Parking path planning method and device, vehicle and storage medium

Abstract

The application discloses a parking path planning method and device, a vehicle and a storage medium. The parking path planning method comprises the following steps: acquiring parking space information of a parking space to be parked into and environment information around the parking space; determining an obstacle-free space around the parking space according to the parking space information and the environment information, and constructing a parking driving area in the obstacle-free space, wherein the parking space is contained in the parking driving area, and the area of the parking driving area is greater than the area of the parking space; and planning a parking path of the vehicle according to the parking space information and the parking driving area. The application can generate a parking driving area which is not blocked by obstacles and has an area greater than that of the parking space according to the situation around the parking space, thereby improving the utilization rate of the space around the parking space. The parking path is planned according to the parking space information and the parking driving area, thereby solving the problem that it is difficult to park into the parking space when the parking space is small or narrow, and improving the success rate of parking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a parking path planning method and device, a vehicle and a storage medium. BACKGROUND

[0002] Parallel parking, also known as side parking, is to park a vehicle from a current position parallel to a parking space into the parking space. The parallel parking space is usually located at the wall side of the roadside or parking lot. The parking space is usually narrow, and the space around the parking space is also relatively narrow, which is not conducive to parking. The current automatic parallel parking technology usually takes the area contained in the parking space frame line as the parking available space for path planning when planning the parking path, and the utilization rate of the space around the parking space is low. Moreover, due to the narrowness of the parking space, collision or parking failure may occur during parking, resulting in a low parking success rate. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art.

[0004] To this end, one object of the present application is to provide a parking path planning method which can generate a parking driving area without obstacles blocking during parking and with an area larger than that of the parking space according to the situation around the parking space, thereby improving the utilization rate of the space around the parking space and planning a parking path according to the parking space information and the parking driving area, thereby solving the problem of difficulty in parking when the parking space is small or the parking space is narrow, and improving the success rate of parking.

[0005] To this end, a second object of the present application is to provide a parking path planning device.

[0006] To this end, a third object of the present application is to provide a vehicle.

[0007] To this end, a fourth object of the present application is to provide a computer-readable storage medium.

[0008] To achieve the above object, the first aspect of the present application discloses a parking path planning method, comprising the following steps: obtaining parking space information of a parking space to be parked into and environmental information around the parking space; determining a no-obstacle space around the parking space according to the parking space information and the environmental information, and constructing a parking driving area in the no-obstacle space, wherein the parking space is contained in the parking driving area, and the area of the parking driving area is larger than that of the parking space; and planning a parking path for vehicle parking according to the parking space information and the parking driving area.

[0009] According to the path planning method for parking provided in the embodiments of the present application, the parking space information of the parking space to be parked into and the environmental information around the parking space, such as the size of the parking space and the obstacle information of the vehicles, walls and road edges around the parking space, can be obtained; the parking driving area of the vehicle during the parking process is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and the parking path of the vehicle is planned according to the parking space information and the parking driving area. That is, the parking driving area without obstacles and with an area larger than the area of the parking space can be generated according to the situation around the parking space during parking, so as to improve the utilization rate of the space around the parking space, and thus the problem that it is difficult to park into the parking space when the parking space is small or narrow can be solved, and the success rate of parking is improved.

[0010] In addition, the path planning method for parking according to the above embodiments of the present application can further have the following additional technical features:

[0011] In some embodiments, the parking driving area of the vehicle during the parking process in the space without obstacles includes: determining a plurality of boundaries of the parking driving area according to the parking space information and the environmental information; and determining the parking driving area according to the plurality of boundaries.

[0012] In some embodiments, each of the boundaries is located between the corresponding side parking line of the parking space and the obstacle.

[0013] In some embodiments, the determination of the plurality of boundaries of the parking driving area according to the parking space information and the environmental information includes: determining the endpoint coordinates of the plurality of boundaries according to the parking space information and the environmental information; and determining each corresponding boundary according to the endpoint coordinates.

[0014] In some embodiments, the plurality of boundaries comprises at least a first boundary, a second boundary, a third boundary, a fourth boundary and a fifth boundary, and determining the endpoint coordinates of the plurality of boundaries according to the parking space information and the environment information comprises: determining the Y coordinates of two endpoints of the first boundary according to the Y coordinates of the highest points of the obstacles within a preset distance range of the tail-side parking line of the parking space, determining the X coordinate of one endpoint of the first boundary according to the sensing range of the vehicle perception system in the X axis direction, and determining the X coordinate of the other endpoint of the first boundary according to the X coordinate of the obstacle closest to the tail-side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the second boundary correspond to the X coordinate and the Y coordinate of the other endpoint of the first boundary respectively, the X coordinate of the other endpoint of the second boundary is the same as that of the other endpoint of the first boundary, and the Y coordinate of the other endpoint of the second boundary is determined according to the Y coordinate of the highest point of the obstacle closest to the copilot-side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the third boundary correspond to the X coordinate and the Y coordinate of the other endpoint of the second boundary respectively, the Y coordinate of the other endpoint of the third boundary is the same as that of the other endpoint of the second boundary, and the X coordinate of the other endpoint of the third boundary is determined according to the X coordinate of the obstacle closest to the head-side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the fourth boundary correspond to the X coordinate and the Y coordinate of the other endpoint of the third boundary respectively, the X coordinate of the other endpoint of the fourth boundary is the same as that of the other endpoint of the third boundary, and the Y coordinate of the other endpoint of the fourth boundary is determined according to the Y coordinate of the highest point of the obstacle within a preset distance range of the head-side parking line of the parking space; the X coordinate and the Y coordinate of one endpoint of the fifth boundary correspond to the X coordinate and the Y coordinate of the other endpoint of the fourth boundary respectively, the Y coordinate of the other endpoint of the fifth boundary is the same as that of the other endpoint of the fourth boundary, and the X coordinate of the other endpoint of the fifth boundary is determined according to the sensing range of the vehicle perception system in the X axis direction.

[0015] In some embodiments, the plurality of boundaries further comprises a sixth boundary, a seventh boundary and an eighth boundary, and the endpoint coordinates of the plurality of boundaries are determined according to the parking space information and the environment information, including: the X coordinate and the Y coordinate of one endpoint of the sixth boundary correspond to the X coordinate and the Y coordinate of one endpoint of the first boundary respectively, the X coordinate of another endpoint of the sixth boundary is the same as the X coordinate of one endpoint of the first boundary, and the Y coordinate of the another endpoint of the sixth boundary is determined according to the sensing range of the vehicle sensing system in the Y axis direction; the X coordinate and the Y coordinate of one endpoint of the seventh boundary correspond to the X coordinate and the Y coordinate of the another endpoint of the fifth boundary respectively, the X coordinate of another endpoint of the seventh boundary is the same as the X coordinate of the another endpoint of the fifth boundary, and the Y coordinate of the another endpoint of the seventh boundary is determined according to the sensing range of the vehicle sensing system in the Y axis direction; the X coordinate and the Y coordinate of one endpoint of the eighth boundary correspond to the X coordinate and the Y coordinate of the another endpoint of the sixth boundary respectively, and the X coordinate and the Y coordinate of the another endpoint of the eighth boundary correspond to the X coordinate and the Y coordinate of the another endpoint of the seventh boundary respectively.

[0016] In some embodiments, the parking path of the vehicle is planned according to the parking space information and the parking driving area, including: establishing a coordinate system according to the parking space information; obtaining the parking endpoint coordinates of the vehicle in the coordinate system, wherein the parking endpoint coordinates are the position coordinates of the rear axle center of the vehicle when the vehicle is in the center position of the parking space; placing the parking endpoint coordinates into a target point sequence, and planning the parking path of the vehicle according to the current target point sequence.

[0017] In some embodiments, the coordinate system is established according to the parking space information, including: taking a preset corner point of four corner points of the parking space as an origin, taking the length direction of the parking space as an X axis direction, and taking the width direction of the parking space as a Y axis direction to establish the coordinate system.

[0018] In some embodiments, the planning of the parking path of the vehicle according to the current target point sequence comprises: taking the parking end point coordinate as a starting point, judging whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area in the process of the vehicle driving out of the garage with the minimum turning radius; if no collision occurs, planning the parking path of the vehicle according to the current target point sequence; if collision occurs, calculating a target distance by which the vehicle can be translated to the second boundary; judging whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area again in the process of the vehicle driving out of the garage with the minimum turning radius after the vehicle is translated to the second boundary by the target distance; if no collision occurs again, placing the translated parking end point coordinate into the target point sequence and planning the parking path of the vehicle according to the current target point sequence; if collision occurs again, performing a garage turning step.

[0019] In some embodiments, the judging of whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area in the process of the vehicle driving out of the garage with the minimum turning radius comprises: calculating the center coordinate of the trajectory of the vehicle driving out of the garage with the minimum turning radius; calculating the turning radius of the first front end angle according to the vehicle width, the minimum turning radius and the preset safety distance of the vehicle in the lateral and longitudinal directions; judging whether the fourth boundary is within the movement range of the first front end angle according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle and the X coordinate of the center coordinate; if not, judging that the first front end angle will not collide with the fourth boundary; if yes, calculating a target Y coordinate of the first front end angle, wherein the target Y coordinate is the Y coordinate corresponding to the movement of the first front end angle to the same X coordinate as that of one end point of the fourth boundary; judging whether the first front end angle will collide with the fourth boundary according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary.

[0020] In some embodiments, the judging of whether the fourth boundary is within the movement range of the first front end angle according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle and the X coordinate of the center coordinate comprises: if the sum of the X coordinate of the center coordinate and the turning radius of the first front end angle is less than the X coordinate of one end point of the fourth boundary, judging that the fourth boundary is not within the movement range of the first front end angle; if the sum of the X coordinate of the center coordinate and the turning radius of the first front end angle is greater than or equal to the X coordinate of one end point of the fourth boundary, judging that the fourth boundary is within the movement range of the first front end angle.

[0021] In some embodiments, the target Y coordinate of the first front end angle is calculated by: calculating the target Y coordinate according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle, the X coordinate and the Y coordinate of the center coordinate of the circle.

[0022] In some embodiments, the target distance that the vehicle can translate to the second boundary is calculated by: calculating the target distance according to the X coordinate of the parking end coordinate, the X coordinate of one end point of the second boundary, a preset safe distance of the vehicle in the longitudinal direction, and the distance between the rear axle and the rear bumper of the vehicle.

[0023] In some embodiments, the step of adjusting the garage in the path planning method for parking comprises: calculating a first position coordinate and placing the first position coordinate into the target point sequence, wherein the first coordinate is the position coordinate of the rear axle center of the vehicle when the first front end angle reaches the fourth boundary during the out-of-garage driving of the vehicle with the translated parking end coordinate as the starting point and the minimum turning radius; calculating a second position coordinate and placing the second position coordinate into the target point sequence, wherein the second position coordinate is the position coordinate of the rear axle center of the vehicle when the first rear end angle reaches the third boundary or the second rear end angle reaches the second boundary during the reversing of the vehicle with the first position coordinate as the starting point and the minimum turning radius to the inside of the parking space.

[0024] In some embodiments, after the step of adjusting the garage is performed, the method further comprises: determining whether the number of times of performing the step of adjusting the garage reaches a preset number of times; if yes, planning the parking path of the vehicle for parking according to the current target point sequence; otherwise, repeatedly performing the step of determining whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area again during the out-of-garage driving of the vehicle with the minimum turning radius at the current position until the first front end angle does not collide with the fourth boundary of the parking driving area again or the number of times of performing the step of adjusting the garage reaches the preset number of times.

[0025] In some embodiments, the first position coordinate is calculated by: determining a third position coordinate of the first front end angle and a fourth position coordinate of the first front end angle when the first front end angle reaches the fourth boundary during the out-of-garage driving of the vehicle with the translated parking end coordinate as the starting point; calculating the angle moved by the first front end angle according to the third position coordinate and the fourth position coordinate; and calculating the first position coordinate according to the third position coordinate and the angle moved by the first front end angle.

