Automatic parking method, electronic equipment and storage medium

Abstract

The invention discloses an automatic parking method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining the environment element information around a vehicle through an environment sensing module, and the element type comprises a parking space; when the idle parking spaces are detected, a target parking space is determined from the idle parking spaces; a parking space coordinate system of the target parking space is established, a parking end point and a first parking pose of the parking end point under the current vehicle coordinate system are determined, and the parking end point is the position of a reference point on the vehicle in the target parking space when parking is completed; according to the environment element information, planning an initial parking path for moving a reference point on the vehicle to the position of the first parking pose, wherein the reference point on the vehicle is taken as an original point in the vehicle coordinate system; and controlling the vehicle to park according to the initial parking path. A vehicle coordinate system and a parking space coordinate system are respectively established, the position of a reference point on a vehicle in a parking space when the vehicle is parked is determined, and parking path planning can be carried out after pose conversion without depending on a GPS (Global Positioning System).

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving planning, and in particular to an automatic parking method, electronic equipment and storage medium. Background Art

[0002] In current automatic parking applications, positioning technology plays a very important role. On the one hand, positioning technology can effectively represent the real-time position of the vehicle during parking; it can also effectively represent the position of parking spaces, pedestrians, and other obstacles in the parking environment. These two aspects provide information for vehicle route planning.

[0003] At present, positioning technology generally uses one or more of the sensors such as GPS, IMU, tachometer, etc. to form a combined inertial navigation system, RTK (Real Time Kinematic) system and other positioning systems to locate the vehicle and current environmental parameters. However, in underground parking lots or when blocked by large obstacles, the accuracy of GPS and IMU positioning devices will drop significantly. At this time, the positioning error is large, and it is difficult to accurately achieve automatic parking. Therefore, how to eliminate or reduce the dependence on GPS and IMU positioning devices during automatic parking is a problem that needs to be solved. Summary of the invention

[0004] The present invention provides an automatic parking method to solve the problem of dependence on GPS and IMU positioning devices during automatic parking.

[0005] In a first aspect, the present invention provides an automatic parking method, which is applied to an automatic parking system including an environment perception module, and the method comprises:

[0006] Acquiring environmental element information around the vehicle through the environmental perception module, wherein the environmental element information includes element type and element posture, and the element type includes a parking space;

[0007] When an empty parking space is detected, determining a target parking space from the empty parking spaces;

[0008] Establishing a parking space coordinate system of the target parking space and determining a parking end point G1 and a first parking posture of the parking end point G1 in the current vehicle coordinate system, wherein the parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed;

[0009] In the current vehicle coordinate system, an initial parking path is planned for moving a reference point on the vehicle to a location of the first parking posture according to the environmental element information, wherein the vehicle coordinate system takes the reference point on the vehicle as an origin;

[0010] The vehicle is parked according to the initial parking path.

[0011] In a second aspect, the present invention provides an automatic parking system, comprising:

[0012] An environment perception module, used to obtain environmental element information around the vehicle through the environment perception module, wherein the environmental element information includes element type and element posture, and the element type includes a parking space;

[0013] a parking space selection module, for determining a target parking space from the vacant parking spaces when an vacant parking space is detected;

[0014] a first parking posture determination module, configured to establish a parking space coordinate system of the target parking space and determine a parking end point G1 and a first parking posture of the parking end point G1 in a current vehicle coordinate system, wherein the parking end point G1 is a position of a reference point on the vehicle in the target parking space when parking is completed;

[0015] A decision module, configured to plan an initial parking path for moving a reference point on the vehicle to a location of the first parking posture according to the environmental element information in a current vehicle coordinate system, wherein the vehicle coordinate system takes the reference point on the vehicle as an origin;

[0016] A control module is used to control the parking of the vehicle according to the initial parking path.

[0017] In a third aspect, the present invention provides an electronic device, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the automatic parking method described in the first aspect of the present invention.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the automatic parking method described in the first aspect of the present invention when executed.

[0022] An embodiment of the present invention provides an automatic parking method, which is applied to an automatic parking system including an environment perception module. The environment element information around the vehicle is obtained through the environment perception module. The environment element information includes element type and element posture. The element type includes a parking space. When an empty parking space is detected, a target parking space is determined from the empty parking spaces. A parking space coordinate system of the target parking space is established, and a parking end point G1 and a first parking posture of the parking end point G1 in a current vehicle coordinate system are determined. The parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed. In the current vehicle coordinate system, an initial parking path is planned according to the environment element information, in which the reference point on the vehicle moves to the position of the first parking posture. The vehicle coordinate system takes the reference point on the vehicle as the origin. The vehicle parking is controlled according to the initial parking path. After determining the target parking space, a vehicle coordinate system and a parking space coordinate system are established respectively, and the position of the reference point on the vehicle in the parking space when parking is completed is determined, that is, the parking end point is determined, and the posture of the parking end point is converted from the parking space coordinate system to the vehicle coordinate system. The parking path from the reference point to the parking end point can be planned in the vehicle coordinate system without relying on the positioning guidance of positioning systems such as GPS. The adaptability of the parking system in non-positioning and weak positioning scenarios such as underground can be improved, and automatic parking can be achieved based on the data collected by external visual sensors (i.e., environmental perception modules).

