc AB and the second backward circular arc BO are different, but their radii are the same. Point A is the vehicle's current position, and point O is the parking space location. When automatically parking according to the fourth candidate parking path, the vehicle starts from its current position A, first moving backward along the first backward circular arc AB to point B, then moving backward along the second backward circular arc BO, finally reaching the parking space O.

[0064] exist Figure 7In the diagram, the fifth candidate parking path includes a backward circular arc AO. Point A represents the vehicle's current position, and point O represents the parking space. When automatically parking according to the fifth candidate parking path, the vehicle starts from its current position at point A and moves backward along the backward circular arc AO until it reaches the parking space at point O.

[0065] It should be noted that a ground coordinate system needs to be established during automatic parking. In some possible implementations of this application, the center point of the parking space can be used as the origin, the rightward direction of the parking space as the positive direction of the X-axis, and the front of the parking space as the positive direction of the Y-axis. The vehicle heading angle can be the angle between the vehicle's velocity direction and the X-axis.

[0066] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 2 When the first candidate parking path is shown, step 101 may include:

[0067] The angle of the first forward arc is determined using the following formula:

[0068] θ = arctan(k1) - θ s (1)

[0069] In formula (1), θ is the angle of the first forward arc, k1 is the first slope of the line segment formed by the first intersection point and the parking space position, and the first intersection point is the intersection of the backward extension of the first forward arc and the straight line passing through the parking space position and parallel to the forward line segment. s Given the vehicle's current heading angle; generate the first candidate parking path based on the angle of the first forward arc.

[0070] Based on the aforementioned ground coordinate system, the coordinates (X, Y, F, Z) of the current location A and the parking space location O in the ground coordinate system can be obtained. A ,Y A ) and (X O Y O ).

[0071] In some possible implementations of the embodiments of this application, let the coordinates of point D be (X... D ,Y D The coordinates of point B are (X... B ,Y B The coordinates of point C are (X... C ,Y C ).

[0072] Based on the equations of the circles passing through points D, A, and B, the equations of the circles passing through points O and C, the lengths of line segments BC and DO, the equations of the lines passing through points D and O, and the equations of the lines passing through points B and C, the coordinates of points B, C, and D are obtained. Then, based on the coordinates of points D and O, the first slope k1 is obtained.

[0073] Based on the above formula (1), the angle of the first forward arc AB can be obtained; based on the coordinates of point C and point O and the minimum turning radius R that the vehicle can reach, the angle of the first backward arc CO can be obtained.

[0074] Draw an arc forward from point A with radius R and arc angle θ to obtain the first forward arc AB; draw a line segment from point B to point C to obtain the forward line segment BC; then draw an arc backward from point C with radius R and the calculated first backward arc CO to obtain the first backward arc CO, thus obtaining the first candidate parking path including the first forward arc AB, the forward line segment BC, and the first backward arc CO.

[0075] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 3 When considering the second candidate parking path shown, step 101 may include:

[0076] The angles of the second forward arc and the second backward arc are determined according to the following formula (2):

[0077]

[0078] In formula (2), θ1 is the angle of the second forward arc, θ2 is the angle of the second backward arc, θveh is the current heading angle of the vehicle, θslot is the heading angle of the vehicle corresponding to the parking space position, xslot and xveh are the coordinate components of the X-axis of the current vehicle position and the parking space position in the ground coordinate system, respectively, and R is the minimum turning radius; the second candidate parking path is generated based on the angle of the second forward arc and the angle of the second backward arc.

[0079] After calculating the angle θ1 of the second forward arc and the angle θ2 of the second backward arc based on the above formula (2), draw an arc with point A as the starting point, R as the radius, and θ1 as the arc angle forward to obtain the second forward arc AB; then draw an arc with point B as the starting point, R as the radius, and θ2 as the arc angle backward to obtain the second backward arc BO, and then obtain the second candidate parking path including the second forward arc AB and the second backward arc BO.

[0080] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 4 When the third candidate parking path is shown, step 101 may include:

[0081] The angle of the third forward arc is determined according to the following formula (3):

[0082] θ = arctan(k2) - θ s (3)

[0083] In formula (3), θ is the angle of the third forward arc, k2 is the second slope of the line segment formed by the second intersection point and the parking space position, and the second intersection point is the intersection of the backward extension of the third forward arc and the straight line passing through the parking space position and parallel to the backward line segment. s Given the vehicle's current heading angle; generate a third candidate parking path based on the angle of the third forward arc.