[0026] In some embodiments, the calculating the second position coordinate comprises: calculating a target angle change amount when the vehicle backs up in the rear parking space inner side direction at the minimum turning radius; calculating a target angle according to the target angle change amount and a heading angle of the vehicle at the first position coordinate; determining a first rear end angle coordinate and a second rear end angle coordinate of the vehicle at the second position coordinate according to the target angle; and calculating the second position coordinate according to the first rear end angle coordinate, the second rear end angle coordinate, and the target angle.

[0027] In some embodiments, the calculating the target angle change amount when the vehicle backs up in the rear parking space inner side direction at the minimum turning radius comprises: calculating a first turning angle when the first rear end angle reaches the third boundary and a second turning angle when the second rear end angle reaches the second boundary; and taking a smaller one of the first turning angle and the second turning angle as the target angle change amount.

[0028] In some embodiments, the calculating the first turning angle when the first rear end angle reaches the third boundary comprises: determining a coordinate of the first rear end angle when the first rear end angle reaches the third boundary and a coordinate of the first rear end angle when the vehicle is at the first position coordinate; and calculating the first turning angle according to the coordinate of the first rear end angle when the first rear end angle reaches the third boundary and the coordinate of the first rear end angle when the vehicle is at the first position coordinate.

[0029] In some embodiments, the calculating the second turning angle when the second rear end angle reaches the second boundary comprises: determining a coordinate of the second rear end angle when the second rear end angle reaches the second boundary and a coordinate of the second rear end angle when the vehicle is at the first position coordinate; and calculating the second turning angle according to the coordinate of the second rear end angle when the second rear end angle reaches the second boundary and the coordinate of the second rear end angle when the vehicle is at the first position coordinate.

[0030] In some embodiments, the planning a parking path of the vehicle according to the current target point sequence comprises: determining a path planning key point according to a coordinate of a last-joined point in the current target point sequence; adding the path planning key point to the target point sequence; and determining the parking path of the vehicle according to all points in the current target point sequence.

[0031] In some embodiments, the key points include a tangent point of a first circular motion trajectory and a second circular motion trajectory and a stop position point of the vehicle outside the garage, wherein the first circular motion trajectory is a circular motion trajectory of the vehicle starting from a last point added in the current target point sequence and moving in an out-of-garage direction at a minimum turning radius, and the second circular motion trajectory is a circular motion trajectory of the vehicle starting from the stop position point outside the garage and moving in a garage-in direction at the minimum turning radius.

[0032] In some embodiments, the parking path of the vehicle is determined according to all points in the current target point sequence, including fitting all points in the current target point sequence according to a set rule to obtain the parking path of the vehicle.

[0033] To achieve the above object, embodiments of the second aspect of the present application disclose a parking path planning device, comprising a processor, a memory, and a parking path planning program stored in the memory and executable on the processor, and the parking path planning program, when executed by the processor, implements the parking path planning method according to the first aspect of the present application.

[0034] The parking path planning device according to the embodiments of the present application acquires the parking space information of a parking space to be parked into and the environmental information around the parking space, such as the size of the parking space and the obstacle information of vehicles, walls, road edges and the like around the parking space; determines the parking driving area of the vehicle in the parking process according to the parking space information and the environmental information, and includes the space without obstacles into the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and plans the parking path of the vehicle according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacle blocking and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem of difficult parking into the parking space when the parking space is small or narrow, and improve the success rate of parking.

[0035] To achieve the above object, embodiments of the third aspect of the present application disclose a vehicle, comprising the parking path planning device according to the second aspect of the present application.

[0036] According to the vehicle of the embodiment of the present application, the parking space information of the parking space to be parked in and the environmental information around the parking space, such as the size of the parking space and the obstacle information around the parking space, such as vehicles, walls and road edges, can be obtained; the parking driving area of the vehicle during the parking process is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and the parking path of the vehicle is planned according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacle blocking during parking and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem that it is difficult to park in when the parking space is small or narrow, and improve the success rate of parking.

[0037] To achieve the above object, the embodiment of the fourth aspect of the present application discloses a computer readable storage medium, wherein the computer readable storage medium stores a parking path planning program, and the parking path planning program is executed by a processor to implement the parking path planning method of the first aspect of the present application.

[0038] According to the computer readable storage medium of the embodiment of the present application, the parking path planning program stored on the computer readable storage medium is executed by a processor to obtain the parking space information of the parking space to be parked in and the environmental information around the parking space, such as the size of the parking space and the obstacle information around the parking space, such as vehicles, walls and road edges; the parking driving area of the vehicle during the parking process is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and the parking path of the vehicle is planned according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacle blocking during parking and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem that it is difficult to park in when the parking space is small or narrow, and improve the success rate of parking.

[0039] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood by considering the following detailed description, including the accompanying drawings, in which:

[0041] Figure 1 is a flowchart of a parking path planning method according to an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of a parking driving area according to an embodiment of the present application;

[0043] Figure 3 is a parking travel area schematic diagram according to another embodiment of the present application;

[0044] Figure 4 is a flow chart of planning a storage path in a parking travel area according to an embodiment of the present application;

[0045] Figure 5 is a schematic diagram of establishing a coordinate system according to an embodiment of the present application;

[0046] Figure 6 is a schematic diagram of detecting a collision between a right front corner of a vehicle and a parking travel area according to an embodiment of the present application;

[0047] Figure 7 is a schematic diagram of calculating a position of a vehicle when a right front corner of the vehicle reaches a boundary of a parking travel area according to an embodiment of the present application;

[0048] Figure 8 is a schematic diagram of calculating a position of a vehicle when a rear corner of the vehicle reaches a boundary of a parking travel area according to an embodiment of the present application;

[0049] Figure 9 is a schematic diagram of planning a path for a vehicle to park from outside a parking space to inside the parking space according to an embodiment of the present application;

[0050] Figure 10 is a schematic diagram of calculating a key point of a parking path according to an embodiment of the present application;

[0051] Figure 11 is a structural block diagram of a path planning device for parking according to an embodiment of the present application;

[0052] Figure 12 is a structural block diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and embodiments of the present application are described in detail below.

[0054] The embodiments of the present application are described below with reference to the accompanying drawings. Figures 1-12 A path planning method, a planning device, a vehicle and a computer readable storage medium for parking according to embodiments of the present application are described below. The present application specifically relates to path planning when parking in parallel.

[0055] Figure 1 is a flow chart of a path planning method for parking according to an embodiment of the present application. As shown in Figure 1 the path planning method for parking includes the following steps:

[0056] Step S1: obtaining parking space information of a parking space to be parked into and environment information around the parking space.

[0057] In specific embodiments, a parking space to be parked into can be selected first. The parking space information around the current stopping position of the vehicle is obtained through visual, ultrasonic, and other sensors, and the column, cone, wall, and vehicle that can hinder the movement of the vehicle are all regarded as obstacles. A parking space without obstacles and with a size meeting the parking requirements of the vehicle is selected as the target parking space, i.e., the parking space to be parked into. It should be noted that this process can be completed automatically by the user (e.g., the driver of the vehicle) or by the vehicle.

[0058] Specifically, the parking space information of the parking space to be parked into includes, but is not limited to, the size / dimension of the parking space, the position, and the like. The environment information around the parking space includes, but is not limited to, the coordinates and dimensions of the obstacles around the parking space, such as the vehicles, columns, cones, pedestrians, wall edges, and road edges. In specific embodiments, the parking space information and the environment information around the parking space can be obtained through visual (e.g., camera) and ultrasonic radar sensors on the vehicle.

[0059] Step S2: determining the obstacle-free space around the parking space according to the parking space information and the environment information, and constructing a parking driving area in the obstacle-free space, wherein the parking space is contained in the parking driving area, and the area of the parking driving area is greater than the area of the parking space.

[0060] In embodiments, the parking driving area of the vehicle during parking can be determined according to the obtained parking space information and the environment information around the parking space. Specifically, the obstacle-free space around the parking space is extracted according to the parking space information and the environment information around the parking space, and the parking driving area during parking is constructed accordingly. The obstacle-free space around the parking space is included in the range of the parking driving area as much as possible, so as to construct a parking driving area as large as possible, improve the space utilization rate around the parking space, make the area of the parking driving area greater than the area of the parking space, and thus facilitate parking into the parking space and improve the parking safety. Specifically, a parking driving area not smaller than the area of the parking space can be constructed around the parking space according to the obtained parking space information and the environment information around the parking space, so as to utilize as much as possible the available space around the parking space in the case of a narrow parking space, and ensure that no collision with the surrounding obstacles occurs during parking. Thus, the utilization rate of the environment area around the parking space can be improved in the case of a narrow parking space, and the safety and success rate of parking of the vehicle can be improved by planning a path in the obstacle-free parking driving area.

[0061] Step S3: planning a parking path of the vehicle according to the parking space information and the parking driving area.

[0062] In an embodiment, a parking path of the vehicle can be planned based on the acquired parking space information and the parking driving area. Specifically, an end point coordinate of the parking can be acquired based on the parking space information, and a parking path can be planned from the end point coordinate to the current parking position coordinate of the vehicle in the parking driving area. The path planning strategy is determined according to the size and shape of the parking driving area. If the parking driving area is large enough, a one-step parking-in path is planned. If the one-step parking-in condition is not met, a multi-step parking-in path is planned. Whether to plan a one-step parking-in or a multi-step parking-in is determined according to the constructed parking driving area, so that different parking strategies are formulated. That is, the path planning mode can be flexibly selected according to the parking driving area, such as one-step parking-in or multi-step parking-in, so that more parking scenarios can be adapted, and the flexibility and applicability are higher.

[0063] Therefore, the embodiment of the present application can generate a parking driving area of the vehicle during parallel parking according to the situation around the parking space, formulate a one-time or multi-time parking-in strategy according to the size of the generated parking driving area, and plan a parking-in path according to the boundary of the parking driving area, thereby solving the problem of difficult parking-in when the parking space to be parked into is small or the parking space is narrow, improving the space utilization rate around the parking space, and facilitating the improvement of the parking success rate.

[0064] Therefore, the above-mentioned path planning method for parking can acquire parking space information of the parking space to be parked into and environmental information around the parking space, such as the size of the parking space and obstacle information such as vehicles, walls, and road edges around the parking space; determine an obstacle-free space around the parking space based on the parking space information and the environmental information, construct a parking driving area in the obstacle-free space, wherein the parking space is included in the parking driving area, and the area of the parking driving area is larger than the area of the parking space, and plan a parking path of the vehicle for parking based on the parking space information and the parking driving area. That is, the present application can generate a parking driving area without obstacle blocking and with an area larger than the area of the parking space during parking according to the situation around the parking space, thereby improving the space utilization rate around the parking space, and further solving the problem of difficult parking-in when the parking space is small or the parking space is narrow, and improving the success rate of parking.

[0065] In an embodiment of the present application, the parking driving area of the vehicle during parking is constructed in the obstacle-free space, including: determining a plurality of boundaries of the parking driving area based on the parking space information and the environmental information; and determining the parking driving area based on the plurality of boundaries.

[0066] Specifically, the parking driving area includes a plurality of boundaries, and the plurality of boundaries are connected to form the parking driving area. Therefore, the plurality of boundaries of the parking driving area can be determined, and then the parking driving area can be determined based on the plurality of boundaries.

[0067] In one embodiment of the present invention, in the parking path planning method, each boundary is located between the corresponding side parking space line and the obstacle. That is, a safe distance is reserved between the boundary of the parking driving area and the surface of the obstacle sensed by the vehicle perception system (such as visual sensors, infrared sensors, ultrasonic sensors, radar, etc.). The boundary of the parking driving area should be located between the parking space line and the obstacle, and should not exceed the parking space line and intrude into the parking space. In other words, the boundary of the parking driving area can be regarded as an outward extension of the parking space line, and the extension range is determined according to the location of the obstacle.