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a flow chart of an automatic parking method provided by an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of constructing a vehicle coordinate system and a parking space coordinate system of a target parking space provided by an embodiment of the present invention;

[0027] Figure 3 is a flow chart of another automatic parking method provided by an embodiment of the present invention;

[0028] Figure 4is a schematic diagram of a parking space origin G0 provided by an embodiment of the present invention when it is located at the edge of the detection range of the environment perception module;

[0029] Figure 5 is a schematic diagram of a parking space origin G0 provided by an embodiment of the present invention when it is outside the detection range of the environment perception module;

[0030] Figure 6 is a structural schematic diagram of an automatic parking system provided by an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] Figure 1 This is a flow chart of an automatic parking method provided by an embodiment of the present invention. This embodiment is applicable to automatic parking in scenarios where GPS or IMU cannot effectively function. The method can be performed by an automatic parking system including an environment perception module. The automatic parking system can be implemented in the form of hardware and / or software. The automatic parking system can be configured in an electronic device. Figure 1 As shown, the automatic parking method includes:

[0034] S101. Acquire environmental element information around the vehicle through an environmental perception module.

[0035] The environment perception module is an environment perception device including a camera and an analysis unit. The camera can collect the environment image around the vehicle and send it to the analysis unit. The analysis unit processes and analyzes the environment element information of the environment image to obtain the environment element information, which usually involves edge detection, contour extraction and other technologies. The environment element information includes element type and element pose. The element type includes parking spaces, obstacles, no-entry areas, etc. When the element is an irregularly shaped or large object, the element pose can specifically be a pose set of the element's contour points. The pose describes the position and direction of an object in three-dimensional space. The pose includes (spatial) coordinates and rotation angles.

[0036] The present invention also establishes a vehicle coordinate system with a reference point on the vehicle as the coordinate origin. When the positions of the camera and the reference point coincide with each other, the element pose captured by the camera is the pose in the parking space coordinate system; however, there may be a situation where the positions of the camera and the reference point do not coincide with each other. For example, in order to facilitate the collection of environmental images around the vehicle, the camera is usually located on the top of the vehicle body, and the reference point is located at the center of the rear axle of the vehicle. Since the positions of the reference point and the camera on the vehicle are fixed, the coordinate (pose) conversion can be performed based on the orientation relationship between the two. The pose captured by the camera can be directly converted into the pose in the vehicle coordinate system, so that the element poses of the collected environmental elements are all poses in the vehicle coordinate system, and are uniformly set to the pose in the vehicle coordinate system, which is convenient for subsequent steps to process pose data.

[0037] S102: When an empty parking space is detected, a target parking space is determined from the empty parking spaces.

[0038] The environment perception module detects the internal vacancy distance of the parking space from the entrance of the parking space as the starting point. When the internal vacancy distance is detected to be greater than a preset distance, the parking space is regarded as an empty parking space. For example, the preset distance is 50 cm. The detection range of the environment perception module is usually greater than the overall body length of the vehicle. For example, the radius of the detection range is usually not less than 15 m. Therefore, the environment perception module can detect a wide range, and the number of empty parking spaces that can be detected may be multiple.

[0039] Optionally, in a usage scenario, the parking spaces in the parking lot are of the same size and can all be used for parking the vehicle. In such a usage scenario, at least a portion of the parking space area with a length of a preset distance is located within the environmental perception module. Therefore, the nearest parking space can be used as the target parking space. In addition, a human-computer interaction interface is usually provided on the vehicle, and all the free parking spaces can also be sent to the human-computer interaction interface in the form of a distributed map, and the user can select the target parking space from it.

[0040] Optionally, in another usage scenario, the parking spaces in the parking lot have different sizes to accommodate parking requirements of vehicles of different sizes. When an empty parking space is detected, a target parking space is determined from the empty parking spaces, specifically including: when an empty parking space is detected, obtaining a vehicle size parameter and a size parameter of the empty parking space; and determining the target parking space from the empty parking spaces according to the size parameters of the vehicle and the empty parking space.

[0041] Environmental elements include parking spaces. When an empty parking space is detected, the posture of the empty parking space can be obtained, and the posture includes the contour posture of the parking space. When detecting the size of an empty parking space in such a usage scenario, it is necessary to limit the overall area of ​​the empty parking space to be within the detection range of the environmental perception module, so that the size parameters of the parking space, that is, the length and width of the parking space, can be calculated based on the contour posture of the parking space. The size parameters of the vehicle can usually be directly obtained, for example, they can be obtained from the factory parameters provided by the vehicle manufacturer. The size parameters of the vehicle include the length and width of the vehicle. It is easy to understand that if the parking space is to be used to park the vehicle, the length and width of the parking space must be correspondingly greater than the length and width of the vehicle. Therefore, based on this principle, a qualified parking space can be determined from the empty parking spaces. When the number of qualified parking spaces is greater than one, the qualified parking space closest to the vehicle can be used as the target parking space, or it can be selected by the user.

[0042] S103, establishing a parking space coordinate system of the target parking space and determining a parking end point G1 and a first parking posture of the parking end point G1 in the current vehicle coordinate system, wherein the parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed.

[0043] The spatial coordinate system is usually three-dimensional, but the vehicle and the parking space in the present invention are both located on the ground, and the parking planning can be regarded as a two-dimensional plane problem, so only the coordinate system of the XY plane needs to be constructed.