[0084] The process of generating the third candidate parking path is similar to the process of generating the first candidate parking path. For details, please refer to the process of generating the first candidate parking path described above. This application embodiment will not repeat the process here.

[0085] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 5 When considering the fourth candidate parking path shown, step 101 may include:

[0086] The angles of the first backward arc, the angle of the second backward arc, and the radii of the two backward arcs are determined according to the following formula (4):

[0087]

[0088] In formula (4), θ1 is the angle of the first backward arc, θ2 is the angle of the second backward arc, R is the radius of the two backward arcs, x and y are the differences between the coordinate components of the X-axis and Y-axis of the current vehicle position and the parking space position in the ground coordinate system, respectively, and θ is the difference between the current heading angle of the vehicle and the heading angle of the vehicle corresponding to the parking space position. Based on the angle of the first backward arc, the angle of the second backward arc, and the radius of the two backward arcs, a fourth candidate parking path is generated.

[0089] Based on the aforementioned ground coordinate system, the coordinates (X, Y, F, Z) of the current location A and the parking space location O in the ground coordinate system can be obtained. A ,Y A ) and (X O Y O and the vehicle's current heading angle θ veh The vehicle heading angle θ corresponding to the parking space position slot Then, in formula (4), x = X A -X O y = Y A -Y O , θ=θ veh -θ slot .

[0090] After calculating the angle θ1 of the first backward arc, the angle of the second backward arc, and the radius R of the two backward arcs based on the above formula (4), draw an arc with point A as the starting point, R as the radius, and θ1 as the arc angle backward to obtain the first backward arc AB; then draw an arc with point B as the starting point, R as the radius, and θ2 as the arc angle backward to obtain the second backward arc BO, and then obtain the fourth candidate parking path including the first backward arc AB and the second backward arc BO.

[0091] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 6 When considering the fourth candidate parking path shown, step 101 may include:

[0092] The angles of the first backward arc, the angle of the second backward arc, and the radii of the two backward arcs are determined according to the following formula (5):

[0093]

[0094] In formula (5), θ1 is the angle of the first backward arc, θ2 is the angle of the second backward arc, R is the radius of the two backward arcs, x and y are the differences between the coordinate components of the X-axis and Y-axis of the current vehicle position and the parking space position in the ground coordinate system, respectively, and θ is the difference between the current heading angle of the vehicle and the heading angle of the vehicle corresponding to the parking space position. Based on the angle of the first backward arc, the angle of the second backward arc, and the radius of the two backward arcs, a fourth candidate parking path is generated.

[0095] Based on the aforementioned ground coordinate system, the coordinates (X, Y, F, Z) of the current location A and the parking space location O in the ground coordinate system can be obtained. A ,Y A ) and (X O Y O and the vehicle's current heading angle θ veh The vehicle heading angle θ corresponding to the parking space position slot Then, in formula (5), x = X A -X O y = Y A -Y O , θ=θ veh -θ slot .

[0096] After calculating the angle θ1 of the first backward arc, the angle of the second backward arc, and the radius R of the two backward arcs based on the above formula (5), draw an arc backward with point A as the starting point, R as the radius, and θ1 as the arc angle to obtain the first backward arc AB; then draw an arc backward with point B as the starting point, R as the radius, and θ2 as the arc angle to obtain the second backward arc BO, and then obtain the fourth candidate parking path including the first backward arc AB and the second backward arc BO.

[0097] In some possible implementations of the embodiments of this application, when multiple candidate parking paths include Figure 7 When considering the fifth candidate parking path shown, step 101 may include:

[0098] The angle and radius of the backward arc are determined according to the following formula (6):

[0099]

[0100] In formula (6), θ is the angle of the backward arc, R is the radius of the backward arc, and θ veh θ is the vehicle's current heading angle. slot x is the vehicle's heading angle corresponding to the parking space location. slot and x veh These are the X-axis coordinate components of the vehicle's current position and the parking space position in the ground coordinate system, respectively; based on the angle and radius of the backward arc, a fifth candidate parking path is generated.

