Parking method, device and equipment based on path planning and storage medium

Abstract

The invention discloses a parking method, device and equipment based on path planning and a storage medium, and relates to the technical field of automatic driving, and the parking method based on path planning comprises the steps: obtaining parking space information and vehicle information; calculating a tangent intersection point coordinate, a parking point coordinate, a first circle, a parking path middle point coordinate, a second circle and a parking space anti-collision suspension point coordinate according to the parking space information, the vehicle information and preset data; according to the parking point coordinate, the second circle, the parking path middle point coordinate, the tangent intersection point coordinate, the first circle and the parking space anti-collision suspension point coordinate, a parking path is obtained; and parking according to the parking path. According to the method, the reasonable parking path can be quickly planned, and the accuracy and safety of automatic parking are guaranteed, so that the driving experience is improved, and the parking pressure of a driver is relieved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a parking method, device, equipment and storage medium based on path planning. Background Art

[0002] As a key link in intelligent driving, automatic parking technology can help drivers easily complete parking operations in a small space, reduce safety hazards, and improve driving experience. Therefore, developing a parking method based on path planning to improve the accuracy and efficiency of parking has become an important research direction in current intelligent driving technology.

[0003] At present, automatic parking systems based on path planning usually identify parking spaces through body sensors (such as ultrasonic radar, cameras, etc.) and use conventional motion planning algorithms (such as A* algorithm, Bezier curve, etc.) to generate parking paths. Existing methods generally need to consider multiple factors such as the vehicle's kinematic model, parking space size, surrounding obstacles, etc., to plan a parking path that avoids collisions. Some parking systems also combine memory parking functions, which can automatically identify and park in fixed parking spaces based on historical data or user habits.

[0004] Although the existing automatic parking system has solved the problem of difficult parking to a certain extent, there are still problems such as long path calculation time, unreasonable path, poor scene adaptability, etc. Especially in complex environments, the algorithm's calculation efficiency is low, and the generated parking path is sometimes not suitable for the actual situation of the parking space, resulting in a low parking success rate. In addition, the safety of some systems needs to be improved, and there may be collision risks in narrow parking spaces. Therefore, how to quickly plan a reasonable parking path has become an urgent problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The purpose of this application is to provide a parking method, device, equipment and storage medium based on path planning, aiming to solve the technical problem of how to quickly plan a reasonable parking path.

[0007] To achieve the above objectives, the present application proposes a parking method based on path planning, the method comprising:

[0008] Get parking space information and vehicle information;

[0009] Calculating the coordinates of the tangent intersection point, the parking point coordinates, the first circle, the middle point coordinates of the parking path, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data;

[0010] Obtaining a parking path according to the parking point coordinates, the second circle, the parking path middle point coordinates, the tangent intersection point coordinates, the first circle and the parking space anti-collision stop point coordinates;

[0011] Parking is performed according to the parking path.

[0012] In one embodiment, the parking space information includes parking space direction, parking space position and parking space size;

[0013] The vehicle information includes vehicle direction, vehicle heading angle, vehicle length, vehicle width, rearview mirror width and vehicle safety distance;

[0014] The preset data includes a first preset compensation value, a second preset compensation value, a preset first circle radius, and a preset adjustment coefficient;

[0015] The step of calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data comprises:

[0016] Adjusting the direction of the vehicle according to the parking space direction until the vehicle direction is parallel to the parking space direction, and acquiring the current vehicle position;

[0017] Obtaining the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the third circle radius according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length;

[0018] The first circle, the tangent intersection coordinates and the first deflection angle are calculated according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the rearview mirror width;

[0019] The parking point coordinates, the second circle, the middle point coordinates of the parking path and the parking space anti-collision stop point coordinates are calculated according to at least two of the tangent intersection coordinates, the first deflection angle, the center point coordinates of the vehicle rear axle, the vehicle heading angle, the upper right corner coordinates of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length and the vehicle width.

[0020] In one embodiment, the step of obtaining the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the third circle radius according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length comprises:

[0021] Determine the center point of the rear axle of the vehicle according to the current vehicle position;

[0022] Determine the position of the lower left corner of the parking space according to the parking space position and the parking space size;

[0023] A parking space coordinate system is established with the lower left corner of the parking space as the coordinate origin and the center point of the rear axle of the vehicle as the reference point, and the coordinates of the lower left corner of the parking space and the center point of the rear axle of the vehicle are obtained according to the parking space coordinate system;

[0024] Determine the coordinates of the upper right corner of the parking space according to the coordinates of the lower left corner of the parking space, the parking space coordinate system and the size of the parking space;

[0025] The third circle center coordinates and the third circle radius are calculated according to the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the first preset compensation value and the length of the vehicle.

[0026] In one embodiment, the parking space size includes a parking space length and a parking space width;

[0027] The step of calculating the first circle, the tangent intersection coordinates and the first deflection angle according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the rearview mirror width comprises:

[0028] The longitudinal positioning adjustment amount is calculated according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient;

[0029] Calculate the first center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width, and the rearview mirror width;

[0030] The tangent intersection coordinates and the first deflection angle are calculated according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius.

[0031] In one embodiment, the step of calculating the longitudinal positioning adjustment amount according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient includes:

[0032] Calculate the single path width according to the second preset compensation value, the vehicle width and the vehicle safety distance;

[0033] The longitudinal positioning adjustment amount is calculated according to the parking space length, the single path width and the preset adjustment coefficient.

[0034] In one embodiment, the step of calculating the first circle center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width, and the rearview mirror width comprises:

[0035] Calculate the first circle center horizontal coordinate according to the upper right corner coordinate of the parking space, the second preset compensation value and the preset first circle radius;

[0036] The first circle center longitudinal coordinate is calculated according to the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width;

[0037] The first circle center coordinates and the first circle are obtained according to the first circle center abscissa, the first circle center ordinate and the preset first circle radius.

[0038] In one embodiment, the step of calculating the tangent intersection coordinates and the first deflection angle according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius comprises:

[0039] The coordinates of the intersection of the vertical lines are calculated according to the coordinates of the third circle center, the coordinates of the first circle center, the radius of the third circle and the preset first circle radius;

[0040] The tangent intersection coordinates are calculated according to the first circle center coordinates, the perpendicular intersection coordinates and the preset first circle radius;

[0041] Draw a second vertical positioning line of circle 2 according to the coordinates of the first circle center;

[0042] Calculate a second deflection angle according to the third circle center coordinates, the first circle center coordinates and the second circle vertical positioning line;

[0043] Calculate the center distance according to the third center coordinates and the first center coordinates;

[0044] A third deflection angle is calculated according to the third circle radius, the preset first circle radius and the distance between the circle centers;

[0045] A first deflection angle is calculated according to the second deflection angle and the third deflection angle.

[0046] In one embodiment, the step of calculating the coordinates of the parking point, the second circle, the coordinates of the middle point of the parking path, and the coordinates of the parking space anti-collision stop point according to at least two of the coordinates of the tangent intersection point, the first deflection angle, the coordinates of the center point of the vehicle rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length, and the vehicle width comprises:

[0047] Calculate the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value;

[0048] Calculating the coordinates of the middle point of the second circle and the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle, and the vehicle heading angle;

[0049] The parking space anti-collision stop point coordinates are determined according to the parking space position, the parking space size, the vehicle length, and the vehicle width.

[0050] In one embodiment, the step of calculating the coordinates of the second circle and the middle point of the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle and the vehicle heading angle comprises:

[0051] Calculate the second circle radius according to the parking point coordinates, the steering reference point coordinates and the fourth deflection angle;

[0052] Calculate the coordinates of the second circle center according to the coordinates of the parking point, the radius of the second circle and the heading angle of the vehicle;

[0053] Obtain a second circle according to the coordinates of the second circle center and the second circle radius;

[0054] Calculate the horizontal coordinate of the middle point of the parking path according to the coordinates of the turning reference point, the coordinates of the parking point, the vehicle heading angle and the fourth deflection angle;

[0055] The vertical coordinate of the middle point of the parking path is calculated according to the coordinate of the turning reference point, the horizontal coordinate of the middle point of the parking path and the heading angle of the vehicle;

[0056] The coordinates of the middle point of the parking path are obtained according to the abscissa of the middle point of the parking path and the ordinate of the middle point of the parking path.

[0057] In one embodiment, the step of calculating the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value comprises:

[0058] According to the coordinates of the intersection point of the tangent lines, and taking the tangent value of the first deflection angle as the slope, the second tangent line of the circle is calculated;

[0059] The vehicle heading reference line is calculated based on the coordinates of the center point of the rear axle of the vehicle and the tangent value of the vehicle heading angle as the slope;

[0060] The coordinates of the turning reference point are calculated based on the circle tangent line and the vehicle heading reference line;

[0061] Calculate the coordinates of the parking point according to the vehicle heading reference line, the coordinates of the upper right corner of the parking space and the first preset compensation value;

[0062] A fourth deflection angle is calculated according to the vehicle heading angle and the first deflection angle.

[0063] In one embodiment, after the step of parking according to the parking path, the method further includes:

[0064] Get the rear position of the vehicle, the current vehicle heading angle, and the current vehicle direction;

[0065] When the rear end position of the vehicle reaches the parking space anti-collision stop point coordinates, the current vehicle direction is adjusted according to the current vehicle heading angle until the current vehicle direction is parallel to the parking space direction.

[0066] In addition, to achieve the above purpose, the present application also proposes a parking device based on path planning, the device comprising:

[0067] A data acquisition module, used to acquire parking space information and vehicle information;

[0068] A data processing module, used for calculating the coordinates of the tangent intersection point, the parking point coordinates, the first circle, the middle point coordinates of the parking path, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and preset data;

[0069] A path planning module, configured to obtain a parking path according to the parking entry point coordinates, the second circle, the coordinates of the middle point of the parking path, the coordinates of the tangent intersection point, the first circle and the coordinates of the parking space anti-collision stop point;

[0070] A parking control module is used to park the vehicle according to the parking path.

[0071] In addition, to achieve the above-mentioned purpose, the present application also proposes a parking device based on path planning, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the parking method based on path planning as described above.

[0072] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the parking method based on path planning as described above are implemented.

[0073] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the parking method based on path planning as described above are implemented.