[0068] In a specific embodiment, such as Figure 2 The diagram shown is a schematic representation of a parking and driving area according to an embodiment of the present invention. Figure 2 In this process, the four corner points of the parking space are marked, starting from the top left corner of the parking space (i.e., the upper end of the parking space line on the rear side of the vehicle), and marking the four corner points of the target parking space counterclockwise from the number 1. These are designated as top left corner 1, bottom left corner 2, bottom right corner 3, and top right corner 4. A safe distance, denoted as safe-distance-obs, is maintained between the boundary of the parking driving area and the surface of obstacles sensed by the vehicle's perception system (such as visual sensors, infrared sensors, ultrasonic sensors, radar, etc.). The boundary of the parking driving area should be located between the parking space line and the obstacle, and should not exceed the parking space line and intrude into the parking space. In other words, the boundary of the parking driving area can be considered as an outward extension of the parking space line, and the extension range is determined based on the location of the obstacle. Ultimately, a system can be constructed as follows: Figure 2 The five boundary lines shown, namely AB, BC, CD, DE, and EF, are used to determine the parking driving area based on multiple boundaries, thereby improving the parking success rate.

[0069] In one embodiment of the present invention, determining multiple boundaries of a parking and driving area based on parking space information and environmental information includes: determining the endpoint coordinates of multiple boundaries based on the parking space information and environmental information; and determining each corresponding boundary based on the endpoint coordinates. Specifically, each boundary has two endpoints. After determining the coordinates of the two endpoints, the specific location of the boundary can be determined. Thus, the specific locations of multiple boundaries can be determined based on the coordinates of the two endpoints of the multiple boundaries, and the parking and driving area can be determined accordingly.

[0070] In one embodiment of the present invention, the plurality of boundaries includes at least a first boundary, a second boundary, a third boundary, a fourth boundary, and a fifth boundary, that is, they correspond one-to-one. Figure 2 The boundaries AB, BC, CD, DE, and EF are used to determine the parking area.

[0071] Specifically, the endpoint coordinates of multiple boundaries are determined based on parking space information and environmental information, including: determining the Y coordinates of the two endpoints of the first boundary AB based on the Y coordinate of the highest point of an obstacle within a preset distance range of the parking space line on the rear side of the parking space; determining the X coordinate of one endpoint of the first boundary AB based on the perception range of the vehicle perception system in the X-axis direction; and determining the X coordinate of the other endpoint of the first boundary AB based on the X coordinate of the obstacle closest to the parking space line on the rear side of the parking space outside the parking space. The X and Y coordinates of one endpoint of the second boundary BC correspond to the same X and Y coordinates as the other endpoint of the first boundary AB, respectively. The X coordinate of the other endpoint of the second boundary BC is the same as the X coordinate of the other endpoint of the first boundary AB, and the Y coordinate of the other endpoint of the second boundary BC is determined based on the Y coordinate of the highest point of the obstacle closest to the parking space line on the passenger side of the parking space outside the parking space. The X and Y coordinates of one endpoint of the third boundary CD correspond to the same X and Y coordinates as the other endpoint of the second boundary BC. The coordinates are the same. The Y-coordinate of the other endpoint of the third boundary CD is the same as the Y-coordinate of the other endpoint of the second boundary BC. The X-coordinate of the other endpoint of the third boundary CD is determined based on the X-coordinate of the obstacle closest to the parking space line on the front side of the parking space. The X and Y coordinates of one endpoint of the fourth boundary DE are the same as the X and Y coordinates of the other endpoint of the third boundary CD. The X-coordinate of the other endpoint of the fourth boundary DE is the same as the X-coordinate of the other endpoint of the third boundary CD. The Y-coordinate of the other endpoint of the fourth boundary DE is determined based on the Y-coordinate of the highest point of the obstacle within a preset distance range of the parking space line on the front side of the parking space. The X and Y coordinates of one endpoint of the fifth boundary EF are the same as the X and Y coordinates of the other endpoint of the fourth boundary DE. The Y-coordinate of the other endpoint of the fifth boundary EF is the same as the Y-coordinate of the other endpoint of the fourth boundary DE. The X-coordinate of the other endpoint of the fifth boundary EF is determined based on the perception range of the vehicle perception system in the X-axis direction.

[0072] In an embodiment, such as Figure 2 As shown, the multiple boundaries include at least the first boundary AB, the second boundary BC, the third boundary CD, the fourth boundary DE, and the fifth boundary EF. The coordinates of the two endpoints of each boundary are obtained as follows:

[0073] The Y coordinates of the two endpoints A and B of the first boundary AB can be determined based on the parking space line on the rear side of the parking space (i.e., Figure 2 The Y-coordinate of the highest point of an obstacle within a preset range (such as, but not limited to, 3 meters) of the left parking space line in the parking space is determined, which can be expressed as y_A = y_B = y_left_obs + safe_distance_obs, where y_left_obs is the parking space line on the rear side of the vehicle (i.e., the highest point of the obstacle). Figure 2The Y coordinate of the highest point of the obstacle within the preset range (such as but not limited to 3 meters) of the left parking space line in the first boundary AB is determined by the Y coordinate of the highest point of the obstacle within the preset range (such as but not limited to 3 meters) of the left parking space line in the first boundary AB, and the safe distance obs is a preset value. The X coordinate of the A end point is determined by the range perceived by the vehicle perception system, that is, the X coordinate at the maximum perception range of the vehicle perception system in the BA direction, that is, x_A=x_left_sense, wherein x_left_sense is the X coordinate at the maximum perception range of the vehicle perception system in the BA direction. The X coordinate of the B end point is determined by the X coordinate of the obstacle point closest to the left boundary of the parking space (that is, the tail side parking space line) outside the parking space, that is, x_B=x_left_obs+safe_distance_obs, wherein x_left_obs is the X coordinate of the obstacle point closest to the left boundary of the parking space (that is, the tail side parking space line) outside the parking space, and safe_distance_obs is a reserved safety distance. Among them, the perception range refers to the farthest effective distance that the perception system can detect in the BA direction, for example, along the direction from point B to point A, the perception system extends to detect, and the farthest position that the perception system can identify corresponds to the X coordinate of point A.

[0074] And in the second boundary BC, the X coordinate of the C end point is the same as the B end point, that is, x_C=x_B. The Y coordinate of the C end point is determined by the Y coordinate of the highest point of the obstacle outside the lower boundary of the parking space (that is, the co-pilot side parking space line of the parking space), that is, y_C=y_bottom_obs+safe_distance_obs, wherein y_bottom_obs is the Y coordinate of the highest point of the obstacle outside the lower boundary of the parking space (that is, the co-pilot side parking space line of the parking space), and safe_distance_obs is a reserved safety distance.

[0075] In the third boundary CD, the Y coordinate of the D end point is the same as the C end point, that is, y_D=y_C. The X coordinate of the D end point is determined by the X coordinate of the obstacle point closest to the right boundary of the parking space (that is, the head side parking space line of the parking space) outside the parking space, that is, x_D=x_right_obs+safe_distance_obs, wherein x_right_obs is the X coordinate of the obstacle point closest to the right boundary of the parking space (that is, the head side parking space line of the parking space) outside the parking space, and safe_distance_obs is a reserved safety distance.

[0076] In the fourth boundary DE, the X coordinate of the E endpoint is the same as that of the D endpoint, i.e., x_E = x_D. The Y coordinate of the E endpoint is determined by the Y coordinate of the highest point of the obstacle within a preset distance range (such as but not limited to 3 meters) from the right boundary of the parking space (i.e., the vehicle head side parking line of the parking space), i.e., y_E = y_right_obs + safe_distance_obs. Wherein, y_right_obs is the Y coordinate of the highest point of the obstacle within a preset distance range (such as but not limited to 3 meters) from the right boundary of the parking space (i.e., the vehicle head side parking line of the parking space), and safe_distance_obs is the reserved safety distance.

[0077] In the fifth boundary EF, the Y coordinate of the F endpoint is the same as that of the E endpoint, i.e., y_F = y_E. The X coordinate of the F endpoint is determined by the range perceived by the vehicle perception system, i.e., the X coordinate at the maximum perception range of the vehicle perception system in the EF direction, i.e., x_F = x_right_sense. Wherein, x_right_sense is the X coordinate at the maximum perception range of the vehicle perception system in the EF direction.

[0078] Therefore, the multiple boundaries around the parking driving area to be parked into the parking space can provide a parking available space not less than the parking space itself, and the parking path planning in the space does not need to consider the obstacle avoidance problem, thereby improving the utilization rate of the space around the parking space and facilitating the improvement of the parking success rate.

[0079] In an embodiment of the present application, the multiple boundaries further include a sixth boundary, a seventh boundary and an eighth boundary, i.e., one-to-one corresponding to the boundaries AG, FH and GH in Figure 3 According to the first boundary to the eighth boundary, a closed parking driving area can be formed.

[0080] Specifically, as Figure 3As shown, the end point coordinates of the plurality of boundaries determined according to the parking space information and the environment information include: the X coordinate and the Y coordinate of one end point (i.e., the A point) of the sixth boundary AG correspond to the X coordinate and the Y coordinate of one end point (i.e., the A point) of the first boundary AB respectively, the X coordinate of the other end point (i.e., the G point) of the sixth boundary AG is the same as the X coordinate of one end point (i.e., the A point) of the first boundary AB, the Y coordinate of the other end point (i.e., the G point) of the sixth boundary AG is determined according to the sensing range of the vehicle sensing system in the Y axis direction, for example, the maximum sensing range of the sensing system in the Y axis direction, i.e., the position of the G point; the X coordinate and the Y coordinate of one end point (i.e., the F point) of the seventh boundary FH correspond to the X coordinate and the Y coordinate of the other end point (i.e., the F point) of the fifth boundary EF respectively, the X coordinate of the other end point (i.e., the H point) of the seventh boundary FH is the same as the X coordinate of the other end point (i.e., the F point) of the fifth boundary EF, the Y coordinate of the other end point (i.e., the H point) of the seventh boundary FH is determined according to the sensing range of the vehicle sensing system in the Y axis direction, for example, the maximum sensing range of the sensing system in the Y axis direction, i.e., the position of the G point; the X coordinate and the Y coordinate of one end point of the eighth boundary GH (i.e., the G point) correspond to the X coordinate and the Y coordinate of the other end (i.e., the G point) of the sixth boundary AG respectively, the X coordinate and the Y coordinate of the other end point (i.e., the H point) of the eighth boundary GH correspond to the X coordinate and the Y coordinate of the other end (i.e., the H point) of the seventh boundary FH respectively.

[0081] Thus, the first boundary AB to the eighth boundary GH form a closed area, i.e., a parking driving area. Among them, the first boundary AB to the fifth boundary EF define the parking path range close to the parking space side, the sixth boundary AG and the seventh boundary FH define the parking path range parallel to the parking space direction, and the eighth boundary GH defines the parking path range away from the tail side. Thus, the parking driving area contains the area where the parking space is located, and the area / size of the parking driving area is greater than the area / size of the parking space.

[0082] In an embodiment of the present application, the parking path of the vehicle is planned according to the parking space information and the parking driving area, including: establishing a coordinate system according to the parking space information; obtaining the parking end point coordinates of the vehicle in the coordinate system, wherein the parking end point coordinates are the position coordinates of the center of the rear axle of the vehicle when the vehicle is in the center position of the parking space; placing the parking end point coordinates into a target point sequence, and planning the parking path of the vehicle according to the current target point sequence.

[0083] In an embodiment of the present application, the above-mentioned establishment of the coordinate system according to the parking space information includes: taking a preset corner point of the four corner points of the parking space as the origin, taking the length direction of the parking space as the X axis direction, and taking the width direction of the parking space as the Y axis direction to establish the coordinate system.

[0084] Specifically, in the parking path planning process, the parking path is planned reversely from the parking end point coordinates inside the parking space to the current parking point outside the parking space, and the key points of the three components of the parking path are calculated according to the boundaries of the parking driving area.