[0101] Based on the aforementioned ground coordinate system, the coordinates (X, Y, F, Z) of the current location A and the parking space location O in the ground coordinate system can be obtained. A ,Y A ) and (X O Y O and the vehicle's current heading angle θ veh The vehicle heading angle θ corresponding to the parking space position slot Then, based on the above formula (6), the angle θ and radius R of the backward arc can be obtained. Then, draw the backward arc with point A as the starting point, R as the radius and θ as the arc angle to obtain the backward arc AO, and then obtain the fifth candidate parking path including the backward arc AO.

[0102] In some possible implementations of the embodiments of this application, multiple candidate parking paths can be generated in parallel.

[0103] Step 104: For the target candidate parking path, determine the weight of the target candidate parking path based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path. The target candidate parking path is any one of multiple candidate parking paths.

[0104] In some possible implementations of this application's embodiments, step 104 may include: determining the weight corresponding to the target candidate parking path according to the following formula (7):

[0105] W i =S i +a*C i +b*dir i (7)

[0106] In formula (7), W i S represents the weight corresponding to the target candidate parking path. i C is the path length of the target candidate parking path. i dir represents the number of adjustments made when automatically parking from forward to backward directions based on the target candidate parking path. i Here are the flags corresponding to the target candidate parking path, where 'a' and 'b' are preset parameters. When the first segment of the target candidate parking path matches the vehicle's gear information, dir... i The value is 0 when the first segment of the target candidate parking path does not match the vehicle gear information. i 1 represents the target candidate parking path, and i represents the index of the target candidate parking path among multiple candidate parking paths.

[0107] For example, targeting Figure 2 The first candidate parking path shown has a forward direction in the first segment, and the vehicle is in reverse gear at this time, so dir is 1.

[0108] For example again, regarding Figure 2 The first candidate parking path shown has a forward direction in the first segment, and the vehicle is in drive at this time, so dir is 0.

[0109] In some possible implementations of the embodiments of this application, a and b can be set according to actual needs, for example, a is 5 and b is 3.

[0110] against Figure 2 The first candidate parking path shown has a path length that is the sum of the lengths of arc AB, line segment BC, and arc CO; the number of adjustments from forward to backward is 1.

[0111] against Figure 3The second candidate parking path shown has a path length that is the sum of the lengths of arc AB and arc BO; the number of adjustments from forward to backward is 1.

[0112] against Figure 4 The third candidate parking path shown has a path length that is the sum of the lengths of arc AB, line segment BC, and arc CO; the number of adjustments from forward to backward is 1.

[0113] against Figure 5 and Figure 6 The fourth candidate parking path shown has a path length that is the sum of the lengths of arc AB and arc BO; the number of forward-to-backward adjustments is 0.

[0114] against Figure 7 The fifth candidate parking path shown has a path length equal to the length of the arc AO; the number of forward-to-backward adjustments is 0.

[0115] It is understandable that when the angle and radius of the arc are known, the arc length can be calculated using the arc length formula. This application will not elaborate on the process of calculating the lengths of the aforementioned arcs. When the coordinates of two points are known, the length of the aforementioned forward or backward line segment can be calculated using the distance formula between the two points.

[0116] Step 105: Determine the target parking path from the multiple candidate parking paths based on their respective weights.

[0117] In some possible implementations of this application's embodiments, step 105 may include: determining the candidate parking path with the smallest weight among multiple candidate parking paths as the target parking path.

[0118] For example, suppose that among the above candidate parking paths Figure 3 The second candidate parking path shown has the smallest weight, so it is selected as the final parking path.

[0119] Step 106: Determine the target parking path as the first parking path and continue to step 101.

[0120] In this embodiment, a path scatter plot of a first parking path is generated; the vehicle is controlled to follow the path scatter plot; during automatic parking based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position; the weight corresponding to each candidate parking path is determined; based on the weights corresponding to the multiple candidate parking paths, a target parking path is determined from the multiple candidate parking paths; the target parking path is determined as the first parking path, and the step of generating the path scatter plot of the first parking path continues. Thus, during automatic parking, by replanning the parking path, the vehicle can accurately park in the parking space, improving parking efficiency.

[0121] In some possible implementations of the embodiments of this application, the parking path planning method provided in the embodiments of this application can preferably be applied to the scenario of parking in a perpendicular parking space.