[0074] One or more technical solutions proposed in this application have at least the following technical effects:

[0075] Acquire parking space information and vehicle information; calculate the tangent intersection coordinates, the parking entry point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and preset data; obtain the parking path according to the parking entry point coordinates, the second circle, the parking path middle point coordinates, the tangent intersection coordinates, the first circle and the parking space anti-collision stop point coordinates; park according to the parking path. First, obtain the parking space information and vehicle information through sensors and pre-set parameters, including the size and position of the parking space and the size of the vehicle, which are the basis for accurate parking path planning. Then, combined with the specific size of the parking space and the vehicle and a series of preset experience values, the system calculates the key coordinate points and geometric parameters in the parking path, such as the tangent intersection coordinates, the parking entry point coordinates, the first circle (O2), the parking path middle point coordinates, the second circle (O3) and the parking space anti-collision stop point coordinates. These steps ensure that the geometric shape of the parking path and the precise route of the vehicle are accurately determined, thereby improving the accuracy and adaptability of the parking path. Then, the system generates a detailed parking path based on these calculated parameters, which usually includes a combination of straight lines and arcs, ensuring that the vehicle can safely and efficiently enter the parking space from the initial position, which not only improves the parking success rate, but also enhances the reliability of the system. Finally, the vehicle automatically performs parking actions according to the generated parking path, including precise steering, reversing and adjustment, until it is completely parked in the parking space. This step involves the vehicle control algorithm to ensure that the vehicle drives accurately according to the planned path, improving the safety and efficiency of the parking process. Through this series of steps, a reasonable parking path can be quickly planned to save hardware costs. At the same time, parameters can be quickly adjusted for different scenarios to improve scenario adaptability and parking success rate. Finally, according to the relative position between the vehicle and the parking space, the optimal parking path without collision and fully considering the constraint space is accurately planned to ensure the accuracy and safety of automatic parking, thereby improving the driving experience and reducing the parking pressure of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0077] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0078] Figure 1 A flow chart of the first embodiment of the parking method based on path planning of the present application;

[0079] Figure 2 A schematic diagram of a parking path provided in Embodiment 1 of the parking method based on path planning of the present application;

[0080] Figure 3 A flow chart of the second embodiment of the parking method based on path planning of the present application;

[0081] Figure 4 A schematic diagram of the position of the third circle provided in Embodiment 2 of the parking method based on path planning of this application;

[0082] Figure 5 A schematic diagram of a parking space coordinate system provided for the second embodiment of the parking method based on path planning of the present application;

[0083] Figure 6 A schematic diagram of the position of the first circle provided in Embodiment 2 of the parking method based on path planning of the present application;

[0084] Figure 7 A schematic diagram of the position of the second circle provided in Embodiment 2 of the parking method based on path planning of the present application;

[0085] Figure 8 This is a schematic diagram of the module structure of a parking device based on path planning according to an embodiment of the present application;

[0086] Fig. 9 Schematic diagram of the device structure of the hardware operating environment involved in the parking method based on path planning in the embodiment of the present application.

[0087] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0088] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0089] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0090] With the development of urbanization, the rapid increase in the number of cars has led to increasingly severe parking problems, especially in parking lots with limited space or crowded streets. Manual parking not only tests driving skills, but also easily causes collisions. As a key part of intelligent driving, automatic parking technology can assist drivers to park easily in compact spaces, reduce the risk of accidents, and improve the driving experience. However, although the existing automatic parking system uses sensors and motion planning algorithms to consider factors such as vehicle dynamics, parking space size and obstacles to plan parking paths, trying to improve parking success rate and safety, it still faces challenges such as slow path calculation, unreasonable planning and poor adaptability in complex environments. Its safety and efficiency urgently need to be further improved.

[0091] The main solution of the embodiment of the present application is to use sensors to capture detailed information about parking spaces and vehicles, and then calculate key points and parameters of the parking path based on this information and preset parameters, such as tangent intersections, parking points, O2 and O3 circles, etc., to ensure the accuracy of the path. The system then generates a detailed parking path containing straight lines and arcs, and instructs the vehicle to automatically perform parking actions, such as turning and reversing, until the vehicle is safely and accurately parked in the parking space, thereby improving parking efficiency and safety.

[0092] It should be noted that the execution subject of the embodiments of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle system, a parking system, an automatic driving system, a memory parking system, etc. The following takes the parking system as an example to illustrate this embodiment and the following embodiments.

[0093] Based on this, the present application embodiment provides a parking method based on path planning, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the parking method based on path planning of the present application.

[0094] In this embodiment, the parking method based on path planning includes steps S10 to S40:

[0095] Step S10, obtaining parking space information and vehicle information;

[0096] It should be noted that parking space information mainly includes data about the geometric features and location of parking spaces, mainly including: parking space size: the width and depth of the parking space (such as Width and Depth), which determines whether the vehicle can enter the parking space smoothly. For example, the width of the parking space needs to be able to accommodate the width of the vehicle (Car_Width), and the depth of the parking space needs to match the length of the vehicle (Car_Depth); parking space coordinate points: the coordinates of the four corner points of the parking space. These coordinate points help determine the specific position of the parking space in space; obstacle information: whether there are other vehicles, walls, pillars and other obstacles around the parking space, which is crucial for path planning because the algorithm needs to avoid collisions with these obstacles, etc. Vehicle information involves the basic parameters and status of the vehicle, mainly including: Vehicle size: including the width (Car_Width) and length (Car_Depth) of the vehicle. This information is used to determine whether the vehicle can adapt to the size of the parking space during parking; Vehicle position: the coordinates of the center point of the rear axle of the vehicle (Car_X, Car_Y), which is an important data for calculating the relative position between the vehicle and the parking space, affecting the calculation results of path planning; Heading angle: the current heading angle of the vehicle, which affects the steering and adjustment operations required by the vehicle during parking; Safety distance: During parking, the safety distance (Car_Safe) maintained between the vehicle and obstacles ensures that no collision occurs during parking operations, etc.

[0097] It is understandable that the system first detects the surrounding environment through sensors and cameras, identifies available parking spaces and extracts relevant parking space information, including the size (width and depth) of the parking space and the distribution of surrounding obstacles, to ensure that there will be no collision when calculating the parking path. At the same time, the system also collects vehicle information, including the size (width and length) of the vehicle, the current position of the rear axle center point, and the heading angle. This information will be used to calculate the relative position relationship between the vehicle and the parking space. By integrating parking space and vehicle information, the system can provide accurate basic data for subsequent path planning, thereby improving parking efficiency and safety.

[0098] Step S20, calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data;

[0099] It should be noted that the preset data refers to some fixed parameters or empirical values ​​used in parking path planning, such as safety distance (Car_Safe), fixed distance (fixed_X, fixed_R) and adjustment coefficient (k_adjust). These data are set based on the size of the vehicle, the size of the parking space and historical experience, and are used to calculate various geometric parameters in the parking path. The coordinates of the tangent intersection point (intersection point n) refer to the intersection of the vertical line drawn from the center of the second circle (O2) and the circle. This point is an important reference point in parking path planning and is used to determine the geometry of the subsequent parking path. The parking point coordinates (point c) refer to the starting point where the vehicle starts to perform the parking action. The horizontal coordinate of this point (c_X) is usually set to the horizontal coordinate of the parking space point p0 (p0_X) plus an empirical value (del) to ensure that the vehicle starts parking from the appropriate position. The first circle (O2) refers to the first circle in the parking path planning. Its position and size are calculated based on the parking space information, vehicle information and preset data. The center coordinates (O2_X, O2_Y) and radius (O2_R) of the O2 circle are key parameters in the parking path planning. The coordinates of the middle point of the parking path (point d) refer to an intermediate point in the parking path. It is located on the path from the O2 circle to the O3 circle. The coordinates of point d (d_X, d_Y) are calculated based on the positions of the O2 circle, the O3 circle and the parking point (point c) to ensure the continuity and smoothness of the parking path. The second circle (O3) refers to the second circle in the parking path planning. Its position and size are also calculated based on the parking space information, vehicle information and preset data. The center coordinates (O3_X, O3_Y) and radius (R3) of the O3 circle are another key parameter in the parking path planning. The parking space collision avoidance stop point coordinates (point E) refer to a safe point in the parking path, which is used to prevent the vehicle from colliding with obstacles in the parking space during parking. The coordinates of point E are calculated based on data such as the size of the parking space and the size of the vehicle, ensuring that the vehicle has been safely parked in the parking space when it reaches this point.

[0100] It is understandable that parking space information, vehicle information and preset data are first collected. These preset data include safe distance (Car_Safe), fixed distance (fixed_X, fixed_R) and adjustment coefficient (k_adjust), which are set based on the size of the vehicle and the parking space and historical experience to ensure the accuracy and safety of the calculation. Next, by calculating the coordinates of the tangent intersection (intersection point n), determine the intersection of the vertical line drawn from the center of the second circle (O2) and the circle, which can provide a clear geometric reference for the subsequent design of the parking path and help determine the shape and direction of the path. Then, calculate the parking point coordinates (point c), which is the starting position for the vehicle to start parking. It is usually set by adding an empirical value (del) to the horizontal coordinate (p0_X) of the parking space point p0 to ensure that the vehicle enters the parking space at an appropriate angle and position. Next, the first circle (O2) is determined. Its center coordinates (O2_X, O2_Y) and radius (O2_R) are calculated based on the parking space and vehicle information. The setting of this circle can accurately depict the turning range of the vehicle, thereby effectively guiding the planning of the parking path. Then, the coordinates of the middle point of the parking path (point d) are calculated. The coordinates of this point (d_X, d_Y) are determined by the positional relationship between the O2 circle, the O3 circle and the parking point (point c), ensuring the continuity and smoothness of the path and avoiding abrupt turns or pauses during the parking process. Subsequently, the second circle (O3) is calculated. Its center coordinates (O3_X, O3_Y) and radius (R3) are also determined by the parking space and vehicle information. This circle plays a guiding role in the parking path and helps the vehicle complete parking smoothly. Finally, the coordinates of the parking space anti-collision stop point (point E) are determined. The coordinates of this safety point are calculated by comprehensively considering the size of the parking space and the vehicle, ensuring that the vehicle can park safely in the parking space when it reaches this point and avoid collisions with obstacles. Through these steps, the system can effectively plan a safe and smooth parking path, improve parking efficiency and reduce the risk of accidents.

[0101] Step S30, obtaining a parking path according to the parking point coordinates, the second circle, the coordinates of the middle point of the parking path, the coordinates of the tangent intersection point, the first circle and the coordinates of the parking space anti-collision stop point;

[0102] It should be noted that the parking path refers to the complete driving route of the vehicle from the initial position to the parking space safely along a specific trajectory. This path is planned in detail as a series of geometric actions to ensure that the vehicle can complete the parking process smoothly and safely while avoiding collisions with the parking space boundary or other potential obstacles. The specific parking path consists of the following key parts: (1) The vehicle drives to point c: This is the starting stage of the parking path. The vehicle drives from the initial position to the parking point c. This point is the starting point of the parking action, and its coordinates have been calculated based on the size of the parking space and the vehicle and preset parameters. (2) Arc cd: Starting from the parking point c, the vehicle will drive along an arc shape to point d. This stage involves the vehicle turning, usually reversing, and the vehicle will retreat along the arc path of the second circle (O3) to smoothly enter the parking space. (3) Straight line dn: After completing the arc cd, the vehicle will drive from point d to point n along a straight line path. This is the adjustment stage in the parking path. The vehicle may need to fine-tune its position to ensure that it can smoothly enter the next arc stage. (4) Arc nE: Finally, the vehicle will travel along another arc shape from point n until it reaches the parking space collision avoidance stop point E. At this stage, the vehicle continues to adjust its position and direction until it stops completely in the parking space.

[0103] It can be understood that the specific parameters of the parking space and the vehicle are first determined, including the size of the parking space (Width, Depth) and the size of the vehicle (Car_Width, Car_Depth), and then these parameters and a series of preset empirical values ​​(such as the safety distance Car_Safe and the adjustment coefficient k_adjust) are used to determine the key points and path shape of the parking path through the calculation of geometric and trigonometric functions. Specifically, the position of the circle O2 is first calculated. The center coordinates (O2_X, O2_Y) and radius (O2_R) of the circle are determined based on the width, depth and vehicle size of the parking space. Then, the tangent intersection point n is calculated, which is achieved by drawing a perpendicular line from the center of the circle O2 downward and finding the intersection with the circle. Then, the coordinates of the parking point c, the center coordinates and radius of the circle O3, and the coordinates of the middle point d of the parking path are calculated through a series of geometric relationships. Finally, the parking path is defined as a continuous path consisting of a straight line segment (the vehicle drives from the initial position to point c), an arc segment (the vehicle reverses along the arc cd of the circle O3), a straight line segment (the vehicle adjusts its position along the straight line dn), and an arc segment (the vehicle follows the arc nE of the circle O2 until it reaches the parking space anti-collision stop point E). The entire process ensures that the parking path is both reasonable and safe, can adapt to different parking starting points, and has a high parking success rate and safety.