[0085] In specific embodiments, in combination with Figure 5 As shown, according to the fourth point (i.e., the preset corner point) of the four corner points of the parking space obtained in the foregoing, denoted as O point, the O point is taken as the coordinate origin, the upper boundary direction of the parking space (i.e., the length direction of the parking space) is taken as the X axis direction, and the direction perpendicular to the upper boundary direction is taken as the Y axis direction (i.e., corresponding to the width direction of the parking space), thereby establishing a coordinate system, that is, the coordinate system is constructed with the length direction of the parking space as the X axis direction and the width direction of the parking space as the Y axis direction. The coordinate information of the rear axle center of the vehicle when the vehicle stops, the other three corner points of the parking space, and the end points of the parking driving area is obtained in the coordinate system. The rear axle center of the vehicle when the vehicle stops is the parking end point coordinates of the vehicle, which is the position coordinates of the rear axle center of the vehicle when the vehicle is located at the center of the parking space, that is, at this time, the vehicle is located at the center of the parking space, and the distances from the left and right sides of the vehicle to the parking line are the same, and the distances from the front and rear sides of the vehicle to the parking line are the same.

[0086] Referring to Figure 5 According to the four corner points of the parking space in the constructed coordinate system, the length slot_length of the parking space is calculated as x4-x1, where x4 is the X coordinate of the fourth corner point of the parking space, and x1 is the X coordinate of the first corner point of the parking space; and the width slot_width of the parking space is calculated as y4-y3, where y4 is the Y coordinate of the fourth corner point of the parking space, and y3 is the Y coordinate of the third corner point of the parking space. The parking end point coordinates of the vehicle are the position coordinates of the rear axle center of the vehicle when the vehicle is located at the center of the parking space, so the x coordinate of the parking end point coordinates is calculated as vehicle_length-rear_suspension-slot_length according to the vehicle parameter information and the parking space information, where vehicle_length is the length of the vehicle, rear_suspension is the distance from the rear axle to the rear bumper of the vehicle, and slot_length is the length of the parking space.

[0087] The y coordinate of the parking end point coordinates is calculated as slot_width according to the width slot_width of the parking space.

[0088] When the vehicle longitudinal axis center line should be parallel to the upper and lower boundaries of the parking space when reaching the parking end point coordinates, the vehicle heading angle corresponding to the parking end point coordinates is calculated as .

[0089]

[0090] The parking end point coordinate final_point is put into the target point sequence target_points, and is used as the current coordinate point current_point=final_point for calculating the next target point.

[0091] In one embodiment of the application, the parking path of the vehicle is planned according to the current target point sequence, including: taking the parking end point coordinate as the starting point, judging whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking driving area in the process of the vehicle driving out of the garage with the minimum turning radius; if no collision occurs, the parking path of the vehicle is planned according to the current target point sequence; if collision occurs, the target distance by which the vehicle can be translated towards the second boundary BC is calculated; it is judged whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking driving area again in the process of the vehicle driving out of the garage with the minimum turning radius after the vehicle is translated towards the second boundary BC by the target distance; if no collision occurs again, the translated parking end point coordinate is put into the target point sequence, and the parking path of the vehicle is planned according to the current target point sequence; if collision occurs again, the garage step is executed.

[0092] In the embodiment, that is, in planning the parking path of the vehicle according to the current target point sequence (such as parallel parking), it is judged whether the right front angle (i.e. the first front end angle) of the vehicle will collide with the DE boundary (i.e. the fourth boundary) of the parking driving area in the process of the vehicle moving left (i.e. the direction of driving out of the garage) from the current_point (i.e. the parking end point coordinate) with the minimum turning radius; if no collision occurs in the process, the current target point sequence target_points is passed to the next step for planning the second part of the path, in other words, the parking path of the vehicle is planned according to the current target point sequence, that is, the second part of the path is planned; if collision occurs in the process, the feasible distance (i.e. the target distance by which the vehicle can be translated towards the second boundary) by which the vehicle can be translated backwards is calculated with the BC boundary (i.e. the second boundary) of the parking driving area as the reference, and it is judged whether the vehicle will collide with the DE boundary again in the process of moving left and forward after the vehicle is translated towards the second boundary BC by the target distance; if no collision occurs again, the translated parking end point coordinate is put into the target point sequence, and the parking path of the vehicle is planned according to the current target point sequence; if collision occurs again, the garage step is executed. The feasible distance is the maximum distance by which the vehicle can be translated backwards without touching the second boundary BC, which is calculated again each time; if collision occurs again, it indicates that there is not enough space, and the garage step needs to be executed instead of repeated backward translation.

[0093] In one embodiment of the present application, the target distance by which the vehicle can be translated towards the second boundary BC is calculated by: current_x-(x_B+safe_distance_x+rear_suspension), wherein current_x is the X coordinate of the current point, x_B is the X coordinate of one end point of the second boundary BC, safe_distance_x is the preset safe distance of the vehicle in the longitudinal direction, and rear_suspension is the distance between the rear axle and the rear bumper of the vehicle.

[0094] In particular, in calculating the target distance by which the vehicle can be translated towards the second boundary BC, the target distance can be calculated according to the X coordinate of the current point, the X coordinate of one end point B of the second boundary BC, the preset safe distance of the vehicle in the longitudinal direction, and the distance between the rear axle and the rear bumper of the vehicle.

[0095] In particular, the feasible distance by which the vehicle can be translated backwards (i.e. the target distance) can be calculated according to the left side BC of the parking driving area and the longitudinal safe distance: adjusted_distance=current_x-(x_B+safe_distance_x+rear_suspension), wherein adjusted_distance is the feasible distance by which the vehicle can be translated backwards (i.e. the target distance by which the vehicle can be translated towards the second boundary), current_x is the X coordinate of the current point, safe_distance_x is the safe distance of the vehicle in the longitudinal direction, which is a known quantity and is used to represent the minimum safe distance between the rear bumper of the vehicle and the boundary of the parking driving area as a safety redundancy threshold for preventing collision of the rear of the vehicle, x_B is the X coordinate of the end point B of the first boundary AB, and rear_suspension is the distance between the rear axle and the rear bumper of the vehicle.

[0096] In particular, if adjusted_distance=0, the current point current_point and the current target point sequence target_points remain unchanged, and the target point of the next step is calculated using current_point; if adjusted_distance>0, the translated vehicle rear axle center position is the target point target_point=current_point-adjusted_distance that needs to be calculated at present, target_point is placed in front of the target point sequence target_points, and is used as the new current point for calculation of the next target point. .

[0097] That is, in the above process, after the vehicle rear axle center coordinate current_point after the translation backward (BC direction) is detected again for the collision of the vehicle right front corner and the DE edge of the parking travel area, the judgment condition of this collision detection is the same as the collision detection condition of the aforementioned right front corner, if there is no collision, the process of planning the second part of the path is entered, if the collision occurs, the subsequent step of the garage is entered.

[0098] In one embodiment of the present application, the above-mentioned judging whether the first front corner of the vehicle will collide with the fourth boundary DE of the parking travel area during the process of the vehicle traveling out of the garage with the minimum turning radius, comprises: calculating the center coordinate of the trajectory of the vehicle traveling out of the garage with the minimum turning radius; calculating the turning radius of the first front corner according to the vehicle width, the minimum turning radius and the preset safe distance of the vehicle in the lateral and longitudinal directions; judging whether the fourth boundary DE is within the movement range of the first front corner according to the X coordinate of one endpoint of the fourth boundary DE, the turning radius of the first front corner and the X coordinate of the center coordinate; if not, it is judged that the first front corner will not collide with the fourth boundary DE, if yes, the target Y coordinate of the first front corner is calculated, wherein the target Y coordinate is the Y coordinate corresponding to the movement of the first front corner to the same X coordinate as that of one endpoint of the fourth boundary DE; judging whether the first front corner will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one endpoint of the fourth boundary DE.

[0099] In the embodiment, referring to Figure 6 , the specific steps of judging whether the right front corner (i.e. the first front corner) of the vehicle will collide with the boundary (i.e. the fourth boundary) of the parking travel area DE are as follows:

[0100] The center coordinate x_O, y_O of the circle of the vehicle moving left (i.e. the garage exit direction) with the minimum turning radius r_min at the current point is calculated, i.e.

[0101]

[0102] wherein, the X coordinate of the current point, the Y coordinate of the current point, the heading angle of the vehicle at the current point.

[0103] The turning radius r_front_right of the right front corner (i.e. the first front corner) of the vehicle is calculated according to the vehicle width, the minimum turning radius and the preset safe distance of the vehicle in the lateral direction safe_distance_x and the preset safe distance of the vehicle in the longitudinal direction safe_distance_y, i.e.

[0104] wherein safe_distance_y and safe_distance_x are known quantities.

[0105] according to the X coordinate of one end point D of the fourth boundary DE , the turning radius of the first front corner and the X coordinate of the center coordinate , whether the DE boundary is in the movement range of the right front corner of the vehicle, specifically comprising:

[0106] if the DE boundary is in the movement range of the right front corner of the vehicle, calculating the Y coordinate of the right front corner of the vehicle when the right front corner moves to the same X coordinate as the X coordinate of the end point D, i.e. the target Y coordinate, i.e.

[0107] In an embodiment of the present application, the above-mentioned judging whether the first front corner will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary DE comprises: if the target Y coordinate is greater than the Y coordinate of one end point of the fourth boundary DE, judging that the first front corner will not collide with the fourth boundary DE; if the target Y coordinate is less than or equal to the Y coordinate of one end point of the fourth boundary DE, judging that the first front corner will collide with the fourth boundary DE.

[0108] In an embodiment, as shown in Figure 6 , judging whether the first front corner will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary DE, specifically, taking whether the Y coordinate of the right front corner is below the y coordinate of the end point D as a reference to judge whether a collision is possible, if vehicle_front_y>y_D, judging that there will be no collision in the movement range of the right front corner; if vehicle_front_y≤y_D, judging that there will be a collision in the movement range of the right front corner. Judging whether the first front corner will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary DE can improve the success rate of parking.

[0109] In an embodiment of the present application, judging whether the fourth boundary DE is in the movement range of the first front corner according to the X coordinate of one end point of the fourth boundary DE, the turning radius of the first front corner and the X coordinate of the center coordinate comprises: if the sum of the X coordinate of the center coordinate and the turning radius of the first front corner is less than the X coordinate of one end point of the fourth boundary DE, judging that the fourth boundary DE is not in the movement range of the first front corner; if the sum of the X coordinate of the center coordinate and the turning radius of the first front corner is greater than or equal to the X coordinate of one end point of the fourth boundary DE, judging that the fourth boundary DE is in the movement range of the first front corner.

[0110] In an embodiment, as shown in Figure 6 DE is in the motion range of the right front corner; if x_O + r_front_fight ≥ x_D, it is judged that the fourth boundary DE is not in the motion range of the right front corner. By judging whether the fourth boundary DE of the vehicle is in the motion range of the first front corner, the success rate of the vehicle in the parking-in process can be improved.

[0111] In an embodiment of the present application, the target Y coordinate of the first front corner is calculated, comprising: calculating the target Y coordinate according to the X coordinate of one end point of the fourth boundary DE, the turning radius of the first front corner, the X coordinate and the Y coordinate of the center coordinate.

[0112] In an embodiment, as shown in Figure 6 DE is in the motion range of the right front corner, the calculation method of the Y coordinate of the right front corner (i.e. the target Y coordinate) veh_fr_y when the right front corner moves to the same x coordinate as the x coordinate of the end point D can be obtained according to the following calculation formula, i.e.

[0113] .