[0122] This application also provides a parking path planning device, such as... Figure 8 As shown. Figure 8 This is a schematic diagram of the parking path planning device provided in an embodiment of this application. The parking path planning device 800 may include:

[0123] The first generation module 801 is used to generate the path scatter points of the first parking path;

[0124] The following module 802 is used to control the vehicle following path points to perform automatic parking based on the first parking path;

[0125] The second generation module 803 is used to generate multiple candidate parking paths during the automatic parking process based on the first parking path, when the parking path replanning conditions are met;

[0126] The first determining module 804 is used to determine the weight of the target candidate parking path based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path. The target candidate parking path is any one of multiple candidate parking paths.

[0127] The second determining module 805 is used to determine the target parking path from multiple candidate parking paths according to the weights corresponding to the multiple candidate parking paths respectively;

[0128] The third determining module 806 is used to determine the target parking path as the first parking path and trigger the first generating module 801.

[0129] In this embodiment, a path scatter plot of a first parking path is generated; the vehicle is controlled to follow the path scatter plot; during automatic parking based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position; the weight corresponding to each candidate parking path is determined; based on the weights corresponding to the multiple candidate parking paths, a target parking path is determined from the multiple candidate parking paths; the target parking path is determined as the first parking path, and the step of generating the path scatter plot of the first parking path continues. Thus, during automatic parking, by replanning the parking path, the vehicle can accurately park in the parking space, improving parking efficiency.

[0130] In some possible implementations of the embodiments of this application, the parking route replanning conditions include at least one of the following:

[0131] The path follows the last path point of the parking path, but the vehicle has not reached the parking space.

[0132] The deviation between the vehicle's position and the path scatter points corresponding to the path following is greater than the first threshold.

[0133] The parking space position correction value or the vehicle position correction value is greater than the second threshold.

[0134] In some possible implementations of the embodiments of this application, the multiple candidate parking paths include at least one of the following:

[0135] A first candidate parking path consisting of a first forward circular arc, a forward line segment, and a first backward circular arc;

[0136] The second candidate parking path is composed of the second forward circular arc and the second backward circular arc;

[0137] The third candidate parking path is composed of the third forward arc, the backward line segment, and the third backward arc;

[0138] The fourth candidate parking path consists of two backward circular arcs with different curvature directions;

[0139] The fifth candidate parking path consists of a backward circular arc;

[0140] The radii of the first forward arc, the first backward arc, the second forward arc, the second backward arc, the third forward arc, and the third backward arc are all the minimum turning radius that the vehicle can achieve, and the radii of the two backward arcs are equal.

[0141] In some possible implementations of the embodiments of this application, the multiple candidate parking paths include a first candidate parking path; correspondingly, the second generation module 803 can specifically be used for:

[0142] The angle of the first forward arc is determined according to the above formula (1); the first candidate parking path is generated according to the angle of the first forward arc.

[0143] In some possible implementations of the embodiments of this application, multiple candidate parking paths include a second candidate parking path; correspondingly, the second generation module 803 can specifically be used for:

[0144] The angles of the second forward arc and the second backward arc are determined according to the above formula (2); the second candidate parking path is generated based on the angles of the second forward arc and the second backward arc.

[0145] In some possible implementations of the embodiments of this application, multiple candidate parking paths include a third candidate parking path; correspondingly, the second generation module 803 can specifically be used for:

[0146] The angle of the third forward arc is determined according to the above formula (3); the third candidate parking path is generated according to the angle of the third forward arc.

[0147] In some possible implementations of the embodiments of this application, the multiple candidate parking paths include a fourth candidate parking path; correspondingly, the second generation module 803 can specifically be used for:

[0148] Determine the angle of the first backward arc, the angle of the second backward arc, and the radius of the two backward arcs according to the above formula (4) or formula (5); generate the fourth candidate parking path according to the angle of the first backward arc, the angle of the second backward arc, and the radius of the two backward arcs.

[0149] In some possible implementations of the embodiments of this application, the multiple candidate parking paths include a fifth candidate parking path; correspondingly, the second generation module 803 can specifically be used for:

[0150] The angle and radius of the backward arc are determined according to the above formula (6); the fifth candidate parking path is generated based on the angle and radius of the backward arc.

[0151] In some possible implementations of the embodiments of this application, the first determining module 804 may specifically be used for:

[0152] The weights corresponding to the target candidate parking paths are determined according to the above formula (7).

[0153] In some possible implementations of the embodiments of this application, the second determining module 805 may specifically be used for:

[0154] The candidate parking path with the lowest weight among multiple candidate parking paths is determined as the target parking path.