[0044] After the target parking space is determined, a parking space coordinate system is established with a point in the target parking space as the parking space origin. In an optional embodiment, the parking space coordinate system of the target parking space is established, including: the parking space coordinate system of the target parking space, with a point at the entrance of the target parking space as the parking space origin G0, the direction of the target parking space as the positive direction of the Y axis, and the right direction perpendicular to the Y axis as the positive direction of the X axis. Among them, the point at the entrance of the target parking space can be the midpoint or any end point of the parking space entrance, and the direction of the target parking space is a direction perpendicular to the parking space entrance and pointing to the outside of the target parking space.

[0045] Figure 2 Schematic diagram of constructing a vehicle coordinate system and a parking space coordinate system of a target parking space; Figure 2 As shown, the parking space origin G0 of the parking space coordinate system is located at the midpoint of the entrance of the target parking space 2, the direction of the target parking space 2 is the positive direction of the Y axis, the right direction perpendicular to the Y axis is the positive direction of the X axis, the origin of the vehicle coordinate system is the reference point A0 on the vehicle, the vertical forward direction of the vehicle is the positive direction of the X axis, and the direction perpendicular to the X axis and close to the target parking space is the positive direction of the Y axis.

[0046] The construction of the above vehicle coordinate system and parking space coordinate system is only an example. There are many methods for determining the origin, X-axis and Y-axis of the coordinate system. In addition, the reference point on the vehicle can also be located at the location of the camera (center of the detection range). The vehicle coordinate system can take the vertical front direction of the vehicle as the positive direction of the X-axis, and the direction perpendicular to the X-axis and away from the target parking space as the positive direction of the Y-axis. It can also take the right lateral direction of the vehicle as the X-axis, and the vertical front direction of the vehicle as the Y-axis, etc. The construction method of the parking space coordinate system is similar and is not shown one by one.

[0047] In an optional embodiment, if Figure 2 As shown, A0 is a reference point on the vehicle 1, and A0 is located at the center of the rear axle of the vehicle 1. The parking end point G1 is the position of the reference point A0 on the vehicle in the target parking space when parking is completed. In an ideal parking situation, the vehicle 1 is usually parked at the center of the target parking space 2 in the width direction, and the Y axis of the current parking space coordinate system passes through the midpoint of the parking space entrance. Therefore, the parking end point G1 is in the negative direction of the Y axis of the parking space coordinate system. Then, the vehicle body length L1 from A0 to the front end of the vehicle is obtained, and the point with a length of L1 from G0 in the negative direction of the Y axis is taken as the parking end point G1. Furthermore, the point with a length of (L1+L2) from G0 in the negative direction of the Y axis can also be taken as the parking end point G1. L2 is the parking redundant distance, for example, L2 is 30 cm.

[0048] The parking origin G0 of the parking coordinate system is within the detection range of the environmental perception module, and the position and posture of the parking origin G0 in the vehicle coordinate system can be detected, that is, the position and posture of the parking origin in the vehicle coordinate system and the parking coordinate system can be determined at the same time, so the position and posture conversion relationship between the parking coordinate system and the current vehicle coordinate system is also determined. After determining the parking end point G1 and the parking posture system, the position and posture of the parking end point G1 in the parking coordinate system can be determined, and then the position and posture of the parking end point G1 in the parking coordinate system is converted to the vehicle coordinate system to obtain the first parking posture of the parking end point G1 in the current vehicle coordinate system. The advantage of this setting is that regardless of whether the parking end point G1 is within the detection range of the environmental perception module, the position and posture of the parking end point G1 in the vehicle coordinate system can be obtained.

[0049] In another optional embodiment, determining the parking end point G1 and the first parking posture of the parking end point G1 in the current vehicle coordinate system includes: obtaining a preset distance parameter of the vehicle relative to the boundary of the target parking space in an ideal parking state; determining the parking end point G1 in the target parking space according to the preset distance parameter and the position of a reference point on the vehicle in the vehicle; determining the posture of the parking end point G1 in the parking space coordinate system based on the posture relationship between the parking end point G1 and the parking space origin G0; and converting the posture of the parking end point G1 in the parking space coordinate system to the current vehicle coordinate system to obtain the first parking posture.

[0050] The preset distance parameter of the vehicle relative to the boundary of the target parking space under the ideal parking state can be the distance between the front end, rear end, left side or right side of the vehicle and the boundary of the target parking space. When the preset distance parameter is determined, it is equivalent to determining the position of the vehicle in the target parking space when parking is completed. Therefore, based on the posture relationship between the reference point and the vehicle, and the vehicle and the parking space, the position of the parking end point G1 overlapping with the reference point under the ideal parking state can be determined, and then the posture of the parking end point G1 in the parking space coordinate system can be obtained, and then the posture of the parking end point G1 in the parking space coordinate system is converted to the vehicle coordinate system to obtain the posture of the parking end point G1 in the vehicle coordinate system.

[0051] S104. In the current vehicle coordinate system, plan an initial parking path for moving a reference point on the vehicle to a location of the first parking posture according to the environmental element information, wherein the vehicle coordinate system takes the reference point on the vehicle as the origin.

[0052] Environmental element information may include element type and element posture. Element types include parking spaces, obstacles, prohibited areas, etc. Therefore, in the current vehicle coordinate system, the reference point on the vehicle (i.e., the current coordinate origin) is used as the starting point, the first parking posture is used as the end point, and the path planning is performed in combination with the environmental element information to obtain the initial parking path.

[0053] S105: Control the vehicle to park according to the initial parking path.