[0104] Please refer to Figure 2 , Figure 2The parking path schematic diagram provided for the first embodiment of the parking method based on path planning of this application covers the complete path from the initial position of the vehicle to the complete parking space. The turning reference point coordinates marked as "b" in the figure are the turning starting position that the vehicle needs to follow during the parking process to ensure that the vehicle can enter the parking space smoothly. The parking point coordinates (point c) indicate the specific starting position where the vehicle starts the parking action to ensure that the vehicle starts parking from the appropriate direction and position. The tangent intersection coordinates (intersection n) are the intersection of the vertical line drawn from the center of the first circle (O2) and the circle, which serves as the key reference point of the vehicle's turning path. The first deflection angle (angle a) indicates the first turning angle that the vehicle needs to make during the parking process to ensure that the vehicle can correctly drive along the planned path. The second circle (O3) is a virtual circular area in the parking path, and its center and radius are calculated based on the parking point coordinates and the turning reference point coordinates to ensure that the vehicle has enough space to turn during the parking process. The parking space anti-collision stop point coordinate (point E) is a safe point in the parking path, ensuring that the vehicle will not exceed the parking space boundary or collide with obstacles when approaching the parking space. Starting from the starting position, the vehicle first drives to the parking entry point coordinate (point c), which is the starting position for the vehicle to start parking. Next, the vehicle turns along the turning reference point coordinate (point b) to ensure that the vehicle direction is parallel to the parking space direction. After that, the vehicle drives along the arc path of the tangent intersection coordinate (intersection point n) and the first circle (O2), forming a smooth curve, and then enters the second circle (O3). During this process, the vehicle makes necessary adjustments according to the first deflection angle (angle a). Finally, the vehicle moves along the path of the second circle, passes the coordinate of the middle point of the parking path (point d), and completes parking at the parking space anti-collision stop point coordinate (point E), and safely parks in the parking space. The whole process ensures that the vehicle can turn smoothly during the parking process to avoid collisions with the parking space boundary or other obstacles.

[0105] Step S40: Parking according to the parking path.

[0106] It can be understood that, first, the vehicle drives from the initial position to the pre-calculated parking point c, the coordinates of which are determined based on preset data such as the size of the parking space and the vehicle and the safety distance. Then, the vehicle reverses along the arc cd defined by the center and radius of the second circle (O3), and the planning of this arc takes into account the steering characteristics of the vehicle and avoidance of collision with the parking space boundary or other obstacles. When the vehicle reaches the end point d of the arc, which is the coordinate of the middle point of the parking path, it will continue to drive along a straight line dn, which is the transition section connecting the arc cd and the next arc nE. Subsequently, the vehicle continues to reverse along the arc nE defined by the first circle (O2) and the tangent intersection point n until it reaches the parking space anti-collision stop point E, which is the end point of the parking path and is also set to avoid the vehicle from colliding with any obstacles in the parking space during the parking process. The entire parking path is a continuous curve composed of straight lines and arcs, which is designed to ensure that the vehicle can safely and efficiently enter the parking space from the initial position to achieve automatic parking.

[0107] As an example, after the step of parking according to the parking path, it also includes: obtaining the rear position of the vehicle, the current vehicle heading angle and the current vehicle direction; when the rear position of the vehicle reaches the coordinates of the parking space anti-collision stop point, adjusting the current vehicle direction according to the current vehicle heading angle until the current vehicle direction is parallel to the parking space direction.

[0108] The rear position refers to the current position of the rear of the vehicle in the ground parking space. In the automatic parking system, the rear position is an important part of vehicle navigation and control, because the rear of the vehicle is usually required to enter the parking space first. Through sensors, such as ultrasonic radar or cameras, the system can monitor the coordinates of the rear of the vehicle in real time to ensure that it moves accurately to the predetermined parking position. The current vehicle heading angle refers to the angle that the vehicle is currently facing, usually based on the direction of the front of the vehicle, and the angle difference between the fixed reference direction (such as geographic north or the positive X-axis of the parking space). The heading angle is a key parameter that determines the direction of the vehicle's travel. The automatic parking system needs to accurately control the vehicle's heading angle to ensure that the vehicle follows the planned path. The current vehicle direction refers to the current direction of travel of the vehicle, which usually corresponds to the vehicle's heading angle. During the parking process, the vehicle direction determines the alignment of the vehicle in the parking space and is critical to ensure that the vehicle is parked correctly in the parking space.

[0109] After completing the basic parking action according to the preset parking path, the system will enter the final adjustment stage. This stage requires the system to first obtain the vehicle's rear position, current heading angle, and vehicle direction in real time. The rear position refers to the coordinate point of the vehicle's rear end on the ground, which is usually determined by on-board sensors such as ultrasonic radar or cameras; the heading angle refers to the angle between the vehicle's current driving direction and a reference direction (such as the positive X-axis of the parking space); the vehicle direction refers to the vehicle's current driving direction. When the rear position sensor detects that the rear of the vehicle has reached the set parking space anti-collision stop point coordinates, the system will fine-tune the vehicle's driving direction based on the current heading angle, which may involve a slight adjustment of the steering wheel or a small movement of the vehicle's position until the vehicle's direction is completely parallel to the parking space direction, ensuring that the vehicle is accurately parked in the center of the parking space and completing the entire parking process.

[0110] This embodiment provides a parking method based on path planning, which obtains parking space information and vehicle information; calculates tangent intersection coordinates, parking entry point coordinates, a first circle, parking path middle point coordinates, a second circle and parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and preset data; obtains a parking path according to the parking entry point coordinates, the second circle, the parking path middle point coordinates, the tangent intersection coordinates, the first circle and the parking space anti-collision stop point coordinates; and parks according to the parking path. First, the parking space information and vehicle information are obtained through sensors and pre-set parameters, including the size and position of the parking space and the size of the vehicle, which are the basis for accurate parking path planning. Then, combined with the specific size of the parking space and the vehicle and a series of preset experience values, the system calculates key coordinate points and geometric parameters in the parking path, such as tangent intersection coordinates, parking entry point coordinates, the first circle (O2), parking path middle point coordinates, the second circle (O3) and parking space anti-collision stop point coordinates. These steps ensure that the geometry of the parking path and the exact route of the vehicle are accurately determined, thereby improving the accuracy and adaptability of the parking path. Then, the system generates a detailed parking path based on these calculated parameters, which usually includes a combination of straight lines and arcs, ensuring that the vehicle can safely and efficiently drive into the parking space from the initial position, which not only improves the parking success rate, but also enhances the reliability of the system. Finally, the vehicle automatically performs parking actions according to the generated parking path, including precise steering, reversing and adjustment, until it is completely parked in the parking space. This step involves the vehicle control algorithm to ensure that the vehicle drives accurately according to the planned path, improving the safety and efficiency of the parking process. Through this series of steps, a reasonable parking path can be quickly planned, saving hardware costs. At the same time, parameters can be quickly adjusted for different scenarios to improve scenario adaptability and parking success rate. Finally, according to the relative position between the vehicle and the parking space, the optimal parking path without collision and fully considering the constraint space is accurately planned to ensure the accuracy and safety of automatic parking, thereby improving the driving experience and reducing the parking pressure of the driver.

[0111] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 This is a flow chart of a second embodiment of a parking method based on path planning of the present application. The parking space information includes parking space direction, parking space position and parking space size. The vehicle information includes vehicle direction, vehicle heading angle, vehicle length, vehicle width, rearview mirror width and vehicle safety distance. The preset data includes a first preset compensation value, a second preset compensation value, a preset first circle radius and a preset adjustment coefficient. Step S20 of the parking method based on path planning includes steps S21 to S24:

[0112] Step S21, adjusting the direction of the vehicle according to the parking space direction until the vehicle direction is parallel to the parking space direction, and obtaining the current vehicle position;

[0113] It should be noted that the parking space direction refers to the orientation of the parking space, which is crucial to determining how the vehicle enters the parking space and the planning of the parking path. The parking space position refers to the specific coordinate position of the parking space in the parking area, usually with a corner or center of the parking space as the reference point. The parking space size includes the width and depth of the parking space, which determine the size of the vehicle that the parking space can accommodate and the space required for parking. The vehicle direction refers to the current driving direction of the vehicle, which is very important to ensure that the vehicle is parked correctly in the parking space. The vehicle heading angle (angle θ) refers to the angle that the vehicle is currently facing, usually based on the direction of the front end of the vehicle, and the angle difference between the fixed reference direction. The vehicle length (Car_Width) and vehicle width (Car_Depth) refer to the width and length of the vehicle respectively. These dimensions are necessary to ensure that the vehicle can adapt to the size of the parking space and avoid collisions during parking. The rearview mirror width refers to the width of the vehicle's rearview mirror. This parameter is used in parking path planning to avoid collisions between the rearview mirror and surrounding obstacles. The vehicle safety distance refers to the minimum distance between the vehicle and surrounding obstacles set to ensure safety. The first preset compensation value (empirical value del) is a compensation value set based on experience, which is used to adjust the parking path to prevent the vehicle from colliding with the front end of the parking space or other obstacles during the parking process. The second preset compensation value (fixed_X) is another preset compensation value, which is used to determine the position of the first circle (O2) to ensure that the vehicle is parked in the correct position of the parking space at the end of parking. The preset first circle radius (fixed_R) is the preset radius of the first circle (O2), which is used to calculate the arc portion in the parking path. The preset adjustment coefficient (k_adjust) is a coefficient used to adjust the vertical coordinate of the center of O2, which is usually set to 0.32 and is used to adjust the lateral position of the vehicle according to the width of the parking space. The current vehicle position refers to the real-time position of the vehicle during the parking action. This information is usually provided by on-board sensors such as GPS, ultrasonic radar or cameras, etc., and is used to monitor whether the vehicle is driving according to the planned parking path and make necessary adjustments.

[0114] It is understandable that the system first needs to ensure that the vehicle is in the same direction as the target parking space in order to facilitate subsequent parking operations. To this end, the system obtains the direction information of the parking space, which usually involves identifying the geometric layout of the parking space or determining it through a pre-set parking space coordinate system. Subsequently, the system adjusts the current direction of the vehicle, which may involve turning the front wheels of the vehicle to change its heading angle until the vehicle's driving direction is parallel to the parking space direction. In this process, the vehicle's heading angle (angle θ) serves as a key parameter to guide the adjustment of the vehicle's steering mechanism to ensure that the vehicle is correctly aligned with the parking space. At the same time, the system continuously monitors and obtains the current position of the vehicle, which is usually achieved through on-board sensors such as GPS, ultrasonic sensors or cameras to update the coordinates of the vehicle in the parking area in real time. Once the vehicle direction is corrected and parallel to the parking space direction, the system can accurately obtain the current position of the vehicle, providing the necessary information for the next step of precise parking path planning, ensuring that the vehicle can safely and accurately enter the parking space. This step is crucial to achieving efficient and accurate automatic parking. It not only improves the safety of the parking process, but also ensures the smoothness and reliability of the parking operation.