[0155] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0156] The electronic device may include a processor 901 and a memory 902 storing computer program instructions.

[0157] Specifically, the processor 901 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0158] Memory 902 may include mass storage for data or instructions. For example, and not limitingly, memory 902 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 902 may include removable or non-removable (or fixed) media. Where suitable, memory 902 may be internal or external to an electronic device. In some specific embodiments, memory 902 is a non-volatile solid-state memory.

[0159] In some specific embodiments, the memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the parking path planning method according to this application.

[0160] The processor 901 reads and executes computer program instructions stored in the memory 902 to implement the parking path planning method provided in the embodiments of this application.

[0161] In one example, the electronic device may also include a communication interface 903 and a bus 910. Wherein, as... Figure 9As shown, the processor 901, memory 902, and communication interface 903 are connected through bus 910 and complete communication with each other.

[0162] The communication interface 903 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0163] Bus 910 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 910 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0164] The electronic device can execute the parking path planning method provided in the embodiments of this application, thereby achieving the corresponding technical effects of the parking path planning method provided in the embodiments of this application.

[0165] In addition, in conjunction with the parking path planning method in the above embodiments, this application also provides a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement the parking path planning method provided in this application. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disks, or optical disks.

[0166] This application provides a computer program product. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device executes the parking path planning method provided in this application and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0167] In the embodiments of this application, the electronic device can be an in-vehicle computer, namely an electronic control unit (ECU).

[0168] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0169] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0170] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0171] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0172] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A parking path planning method, characterized in that, The method includes: Generate the path points for the first parking path; Control the vehicle to follow the path points to perform automatic parking based on the first parking path; During the automatic parking process based on the first parking path, when the parking path replanning conditions are met, multiple candidate parking paths are generated based on the vehicle's current position, the parking space position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space position. For a target candidate parking path, the weight of the target candidate parking path is determined based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path, wherein the target candidate parking path is any one of the multiple candidate parking paths. Based on the weights corresponding to the multiple candidate parking paths, the target parking path is determined from the multiple candidate parking paths; The target parking path is determined as the first parking path, and the step of generating the path scatter points of the first parking path is continued. The determination of the weight of the target candidate parking path, based on its path length and the number of forward-to-backward adjustments during automatic parking, includes: The weights corresponding to the target candidate parking paths are determined according to the following formula: in, The weights corresponding to the target candidate parking paths are... The path length of the target candidate parking path. The number of adjustments made when automatically parking based on the target candidate parking path, from forward to backward. This is the flag bit corresponding to the target candidate parking path. and As preset parameters, when the direction of the first segment of the target candidate parking path matches the vehicle gear information, The value is 0 when the direction of the first segment of the target candidate parking path does not match the vehicle gear information. 1, where i is the sequence number of the target candidate parking path among the multiple candidate parking paths; The multiple candidate parking paths include at least one of the following: A first candidate parking path consisting of a first forward circular arc, a forward line segment, and a first backward circular arc; The second candidate parking path is composed of the second forward circular arc and the second backward circular arc; The third candidate parking path is composed of the third forward arc, the backward line segment, and the third backward arc; The fourth candidate parking path consists of two backward circular arcs with different curvature directions; The fifth candidate parking path consists of a backward circular arc; Wherein, the radii of the first forward arc, the first backward arc, the second forward arc, the second backward arc, the third forward arc, and the third backward arc are all the minimum turning radius that the vehicle can achieve, and the radii of the two backward arcs are equal.

2. The method according to claim 1, characterized in that, The parking route replanning conditions include at least one of the following: The path follows the last path scatter point of the parking path, but the vehicle has not reached the parking space location. The deviation between the vehicle's position and the path scatter points corresponding to the path following is greater than the first threshold. The parking space position correction value or the vehicle position correction value is greater than the second threshold.

3. The method according to claim 1, characterized in that, The multiple candidate parking paths include the first candidate parking path; The process generates multiple candidate parking paths based on the vehicle's current position, the parking space's position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space's position, including: The angle of the first forward arc is determined according to the following formula: in, The angle of the first forward arc. Let the slope be the first slope of the line segment formed by the first intersection point and the parking space position, where the first intersection point is the intersection of the backward extension of the first forward arc and the straight line passing through the parking space position and parallel to the forward line segment. The current heading angle of the vehicle; The first candidate parking path is generated based on the angle of the first forward arc.