[0054] A control module is provided in the vehicle. After generating the initial parking path, the control module will generate corresponding control instructions according to the initial parking path, including speed adjustment, steering angle, etc., and then control the vehicle driving according to the control instructions so that the vehicle can drive according to the initial parking path.

[0055] In an optional embodiment, controlling the parking of the vehicle according to the initial parking path includes: dividing the initial parking path into a plurality of continuous arc segments, wherein the configuration information of each arc segment includes the length and the turning angle of the arc segment; and controlling the vehicle to drive based on the configuration information of the arc segment to achieve parking. By segmenting the initial parking path, the vehicle can be controlled to drive according to the initial parking path, thereby improving the accuracy and controllability of the vehicle driving path.

[0056] An embodiment of the present invention provides an automatic parking method, which is applied to an automatic parking system including an environment perception module. The environment element information around the vehicle is obtained through the environment perception module. The environment element information includes element type and element posture. The element type includes a parking space. When an empty parking space is detected, a target parking space is determined from the empty parking spaces. A parking space coordinate system of the target parking space is established, and a parking end point G1 and a first parking posture of the parking end point G1 in a current vehicle coordinate system are determined. The parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed. In the current vehicle coordinate system, an initial parking path is planned according to the environment element information, in which the reference point on the vehicle moves to the position of the first parking posture. The vehicle coordinate system takes the reference point on the vehicle as the origin. The vehicle parking is controlled according to the initial parking path. After determining the target parking space, a vehicle coordinate system and a parking space coordinate system are established respectively, and the position of the reference point on the vehicle in the parking space when parking is completed is determined, that is, the parking end point is determined, and the posture of the parking end point is converted from the parking space coordinate system to the vehicle coordinate system. The parking path from the reference point to the parking end point can be planned in the vehicle coordinate system without relying on the positioning guidance of positioning systems such as GPS. The adaptability of the parking system in non-positioning and weak positioning scenarios such as underground can be improved, and automatic parking can be achieved based on the data collected by external visual sensors (i.e., environmental perception modules).

[0057] In one embodiment of the present invention, after the vehicle is parked according to the initial parking path, in order to ensure that the vehicle can be parked successfully, the vehicle's driving data and environmental element information are further monitored and analyzed during the parking process. Figure 3 A flowchart of another automatic parking method provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the automatic parking method also includes:

[0058] S301. During the parking process of the vehicle, when the parking origin G0 is within the detection range of the environment perception module, detect and save the standby postures of the parking origin G0 in the vehicle coordinate system for the last N frames.

[0059] N is a preset positive integer greater than or equal to 1, that is, there is at least one frame of spare posture; the parking space origin G0 is the location of the origin of the parking space coordinate system.

[0060] During the parking process, the vehicle is in a moving state, the position of the reference point on the vehicle and the vehicle coordinate system with the reference point as the origin are changing, and the relative position between the parking origin G0 and the vehicle, that is, the backup posture, is also changing. The last N frames of backup posture are saved in a rolling manner in the format of [x1, y1, YAW1], [x2, y2, YAW2]..., where YAW is the rotation angle. Because the vehicle is moving and the detection range of the environment perception module is limited, the backup posture of the last N frames of the parking origin G0 in the vehicle coordinate system is detected and saved so that when the parking origin G0 is outside the detection range and the path needs to be replanned, the posture of the parking origin G0 in the vehicle coordinate system when replanning the path can be determined based on the backup posture.

[0061] S302: When the path re-planning condition is triggered, determine whether the parking space origin G0 is within the detection range of the environment perception module.

[0062] The path replanning conditions are mainly due to path deviation or obstacle. The reasons for path deviation include: the control algorithm cannot control the vehicle to accurately follow the planned trajectory, or the road tilt, vehicle tire pressure, etc. cause the vehicle to tilt slightly;

[0063] The causes of the failure can be roughly divided into the following categories:

[0064] A. Due to perception bias, the farther the obstacle is, the less accurate the visual perception is, which results in errors in the initial parking path. When driving along the initial parking path, collisions may occur, requiring real-time collision detection to trigger re-planning.

[0065] B. The passing of a dynamic obstacle or the addition of a static obstacle, such as the addition of an ice cream bucket to the initial parking path after parking begins, will also trigger the real-time collision detection algorithm.

[0066] When the path replanning condition is triggered, it is necessary to determine the current position of the vehicle itself (reference point) and the posture of the parking end point in the current vehicle coordinate system, so it is necessary to obtain the correspondence between the parking space coordinate system and the current vehicle coordinate system. Whether the parking space origin G0 is within the detection range is equivalent to whether the vehicle can directly obtain the correspondence between the parking space coordinate system and the current vehicle coordinate system. Therefore, it is necessary to judge whether the parking space origin G0 is within the detection range. If not, execute S303.

[0067] When the path replanning condition is triggered and the parking space origin G0 is within the detection range of the environmental perception module, the second parking position of the parking end point G1 in the current vehicle coordinate system is determined; in the current vehicle coordinate system, a first updated parking path is planned to move the reference point on the vehicle to the location of the second parking position according to the current environmental element information; and the vehicle parking is controlled according to the first updated parking path.

[0068] When the path re-planning condition is triggered and the parking space origin G0 is within the detection range of the environmental perception module, the environmental perception module on the current vehicle can detect the parking space origin G0, and the corresponding relationship between the current vehicle coordinate system and the parking space coordinate system can be determined, that is, the position of the parking end point G1 in the parking space coordinate system can be converted to the current vehicle coordinate system to obtain the second parking position. Then, the path is planned according to the second parking position and the reference point of the current vehicle and the environmental element information to obtain the first updated parking path and control the driving. The specific process is similar to S104-S105, and the relevant description can be referred to for details.