[0115] Step S22, obtaining the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the third circle radius according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length;

[0116] It should be noted that the coordinates of the center point of the rear axle of the vehicle refer to the coordinate position of the center of the rear axle of the vehicle in the ground parking space, usually expressed as (Car_X, Car_Y). This coordinate is the basis of parking path planning because it determines the starting position of the vehicle relative to the parking space and is crucial for calculating the turning and reversing actions required for the vehicle to enter the parking space. The coordinates of the upper right corner of the parking space (p0) are the coordinate points of the upper right corner of the parking space, expressed as (Width, Depth), where Width and Depth are the width and depth of the parking space, respectively. This coordinate point is usually used as a reference point to determine the specific position of the parking space in space and as a reference for establishing the parking space coordinate system. In parking path planning, the coordinates of the center of the third circle (O1) are calculated based on the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space (p0) and the first preset compensation value (empirical value del). This center coordinate is an important reference point in determining the parking path, and is used to calculate the arc shape that the vehicle needs to follow during parking to avoid collision with the front end of the parking space or other obstacles. The radius of the third circle (O1) is determined based on half of the vehicle width plus a preset compensation value (empirical value del). This radius defines the path range that the vehicle can safely travel during parking, ensuring that the vehicle does not touch the parking space boundary or other obstacles when entering the parking space.

[0117] It is understandable that the calculation of the parking path first requires determining the coordinates of the center point of the vehicle's rear axle and the coordinates of the upper right corner of the parking space (p0). The coordinates of the center point of the vehicle's rear axle are calculated based on the current vehicle position and the vehicle length (Car_Width). It represents the exact position of the rear of the vehicle, which is crucial for planning the parking path. The coordinates of the upper right corner of the parking space are determined by the parking space position and the parking space size (width and depth), usually with one corner of the parking space as the reference point. Then, using the coordinates of the upper right corner of the parking space (p0), the coordinates of the center point of the vehicle's rear axle and the first preset compensation value (empirical value del), the system calculates the coordinates of the center point and radius of the third circle (O1). The coordinates of the center point of the third circle are calculated by moving backward (along the length of the parking space) from the coordinates of the upper right corner of the parking space by a distance determined by half the vehicle width plus the preset compensation value (del), while the radius of the third circle is half the vehicle width plus the preset compensation value. These calculations ensure that the position and size of the third circle in the parking path planning can prevent the vehicle from colliding with the front of the parking space or other obstacles during the parking process, thereby providing a safe parking starting point and path for the vehicle.

[0118] Please refer to Figure 4 , Figure 4 The schematic diagram of the position of the third circle provided for the second embodiment of the parking method based on path planning of this application, wherein O1 represents the center of the third circle, and its coordinates are calculated based on the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, and the preset compensation value. a1 in the figure represents the first deflection angle, which is the heading angle that needs to be adjusted when the vehicle starts parking from the initial position. Point n is the coordinate of the tangent intersection, that is, the intersection of the vertical line drawn from the center of O2 downward and the third circle O1, which is used to determine the turning path when the vehicle enters the parking space. Point x is the only point that satisfies the conditions that the line segment O2x = R2 + R1 and the line segment O1x is perpendicular to the line segment O2x, and is the key point for calculating the radius of the third circle. Line segment O1O2 represents the distance between the third circle and the center of the second circle, which is calculated based on the radius of the two circles and the geometric relationship between them. Point b is the turning reference point, which is the reference position when the vehicle turns, and point c is the parking point coordinate, marking the specific starting position of the vehicle starting the parking action. Overall, the figure depicts in detail the position of the third circle in the parking path, as well as its associated geometric parameters and the trajectory of vehicle motion, providing an important visual reference for achieving precise automatic parking.

[0119] As an example, the steps of obtaining the coordinates of the center point of the vehicle's rear axle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center and the radius of the third circle according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value and the vehicle length include: determining the center point of the vehicle's rear axle according to the current vehicle position; determining the position of the lower left corner of the parking space according to the parking space position and the parking space size; establishing a parking space coordinate system with the position of the lower left corner of the parking space as the coordinate origin and the center point of the vehicle's rear axle as the reference point, and obtaining the coordinates of the lower left corner of the parking space and the coordinates of the center point of the vehicle's rear axle according to the parking space coordinate system; determining the coordinates of the upper right corner of the parking space according to the coordinates of the lower left corner of the parking space, the parking space coordinate system and the parking space size; and calculating the third circle center coordinates and the third circle radius according to the coordinates of the center point of the vehicle's rear axle, the coordinates of the upper right corner of the parking space, the first preset compensation value and the vehicle length.

[0120] Please refer to Figure 5 , Figure 5 A schematic diagram of a parking space coordinate system is provided for the second embodiment of the parking method based on path planning of this application. The point marked as "Car (Car_X, Car_Y)" in the figure represents the coordinate of the center of the rear axle of the vehicle. This point is a key reference position of the vehicle during the parking process, which helps to determine the specific position of the vehicle relative to the parking space. The four coordinate points p0, p1, p2 and p3 represent the four corners of the parking space, respectively, where p2 is set as the origin of the coordinate system (0,0), that is, the lower left corner of the parking space. p0 is the coordinate of the upper right corner of the parking space, p1 and p3 are the coordinates of the upper left corner and lower right corner of the parking space, respectively, and these points together define the boundary and size of the parking space. The width and depth of the parking space are determined by the distance between p0 and p2 and the distance between p2 and p3, ensuring that the vehicle can accurately adapt to the space of the parking space when parking. Through the establishment of this coordinate system, the system can effectively calculate and plan the parking path to ensure that the vehicle can park safely and smoothly in the parking space.

[0121] The center point of the rear axle of the vehicle refers to the center position of the rear axle of the vehicle. Its coordinates (Car_X, Car_Y) are an important reference point in parking path planning. This point basically represents the center of the rear of the vehicle and is critical to determining the specific position and movement trajectory of the vehicle in space. The lower left corner position of the parking space (p2) is the geographical location of the lower left corner of the parking space. It is set as the origin in parking path planning. When establishing the parking space coordinate system, the coordinates of this point are set to (0, 0). All other coordinate points related to the parking space are determined relative to this origin. The parking space coordinate system is a coordinate system with the lower left corner of the parking space (p2) as the origin, which is used to simplify the calculation of the parking path. In this coordinate system, the size of the parking space, the position of the vehicle, and the positions of other key points are quantified for accurate geometric calculations. The coordinates of the lower left corner of the parking space are defined as (0, 0) in the parking space coordinate system. The coordinates of the center point of the rear axle of the vehicle are determined relative to this origin, indicating the specific position of the center of the rear axle of the vehicle in the parking space coordinate system. The coordinates of the upper right corner of the parking space are the coordinates of the upper right corner of the parking space, which are determined according to the position of the lower left corner of the parking space (p2) and the size of the parking space (width and depth). In the parking space coordinate system, if the width of the parking space is along the positive vector of the X-axis and the depth is along the positive vector of the Y-axis, then the coordinates of the upper right corner of the parking space are (Width, Depth).

[0122] The calculation of the parking path first involves determining the coordinates of the center point of the rear axle of the vehicle, which is based on the current vehicle position and the length of the vehicle. Next, the position of the lower left corner of the parking space is set as the coordinate origin, which is determined based on the position and size of the parking space. With p2 as the origin, a parking space coordinate system is established, which makes the coordinates of the lower left corner of the parking space (0, 0), and the coordinates of the center point of the rear axle of the vehicle are determined based on this origin. Then, the coordinates of the upper right corner of the parking space (p0) are calculated by the coordinates of the lower left corner of the parking space, the parking space coordinate system and the size of the parking space, usually expressed as (Width, Depth). Finally, the coordinates of the third circle center and the radius of the third circle (O1) are calculated based on the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the first preset compensation value (such as safety distance) and the length of the vehicle. These calculations ensure that the position and size of the third circle (O1) in the parking path planning can prevent the vehicle from colliding with the front end of the parking space or other obstacles during parking, thereby providing a safe parking starting point and path for the vehicle.

[0123] Step S23, calculating a first circle, tangent intersection coordinates, and a first deflection angle according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius, and the rearview mirror width;

[0124] It should be noted that the first circle (O2) is a key component in parking path planning, which is used to ensure that the vehicle will not collide with the parking space boundary or other obstacles during parking. The center coordinates and radius of the O2 circle are calculated based on vehicle width, vehicle safety distance, parking space size, parking space upper right corner coordinates (p0), preset adjustment coefficient (k_adjust), second preset compensation value (fixed_X), preset first circle radius (fixed_R) and rearview mirror width. The tangent intersection coordinates (intersection n) are the intersection of the vertical line from the center of the O2 circle and the circle. This point is a key reference point in the parking path, which is used to determine the turning path of the vehicle when entering the parking space. The coordinates of the tangent intersection are obtained through geometric calculations, involving the center position of the O2 circle and the radius of the circle. The first deflection angle (angle a) is the angle at which the vehicle needs to make its first turn during parking. This angle is calculated based on the vehicle's current heading angle and the orientation of the parking space. It is used to ensure that the vehicle can smoothly turn from its current position and travel along the parking path. The calculation of the first deflection angle needs to take into account the vehicle's steering characteristics and the geometry of the parking path.

[0125] It can be understood that, first, the coordinates of the center point and radius of the first circle (O2) are calculated based on the coordinates of the upper right corner of the parking space (p0), the size of the parking space, the width of the vehicle, and the preset radius of the first circle (fixed_R). This circle represents the area that the vehicle needs to avoid during parking to ensure that the vehicle does not collide with the parking space boundary or other obstacles. Next, the coordinates of the tangent intersection point (intersection point n) are determined by drawing a vertical line from the center of the first circle (O2) downward and finding the intersection of this line and the circle. This point is a key reference point in the parking path and is used to determine the turning path of the vehicle when entering the parking space. Finally, the first deflection angle (angle a) is calculated based on the angular difference between the current heading angle of the vehicle and the direction of the parking space. This angle guides the steering adjustment that the vehicle needs to make before starting the parking action to ensure that the vehicle can smoothly enter the predetermined parking path. These calculation steps comprehensively consider the geometric relationship between the vehicle and the parking space and the necessary safety parameters to ensure the accuracy and safety of the parking path.

[0126] As an example, the parking space size includes the parking space length and the parking space width; the step of calculating the first circle, the tangent intersection coordinates and the first deflection angle according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the rearview mirror width includes: calculating the longitudinal positioning adjustment amount according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient; calculating the first circle center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width; calculating the tangent intersection coordinates and the first deflection angle according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius.