4. The method according to claim 1, characterized in that, The multiple candidate parking paths include the second candidate parking path; The process generates multiple candidate parking paths based on the vehicle's current position, the parking space's position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space's position, including: The angles of the second forward arc and the second backward arc are determined according to the following formulas: in, The angle of the second forward arc. The angle of the second backward arc. The current heading angle of the vehicle. The vehicle heading angle corresponding to the parking space location. and These are the X-axis coordinate components of the current vehicle position and the parking space position in the ground coordinate system, respectively. The minimum turning radius; The second candidate parking path is generated based on the angles of the second forward arc and the second backward arc.

5. The method according to claim 1, characterized in that, The multiple candidate parking paths include the third candidate parking path; The process generates multiple candidate parking paths based on the vehicle's current position, the parking space's position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space's position, including: The angle of the third forward arc is determined according to the following formula: in, The angle of the third forward arc. Let the second slope be the line segment formed by the second intersection point and the parking space position, where the second intersection point is the intersection of the backward extension of the third forward arc and the straight line passing through the parking space position and parallel to the backward line segment. The current heading angle of the vehicle; The third candidate parking path is generated based on the angle of the third forward arc.

6. The method according to claim 1, characterized in that, The multiple candidate parking paths include the fourth candidate parking path; The process generates multiple candidate parking paths based on the vehicle's current position, the parking space's position, the vehicle's current heading angle, and the vehicle's heading angle corresponding to the parking space's position, including: The angles of the first and second backward circular arcs, and the radii of the two backward circular arcs, are determined using the following formulas: or, in, The angle of the first backward arc segment. The angle of the second backward arc segment. Let x be the radius of the two backward arcs, and let y be the difference between the coordinate components of the current vehicle position and the parking space position on the X and Y axes in the ground coordinate system, respectively. The difference between the vehicle's current heading angle and the vehicle's heading angle corresponding to the parking space position; The fourth candidate parking path is generated based on the angle of the first backward arc segment, the angle of the second backward arc segment, and the radii of the two backward arc segments.

7. The method according to claim 1, characterized in that, The step of determining the target parking path from the multiple candidate parking paths based on their respective weights includes: The candidate parking path with the smallest weight among the multiple candidate parking paths is determined as the target parking path.

8. A parking path planning device, characterized in that, The device includes: The first generation module is used to generate the path scatter points of the first parking path; The following module is used to control the vehicle to follow the path points to perform automatic parking based on the first parking path; The second generation module is used to generate multiple candidate parking paths during the automatic parking process based on the first parking path, when the parking path replanning conditions are met; The first determining module is used to determine the weight of the target candidate parking path based on the path length of the target candidate parking path and the number of forward-to-backward adjustments when performing automatic parking based on the target candidate parking path, wherein the target candidate parking path is any one of the multiple candidate parking paths. The second determining module is used to determine the target parking path from the multiple candidate parking paths according to the weights corresponding to the multiple candidate parking paths respectively; The third determining module is used to determine the target parking path as the first parking path and trigger the first generating module; The first determining module is specifically used for: The weights corresponding to the target candidate parking paths are determined according to the following formula: in, The weights corresponding to the target candidate parking paths are... The path length of the target candidate parking path. The number of adjustments made when automatically parking based on the target candidate parking path, from forward to backward. This is the flag bit corresponding to the target candidate parking path. and As preset parameters, when the direction of the first segment of the target candidate parking path matches the vehicle gear information, The value is 0 when the direction of the first segment of the target candidate parking path does not match the vehicle gear information. 1, where i is the sequence number of the target candidate parking path among the multiple candidate parking paths; The multiple candidate parking paths include at least one of the following: A first candidate parking path consisting of a first forward circular arc, a forward line segment, and a first backward circular arc; The second candidate parking path is composed of the second forward circular arc and the second backward circular arc; The third candidate parking path is composed of the third forward arc, the backward line segment, and the third backward arc; The fourth candidate parking path consists of two backward circular arcs with different curvature directions; The fifth candidate parking path consists of a backward circular arc; Wherein, the radii of the first forward arc, the first backward arc, the second forward arc, the second backward arc, the third forward arc, and the third backward arc are all the minimum turning radius that the vehicle can achieve, and the radii of the two backward arcs are equal.

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