[0114] In an embodiment of the present application, the garage-in step in the path planning method for parking comprises: calculating a first position coordinate and placing the first position coordinate into the target point sequence, wherein the first coordinate is the position coordinate of the rear axle center of the vehicle when the first front corner reaches the fourth boundary DE when the vehicle drives out of the garage with the minimum turning radius starting from the translated parking end coordinate; calculating a second position coordinate and placing the second position coordinate into the target point sequence, wherein the second position coordinate is the position coordinate of the rear axle center of the vehicle when the first rear corner reaches the third boundary CD or the second rear corner reaches the second boundary BC when the vehicle drives backward to the inside of the parking space with the minimum turning radius starting from the first position coordinate.

[0115] Specifically, in an embodiment, as shown in Figure 7 DE boundary when the vehicle drives out of the garage (i.e. drives left) with the minimum turning radius starting from the current point (i.e. the translated parking end coordinate). The coordinate information of the right front corner of the vehicle when it reaches the DE boundary can be calculated by the foregoing steps, and the coordinate of the right front corner of the vehicle at this time is (vehicle_front_x_coli, veh_fr_y_coli). The X coordinate and the Y coordinate of the right front corner of the vehicle at the current point (the translated parking end coordinate) current_point are calculated as follows:

[0116]

[0117]

[0118] wherein, is the current X coordinate of the vehicle, is the heading angle of the current point.

[0119] The angle delta_theta of the first front end angle movement is calculated as:

[0120] The coordinate of the rear axle center when the right front corner of the vehicle reaches the DE boundary, i.e. the coordinate of the next target point, is calculated as:

[0121]

[0122]

[0123] The heading angle of the vehicle when the right front corner reaches the DE boundary is calculated as: .

[0124] The obtained target point target_point is put into the target point sequence target_points, and the target point is used as the new current point for calculating the next target point: current_point=target_point.

[0125] In an embodiment of the present application, after the step of performing the kneading warehouse step, further comprising: judging whether the number of times of performing the kneading warehouse step reaches a set number of times; if yes, planning a parking path of the vehicle according to the current target point sequence; otherwise, repeating the step of judging whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking driving area again in the process of the vehicle driving out of the warehouse at the current position with the minimum turning radius until the first front end angle will not collide with the fourth boundary DE of the parking driving area again or the number of times of performing the kneading warehouse step reaches the set number of times.

[0126] Specifically, after the rolling-in step is performed, it is further needed to determine whether the number of times of performing the rolling-in step reaches a set number, for example but not limited to 5 times, if the set number 5 times is reached, the parking path of the vehicle is planned according to the current target point sequence; if the set number 5 times is not reached, it is needed to repeatedly perform the step of determining whether the first front end angle of the vehicle will collide with the fourth boundary DE (i.e. DE boundary) of the parking travel area again in the process that the vehicle travels out of the garage with the minimum turning radius at the current position, and further determine whether to continue performing the rolling-in step, when the collision will not occur again, the parking path of the vehicle is planned according to the current target point sequence, when the collision will occur again, the rolling-in step is continuously performed, and the above steps are repeatedly performed until it is determined that the first front end angle will not collide with the fourth boundary DE of the parking travel area again or the number of times of performing the rolling-in step reaches the set number 5 times.

[0127] As a specific embodiment, in combination with Figure 4 shown is a flow chart for planning the rolling-in path in the parking space according to the parking travel area by the embodiment of the present application, and the execution steps are as follows:

[0128] Step S10: reconstructing the coordinate system with the fourth corner point 4 of the parking space as the origin, and obtaining the coordinates of the remaining three points of the parking space and the points of the parking travel area.

[0129] Step S11: calculating the parking end point coordinates in the reconstructed coordinate system, placing the target point sequence, and using the current point to calculate the next target point.

[0130] Step S12: determining whether the right front corner of the vehicle will collide with the DE boundary of the parking travel area when the vehicle moves to the left (i.e. travels out of the garage) with the minimum turning radius at the current point, if the collision will occur, performing step S13; if the collision will not occur, performing step S18.

[0131] Step S13: taking the left boundary BC of the parking travel area as a reference, calculating the feasible distance of the vehicle moving backward, placing the position coordinates after moving the distance into the target point sequence, and using the current coordinates to calculate the next target point.

[0132] Step S14: determining whether the right front corner of the vehicle will collide with the DE boundary of the parking travel area again when the vehicle moves to the left with the minimum turning radius at the current point, if the collision will occur again, performing step S15; if the collision will not occur again, performing step S18.

[0133] Step S15: calculating the coordinates of the rear axle center of the vehicle when the right front corner of the vehicle reaches the DE boundary of the parking travel area when the vehicle moves to the left with the minimum turning radius at the current point, placing the coordinates into the end of the target point sequence and using the current point coordinates.

[0134] Step S16: Calculate the changes in the vehicle's two angles when it moves to the right from the current point with the minimum turning radius, and when the vehicle's left rear corner reaches the boundary of the parking driving area BC and the right rear corner reaches the boundary of CD. Place the rear axle coordinates of the vehicle with the smaller angle change at the end of the target point sequence and use them as the coordinates of the current point.

[0135] Step S17: Determine whether the maximum number of adjustments within the library N (i.e., the set number of times) has been reached. If it has been reached, proceed to step S18; if it has not been reached, proceed to step S14 and repeat the above process.

[0136] Step S18: Use the current point coordinates as the starting point for the second part of the path calculation, and plan the path from inside the library to outside the library.

[0137] In one embodiment of the present invention, the process of calculating the first position coordinates includes: determining the third position coordinate of the first front end angle when the vehicle starts from the coordinates of the parking endpoint after translation and the fourth position coordinate of the first front end angle when the first front end angle reaches the fourth boundary DE; calculating the angle of movement of the first front end angle based on the third position coordinate and the fourth position coordinate; and calculating the first position coordinate based on the third position coordinate and the angle of movement of the first front end angle.

[0138] In the embodiments, reference is made to Figure 7 As shown, starting from the current point (current_point, i.e., the coordinates of the translated parking endpoint), the coordinates of the rear axle center are calculated when the vehicle's right front corner reaches the fourth boundary DE of the parking area during its movement to the left with the minimum turning radius (i.e., exiting the parking space). The coordinates of the vehicle's right front corner when it reaches the DE boundary can be calculated using the aforementioned steps. Therefore, the coordinates of the vehicle's right front corner at this point (i.e., the fourth position coordinates) are (vehicle_front_x_coli, vehicle_front_y_coli). The coordinates of the vehicle's right front corner at the current point (current_point, i.e., the translated parking endpoint) (current_point, i.e., the third position coordinates) are:

[0139]

[0140]

[0141] Based on the third and fourth position coordinates, the angle delta_theta of the first front angle movement is calculated as follows:

[0142]

[0143] Based on the third position coordinates and the angle of movement of the first front angle The calculated coordinates of the first position (i.e., the coordinates of the rear axle center when the right front corner of the vehicle reaches the DE boundary) are as follows:

[0144]

[0145]

[0146] The obtained target point target_point is placed into the target point sequence target_points, and this target point is used as the new current point to calculate the next target point: current_point = target_point.

[0147] In one embodiment of the present invention, the process of calculating the second position coordinates includes: calculating the target angle change when the vehicle reverses towards the inside of the rear parking space with the minimum turning radius; calculating the target angle based on the target angle change and the heading angle of the vehicle at the first position coordinate; determining the first rear end angle coordinate and the second rear end angle coordinate of the vehicle at the second position coordinate based on the target angle; and calculating the second position coordinate based on the first rear end angle coordinate, the second rear end angle coordinate, and the target angle.

[0148] In the embodiments, combined with Figure 8 As shown, taking the current point (i.e., the first position coordinate) calculated in the previous step as the starting point, the calculation is performed on the position coordinates of the rear axle center (i.e., the second position coordinate) when the vehicle reverses to the right with the minimum radius (i.e., when reversing towards the inside of the parking space), and the right rear corner (i.e., the first rear end corner) reaches the boundary of the parking driving area CD or the left rear corner (i.e., the second rear end corner) reaches the boundary of the parking driving area BC. The coordinates of the right rear corner vehicle_rr and the left rear corner vehicle_rl at the current point current_point (i.e., the first position coordinate) are calculated based on the current rear axle center coordinates and the steering center (x_O, y_O), specifically including:

[0149]

[0150]

[0151]

[0152] in, The X coordinate of the right rear corner vehicle_rr The Y-coordinate of the right rear corner vehicle_rr For the rear left corner of the vehicle_ The X coordinate, For the rear left corner of the vehicle_ The Y-coordinate.

[0153] Y-coordinate of the vehicle when its right rear corner reaches the boundary of the parking driving area CD and X coordinate They are respectively:

[0154]

[0155]

[0156]

[0157] in, The turning radius is the right rear corner.

[0158] The angle at which the right rear corner of the vehicle turns when it reaches the boundary of the parking driving area CD is: :

[0159]

[0160] X-coordinate of the vehicle when its left rear corner reaches the boundary of the parking driving area BC and Y coordinate They are respectively:

[0161]

[0162]

[0163]

[0164] in, The turning radius is the left rear corner.

[0165] The angle at which the left rear corner of the vehicle turns when it reaches the boundary of the parking driving area BC for:

[0166]

[0167] Comparing delta_theta_rr and delta_theta_rl, the smaller one is taken as the target angle change delta_theta for the vehicle to move to the right and rear with the minimum turning radius:

[0168]

[0169] Therefore, the target angle theta_target_point is calculated:

[0170]

[0171] The target angle calculated according to the above formula, the rear corner coordinates (i.e. including the first rear corner coordinate and the second rear corner coordinate) of the vehicle at the target position (i.e. the second position coordinate) are determined, and the rear axle center coordinate of the target position is calculated by the rear corner coordinates and the target angle, i.e. the second position coordinate, which is taken as a new target_point and placed in the target point sequence target_points, and the target_point is taken as a new current point for calculating the next target point: .

[0172] In an embodiment of the present application, the target angle change amount when the vehicle reverses in the rear parking space inner side direction at the minimum turning radius includes: a first turning angle when the first rear corner reaches the third boundary CD and a second turning angle when the second rear corner reaches the second boundary BC; and the smaller one of the first turning angle and the second turning angle is taken as the target angle change amount.

[0173] In an embodiment of the present application, the first turning angle when the first rear corner reaches the third boundary CD includes: determining the coordinate when the first rear corner reaches the third boundary CD and the coordinate of the first rear corner when the vehicle is at the first position coordinate; and calculating the first turning angle according to the coordinate when the first rear corner reaches the third boundary CD and the coordinate of the first rear corner when the vehicle is at the first position coordinate.

[0174] In an embodiment of the present application, the second turning angle when the second rear corner reaches the second boundary BC includes: determining the coordinate when the second rear corner reaches the second boundary BC and the coordinate of the second rear corner when the vehicle is at the first position coordinate; and calculating the second turning angle according to the coordinate when the second rear corner reaches the second boundary BC and the coordinate of the second rear corner when the vehicle is at the first position coordinate.

[0175] In a specific embodiment, the coordinate of the right rear corner (i.e. the first rear corner) of the vehicle when it reaches the third boundary CD of the parking driving area is:

[0176]

[0177]

[0178] ;

[0179] The coordinate of the first rear corner of the vehicle when it is at the first position coordinate is:

[0180] ;

[0181] ;

[0182] Thus, the angle (i.e., the first turning angle) turned by the right rear corner (i.e., the first rear end corner) of the vehicle when reaching the third boundary CD of the parking travel area is calculated as:

[0183] The coordinate of the left rear corner (i.e., the second rear end corner) of the vehicle when reaching the second boundary BC of the parking travel area is:

[0184]

[0185]

[0186] The coordinate of the second rear end corner of the vehicle when at the first position coordinate is:

[0187]

[0188]

[0189] Thus, the angle (i.e., the second turning angle) turned by the left rear corner (i.e., the second rear end corner) of the vehicle when reaching the second boundary BC of the parking travel area is calculated as:

[0190] Further, by comparing delta_theta_rr and delta_theta_rl, the smaller one of the two is taken as the target angle change amount delta_theta of the vehicle moving to the right rear with the smallest turning radius:

[0191] Thus, the target angle theta_target_point is calculated as:

[0192] In an embodiment of the present application, the above-mentioned planning of the parking path of the vehicle according to the current target point sequence comprises: determining a path planning key point according to the coordinate of the last added point in the current target point sequence; adding the path planning key point to the target point sequence; and determining the parking path of the vehicle according to all points in the current target point sequence.