[0069] S303: Determine a first relative posture from the N frames of spare postures, and use the position of the reference point on the vehicle when the first relative posture is detected as a relay point.

[0070] When the path replanning condition is triggered and the parking space origin G0 is not within the detection range of the environmental perception module, the position of the parking space (parking space origin G0) in the current vehicle coordinate system cannot be directly determined, and the path cannot be replanned directly. Therefore, it is necessary to determine the relay point to assist in determining the position of the parking space origin G0 in the current vehicle coordinate system.

[0071] In an optional example, N is 1 or 2. When N is 1, the number of the candidate poses is 1 frame, and the candidate pose is directly used as the first relative pose. When N is 2, any frame of the candidate pose can be used as the first relative pose.

[0072] In an optional example, a first relative posture is determined from N frames of spare postures, including: fitting a posture curve based on the spare postures, judging whether there is an abnormal posture based on the smoothness of the posture curve, and if so, eliminating the abnormal posture, and determining the first relative posture based on the remaining spare postures.

[0073] Based on the smoothness of the pose curve, abnormal poses can be quickly identified to prevent them from affecting path planning. In this example, setting N≥3 can help identify abnormal poses and improve the fault tolerance of pose recording, avoiding data loss or noise interference. When a certain pose frame is abnormal, other pose frames can be selected.

[0074] In another optional example, determining a first relative posture from N frames of spare postures includes: calculating a posture difference between two adjacent frames of spare postures; judging whether there is an abnormal posture in the N frames of spare postures based on the change amplitude of the posture difference; if so, eliminating the abnormal posture and determining the first relative posture based on the remaining spare postures. Preferably, in this example, N≥5.

[0075] Since the vehicle parking process is a low-speed condition, the change range of the posture is small in a short period of time, so the difference between the remaining spare postures is also small. The first relative posture is determined according to the remaining spare postures. Specifically, the remaining last frame of spare posture can be used as the first relative posture, or any remaining frame of spare posture can be used as the first relative posture, or the average of the remaining spare postures can be used as the first relative posture. This embodiment does not limit this.

[0076] Figure 4 is a schematic diagram of a parking space origin G0 located at the edge of the detection range of the environment perception module, such as Figure 4 As shown in the figure, L1 is the initial parking path, and the parking origin G0 is located at the edge of the detection range of the environment perception module. The position of the vehicle when the last N frames of spare postures are detected is Figure 4 The positions in are the same or similar. Assuming that the position of the reference point A0 on the vehicle is M when the first relative posture is detected, then M is the relay point.

[0077] S304: Acquire vehicle driving data from the time when the first relative posture is detected to the time when the path replanning condition is triggered.

[0078] Figure 5 is a schematic diagram of a parking space origin G0 being outside the detection range of the environment perception module, such as Figure 5 As shown, L1 is the initial parking path, the parking space origin G0 is outside the detection range of the environmental perception module, the position where the first relative posture is detected is the relay point M, and the position that triggers the path replanning condition is the position of the current vehicle's reference point A0, that is, the vehicle driving data from the vehicle's reference point from the relay point M to the current position is obtained.

[0079] S305. Calculate a second relative posture of the reference point on the current vehicle relative to the relay point based on the vehicle driving data.

[0080] In an optional example, the vehicle driving data includes multiple arc segments divided based on an initial parking path and configuration information of the arc segments, the configuration information of each arc segment includes the length and turning angle of the arc segment, and the second relative posture of the reference point on the current vehicle relative to the relay point is calculated based on the vehicle driving data, including: obtaining the arc segments and configuration information of the arc segments executed when the reference point of the vehicle moves from the relay point to the current position; accumulating the length of each arc segment to obtain the total driving distance; accumulating the turning angle of each arc segment to obtain the vehicle turning angle, and determining the second relative posture of the reference point on the vehicle relative to the relay point based on the total driving distance and the vehicle turning angle.

[0081] Based on the existing initial parking path, the configuration information of the arc segment is obtained, and the total driving distance and the vehicle turning angle are calculated based on the configuration information between the relay point and the current reference point position, so that the second relative posture can be quickly obtained. Specifically, the corresponding distance from the starting point to the end point can be obtained through the arc calculation formula, and the orientation relationship and angle relationship of the end point relative to the starting point in the X and Y axis directions can be obtained through the change of the angle, that is, the relative posture of the end point and the starting point.

[0082] In another optional example, the vehicle driving data includes tachometer data, and calculating the second relative position of a reference point on the current vehicle relative to the relay point based on the vehicle driving data also includes: calculating the total driving distance of the vehicle's reference point from the relay point to the current position and the difference in driving distance between the left and right wheels of the vehicle based on the tachometer data; calculating the vehicle turning angle of the vehicle from the relay point to the current position based on the total driving distance and the difference in driving distance between the left and right wheels; and determining the second relative position of the reference point on the vehicle relative to the relay point based on the total driving distance and the vehicle turning angle.