[0127] The length (Width) of a parking space usually refers to the length of the parking space, i.e. the depth of the parking space, i.e. the distance from one end of the parking space to the other. The width (Depth) of a parking space refers to the width of the parking space, i.e. the lateral width of the parking space, i.e. the distance between the two sides of the parking space. These two parameters are key in parking path planning because they determine whether the parking space can accommodate a vehicle of a certain size. The longitudinal positioning adjustment (Adjust_Y) is a calculated parameter used to adjust the longitudinal position of the vehicle in the parking path. It is calculated based on parameters such as vehicle width, vehicle safety distance, parking space length, a second preset compensation value (fixed_X), and a preset adjustment factor (k_adjust). The calculation of Adjust_Y takes into account the available space in the parking space and the size of the vehicle to ensure that the vehicle can be parked safely in the parking space during the parking process while avoiding collisions with the parking space boundary or other obstacles. The first circle (O2) is a virtual circular area in the parking path planning. The center coordinates of the circle are calculated based on the coordinates of the upper right corner of the parking space (p0), the second preset compensation value (fixed_X), the preset radius of the first circle (fixed_R), the parking space width, the longitudinal positioning adjustment (Adjust_Y), the vehicle width, and the rearview mirror width. The center coordinates and radius of the first circle define a safety boundary that the vehicle needs to follow during the parking process to ensure that the vehicle can smoothly enter the parking space and complete the parking action.

[0128] The calculation of the parking path begins with determining the longitudinal positioning adjustment (Adjust_Y), which is calculated based on the vehicle width, vehicle safety distance, parking space length, second preset compensation value (fixed_X) and preset adjustment coefficient (k_adjust) to adjust the longitudinal position of the vehicle in the parking path to ensure that the vehicle maintains a safe distance from the parking space boundary when parking. Then, using the upper right corner coordinates of the parking space (p0), the second preset compensation value, the preset first circle radius (fixed_R), the parking space width, the longitudinal positioning adjustment, the vehicle width and the rearview mirror width, the center coordinates and radius of the first circle (O2) are calculated. This circle is used in parking path planning to ensure that the vehicle can turn safely and avoid collision when approaching the parking space. Finally, by combining the coordinates of the center of the third circle (O1), the coordinates of the center of the first circle (O2), the radius of the third circle and the preset radius of the first circle, the coordinates of the tangent intersection point (intersection point n) and the first deflection angle (angle a) are calculated, which determines the precise steering angle and path required before the vehicle enters the parking space to achieve a smooth and safe parking operation. These calculation steps comprehensively consider the geometric relationship between the vehicle and the parking space and the necessary safety parameters to ensure the accuracy and safety of the parking path.

[0129] Please refer to Figure 6 , Figure 6 A schematic diagram of the position of the first circle is provided for the second embodiment of the parking method based on path planning of this application. In the figure, the center of the first circle (O2) is calculated based on the relative position of the parking space and the vehicle, the parking space information and the preset empirical value, and its coordinates reflect the ideal position that the vehicle should be in when starting the parking action. The radius of the circle takes into account the size of the vehicle and the necessary safety distance to ensure that the vehicle will not collide with the parking space boundary or other obstacles during the parking process. The position and size of the first circle is one of the key parameters for parking path planning, which determines the initial path and posture adjustment of the vehicle entering the parking space.

[0130] As an example, the step of calculating the longitudinal positioning adjustment amount according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient includes: calculating the single path width according to the second preset compensation value, the vehicle width and the vehicle safety distance; calculating the longitudinal positioning adjustment amount according to the parking space length, the single path width and the preset adjustment coefficient.

[0131] The single path width (Width_OnePath) refers to the width of the path that the vehicle needs to pass in the parking path planning. This parameter is an important calculation value in the parking path planning. It ensures that the vehicle has enough space to complete the required turning action during the parking process while avoiding collisions with the parking space boundary or other obstacles. The calculation of the single path width (Width_OnePath) takes into account the width of the vehicle, the safe distance of the vehicle, and the second preset compensation value (fixed_X). These parameters together determine the minimum width required for the vehicle in the parking path. Specifically, the calculation formula of the single path width (Width_OnePath) is: Width_OnePath=fixed_X+Car_Depth+Car_Safe, where fixed_X is a fixed empirical value, Car_Width is the width of the vehicle, and Car_Safe is the safe distance of the vehicle. This calculated value is used for the subsequent calculation of the longitudinal positioning adjustment (Adjust_Y) to ensure that the longitudinal position of the vehicle in the parking path is correct, thereby achieving safe and accurate parking.

[0132] First, the single path width needs to be determined, which is the width of the path that the vehicle needs to pass through in the parking path. The single path width is calculated by adding the second preset compensation value, the vehicle width, and the vehicle safety distance to ensure that the vehicle has enough space to complete the required turning action during parking while avoiding collisions with parking space boundaries or other obstacles. Next, the longitudinal positioning adjustment is calculated based on the parking space length (Width), the single path width, and the preset adjustment factor (k_adjust, usually 0.32). This adjustment is used to fine-tune the longitudinal position of the vehicle in the parking path, ensuring that the vehicle maintains a safe distance from the parking space boundary when parking, and that the vehicle is parked in the center of the parking space. Through these calculation steps, the system can accurately determine the vehicle's parking path and achieve safe and efficient automatic parking.

[0133] As an example, the step of calculating the first circle center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width includes: calculating the first circle center horizontal coordinate according to the upper right corner coordinates of the parking space, the second preset compensation value and the preset first circle radius; calculating the first circle center vertical coordinate according to the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width; obtaining the first circle center coordinates and the first circle according to the first circle center horizontal coordinates, the first circle center vertical coordinate and the preset first circle radius.

[0134] The first circle center horizontal coordinate is the horizontal distance of the center of the first circle (O2) along the X axis in the parking space coordinate system, which is based on the lower left corner of the parking space. The calculation of the horizontal coordinate is based on the upper right corner of the parking space (p0), the second preset compensation value (fixed_X), and the preset radius of the first circle (fixed_R). This horizontal coordinate determines the horizontal position of the first circle at the entrance of the parking space, ensuring that the vehicle can start its turning action from the correct position when parking and avoid collision with the boundary of the parking space or other obstacles. The first circle center vertical coordinate is the vertical distance of the center of the first circle (O2) along the Y axis in the parking space coordinate system. The calculation of the vertical coordinate is based on the preset radius of the first circle (fixed_R), the width of the parking space (Depth), the longitudinal positioning adjustment (Adjust_Y), the vehicle width (Car_Width), and the width of the rearview mirror. This vertical coordinate determines the vertical position of the first circle in the parking space, helping to ensure that the vehicle can move safely along the planned path during parking while maintaining an appropriate distance to avoid collision.

[0135] First, the horizontal coordinate of the center of the first circle is calculated by the coordinates of the upper right corner of the parking space (i.e., the width of the parking space Width), the second preset compensation value (fixed_X) and the preset radius of the first circle (fixed_R). This horizontal coordinate represents the position of the center of the first circle (O2) in the horizontal direction of the parking space, which determines the horizontal reference point when the vehicle starts parking. Next, the vertical coordinate of the center of the first circle is calculated based on the preset first circle radius (fixed_R), parking space width (Depth), longitudinal positioning adjustment (Adjust_Y), vehicle width (Car_Width) and rearview mirror width. This vertical coordinate determines the position of the center of the first circle (O2) in the vertical direction, which affects the longitudinal movement and steering strategy of the vehicle during parking. Finally, combining the calculated horizontal and vertical coordinates and the preset first circle radius (fixed_R), the system can determine the center coordinates and radius of the first circle (O2), which is used in parking path planning to ensure that the vehicle can navigate safely when approaching and entering the parking space, avoiding collisions with parking space boundaries or other obstacles, thereby achieving precise and safe parking.

[0136] As an example, the steps of calculating the tangent intersection coordinates and the first deflection angle according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius include: calculating the perpendicular intersection coordinates according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius; calculating the tangent intersection coordinates according to the first circle center coordinates, the perpendicular intersection coordinates and the preset first circle radius; making a second vertical positioning line of circle according to the first circle center coordinates; calculating the second deflection angle according to the third circle center coordinates, the first circle center coordinates and the second vertical positioning line of circle; calculating the center spacing according to the third circle center coordinates and the first circle center coordinates; calculating the third deflection angle according to the third circle radius, the preset first circle radius and the center spacing; calculating the first deflection angle according to the second deflection angle and the third deflection angle.

[0137] The coordinates of the perpendicular intersection point (point x) are the intersection of a perpendicular line drawn downward from the center of the first circle (O2) and the third circle (O3). This point is a key reference point in the parking path and is used to determine the turning path of the vehicle when entering the parking space. The coordinates of the perpendicular intersection point are obtained through geometric calculations, involving the center positions of the first and third circles and the radius of the circles. The coordinates of the tangent intersection point (intersection point n) are the intersection of a straight line tangent to the first circle (O2) and the third circle (O3) from the perpendicular intersection point (point x). This point is another key reference point in the parking path and determines the precise path that the vehicle needs to follow during parking. The coordinates of the tangent intersection point are obtained through geometric calculations, involving the center position of the first circle, the coordinates of the perpendicular intersection point, and the radius of the first circle. The circle two vertical positioning line is a perpendicular line drawn downward from the center of the first circle (O2) and is used to determine the location of the tangent intersection point (intersection point n). This line is an auxiliary line in parking path planning, helping to determine the steering angle and path of the vehicle during parking. The second deflection angle (a1) is the angle of the second turn that the vehicle needs to make during the parking process. This angle is calculated based on the coordinates of the center of the first circle (O2), the coordinates of the intersection of the vertical lines, and the vertical positioning line of the second circle, and is used to ensure that the vehicle can smoothly turn from the current position and drive along the parking path. The center distance (line segment O1O2) is the distance between the centers of the first circle (O2) and the third circle (O3). This distance is calculated through geometric calculations and involves the center positions of the first circle and the third circle. It is used to determine the steering angle and path of the vehicle during the parking process. The third deflection angle (a2) is an angle calculated based on the radius of the third circle, the preset radius of the first circle, and the center distance. This angle is calculated through trigonometric functions, a2 = arc sin ((R1+R2) / O1O2), and is used to determine the steering angle and path of the vehicle during the parking process. The first deflection angle (angle a) is the angle at which the vehicle needs to make its first turn during parking. This angle is calculated based on the second deflection angle (a1) and the third deflection angle (a2) to ensure that the vehicle can smoothly turn from its current position and travel along the parking path.

[0138] Precise planning of the parking path involves a series of complex geometric calculations. First, the coordinates of the perpendicular intersection point (point x) are obtained by connecting the centers of the third circle (O1) and the first circle (O2), and drawing a perpendicular line from the center of the first circle downward to intersect the third circle. This point is a key reference point in the parking path and is used to determine the turning path of the vehicle when entering the parking space. Next, the coordinates of the tangent intersection point (intersection point n) are calculated by the intersection of the straight line tangent to the first circle (O2) and the third circle (O1) from the perpendicular intersection point (point x). This point determines the precise path that the vehicle needs to follow during parking. Then, the perpendicular line drawn downward from the coordinates of the center of the first circle (O2) is called the circle two vertical positioning line. This line is used to determine the position of the tangent intersection point (intersection point n). The second deflection angle (a1) is calculated based on the coordinates of the third circle center, the coordinates of the first circle center, and the circle two vertical positioning line. This angle is used to ensure that the vehicle can smoothly turn from the current position and drive along the parking path. The center distance (line segment O1O2) is the distance between the centers of the first circle (O2) and the third circle (O1). This distance is obtained through geometric calculation and involves the positions of the centers of the first circle and the third circle. The third deflection angle (a2) is an angle calculated based on the radius of the third circle, the preset radius of the first circle, and the center distance. This angle is calculated through trigonometric functions and is used to determine the steering angle and path of the vehicle during parking. Finally, the first deflection angle (angle a) is calculated based on the second deflection angle (a1) and the third deflection angle (a2). This angle is the angle of the first turn that the vehicle needs to make during parking, which is used to ensure that the vehicle can smoothly turn from the current position and drive along the parking path. These calculation steps comprehensively consider the geometric relationship between the vehicle and the parking space and the necessary safety parameters, ensure the accuracy and safety of the parking path, and enable the vehicle to smoothly enter the parking space and complete the parking process.