[0193] Specifically, as Figure 9 ​​​​​​​As shown, during the process of a vehicle moving left from the current point (current_point, the coordinates of the parking endpoint, the translated parking endpoint position, or the second position coordinates) with the minimum turning radius, the front right corner of the vehicle will not collide with the boundary of the parking driving area DE. Therefore, the key points for path planning can be determined based on the coordinates of the last point added in the current target point sequence. These key points are then added to the target point sequence, and the parking path can be determined based on all points in the current target point sequence. For example, based on the key points for path planning, the Dubins curve planning method is used to plan the path of the vehicle from its current position inside the parking space to a position parallel to the longitudinal direction of the parking space outside the parking space using two curve segments. In one embodiment of the present invention, the key points in the parking path planning method include the tangent point of the first circular motion trajectory and the second circular motion trajectory, and the stopping position point of the vehicle outside the parking space. The first circular motion trajectory is the circular motion trajectory of the vehicle starting from the last point added in the current target point sequence and moving towards the exit direction with the minimum turning radius. The second circular motion trajectory is the circular motion trajectory of the vehicle starting from the stopping position point outside the parking space and reversing towards the entry direction with the minimum turning radius.

[0194] In an embodiment, such as Figure 10 As shown, the key points in the parking path planning method include: the tangent point P of the first circular motion trajectory and the second circular motion trajectory, and the stopping position of the vehicle outside the garage.

[0195] In one embodiment of the present invention, determining the parking path of a vehicle based on all points in the current target point sequence includes: fitting all points in the current target point sequence according to a set rule to obtain the parking path of the vehicle. Specifically, all points in the target point sequence are rearranged in reverse order, and the resulting new target point sequence is the key point sequence of the final planned path. The key points are connected by an arc with a radius equal to the minimum turning radius, and the last two points of the target point sequence are connected by a straight line, thus completing the parking path planning based on the parking driving area and obtaining the parking path of the vehicle.

[0196] In a specific embodiment, combined with Figure 10 As shown, O1 is the current_point. Figure 9The center of the circle when the vehicle moves to the left front (i.e. drives in the out direction) with the minimum turning radius, y_out is the Y coordinate of the stop position point of the vehicle outside the parking space, at this time the longitudinal axis of the vehicle is parallel to the X axis of the coordinate axis. O2 is the center of the circle when the vehicle moves to the right rear (i.e. reverses in the in direction) from y_out with the minimum turning radius, y_in is the Y coordinate of O2, and P is the tangent point of the circles O1 and O2. Since the two circles (i.e. the first circular motion trajectory and the second circular motion trajectory) are tangent, the center distance is 2*r_min, and the X coordinate of O2 is:

[0197]

[0198] According to the two circle equations, the X coordinate of the tangent point P of the two circles can be calculated by the following formula And the Y coordinate of P :

[0199]

[0200] According to the coordinates, the target turning angle delta_theta is calculated: ;

[0201] Finally, the P point coordinates are placed in the target point sequence target_points, the X coordinate of O2 is taken as the X coordinate of y_out, the out point coordinates are placed in the target point sequence target_points, and finally the coordinates of the stop point of the vehicle outside the parking space are placed in the target point sequence target_points, i.e. the key target point planning based on the parking driving area is completed.

[0202] Further, all the points in the target point sequence are rearranged in the reverse order of the original sequence, and the new target point sequence obtained is the key point sequence of the final planned path. The key points are connected by circular arcs with a minimum turning radius as the radius, and the last two points of the target point sequence are connected by a straight line, i.e. the parking path planning based on the parking driving area is completed.

[0203] In specific embodiments, the parking path planning method further comprises: controlling the vehicle to park according to the parking path of the vehicle, thereby realizing automatic parking, for example, realizing automatic parallel parking.

[0204] In summary, according to the path planning method for parking provided in the embodiments of the present application, the parking space information of a parking space to be parked into and the environmental information around the parking space can be acquired, such as the size of the parking space and the obstacle information around the parking space, such as vehicles, walls and road edges; the parking driving area of the vehicle during parking is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is greater than the area of the parking space, and the parking path of the vehicle during parking is planned according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacles during parking according to the situation around the parking space, and the area of the parking driving area is greater than the area of the parking space, so as to improve the utilization rate of the space around the parking space, and thus the problem of difficult parking into the parking space due to small parking space or narrow parking space can be solved, and the success rate of parking is improved. Moreover, whether one-step parking or multi-step parking is determined according to the constructed parking driving area, so as to formulate different parking strategies, that is, the path planning mode can be flexibly selected according to the parking driving area, such as one-step parking or multi-step parking, so as to adapt to more parking scenes, and the flexibility and applicability are higher.

[0205] The present application further provides a path planning device for parking in the embodiments.

[0206] Figure 11 FIG. 1 is a structural schematic diagram of a path planning device for parking according to an embodiment of the present application. As shown in the figure, the path planning device for parking 100 comprises a processor 101, a memory 102, and a path planning program for parking stored in the memory 102 and executable on the processor, and the path planning program for parking is executed by the processor 101 to realize the path planning method for parking of any one of the above embodiments of the present application. Figure 11

[0207] Specifically, when the path planning program for parking is executed by the processor 101, the following processes are specifically executed: acquiring the parking space information of a parking space to be parked into and the environmental information around the parking space; determining the obstacle-free space around the parking space according to the parking space information and the environmental information, and constructing the parking driving area in the obstacle-free space, wherein the parking space is included in the parking driving area, and the area of the parking driving area is greater than the area of the parking space; and planning the parking path of the vehicle during parking according to the parking space information and the parking driving area.

[0208] In an embodiment of the present application, the parking driving area of the vehicle during parking in the obstacle-free space comprises: determining a plurality of boundaries of the parking driving area according to the parking space information and the environmental information; and determining the parking driving area according to the plurality of boundaries.

[0209] In an embodiment of the present application, each boundary is located between the corresponding side parking line of the parking space and the obstacle.

[0210] ​In one embodiment of the present application, the method for determining the boundaries of the parking driving area according to the parking space information and the environment information comprises: determining the endpoint coordinates of the boundaries according to the parking space information and the environment information; and determining each corresponding boundary according to the endpoint coordinates.

[0211] In one embodiment of the present application, the boundaries comprise at least a first boundary AB, a second boundary BC, a third boundary CD, a fourth boundary DE and a fifth boundary EF, the method for determining the endpoint coordinates of the boundaries according to the parking space information and the environment information comprises: determining the Y coordinates of the two endpoints of the first boundary AB according to the Y coordinates of the highest points of the obstacles within the preset distance range of the trailer side parking line of the parking space, determining the X coordinate of one endpoint of the first boundary AB according to the sensing range of the vehicle sensing system in the X axis direction, and determining the X coordinate of the other endpoint of the first boundary AB according to the X coordinate of the obstacle closest to the trailer side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the second boundary BC correspond to the X coordinate and the Y coordinate of the other endpoint of the first boundary AB respectively, the X coordinate of the other endpoint of the second boundary BC is the same as that of the other endpoint of the first boundary AB, and the Y coordinate of the other endpoint of the second boundary BC is determined according to the Y coordinate of the highest point of the obstacle closest to the copilot side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the third boundary CD correspond to the X coordinate and the Y coordinate of the other endpoint of the second boundary BC respectively, the Y coordinate of the other endpoint of the third boundary CD is the same as that of the other endpoint of the second boundary BC, and the X coordinate of the other endpoint of the third boundary CD is determined according to the X coordinate of the obstacle closest to the head side parking line of the parking space outside the parking space; the X coordinate and the Y coordinate of one endpoint of the fourth boundary DE correspond to the X coordinate and the Y coordinate of the other endpoint of the third boundary CD respectively, the X coordinate of the other endpoint of the fourth boundary DE is the same as that of the other endpoint of the third boundary CD, and the Y coordinate of the other endpoint of the fourth boundary DE is determined according to the Y coordinate of the highest point of the obstacle within the preset distance range of the head side parking line of the parking space; the X coordinate and the Y coordinate of one endpoint of the fifth boundary EF correspond to the X coordinate and the Y coordinate of the other endpoint of the fourth boundary DE respectively, the Y coordinate of the other endpoint of the fifth boundary EF is the same as that of the other endpoint of the fourth boundary DE, and the X coordinate of the other endpoint of the fifth boundary EF is determined according to the sensing range of the vehicle sensing system in the X axis direction.

[0212] In one embodiment of the present application, the plurality of boundaries further comprises a sixth boundary AG, a seventh boundary FH and an eighth boundary GH, and the end point coordinates of the plurality of boundaries are determined according to the parking space information and the environment information, wherein the X coordinate and the Y coordinate of one end point of the sixth boundary AG correspond to the X coordinate and the Y coordinate of one end point of the first boundary AB respectively, the X coordinate of the other end point of the sixth boundary AG is the same as the X coordinate of one end point of the first boundary AB, and the Y coordinate of the other end point of the sixth boundary AG is determined according to the sensing range of the vehicle sensing system in the Y axis direction; the X coordinate and the Y coordinate of one end point of the seventh boundary FH correspond to the X coordinate and the Y coordinate of the other end point of the fifth boundary EF respectively, the X coordinate of the other end point of the seventh boundary FH is the same as the X coordinate of the other end point of the fifth boundary EF, and the Y coordinate of the other end point of the seventh boundary FH is determined according to the sensing range of the vehicle sensing system in the Y axis direction; the X coordinate and the Y coordinate of one end point of the eighth boundary GH correspond to the X coordinate and the Y coordinate of the other end point of the sixth boundary AG respectively, and the X coordinate and the Y coordinate of the other end point of the eighth boundary GH correspond to the X coordinate and the Y coordinate of the other end point of the seventh boundary FH respectively.

[0213] In one embodiment of the present application, the parking path of the vehicle is planned according to the parking space information and the parking driving area, comprising: establishing a coordinate system according to the parking space information; obtaining the parking end point coordinates of the vehicle in the coordinate system, wherein the parking end point coordinates are the position coordinates of the rear axle center of the vehicle when the vehicle is at the center position of the parking space; placing the parking end point coordinates into a target point sequence, and planning the parking path of the vehicle according to the current target point sequence.

[0214] In one embodiment of the present application, the coordinate system is established according to the parking space information, comprising: taking the preset corner point of the four corner points of the parking space as the origin, taking the length direction of the parking space as the X axis direction, and taking the width direction of the parking space as the Y axis direction to establish the coordinate system.

[0215] In one embodiment of the present application, the parking path of the vehicle is planned according to the current target point sequence, comprising: taking the parking end point coordinates as the starting point, judging whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking driving area in the process of the vehicle driving out of the garage with the minimum turning radius; if no collision occurs, the parking path of the vehicle is planned according to the current target point sequence; if collision occurs, the target distance by which the vehicle can be translated to the second boundary BC is calculated; judging whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking driving area again in the process of the vehicle driving out of the garage with the minimum turning radius after the vehicle is translated to the second boundary BC by the target distance; if no collision occurs again, the translated parking end point coordinates are placed into the target point sequence, and the parking path of the vehicle is planned according to the current target point sequence; if collision occurs again, the garage exiting step is executed.