[0083] In low-speed parking conditions, wheel speed is difficult to control accurately, so path deviation may occur when controlling the vehicle based on control instructions, that is, the vehicle execution angle or stroke is inaccurate. Therefore, the data of the wheel speed meter can be used to calculate the distance the wheel moves. The wheel speed meter is a device that calculates the vehicle's posture (position and orientation) by measuring the wheel speed. Its working principle is based on the photoelectric encoder installed on the drive wheel motor. By detecting the distance the wheel moves in a certain period of time, the relative posture change of the vehicle is calculated.

[0084] The wheel speed meter data includes wheel count, wheel length (circumference), etc., and the following incremental data of two adjacent frames can be calculated based on the wheel speed meter data.

[0085] Vehicle forward distance: forward_dis = π(cl*wl+cr*wr)) / (resolution / 2);

[0086] Difference in distance traveled by left and right wheels: delta_dis = π(-cl*wl+cr*wr)) / resolution;

[0087] Vehicle turning angle: delta_theta = delta_dis / Base_length.

[0088] Among them, the left wheel counting increment is cl, the right wheel counting increment is cr, the left wheel circumference is wl, the right wheel circumference is wr, the vehicle width is Base_length; the counting increment of one wheel rolling is resolution.

[0089] After the calculation is completed, the incremental data of the time from the relay point to the current position of the reference point of the calculated vehicle is accumulated to obtain the total travel distance and the vehicle turning angle. Based on the total travel distance and the vehicle turning angle, the relative posture of the relay point relative to the current reference point of the vehicle is determined, that is, the second relative posture, which is the posture in the current vehicle coordinate system. Using wheel speed meter data to calculate the second relative posture can improve the accuracy of the second relative posture, especially in the case of possible path deviation.

[0090] S306. Determine a third relative posture of the parking space origin G0 relative to a reference point on the current vehicle according to the first relative posture and the second relative posture.

[0091] Let the parking space coordinate system be Tp;

[0092] The first relative posture is the posture of the parking origin G0 detected at the location of the relay point M in the vehicle coordinate system at that moment, that is, the posture of the parking origin G0 relative to the relay point. Assuming that the vehicle coordinate system at that moment is Tv1, the first relative posture is the posture in the vehicle coordinate system Tv1;

[0093] The second relative posture is the posture of the reference point of the current vehicle relative to the relay point, that is, the posture of the reference point of the current vehicle in the relay point coordinate system;

[0094] If the positions of the parking space origin G0 and the reference point on the current vehicle relative to the relay point are known respectively, the position of the parking space origin G0 relative to the reference point on the current vehicle, that is, the third relative position, can be calculated.

[0095] Assume that the current vehicle coordinate system is Tv2; the third relative posture is the posture of the parking space origin G0 in the current vehicle coordinate system Tv2.

[0096] S307: Control the parking of the vehicle based on the third relative position and current environmental element information.

[0097] In an optional example, controlling vehicle parking based on a third relative posture and current environmental element information includes: determining a fourth relative posture of the parking end point G1 relative to a reference point on the current vehicle based on the third relative posture and the relative posture of the parking end point G1 and the parking space origin G0; planning a second updated parking path for moving the reference point on the current vehicle to the parking end point G1 based on the current environmental element information and the fourth relative posture, and controlling vehicle parking based on the second updated parking path.

[0098] The third relative posture is determined, that is, the posture of the parking space origin G0 in the current vehicle coordinate system Tv2 is determined. Therefore, the relative posture of the parking end point G1 and the parking space origin G0 and the third relative posture can be used to determine the posture of the parking end point G1 relative to the reference point on the current vehicle to obtain the fourth relative posture, that is, the posture of the parking end point G1 in the current vehicle coordinate system Tv2.

[0099] In an optional example, the parking space origin is located at the midpoint of the parking space entrance, and the vehicle parking is controlled based on the third relative posture and the current environmental element information, which also includes: planning a temporary parking path from a reference point on the current vehicle to the parking space origin G0 based on the current environmental element information and the third relative posture, controlling the vehicle movement based on the temporary parking path, and during the movement, when the environmental perception module detects the parking space origin G0, re-determining the parking end point G1 and the third parking posture of the parking end point G1 in the current vehicle coordinate system, and in the current vehicle coordinate system, planning a third updated parking path from the reference point on the vehicle to the location of the third parking posture according to the current environmental element information; and controlling the vehicle parking according to the third updated parking path.

[0100] Since the parking space origin G0 is located at the midpoint of the parking space entrance, when the vehicle is parking, the reference point on the vehicle may pass through the parking space origin G0 or the position near the parking space origin G0. Therefore, the parking space origin G0 can be used as the relay target point for the reference point on the vehicle to enter the parking space, and the parking space origin G0 is used to plan a temporary parking path. When the parking space origin G0 is re-detected, the parking end point G1 is re-determined and a new parking path is planned. When the parking space origin G0 is within the detection range, the position and posture data of the parking space origin G0 and the parking end point G1 in the current vehicle coordinate system can be obtained more accurately, which improves the positioning accuracy of the key positions in the parking space. Re-planning the parking path based on these position and posture data is conducive to achieving precise parking.

[0101] Corresponding to the automatic parking method of the present invention, in one embodiment of the present invention, an automatic parking system is also provided. Figure 6 A schematic structural diagram of an automatic parking system provided in an embodiment of the present invention.