[0139] Step S24, obtaining the coordinates of the parking point, the second circle, the coordinates of the middle point of the parking path, and the coordinates of the parking space anti-collision stop point by calculating at least two of the coordinates of the tangent intersection point, the first deflection angle, the coordinates of the center point of the vehicle rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length, and the vehicle width.

[0140] It should be noted that the parking point coordinates (point c) are the starting point coordinates of the vehicle starting to perform the parking action. The parking point coordinates are usually calculated based on the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space (p0), the first preset compensation value (del) and other parameters. This point is the starting point of the parking path, ensuring that the vehicle starts parking from the appropriate position and direction. The second circle (O3) is a virtual circular area in the parking path planning. The coordinates of the center of the circle and the radius are calculated based on the coordinates of the tangent intersection point (intersection point n), the first deflection angle (angle a), the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space (p0) and other parameters. The position and size of the second circle determine the turning path of the vehicle during the parking process, ensuring that the vehicle can smoothly enter the parking space. The coordinates of the middle point of the parking path (point d) are the coordinates of an intermediate point in the parking path, usually located between the second circle (O3) and the parking space anti-collision stop point (point E). The calculation of the coordinates of the middle point of the parking path (point d) will take into account parameters such as the position of the second circle, the length of the vehicle, the width of the vehicle, and the size of the parking space, to ensure smooth transition and precise positioning of the vehicle during parking. The coordinates of the parking space anti-collision stop point (point E) are the coordinates of a safe point in the parking path, which are used to prevent the vehicle from exceeding the parking space boundary or colliding with obstacles during parking. The calculation of the parking space anti-collision stop point coordinates (point E) will be based on the coordinates of the upper right corner of the parking space (p0), the parking space position, the parking space size, the first preset compensation value (del), and other parameters to ensure that the vehicle has been safely parked in the parking space when it reaches this point.

[0141] It can be understood that, first, the coordinates of the parking point (point c) are calculated based on the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space (p0), and the first preset compensation value (del). This point marks the starting position of the vehicle's parking action. Next, the center coordinates and radius of the second circle (O3) are calculated based on the coordinates of the tangent intersection point (intersection point n), the first deflection angle (angle a), the coordinates of the center point of the vehicle's rear axle, and the coordinates of the upper right corner of the parking space (p0). This circle is used in parking path planning to ensure that the vehicle can turn safely and avoid collision when approaching the parking space. The coordinates of the middle point of the parking path (point d) are calculated based on the position of the second circle, the length of the vehicle, the width of the vehicle, and the size of the parking space. This point is an important transition position of the vehicle in the parking path. Finally, the parking space anti-collision stop point coordinate (point E) is calculated based on the upper right corner coordinate of the parking space (p0), the parking space position, the parking space size, and the first preset compensation value (del). This point is a safe point in the parking path to ensure that the vehicle will not exceed the parking space boundary or collide with obstacles during parking. Through these precise calculation steps, the system can plan a collision-free, efficient and safe parking path, improve the parking success rate and reduce the consumption of hardware resources.

[0142] As an example, the step of calculating the parking point coordinates, the second circle, the middle point coordinates of the parking path and the parking space anti-collision stop point coordinates according to at least two of the tangent intersection coordinates, the first deflection angle, the center point coordinates of the vehicle rear axle, the vehicle heading angle, the upper right corner coordinates of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length and the vehicle width includes: calculating the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to the tangent intersection coordinates, the first deflection angle, the center point coordinates of the vehicle rear axle, the vehicle heading angle, the upper right corner coordinates of the parking space and at least two of the first preset compensation value; calculating the second circle and the middle point coordinates of the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle and the vehicle heading angle; determining the parking space anti-collision stop point coordinates according to the parking space position, the parking space size, the vehicle length and the vehicle width.

[0143] The turning reference point coordinates (point b) are the reference points in the parking path for determining the vehicle's turning action. The turning reference point coordinates (point b) are calculated based on the tangent intersection coordinates, the first deflection angle, the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space, and the first preset compensation value. This point is a key reference point in parking path planning, used to ensure that the vehicle can turn according to the predetermined path during the parking process. The parking entry point coordinates are the starting point coordinates where the vehicle starts to perform the parking action. The parking entry point coordinates are calculated based on the turning reference point coordinates (point b), the first deflection angle, the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space, and the first preset compensation value. This point is the starting point of the parking path, ensuring that the vehicle starts parking from the appropriate position and direction. The fourth deflection angle (a3) ​​is the angle of the fourth turn that the vehicle needs to make during the parking process. The fourth deflection angle (a3) ​​is calculated based on the coordinates of the tangent intersection, the first deflection angle, the coordinates of the center point of the vehicle's rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, and the first preset compensation value. This angle is used to ensure that the vehicle can smoothly turn from the current position and drive along the parking path. The second circle (O3) is a virtual circular area in the parking path planning. The coordinates of the center and radius are calculated based on the coordinates of the parking entry point, the coordinates of the turning reference point (point b), the fourth deflection angle (a3), and the vehicle heading angle. The position and size of the second circle determine the turning path of the vehicle during the parking process, ensuring that the vehicle can smoothly enter the parking space. The coordinates of the middle point of the parking path (point d) are calculated based on the position of the second circle, the length of the vehicle, the width of the vehicle, and the size of the parking space. This point is an important transition position of the vehicle in the parking path. The parking space anti-collision stop point coordinates are a safe point coordinate in the parking path, which is used to prevent the vehicle from exceeding the parking space boundary or colliding with obstacles during the parking process. The calculation of the parking space collision avoidance stop point coordinates (point E) will be based on parameters such as parking space position, parking space size, vehicle length and vehicle width to ensure that the vehicle is safely parked in the parking space when it reaches this point.

[0144] First, the coordinates of the turning reference point (point b), the coordinates of the parking entry point (point c), and the fourth deflection angle (a3) ​​are calculated using the coordinates of the tangent intersection point (intersection point n), the first deflection angle (angle a), the coordinates of the center point of the vehicle's rear axle, the vehicle's heading angle, the coordinates of the upper right corner of the parking space (p0), and the first preset compensation value (del). These parameters help determine the starting position of the vehicle to start the parking action and the steering angle required. Next, the center coordinates and radius of the second circle (O3) and the coordinates of the middle point of the parking path (point d) are calculated based on the coordinates of the parking entry point (point c), the coordinates of the turning reference point (point b), the fourth deflection angle (a3), and the vehicle's heading angle, which determine the turning path and middle position of the vehicle during the parking process. Finally, the coordinates of the parking space anti-collision stop point (point E) are determined based on the parking space position, parking space size, vehicle length, and vehicle width. This point is a safe point in the parking path to ensure that the vehicle will not exceed the parking space boundary or collide with obstacles during the parking process. Through these calculation steps, the system can plan a collision-free, efficient and safe parking path, improve the parking success rate and reduce the consumption of hardware resources.

[0145] As an example, the step of calculating the coordinates of the second circle and the middle point of the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle and the vehicle heading angle includes: calculating the radius of the second circle according to the parking point coordinates, the turning reference point coordinates and the fourth deflection angle; calculating the coordinates of the second circle center according to the parking point coordinates, the second circle radius and the vehicle heading angle; obtaining the second circle according to the second circle center coordinates and the second circle radius; calculating the horizontal coordinates of the middle point of the parking path according to the turning reference point coordinates, the parking point coordinates, the vehicle heading angle and the fourth deflection angle; calculating the vertical coordinates of the middle point of the parking path according to the turning reference point coordinates, the horizontal coordinates of the middle point of the parking path and the vehicle heading angle; and obtaining the coordinates of the middle point of the parking path according to the horizontal coordinates of the middle point of the parking path and the vertical coordinates of the middle point of the parking path.

[0146] The second circle radius refers to the radius of the second circle (O3), which is calculated based on the parking point coordinates (point c), the turning reference point coordinates (point b) and the fourth deflection angle (angle a3). The second circle radius determines the rotation space required for the vehicle to perform the parking action, ensuring that the vehicle can successfully complete the turn and enter the parking space. This radius takes into account the size of the vehicle, the safety distance and the requirements of the parking path. The second circle center coordinates are the specific position of the center of the second circle in the parking path coordinate system, which consists of a horizontal coordinate and a vertical coordinate. The second circle center coordinates are calculated based on the parking point coordinates, the second circle radius and the vehicle heading angle. This coordinate point is a key reference point when planning the parking path, which directly affects the vehicle's steering and driving path. The parking path midpoint horizontal coordinate is the coordinate of the midpoint of the parking path (point d) in the horizontal direction. It is calculated based on the turning reference point coordinates, the parking point coordinates, the vehicle heading angle and the fourth deflection angle. This horizontal coordinate determines the horizontal position of the vehicle in the middle of the parking path and is a key step in parking path planning. The ordinate of the parking path midpoint is the vertical coordinate of the parking path midpoint, which is calculated based on the steering reference point coordinate, the parking path midpoint abscissa, and the vehicle heading angle. This ordinate determines the vertical position of the vehicle in the middle of the parking path, and together with the abscissa, determines the exact position of the parking path midpoint.

[0147] First, the radius of the second circle is calculated by combining the coordinates of the parking entry point (point c), the coordinates of the turning reference point (point b), and the fourth deflection angle (angle a3). This radius reflects how much space the vehicle needs to complete the turning action during the parking process. Next, the coordinates of the center of the second circle can be determined using the coordinates of the parking entry point, the radius of the second circle just calculated, and the vehicle heading angle. This coordinate point is the center point when the vehicle performs the turning action and is crucial for planning the vehicle's driving trajectory. With the coordinates and radius of the center of the second circle, the second circle (O3) can be defined, which is part of the vehicle's turning path. Then, the horizontal coordinate of the middle point of the parking path is calculated by the coordinates of the turning reference point, the parking entry point, the vehicle heading angle, and the fourth deflection angle, while the vertical coordinate is calculated based on the coordinates of the turning reference point, the obtained horizontal coordinate, and the vehicle heading angle. These two coordinates together determine the position of the middle point of the parking path (point d), which is an important reference point between the vehicle from the parking entry point to the parking space anti-collision stop point. Through these precise calculation steps, the system can plan a collision-free, efficient and safe parking path, ensuring that the vehicle can smoothly enter the parking space and complete the parking process.

[0148] Please refer to Figure 7 , Figure 7A schematic diagram of the position of the second circle provided for the second embodiment of the parking method based on path planning of the present application, in which the coordinates of the center point and radius of the second circle (O3) are calculated based on the coordinates of the center point of the rear axle of the vehicle, the first deflection angle, the coordinates of the upper right corner of the parking space, and the first preset compensation value. This circle represents a part of the turning path that the vehicle needs to follow during parking, ensuring that the vehicle can move smoothly from the parking point to the parking space. The position and size of the second circle determine the space requirements of the vehicle when turning, preventing the vehicle from colliding with the parking space boundary or other obstacles during parking.