[0216] In one embodiment of the present application, determining whether the first front end of the vehicle will collide with the fourth boundary DE of the parking travel area during the vehicle traveling out of the parking area with the minimum turning radius includes: calculating the center coordinates of the trajectory of the vehicle traveling out of the parking area with the minimum turning radius; calculating the turning radius of the first front end according to the vehicle width, the minimum turning radius and the preset safety distance of the vehicle in the lateral and longitudinal directions; determining whether the fourth boundary DE is within the movement range of the first front end according to the X coordinate of one end point of the fourth boundary DE, the turning radius of the first front end and the X coordinate of the center coordinates; if not, determining that the first front end will not collide with the fourth boundary DE, and if yes, calculating the target Y coordinate of the first front end, wherein the target Y coordinate is the Y coordinate corresponding to the first front end moving to the same X coordinate as that of one end point of the fourth boundary DE; and determining whether the first front end will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary DE.

[0217] In one embodiment of the present application, determining whether the first front end will collide with the fourth boundary DE according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary DE includes: if the target Y coordinate is greater than the Y coordinate of one end point of the fourth boundary DE, determining that the first front end will not collide with the fourth boundary DE; and if the target Y coordinate is less than or equal to the Y coordinate of one end point of the fourth boundary DE, determining that the first front end will collide with the fourth boundary DE.

[0218] In one embodiment of the present application, determining whether the fourth boundary DE is within the movement range of the first front end according to the X coordinate of one end point of the fourth boundary DE, the turning radius of the first front end and the X coordinate of the center coordinates includes: if the sum of the X coordinate of the center coordinates and the turning radius of the first front end is less than the X coordinate of one end point of the fourth boundary DE, determining that the fourth boundary DE is not within the movement range of the first front end; and if the sum of the X coordinate of the center coordinates and the turning radius of the first front end is greater than or equal to the X coordinate of one end point of the fourth boundary DE, determining that the fourth boundary DE is within the movement range of the first front end.

[0219] In one embodiment of the present application, calculating the target Y coordinate of the first front end includes: calculating the target Y coordinate according to the X coordinate of one end point of the fourth boundary DE, the turning radius of the first front end, the X coordinate and the Y coordinate of the center coordinates.

[0220] In one embodiment of the present application, calculating the target distance by which the vehicle can be translated to the second boundary BC includes: calculating the target distance according to the X coordinate of the parking end point coordinates, the X coordinate of one end point of the second boundary BC, the preset safety distance of the vehicle in the longitudinal direction and the distance between the rear axle and the rear bumper of the vehicle.

[0221] In one embodiment of the present application, the step of kneading the garage comprises: calculating a first position coordinate, and placing the first position coordinate into the target point sequence, wherein the first position coordinate is a position coordinate of the rear axle center of the vehicle when the first front end angle reaches the fourth boundary DE while the vehicle travels out of the garage with the minimum turning radius after the translation of the parking end coordinate; and calculating a second position coordinate, and placing the second position coordinate into the target point sequence, wherein the second position coordinate is a position coordinate of the rear axle center of the vehicle when the first rear end angle reaches the third boundary CD or the second rear end angle reaches the second boundary BC while the vehicle reverses in the inside direction of the parking space with the minimum turning radius after the translation of the first position coordinate.

[0222] In one embodiment of the present application, after the step of kneading the garage is performed, the method further comprises: determining whether the number of times of performing the step of kneading the garage reaches a set number of times; if yes, planning a parking path of the vehicle according to the current target point sequence; otherwise, repeating the step of determining whether the first front end angle of the vehicle will collide with the fourth boundary DE of the parking travel area again while the vehicle travels out of the garage with the minimum turning radius at the current position until the first front end angle will not collide with the fourth boundary DE of the parking travel area again or the number of times of performing the step of kneading the garage reaches the set number of times.

[0223] In one embodiment of the present application, the calculation of the first position coordinate comprises: determining a third position coordinate of the first front end angle when the vehicle starts from the translated parking end coordinate, and a fourth position coordinate of the first front end angle when the first front end angle reaches the fourth boundary DE; calculating an angle of movement of the first front end angle according to the third position coordinate and the fourth position coordinate; and calculating the first position coordinate according to the third position coordinate and the angle of movement of the first front end angle.

[0224] In one embodiment of the present application, the calculation of the second position coordinate comprises: calculating a target angle change amount when the vehicle reverses in the inside direction of the parking space with the minimum turning radius; calculating a target angle according to the target angle change amount and the heading angle of the vehicle at the first position coordinate; determining a first rear end angle coordinate and a second rear end angle coordinate of the vehicle at the second position coordinate according to the target angle; and calculating the second position coordinate according to the first rear end angle coordinate, the second rear end angle coordinate and the target angle.

[0225] In one embodiment of the present application, the calculation of the target angle change amount when the vehicle reverses in the inside direction of the rear parking space with the minimum turning radius comprises: calculating a first rotation angle when the first rear end angle reaches the third boundary CD, and a second rotation angle when the second rear end angle reaches the second boundary BC; and taking the smaller one of the first rotation angle and the second rotation angle as the target angle change amount.

[0226] In one embodiment of the present application, the first rotation angle when the first rear end corner reaches the third boundary CD is calculated by: determining the coordinates of the first rear end corner when it reaches the third boundary CD and the coordinates of the first rear end corner when the vehicle is at the first position coordinates; and calculating the first rotation angle according to the coordinates of the first rear end corner when it reaches the third boundary CD and the coordinates of the first rear end corner when the vehicle is at the first position coordinates.

[0227] In one embodiment of the present application, the second rotation angle when the second rear end corner reaches the second boundary BC is calculated by: determining the coordinates of the second rear end corner when it reaches the second boundary BC and the coordinates of the second rear end corner when the vehicle is at the first position coordinates; and calculating the second rotation angle according to the coordinates of the second rear end corner when it reaches the second boundary BC and the coordinates of the second rear end corner when the vehicle is at the first position coordinates.

[0228] In one embodiment of the present application, the parking path of the vehicle is planned according to the current target point sequence by: determining a path planning key point according to the coordinates of the last added point in the current target point sequence; adding the path planning key point to the target point sequence; and determining the parking path of the vehicle according to all the points in the current target point sequence.

[0229] In one embodiment of the present application, the path planning key point comprises a tangent point of a first circular motion trajectory and a second circular motion trajectory and a stop position point of the vehicle outside the garage, wherein the first circular motion trajectory is a circular motion trajectory of the vehicle when it starts from the last added point in the current target point sequence and travels in the garage exit direction with the minimum turning radius, and the second circular motion trajectory is a circular motion trajectory of the vehicle when it starts from the stop position point outside the garage and reverses in the garage entry direction with the minimum turning radius.

[0230] In one embodiment of the present application, the parking path of the vehicle is determined according to all the points in the current target point sequence by: fitting all the points in the current target point sequence according to a set rule to obtain the parking path of the vehicle.

[0231] It should be noted that when the parking path of the vehicle is planned, the specific implementation of the parking path planning device 100 of the vehicle is similar to the specific implementation of the parking path planning method of the vehicle described in the first aspect of the present application, and therefore, for the detailed exemplary description of the parking path planning device 100 of the vehicle, please refer to the foregoing description of the parking path planning method of the vehicle. In order to reduce redundancy, the foregoing description will not be repeated here.

[0232] The path planning device 100 for parking according to the embodiment of the present application can obtain the parking space information of the parking space to be parked into and the environmental information around the parking space, such as the size of the parking space and the obstacle information of the vehicles, walls and road edges around the parking space; determine the parking driving area of the vehicle in the parking process according to the parking space information and the environmental information, include the space without obstacles in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and plan the parking path of the vehicle according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacles and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem of difficult parking into the parking space when the parking space is small or narrow, and improve the success rate of parking. And the one-step parking or multi-step parking is determined according to the constructed parking driving area, so as to formulate different parking strategies, that is, the path planning mode can be flexibly selected according to the parking driving area, such as one-step parking or multi-step parking, so as to adapt to more parking scenes, and the flexibility and applicability are higher.

[0233] A further embodiment of the present application proposes a vehicle 200.

[0234] Figure 12 The structural block diagram of the vehicle according to one embodiment of the present application.

[0235] In some embodiments, as shown in Figure 12 The vehicle 200 according to the embodiment of the present application comprises the path planning device 100 for parking of the vehicle as described in any one of the above embodiments of the present application.

[0236] It should be noted that the specific implementation of the vehicle when performing the control of the vehicle is similar to the specific implementation of the path planning method for parking of the vehicle or the path planning device for parking of the vehicle according to any one of the above embodiments of the present application, and thus the detailed exemplary description of the path planning process of the vehicle for parking can be referred to the foregoing description of the path planning method for parking of the vehicle or the path planning device for parking of the vehicle, and in order to reduce redundancy, the detailed exemplary description is not repeated here.

[0237] According to the vehicle 200 of the embodiment of the present application, the parking space information of the parking space to be parked into and the environmental information around the parking space, such as the size of the parking space and the obstacle information of the vehicles, walls and road edges around the parking space, can be acquired; the parking driving area of the vehicle during the parking process is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and the parking path of the vehicle is planned according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacle blocking during parking and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem that it is difficult to park into the parking space when the parking space is small or narrow, and improve the success rate of parking. And whether one-step parking or multi-step parking is planned is determined according to the constructed parking driving area, so as to formulate different parking strategies, that is, the path planning mode can be flexibly selected according to the parking driving area, such as one-step parking or multi-step parking, so as to adapt to more parking scenes, and the flexibility and applicability are higher.

[0238] The further embodiment of the present application also discloses a computer readable storage medium, and a parking path planning program is stored on the computer readable storage medium, and the parking path planning program is executed by a processor to realize the parking path planning method as described in any one of the above embodiments of the present application.

[0239] According to the computer readable storage medium of the embodiment of the present application, the parking path planning program stored on the computer readable storage medium is executed by a processor to acquire the parking space information of the parking space to be parked into and the environmental information around the parking space, such as the size of the parking space and the obstacle information of the vehicles, walls and road edges around the parking space; the parking driving area of the vehicle during the parking process is determined according to the parking space information and the environmental information, the space without obstacles is included in the range of the parking driving area, so that the area of the parking driving area is larger than the area of the parking space, and the parking path of the vehicle is planned according to the parking space information and the parking driving area. That is, the present application can generate the parking driving area without obstacle blocking during parking and with an area larger than the area of the parking space according to the situation around the parking space, so as to improve the utilization rate of the space around the parking space, and further solve the problem that it is difficult to park into the parking space when the parking space is small or narrow, and improve the success rate of parking. And whether one-step parking or multi-step parking is planned is determined according to the constructed parking driving area, so as to formulate different parking strategies, that is, the path planning mode can be flexibly selected according to the parking driving area, such as one-step parking or multi-step parking, so as to adapt to more parking scenes, and the flexibility and applicability are higher.

[0240] In the description of the specification, reference to "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example.

[0241] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to these embodiments. Rather, it is the intention that modifications, changes, substitutions, and variations be made to the embodiments in keeping with the principles and spirit of the application. The scope of the application is to be limited only by the claims and their equivalents.

Claims

1. A method for path planning for parking, characterized in that, The method comprises the following steps: acquiring parking space information of a parking space to be parked into and environment information around the parking space; determining an obstacle-free space around the parking space according to the parking space information and the environment information, and constructing a parking travel area in the obstacle-free space, wherein the parking space is contained in the parking travel area, and an area of the parking travel area is greater than an area of the parking space; planning a parking path of a vehicle to be parked according to the parking space information and the parking travel area; wherein, in the process of constructing the parking travel area of the vehicle in the obstacle-free space, the method comprises: determining a plurality of boundaries of the parking travel area according to the parking space information and the environment information; determining the parking travel area according to the plurality of boundaries, wherein each boundary is located between a corresponding side parking line of the parking space and an obstacle, and the plurality of boundaries are sequentially connected to form a closed parking travel area; determining a plurality of boundaries of the parking travel area according to the parking space information and the environment information comprises: determining endpoint coordinates of the plurality of boundaries according to the parking space information and the environment information; determining each corresponding boundary according to the endpoint coordinates.