[0102] like Figure 6 As shown, the automatic parking system includes:

[0103] An environment perception module 601 is used to obtain environmental element information around the vehicle through the environment perception module, wherein the environmental element information includes element type and element posture, and the element type includes a parking space;

[0104] A parking space selection module 602, for determining a target parking space from the free parking spaces when a free parking space is detected;

[0105] A first parking posture determination module 603 is used to establish a parking space coordinate system of the target parking space and determine a parking end point G1 and a first parking posture of the parking end point G1 in the current vehicle coordinate system, wherein the parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed;

[0106] A decision module 604 is used to plan an initial parking path for moving a reference point on the vehicle to a location of the first parking posture according to the environmental element information in a current vehicle coordinate system, wherein the vehicle coordinate system takes the reference point on the vehicle as an origin;

[0107] The control module 605 is used to control the parking of the vehicle according to the initial parking path.

[0108] Optionally, the first parking posture determination module 603 includes:

[0109] A parking space coordinate system establishment submodule is used to establish a parking space coordinate system of the target parking space, with a point at the entrance of the target parking space as the parking space origin G0, the direction of the target parking space as the positive direction of the Y axis, and the right direction perpendicular to the Y axis as the positive direction of the X axis;

[0110] A preset distance parameter acquisition submodule, used to acquire a preset distance parameter of the vehicle relative to the boundary of the target parking space when parking is completed;

[0111] A parking end point determination submodule, configured to determine a parking end point G1 in the target parking space according to the preset distance parameter and the position of a reference point on the vehicle in the vehicle;

[0112] A parking space coordinate system posture determination submodule, used to determine the posture of the parking end point G1 in the parking space coordinate system based on the posture relationship between the parking end point G1 and the parking space origin G0;

[0113] The vehicle coordinate system posture determination submodule is used to convert the posture of the parking end point G1 in the parking space coordinate system to the current vehicle coordinate system to obtain a first parking posture.

[0114] Optionally, the control module 605 includes:

[0115] An arc segment division submodule, used for dividing the initial parking path into a plurality of continuous arc segments, wherein the configuration information of each arc segment includes the length and the turning angle of the arc segment;

[0116] The control submodule is used to control the vehicle driving based on the configuration information of the arc segment to achieve parking.

[0117] Optional automatic parking systems also include:

[0118] The standby posture recording module is used to detect and save the standby postures of the parking origin G0 of the last N frames in the vehicle coordinate system when the parking origin G0 is located within the detection range of the environment perception module during the vehicle parking process, where N is a preset positive integer greater than or equal to 1, and the parking origin G0 is the position of the origin of the parking coordinate system;

[0119] The parking space origin detection module is used to determine whether the parking space origin G0 is located within the detection range of the environment perception module when the path replanning condition is triggered; if not, the content of the first relative posture determination module is executed;

[0120] A first relative posture determination module is used to determine a first relative posture from the N frames of the spare postures, and use the position of the reference point on the vehicle when the first relative posture is detected as a relay point;

[0121] A vehicle driving data acquisition module, used to acquire the vehicle driving data from the time when the first relative posture is detected to the time when the path replanning condition is triggered;

[0122] A second relative posture calculation module, used for calculating a second relative posture of a reference point on the current vehicle relative to the relay point based on the vehicle driving data;

[0123] A third relative posture module, used to determine a third relative posture of the parking space origin G0 relative to a reference point on the current vehicle according to the first relative posture and the second relative posture;

[0124] The first re-parking control module is used to control the parking of the vehicle based on the third relative position and current environmental element information.

[0125] Optionally, the first relative posture determination module includes:

[0126] A posture difference calculation submodule, used to calculate the posture difference of the backup postures of two adjacent frames;

[0127] An abnormal posture judgment submodule is used to judge whether there is an abnormal posture in the backup postures of the N frames based on the change amplitude of the posture difference; if so, execute the content of the posture screening submodule;

[0128] The posture screening submodule is used to eliminate the abnormal postures and determine the first relative posture according to the remaining spare postures.

[0129] Optionally, the vehicle driving data includes wheel speed meter data, and the second relative posture calculation module includes:

[0130] A travel distance difference calculation submodule, used for calculating the total travel distance of the vehicle from the relay point to the current position and the travel distance difference between the left and right wheels of the vehicle based on the wheel speed meter data;

[0131] A vehicle turning angle calculation submodule, used for calculating the vehicle turning angle of the vehicle from the relay point to the current position based on the total travel distance and the difference in travel distance between the left and right wheels;

[0132] The second relative posture calculation submodule is used to determine a second relative posture of a reference point on the vehicle relative to the relay point based on the total driving distance and the vehicle turning angle.

[0133] Optional automatic parking systems also include:

[0134] A second parking posture determination module is used to determine a second parking posture of a parking end point G1 in a current vehicle coordinate system when a path replanning condition is triggered and the parking space origin G0 is within the detection range of the environment perception module;

[0135] An updated parking path planning module is used to plan an updated parking path in which a reference point on the vehicle moves to a location where the second parking posture is located according to current environmental element information in a current vehicle coordinate system;

[0136] The second re-parking module is used to control the parking of the vehicle according to the first updated parking path.

[0137] Optionally, the second re-parking module includes:

[0138] a fourth relative posture determination submodule, configured to determine a fourth relative posture of the parking end point G1 relative to a reference point on the current vehicle based on the third relative posture and the relative posture of the parking end point G1 and the parking space origin G0;

[0139] A second updated parking path planning submodule, configured to plan a second updated parking path for moving a reference point on the current vehicle to a parking end point G1 based on current environmental element information and the fourth relative posture;

[0140] The vehicle parking control submodule is used to control the vehicle parking based on the second updated parking path.