[0149] As an example, the step of calculating the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center point coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value includes: calculating the second tangent of the circle according to the tangent intersection coordinates and taking the tangent value of the first deflection angle as the slope; calculating the vehicle heading baseline according to the second tangent of the circle and the vehicle heading baseline; calculating the turning reference point coordinates according to the vehicle heading baseline, the upper right corner coordinates of the parking space and the first preset compensation value; calculating the fourth deflection angle according to the vehicle heading angle and the first deflection angle.

[0150] The second tangent line of the circle (L1) is a straight line tangent to the first circle (O2), and its slope is determined by the tangent value of the first deflection angle (angle a). The second tangent line of the circle (L1) is an auxiliary line in parking path planning, which is used to determine the steering path of the vehicle during parking. The calculation of this line involves the coordinates of the tangent intersection point (intersection point n) and the first deflection angle (angle a), ensuring that the vehicle can move in the correct direction when parking. The vehicle heading reference line (L2) is a straight line determined based on the coordinates of the center point of the vehicle's rear axle and the tangent value of the vehicle's heading angle. The vehicle heading reference line (L2) represents the current driving direction of the vehicle and is an important reference line in parking path planning. The calculation of this line ensures that the vehicle can travel along the predetermined path during parking.

[0151] First, the second tangent line (L1) of the circle is determined by using the coordinates of the intersection of the tangent lines and the tangent value of the first deflection angle. This is a straight line tangent to the first circle (O2) at the intersection of the tangent lines, representing the curved trajectory that the vehicle needs to follow in the parking path. Next, the vehicle heading reference line (L2) is determined according to the coordinates of the center point of the vehicle rear axle and the tangent value of the vehicle heading angle. This straight line reflects the current driving direction of the vehicle. Then, the turning reference point coordinates (point b) are determined by calculating the intersection of the second tangent line (L1) of the circle and the vehicle heading reference line (L2). This point is an important reference position when the vehicle starts to perform the parking action. Subsequently, the parking point coordinates (point c) are calculated by combining the vehicle heading reference line (L2), the coordinates of the upper right corner of the parking space and the first preset compensation value. This is the specific starting position for the vehicle to start the parking action. Finally, the fourth deflection angle (a3) ​​is calculated according to the vehicle heading angle and the first deflection angle. This is the adjustment angle that the vehicle needs to make during the parking process to ensure that the vehicle can smoothly turn into the parking space. These steps comprehensively consider the geometric relationship between the vehicle and the parking space as well as the necessary safety parameters, ensuring the accuracy and safety of the parking path, allowing the vehicle to smoothly enter the parking space and complete the parking process.

[0152] In this embodiment, the direction of the vehicle is adjusted according to the parking space direction until the direction of the vehicle is parallel to the parking space direction, and the current vehicle position is obtained; the coordinates of the center point of the vehicle rear axle, the coordinates of the upper right corner of the parking space, the coordinates of the center of the third circle, and the radius of the third circle are obtained according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length; the first circle, the coordinates of the tangent intersection point, and the first deflection angle are calculated according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the coordinates of the upper right corner of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius, and the rearview mirror width; the coordinates of the parking point, the second circle, the coordinates of the middle point of the parking path, and the coordinates of the parking space anti-collision stop point are calculated according to at least two of the coordinates of the tangent intersection point, the first deflection angle, the coordinates of the center point of the vehicle rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length, and the vehicle width. First, the system adjusts the direction of the vehicle according to the direction of the parking space until the direction of the vehicle is parallel to the direction of the parking space, and obtains the current vehicle position, which ensures that the vehicle is aligned with the parking space and provides the correct starting conditions for the parking operation. Then, using the current vehicle position, parking space position, parking space size, first preset compensation value and vehicle length and other parameters, the coordinates of the center point of the vehicle's rear axle, the coordinates of the upper right corner of the parking space, the coordinates of the center of the third circle and the radius of the third circle are calculated. These parameters are the basis for parking path planning to ensure that the vehicle enters the parking space according to the correct trajectory. Then, based on the vehicle width, vehicle safety distance, parking space size, the coordinates of the upper right corner of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the width of the rearview mirror and other parameters, the first circle, the coordinates of the tangent intersection and the first deflection angle are calculated. These calculations help determine the turning point and path of the vehicle during parking. Finally, the coordinates of the parking point, the second circle, the coordinates of the middle point of the parking path, and the coordinates of the parking anti-collision stop point are calculated by combining the coordinates of the tangent intersection point, the first deflection angle, the coordinates of the center point of the vehicle rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, the first preset compensation value, the parking space position, the parking space size, and the vehicle width. These detailed planning steps ensure that the vehicle has accurate navigation at each stage of the parking process, thereby achieving smooth and safe parking. Through these steps, this embodiment can realize automated parking path planning, improve the safety and efficiency of the parking process, and adapt to parking spaces and vehicles of different sizes, and has wide applicability.

[0153] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the parking method based on path planning of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0154] This application also provides a parking device based on path planning, please refer to Figure 8 , the parking device based on path planning includes:

[0155] The data acquisition module 10 is used to acquire parking space information and vehicle information;

[0156] The data processing module 20 is used to calculate the coordinates of the tangent intersection point, the parking point coordinates, the first circle, the middle point coordinates of the parking path, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data;

[0157] A path planning module 30, configured to obtain a parking path according to the parking entry point coordinates, the second circle, the coordinates of the middle point of the parking path, the coordinates of the tangent intersection point, the first circle and the coordinates of the parking space anti-collision stop point;

[0158] The parking control module 40 is used to park the vehicle according to the parking path.

[0159] In one embodiment, the data processing module 20 is also used for the vehicle information including vehicle direction, vehicle heading angle, vehicle length, vehicle width, rearview mirror width and vehicle safety distance; the preset data includes a first preset compensation value, a second preset compensation value, a preset first circle radius and a preset adjustment coefficient; the step of calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data includes: adjusting the vehicle direction according to the parking space direction until the vehicle direction is parallel to the parking space direction, and obtaining the current vehicle position; calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space direction, the vehicle information and the preset data ...; calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space direction, the vehicle information and the preset data; calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space direction, the vehicle information and the preset data; calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space At least two items are used to obtain the coordinates of the center point of the vehicle's rear axle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the radius of the third circle; the first circle, the coordinates of the tangent intersection point, and the first deflection angle are calculated according to at least two items of the vehicle width, the vehicle safety distance, the parking space size, the coordinates of the upper right corner of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius, and the width of the rearview mirror; the parking point coordinates, the second circle, the coordinates of the middle point of the parking path, and the coordinates of the parking space anti-collision stop point are calculated according to at least two items of the tangent intersection point coordinates, the first deflection angle, the coordinates of the center point of the vehicle's rear axle, the vehicle heading angle, the coordinates of the upper right corner of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length, and the vehicle width.

[0160] In one embodiment, the data processing module 20 is further used to determine the center point of the rear axle of the vehicle according to the current vehicle position; determine the position of the lower left corner of the parking space according to the parking space position and the parking space size; establish a parking space coordinate system with the lower left corner of the parking space as the coordinate origin and the center point of the rear axle of the vehicle as the reference point, and obtain the coordinates of the lower left corner of the parking space and the coordinates of the center point of the rear axle of the vehicle according to the parking space coordinate system; determine the coordinates of the upper right corner of the parking space according to the coordinates of the lower left corner of the parking space, the parking space coordinate system and the parking space size; calculate the coordinates of the third circle center and the third circle radius according to the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the first preset compensation value and the vehicle length.

[0161] In one embodiment, the data processing module 20 is further used to calculate the longitudinal positioning adjustment amount according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient; calculate the first circle center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width; calculate the tangent intersection coordinates and the first deflection angle according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius.

[0162] In one embodiment, the data processing module 20 is further used to calculate the single path width based on the second preset compensation value, the vehicle width and the vehicle safety distance; and to calculate the longitudinal positioning adjustment amount based on the parking space length, the single path width and the preset adjustment coefficient.

[0163] In one embodiment, the data processing module 20 is further used to calculate the horizontal coordinate of the first circle center according to the coordinates of the upper right corner of the parking space, the second preset compensation value and the preset first circle radius; calculate the vertical coordinate of the first circle center according to the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width; and obtain the first circle center coordinates and the first circle according to the first circle center horizontal coordinate, the first circle center vertical coordinate and the preset first circle radius.

[0164] In one embodiment, the data processing module 20 is also used to calculate the coordinates of the intersection of the vertical lines according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius; calculate the coordinates of the intersection of the tangent lines according to the first circle center coordinates, the vertical line intersection coordinates and the preset first circle radius; make a second vertical positioning line for circle 2 according to the first circle center coordinates; calculate the second deflection angle according to the third circle center coordinates, the first circle center coordinates and the second vertical positioning line for circle 2; calculate the center spacing according to the third circle center coordinates and the first circle center coordinates; calculate the third deflection angle according to the third circle radius, the preset first circle radius and the center spacing; calculate the first deflection angle according to the second deflection angle and the third deflection angle.

[0165] In one embodiment, the data processing module 20 is further used to calculate the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center point coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value; calculate the coordinates of the second circle and the middle point of the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle and the vehicle heading angle; determine the parking space anti-collision stop point coordinates according to the parking space position, the parking space size, the vehicle length and the vehicle width.

[0166] In one embodiment, the data processing module 20 is further used to calculate a second circle radius according to the parking point coordinates, the turning reference point coordinates and the fourth deflection angle; calculate a second circle center coordinate according to the parking point coordinates, the second circle radius and the vehicle heading angle; obtain a second circle according to the second circle center coordinates and the second circle radius; calculate a horizontal coordinate of a midpoint of a parking path according to the turning reference point coordinates, the parking point coordinates, the vehicle heading angle and the fourth deflection angle; calculate a vertical coordinate of a midpoint of a parking path according to the turning reference point coordinates, the horizontal coordinate of the midpoint of the parking path and the vehicle heading angle; and obtain the coordinates of the midpoint of the parking path according to the horizontal coordinate of the midpoint of the parking path and the vertical coordinate of the midpoint of the parking path.

[0167] In one embodiment, the data processing module 20 is further used to calculate the second tangent of the circle according to the coordinates of the tangent intersection point and the tangent value of the first deflection angle as the slope; calculate the vehicle heading reference line according to the coordinates of the center point of the rear axle of the vehicle and the tangent value of the vehicle heading angle as the slope; calculate the coordinates of the turning reference point according to the second tangent of the circle and the vehicle heading reference line; calculate the coordinates of the parking point according to the vehicle heading reference line, the coordinates of the upper right corner of the parking space and the first preset compensation value; and calculate the fourth deflection angle according to the vehicle heading angle and the first deflection angle.

[0168] In one embodiment, the parking control module 40 is also used to obtain the rear position of the vehicle, the current vehicle heading angle and the current vehicle direction; when the rear position of the vehicle reaches the coordinates of the parking space anti-collision stop point, the current vehicle direction is adjusted according to the current vehicle heading angle until the current vehicle direction is parallel to the parking space direction.

[0169] The parking device based on path planning provided by the present application adopts the parking method based on path planning in the above embodiment, and can solve the technical problem of how to quickly plan a reasonable parking path. Compared with the prior art, the beneficial effects of the parking device based on path planning provided by the present application are the same as the beneficial effects of the parking method based on path planning provided by the above embodiment, and other technical features of the parking device based on path planning are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0170] The present application provides a parking device based on path planning, and the parking device based on path planning includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the parking method based on path planning in the above-mentioned embodiment 1.