2. The path planning method of claim 1, wherein, The plurality of boundaries at least comprises a first boundary, a second boundary, a third boundary, a fourth boundary and a fifth boundary, and determining endpoint coordinates of the plurality of boundaries according to the parking space information and the environment information comprises: determining Y coordinates of two endpoints of the first boundary according to Y coordinates of highest points of obstacles within a preset distance range of a tail side parking line of the parking space, determining X coordinate of one endpoint of the first boundary according to a sensing range of a vehicle sensing system in an X axis direction, and determining X coordinate of the other endpoint of the first boundary according to X coordinate of an obstacle closest to the tail side parking line of the parking space outside the parking space; X coordinate and Y coordinate of one endpoint of the second boundary respectively correspond to X coordinate and Y coordinate of the other endpoint of the first boundary, X coordinate of the other endpoint of the second boundary is the same as X coordinate of the other endpoint of the first boundary, and Y coordinate of the other endpoint of the second boundary is determined according to Y coordinate of a highest point of an obstacle closest to a co-driver side parking line of the parking space outside the parking space; X coordinate and Y coordinate of one endpoint of the third boundary respectively correspond to X coordinate and Y coordinate of the other endpoint of the second boundary, Y coordinate of the other endpoint of the third boundary is the same as Y coordinate of the other endpoint of the second boundary, and X coordinate of the other endpoint of the third boundary is determined according to X coordinate of an obstacle closest to a head side parking line of the parking space outside the parking space; X coordinate and Y coordinate of one endpoint of the fourth boundary respectively correspond to X coordinate and Y coordinate of the other endpoint of the third boundary, X coordinate of the other endpoint of the fourth boundary is the same as X coordinate of the other endpoint of the third boundary, and Y coordinate of the other endpoint of the fourth boundary is determined according to Y coordinate of a highest point of an obstacle within a preset distance range of the head side parking line of the parking space. The X coordinate and the Y coordinate of one end point of the fifth boundary correspond to the X coordinate and the Y coordinate of the other end point of the fourth boundary respectively, the Y coordinate of the other end point of the fifth boundary is the same as that of the other end point of the fourth boundary, and the X coordinate of the other end point of the fifth boundary is determined according to the sensing range of the vehicle sensing system in the X axis direction.

3. The path planning method of claim 2, wherein, The multiple boundaries further include a sixth boundary, a seventh boundary and an eighth boundary, and the end point coordinates of the multiple boundaries are determined according to the parking space information and the environment information, including: The X coordinate and the Y coordinate of one end point of the sixth boundary correspond to the X coordinate and the Y coordinate of one end point of the first boundary respectively, the X coordinate of the other end point of the sixth boundary is the same as that of one end point of the first boundary, and the Y coordinate of the other end point of the sixth boundary is determined according to the sensing range of the vehicle sensing system in the Y axis direction; The X coordinate and the Y coordinate of one end point of the seventh boundary correspond to the X coordinate and the Y coordinate of the other end point of the fifth boundary respectively, the X coordinate of the other end point of the seventh boundary is the same as that of the other end point of the fifth boundary, and the Y coordinate of the other end point of the seventh boundary is determined according to the sensing range of the vehicle sensing system in the Y axis direction; The X coordinate and the Y coordinate of one end point of the eighth boundary correspond to the X coordinate and the Y coordinate of the other end point of the sixth boundary respectively, and the X coordinate and the Y coordinate of the other end point of the eighth boundary correspond to the X coordinate and the Y coordinate of the other end point of the seventh boundary respectively.

4. The path planning method of claim 2 or 3, wherein, The parking path of the vehicle is planned according to the parking space information and the parking driving area, including: A coordinate system is established according to the parking space information; The parking end point coordinates of the vehicle in the coordinate system are obtained, wherein the parking end point coordinates are the position coordinates of the rear axle center of the vehicle when the vehicle is in the center position of the parking space; The parking end point coordinates are placed into a target point sequence, and the parking path of the vehicle is planned according to the current target point sequence.

5. The path planning method of claim 4, wherein, The coordinate system is established according to the parking space information, including: The coordinate system is established with the preset corner point of the four corner points of the parking space as the origin, with the length direction of the parking space as the X axis direction, and with the width direction of the parking space as the Y axis direction.

6. The path planning method of claim 4, wherein, The parking path of the vehicle is planned according to the current target point sequence, including: The first front end angle of the vehicle in the process of the vehicle driving out of the garage with the minimum turning radius is judged with the parking end point coordinates as the starting point; If no collision occurs, the parking path of the vehicle is planned according to the current target point sequence; If collision occurs, the target distance by which the vehicle can be translated to the second boundary is calculated; If the first front end angle of the vehicle in the process of the vehicle driving out of the garage with the minimum turning radius collides with the fourth boundary of the parking driving area again after the vehicle is translated to the second boundary by the target distance, it is judged. If the collision will not occur again, the translated parking end point coordinates are placed into the target point sequence, and a parking path for the vehicle to park is planned according to the current target point sequence; If the collision will occur again, a rolling step is performed.

7. The method of claim 6, wherein, The judgment whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area during the vehicle driving out of the parking area with the minimum turning radius comprises: calculating the center coordinates of the trajectory of the vehicle driving out of the parking area with the minimum turning radius; calculating the turning radius of the first front end angle according to the vehicle width, the minimum turning radius and the preset safety distance of the vehicle in the lateral and longitudinal directions; judging whether the fourth boundary is within the movement range of the first front end angle according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle and the X coordinate of the center coordinates; if not, judging that the first front end angle will not collide with the fourth boundary, and if so, calculating a target Y coordinate of the first front end angle, wherein the target Y coordinate is the Y coordinate corresponding to the movement of the first front end angle to the same X coordinate as that of one end point of the fourth boundary; judging whether the first front end angle will collide with the fourth boundary according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary.

8. The path planning method of claim 7, wherein, The judgment whether the first front end angle will collide with the fourth boundary according to the target Y coordinate and the Y coordinate of one end point of the fourth boundary comprises: if the target Y coordinate is greater than the Y coordinate of one end point of the fourth boundary, judging that the first front end angle will not collide with the fourth boundary; if the target Y coordinate is less than or equal to the Y coordinate of one end point of the fourth boundary, judging that the first front end angle will collide with the fourth boundary.

9. The path planning method of claim 7, wherein, The judgment whether the fourth boundary is within the movement range of the first front end angle according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle and the X coordinate of the center coordinates comprises: if the sum of the X coordinate of the center coordinates and the turning radius of the first front end angle is less than the X coordinate of one end point of the fourth boundary, judging that the fourth boundary is not within the movement range of the first front end angle; if the sum of the X coordinate of the center coordinates and the turning radius of the first front end angle is greater than or equal to the X coordinate of one end point of the fourth boundary, judging that the fourth boundary is within the movement range of the first front end angle.

10. The path planning method of claim 7, wherein, The calculation of the target Y coordinate of the first front end angle comprises: calculating the target Y coordinate according to the X coordinate of one end point of the fourth boundary, the turning radius of the first front end angle, the X coordinate and the Y coordinate of the center coordinates.

11. The path planning method of claim 6, wherein, The calculation of the target distance by which the vehicle can be translated to the second boundary comprises: calculating the target distance according to the X coordinate of the parking end point coordinates, the X coordinate of one end point of the second boundary, the preset safety distance of the vehicle in the longitudinal direction and the distance between the rear axle and the rear bumper of the vehicle.

12. The path planning method of claim 6, wherein, The rolling step comprises: calculating a first position coordinate, and placing the first position coordinate into the target point sequence, wherein the first position coordinate is a position coordinate of a rear axle center of the vehicle when the first front end angle reaches the fourth boundary during the vehicle driving out of the parking space with the minimum turning radius and with the translated parking end coordinate as a starting point; calculating a second position coordinate, and placing the second position coordinate into the target point sequence, wherein the second position coordinate is a position coordinate of a rear axle center of the vehicle when the first rear end angle reaches the third boundary or the second rear end angle reaches the second boundary during the vehicle reversing into the parking space with the minimum turning radius and with the first position coordinate as a starting point.

13. The path planning method of claim 12, wherein, After the step of performing the rolling-in is executed, further comprising: determining whether the number of times of performing the rolling-in reaches a set number of times; if yes, planning a parking path of the vehicle according to the current target point sequence; otherwise, repeating the step of determining whether the first front end angle of the vehicle will collide with the fourth boundary of the parking driving area again during the vehicle driving out of the parking space with the minimum turning radius and with the current position as a starting point until the first front end angle will not collide with the fourth boundary of the parking driving area again or the number of times of performing the rolling-in reaches the set number of times.

14. The path planning method of claim 12, wherein, The calculating the first position coordinate comprises: determining a third position coordinate of the first front end angle when the vehicle starts with the translated parking end coordinate and a fourth position coordinate of the first front end angle when the first front end angle reaches the fourth boundary; calculating an angle of movement of the first front end angle according to the third position coordinate and the fourth position coordinate; calculating the first position coordinate according to the third position coordinate and the angle of movement of the first front end angle.

15. The path planning method of claim 14, wherein, The calculating the second position coordinate comprises: calculating a target angle change amount when the vehicle reverses into the parking space with the minimum turning radius; calculating a target angle according to the target angle change amount and a heading angle of the vehicle at the first position coordinate; determining a first rear end angle coordinate and a second rear end angle coordinate of the vehicle at the second position coordinate according to the target angle; calculating the second position coordinate according to the first rear end angle coordinate, the second rear end angle coordinate and the target angle.

16. The path planning method of claim 15, wherein, The calculating the target angle change amount when the vehicle reverses into the parking space with the minimum turning radius comprises: calculating a first turning angle when the first rear end angle reaches the third boundary and a second turning angle when the second rear end angle reaches the second boundary; taking a smaller one of the first turning angle and the second turning angle as the target angle change amount.

17. The path planning method of claim 15, wherein, The calculating the first turning angle when the first rear end angle reaches the third boundary comprises: determining a coordinate of the first rear end angle when the first rear end angle reaches the third boundary and a coordinate of the first rear end angle when the vehicle starts with the first position coordinate; The first turning angle is calculated according to the coordinate of the first rear end corner when reaching the third boundary and the coordinate of the first rear end corner when the vehicle is at the first position coordinate.

18. The path planning method of claim 16, wherein, The second turning angle when the second rear end corner reaches the second boundary is calculated, including: determining the coordinate of the second rear end corner when reaching the second boundary and the coordinate of the second rear end corner when the vehicle is at the first position coordinate; The second turning angle is calculated according to the coordinate of the second rear end corner when reaching the second boundary and the coordinate of the second rear end corner when the vehicle is at the first position coordinate.

19. The path planning method of claim 13, wherein, The parking path of the vehicle is planned according to the current target point sequence, including: determining a path planning key point according to the coordinate of the last added point in the current target point sequence; adding the path planning key point to the target point sequence; determining the parking path of the vehicle according to all points in the current target point sequence.

20. The path planning method of claim 19, wherein, The key point includes a tangent point of a first circular motion trajectory and a second circular motion trajectory and a stop position point outside the garage, wherein the first circular motion trajectory is a circular motion trajectory of the vehicle when starting from the last added point in the current target point sequence and driving in the garage exit direction with a minimum turning radius, and the second circular motion trajectory is a circular motion trajectory of the vehicle when starting from the stop position point outside the garage and reversing in the garage entrance direction with the minimum turning radius.

21. The path planning method of claim 19, wherein, The parking path of the vehicle is determined according to all points in the current target point sequence, including: fitting all points in the current target point sequence according to a set rule to obtain the parking path of the vehicle.

22. A parking path planning device characterized by comprising: including: a processor, a memory, and a parking path planning program stored on the memory and executable on the processor, the parking path planning program being executed by the processor to implement the parking path planning method of any one of claims 1-21.

23. A vehicle characterized by comprising: including: The parking path planning device of claim 22.

24. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a parking path planning program, and the parking path planning program is executed by the processor to implement the parking path planning method of any one of claims 1-21.

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