[0141] The automatic parking system provided in the embodiment of the present invention can execute the automatic parking method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0142] Figure 7A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0143] like Figure 7 As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0144] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0145] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the automatic parking method.

[0146] In some embodiments, the automatic parking method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the automatic parking method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the automatic parking method in any other appropriate manner (e.g., by means of firmware).

[0147] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0148] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0149] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, system or device or used in combination with an instruction execution system, system or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0150] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0151] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0152] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0153] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0154] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic parking method, characterized in that: Applied to an automatic parking system including an environment perception module, the method comprises: Acquiring environmental element information around the vehicle through the environmental perception module, wherein the environmental element information includes element type and element posture, and the element type includes a parking space; When an empty parking space is detected, determining a target parking space from the empty parking spaces; Establishing a parking space coordinate system of the target parking space and determining a parking end point G1 and a first parking posture of the parking end point G1 in the current vehicle coordinate system, wherein the parking end point G1 is the position of a reference point on the vehicle in the target parking space when parking is completed; In the current vehicle coordinate system, an initial parking path is planned for moving a reference point on the vehicle to a location of the first parking posture according to the environmental element information, wherein the vehicle coordinate system takes the reference point on the vehicle as an origin; The vehicle is parked according to the initial parking path.

2. The method according to claim 1, characterized in that The step of establishing the parking space coordinate system of the target parking space includes: The parking space coordinate system of the target parking space has a point at the entrance of the target parking space as the parking space origin G0, the direction of the target parking space as the positive direction of the Y axis, and the right direction perpendicular to the Y axis as the positive direction of the X axis; The determining of the parking end point G1 and the first parking posture of the parking end point G1 in the current vehicle coordinate system includes: Obtaining a preset distance parameter of the vehicle relative to the boundary of the target parking space when parking is completed; Determine a parking end point G1 in the target parking space according to the preset distance parameter and the position of the reference point on the vehicle in the vehicle; Determine the posture of the parking end point G1 in the parking space coordinate system based on the posture relationship between the parking end point G1 and the parking space origin G0; The position and posture of the parking end point G1 in the parking space coordinate system is converted to the current vehicle coordinate system to obtain a first parking position and posture.

3. The method according to claim 1, characterized in that The controlling the vehicle to park according to the initial parking path comprises: Dividing the initial parking path into a plurality of continuous arc segments, wherein the configuration information of each arc segment includes the length and the turning angle of the arc segment; The vehicle driving is controlled based on the configuration information of the arc segment to achieve parking.

4. The method according to any one of claims 1 to 3, characterized in that: Also includes: During the parking process, when the parking origin G0 is within the detection range of the environment perception module, the last N frames of the parking origin G0 in the vehicle coordinate system are detected and saved, where N is a preset positive integer greater than or equal to 1, and the parking origin G0 is the location of the origin of the parking coordinate system; When the path replanning condition is triggered, it is determined whether the parking space origin G0 is within the detection range of the environment perception module; If not, determine a first relative posture from the backup postures in the N frames, and use the position of the reference point on the vehicle when the first relative posture is detected as a relay point; Acquire vehicle driving data from when the first relative posture is detected to when the path replanning condition is triggered; Calculate a second relative position of a reference point on the current vehicle relative to the relay point based on the vehicle driving data; Determine a third relative posture of the parking space origin G0 relative to a reference point on the current vehicle according to the first relative posture and the second relative posture; The vehicle parking is controlled based on the third relative position and the current environmental element information.

5. The method according to claim 4, characterized in that Determining a first relative posture from the N frames of spare postures includes: Calculating the posture difference between the backup postures of two adjacent frames; Based on the change amplitude of the posture difference, it is judged whether there is an abnormal posture in the backup posture of the N frames; N is a positive integer greater than or equal to 5; If so, the abnormal posture is eliminated, and the first relative posture is determined according to the remaining spare postures.

6. The method according to claim 4, characterized in that The vehicle driving data includes wheel speed meter data, and the calculating, based on the vehicle driving data, a second relative posture of a reference point on the current vehicle relative to the relay point includes: Calculate the total travel distance of the vehicle from the relay point to the current position and the difference in travel distance between the left and right wheels of the vehicle based on the wheel speed meter data; Calculating a vehicle turning angle from the relay point to the current position of the vehicle based on the total travel distance and the difference in travel distance between the left and right wheels; A second relative position of a reference point on the vehicle relative to the relay point is determined based on the total driving distance and the vehicle turning angle.

7. The method according to claim 4, characterized in that When the path replanning condition is triggered and the parking space origin G0 is within the detection range of the environment perception module, the method further includes: Determine a second parking position of the parking end point G1 in the current vehicle coordinate system; In the current vehicle coordinate system, planning an updated parking path for moving a reference point on the vehicle to a location of the second parking posture according to the current environmental element information; The vehicle is parked according to the first updated parking path.

8. The method according to claim 4, characterized in that Controlling the parking of the vehicle based on the third relative position and current environmental element information includes: Determine a fourth relative posture of the parking end point G1 relative to a reference point on the current vehicle based on the third relative posture and the relative posture of the parking end point G1 and the parking space origin G0; Planning a second updated parking path for moving a reference point on the current vehicle to a parking end point G1 based on the current environmental element information and the fourth relative posture; The vehicle is parked by controlling the second updated parking path.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the automatic parking method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the automatic parking method according to any one of claims 1 to 8 when executed.

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