[0171] Reference below Fig. 9 , which shows a schematic diagram of the structure of a parking device based on path planning suitable for implementing the embodiment of the present application. The parking device based on path planning in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9The path planning-based parking device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0172] like Fig. 9 As shown, the parking device based on path planning may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the parking device based on path planning are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the path planning-based parking device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a path planning-based parking device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0173] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0174] The parking device based on path planning provided by the present application adopts the parking method based on path planning in the above embodiment, which can solve the technical problem of how to quickly plan a reasonable parking path. Compared with the prior art, the parking device based on path planning provided by the present application has the same beneficial effects as the parking method based on path planning provided by the above embodiment, and other technical features of the parking device based on path planning are the same as those disclosed in the method of the above embodiment, which will not be described in detail here.

[0175] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0176] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the parking method based on path planning in the above-mentioned embodiment.

[0177] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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 above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0178] The computer-readable storage medium may be included in the parking device based on path planning; or may exist independently without being assembled into the parking device based on path planning.

[0179] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the parking device based on path planning, the parking device based on path planning: obtains parking space information and vehicle information; calculates tangent intersection coordinates, parking entry point coordinates, a first circle, parking path midpoint coordinates, a second circle, and parking space anti-collision stop point coordinates according to the parking space information, the vehicle information, and preset data; obtains a parking path according to the parking entry point coordinates, the second circle, the parking path midpoint coordinates, the tangent intersection coordinates, the first circle, and the parking space anti-collision stop point coordinates; and parks according to the parking path.

[0180] Program codes for executing the operations of the present application may be written in object-oriented languages ​​such as Java, C++, or procedural languages ​​such as C. These codes may be run on a local computer, a remote server, or a combination of the two, and communicate with a user's computer via a local area network, a wide area network, or the Internet.

[0181] The flowcharts and block diagrams in the accompanying drawings illustrate possible implementation architectures of the systems, methods, and computer program products in the present application. Each box in the figure represents a module or code portion, which contains instructions for performing specific logical functions. When implemented, the order of function execution may be different from that in the figure, and may even be executed in parallel or in reverse. In addition, these functions can be implemented using a hardware system or a combination of hardware and software, and the module name does not limit its specific form.

[0182] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned parking method based on path planning, and can solve the technical problem of how to quickly plan a reasonable parking path. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the parking method based on path planning provided in the above-mentioned embodiment, and will not be elaborated here.

[0183] The present application also provides a computer program product, including a computer program, which implements the steps of the parking method based on path planning as described above when executed by a processor. The computer program product provided by the present application can solve the technical problem of how to quickly plan a reasonable parking path. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the parking method based on path planning provided by the above-mentioned embodiment, and are not described in detail here. The above description is only a partial embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the specification and drawings of the present application under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A parking method based on path planning, characterized in that: The method comprises: Get parking space information and vehicle information; Calculating the coordinates of the tangent intersection point, the parking point coordinates, the first circle, the middle point coordinates of the parking path, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data; Obtaining a parking path according to the parking point coordinates, the second circle, the parking path middle point coordinates, the tangent intersection point coordinates, the first circle and the parking space anti-collision stop point coordinates; Parking is performed according to the parking path.

2. The method according to claim 1, characterized in that The parking space information includes parking space direction, parking space location and parking space size; The vehicle information includes vehicle direction, vehicle heading angle, vehicle length, vehicle width, rearview mirror width and vehicle safety distance; The preset data includes a first preset compensation value, a second preset compensation value, a preset first circle radius, and a preset adjustment coefficient; The step of calculating the tangent intersection coordinates, the parking point coordinates, the first circle, the parking path middle point coordinates, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and the preset data comprises: Adjusting the direction of the vehicle according to the parking space direction until the vehicle direction is parallel to the parking space direction, and acquiring the current vehicle position; Obtaining the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the third circle radius according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length; The first circle, the tangent intersection coordinates and the first deflection angle are calculated according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the rearview mirror width; The parking point coordinates, the second circle, the middle point coordinates of the parking path and the parking space anti-collision stop point coordinates are calculated according to at least two of the tangent intersection coordinates, the first deflection angle, the center point coordinates of the vehicle rear axle, the vehicle heading angle, the upper right corner coordinates of the parking space, the first preset compensation value, the parking space position, the parking space size, the vehicle length and the vehicle width.

3. The method according to claim 2, characterized in that The step of obtaining the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the coordinates of the third circle center, and the third circle radius according to at least two of the current vehicle position, the parking space position, the parking space size, the first preset compensation value, and the vehicle length comprises: Determine the center point of the rear axle of the vehicle according to the current vehicle position; Determine the position of the lower left corner of the parking space according to the parking space position and the parking space size; A parking space coordinate system is established with the lower left corner of the parking space as the coordinate origin and the center point of the rear axle of the vehicle as the reference point, and the coordinates of the lower left corner of the parking space and the center point of the rear axle of the vehicle are obtained according to the parking space coordinate system; Determine the coordinates of the upper right corner of the parking space according to the coordinates of the lower left corner of the parking space, the parking space coordinate system and the size of the parking space; The third circle center coordinates and the third circle radius are calculated according to the coordinates of the center point of the rear axle of the vehicle, the coordinates of the upper right corner of the parking space, the first preset compensation value and the length of the vehicle.

4. The method according to claim 2, characterized in that The parking space dimensions include the parking space length and the parking space width; The step of calculating the first circle, the tangent intersection coordinates and the first deflection angle according to at least two of the vehicle width, the vehicle safety distance, the parking space size, the upper right corner coordinates of the parking space, the preset adjustment coefficient, the second preset compensation value, the preset first circle radius and the rearview mirror width comprises: The longitudinal positioning adjustment amount is calculated according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient; Calculate the first center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width, and the rearview mirror width; The tangent intersection coordinates and the first deflection angle are calculated according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius.

5. The method according to claim 4, characterized in that The step of calculating the longitudinal positioning adjustment amount according to the second preset compensation value, the vehicle width, the vehicle safety distance, the parking space length and the preset adjustment coefficient comprises: Calculate the single path width according to the second preset compensation value, the vehicle width and the vehicle safety distance; The longitudinal positioning adjustment amount is calculated according to the parking space length, the single path width and the preset adjustment coefficient.

6. The method according to claim 4, characterized in that The step of calculating the first circle center coordinates and the first circle according to at least two of the upper right corner coordinates of the parking space, the second preset compensation value, the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width, and the rearview mirror width comprises: Calculate the first circle center horizontal coordinate according to the upper right corner coordinate of the parking space, the second preset compensation value and the preset first circle radius; The first circle center longitudinal coordinate is calculated according to the preset first circle radius, the parking space width, the longitudinal positioning adjustment amount, the vehicle width and the rearview mirror width; The first circle center coordinates and the first circle are obtained according to the first circle center abscissa, the first circle center ordinate and the preset first circle radius.

7. The method according to claim 4, characterized in that The step of calculating the tangent intersection coordinates and the first deflection angle according to the third circle center coordinates, the first circle center coordinates, the third circle radius and the preset first circle radius comprises: The coordinates of the intersection of the vertical lines are calculated according to the coordinates of the third circle center, the coordinates of the first circle center, the radius of the third circle and the preset first circle radius; The tangent intersection coordinates are calculated according to the first circle center coordinates, the perpendicular intersection coordinates and the preset first circle radius; Draw a second vertical positioning line of circle 2 according to the coordinates of the first circle center; Calculate a second deflection angle according to the third circle center coordinates, the first circle center coordinates and the second circle vertical positioning line; Calculate the center distance according to the third center coordinates and the first center coordinates; A third deflection angle is calculated according to the third circle radius, the preset first circle radius and the distance between the circle centers; A first deflection angle is calculated according to the second deflection angle and the third deflection angle.

8. The method according to claim 2, characterized in that The step of calculating the parking point coordinates, the second circle, the parking path middle point coordinates and the parking space anti-collision stop point coordinates according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center point coordinates, the vehicle heading angle, the parking space upper right corner coordinates, the first preset compensation value, the parking space position, the parking space size, the vehicle length and the vehicle width comprises: Calculate the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value; Calculating the coordinates of the middle point of the second circle and the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle, and the vehicle heading angle; The parking space anti-collision stop point coordinates are determined according to the parking space position, the parking space size, the vehicle length, and the vehicle width.

9. The method according to claim 8, characterized in that The step of calculating the coordinates of the second circle and the middle point of the parking path according to the parking point coordinates, the turning reference point coordinates, the fourth deflection angle and the vehicle heading angle comprises: Calculate the second circle radius according to the parking point coordinates, the steering reference point coordinates and the fourth deflection angle; Calculate the coordinates of the second circle center according to the coordinates of the parking point, the radius of the second circle and the heading angle of the vehicle; Obtain a second circle according to the coordinates of the second circle center and the second circle radius; Calculate the horizontal coordinate of the middle point of the parking path according to the coordinates of the turning reference point, the coordinates of the parking point, the vehicle heading angle and the fourth deflection angle; The vertical coordinate of the middle point of the parking path is calculated according to the coordinate of the turning reference point, the horizontal coordinate of the middle point of the parking path and the heading angle of the vehicle; The coordinates of the middle point of the parking path are obtained according to the abscissa of the middle point of the parking path and the ordinate of the middle point of the parking path.

10. The method according to claim 8, characterized in that The step of calculating the turning reference point coordinates, the parking point coordinates and the fourth deflection angle according to at least two of the tangent intersection coordinates, the first deflection angle, the vehicle rear axle center coordinates, the vehicle heading angle, the upper right corner coordinates of the parking space and the first preset compensation value comprises: According to the coordinates of the intersection point of the tangent lines, and taking the tangent value of the first deflection angle as the slope, the second tangent line of the circle is calculated; The vehicle heading reference line is calculated based on the coordinates of the center point of the rear axle of the vehicle and the tangent value of the vehicle heading angle as the slope; The coordinates of the turning reference point are calculated based on the circle tangent line and the vehicle heading reference line; Calculate the coordinates of the parking point according to the vehicle heading reference line, the coordinates of the upper right corner of the parking space and the first preset compensation value; A fourth deflection angle is calculated according to the vehicle heading angle and the first deflection angle.

11. The method according to any one of claims 1 to 10, characterized in that After the step of parking according to the parking path, the method further includes: Get the rear position of the vehicle, the current vehicle heading angle, and the current vehicle direction; When the rear end position of the vehicle reaches the parking space anti-collision stop point coordinates, the current vehicle direction is adjusted according to the current vehicle heading angle until the current vehicle direction is parallel to the parking space direction.

12. A parking device based on path planning, characterized in that: The device comprises: A data acquisition module, used to acquire parking space information and vehicle information; A data processing module, used for calculating the coordinates of the tangent intersection point, the parking point coordinates, the first circle, the middle point coordinates of the parking path, the second circle and the parking space anti-collision stop point coordinates according to the parking space information, the vehicle information and preset data; A path planning module, configured to obtain a parking path according to the parking entry point coordinates, the second circle, the coordinates of the middle point of the parking path, the coordinates of the tangent intersection point, the first circle and the coordinates of the parking space anti-collision stop point; A parking control module is used to park the vehicle according to the parking path.

13. A parking device based on path planning, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the parking method based on path planning according to any one of claims 1 to 11.

14. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the parking method based on path planning as described in any one of claims 1 to 11 are implemented.

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