Automatic parking path planning method and system, medium, product, equipment and vehicle

Abstract

The invention belongs to the technical field of automatic parking. The invention provides an automatic parking path planning method and system, a medium, a product, equipment and a vehicle, and is used for lateral parking of a rectangular parking space, so that the vehicle enters the rectangular parking space along a parking path, and the parking path sequentially comprises a first clothoid, a first circular curve, a second clothoid, a first straight line, a third clothoid and a second circular curve. The vehicle is controlled to walk along an adjusting path to complete final parking, the adjusting path comprises a forward road section and a backward road section, the forward road section sequentially comprises a fourth clothoid, a fifth clothoid, a third arc curve, a sixth clothoid, a seventh clothoid, a fourth arc curve and an eighth clothoid, and the backward road section is a second straight line; according to the method, the clothoid, the straight line and the circular curve are combined for planning, smooth transition between paths with different curvatures is achieved, and accurate and automatic lateral parking under the condition of small parking spaces is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to an automatic parking path planning method, system, medium, product, equipment and vehicle. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] As the number of cars increases, some problems have also emerged, one of which is the reduction in available parking space. Parking in a narrow parking space requires rich driving experience and skilled driving skills, which invisibly increases the operating difficulty and operating experience of the driver.

[0004] At present, some side rectangular parking spaces (i.e., parking spaces with inner and outer lines parallel, and front and rear lines parallel) are designated in some parking lots or roadsides. In order to designate more parking spaces in a limited space, some side rectangular parking spaces are relatively short. When performing side parking in such small parking spaces, it is often not possible to park the vehicle in one go. The vehicle needs to continuously adjust its position in the parking space, making automatic parking more difficult.

[0005] Most of the existing parallel parking path planning methods require relatively complex algorithm models. For example, Patent No. CN114347982B discloses a path planning method and system for automatic parking, which requires path planning by integrating a graph search algorithm and a geometric planning algorithm. It has high requirements on computing power and the calculation requires a certain response time, which often cannot meet the needs of fast parallel parking. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides an automatic parking path planning method, system, medium, product, equipment and vehicle, designs a parking path and an adjustment path, combines and plans clothoid curves, straight lines and circular arc curves, and achieves a smooth transition between paths with different curvatures. The method can be applied to any vehicle equipped with a panoramic imaging system, a lidar or an ultrasonic parking radar assistance system.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides an automatic parking path planning method.

[0009] An automatic parking path planning method for parallel parking in a rectangular parking space includes the following processes:

[0010] The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters the rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0011] The vehicle is controlled to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0012] As a further limitation of the first aspect of the present invention, an XOY rectangular coordinate system is constructed with the front outer corner point of the rectangular parking space as the origin, the forward direction of the rectangular parking space as the positive direction of the X-axis, the edge line of the rectangular parking space close to the road edge as the inner edge line of the rectangular parking space, and the direction from the inside to the outside of the rectangular parking space as the positive direction of the Y-axis; wherein, the front direction of the rectangular parking space is the travel direction of the road where the rectangular parking space is located, and when the reference point is located at the end of the first clothoid curve, the rear corner point of the vehicle is located on the Y-axis.

[0013] As a further limitation of the first aspect of the present invention, the first clothoid curve, the first circular arc curve and the second clothoid curve are all located on the outside of the rectangular parking space, the starting point of the first straight line is located on the outside of the rectangular parking space, the starting point of the first straight line is located on the inside of the rectangular parking space, and the third clothoid curve and the second circular arc curve are both located on the inside of the rectangular parking space.

[0014] As a further limitation of the first aspect of the present invention, the fourth clothoid curve and the fifth clothoid curve are two sections of inverse clothoid curves, and the sixth clothoid curve and the seventh clothoid curve are two sections of inverse clothoid curves.

[0015] As a further limitation of the first aspect of the present invention, the protrusion of the third arc curve faces the outer edge of the rectangular parking space.

[0016] As a further limitation of the first aspect of the present invention, when the vehicle enters the rectangular parking space along the parking path, the right front vertex of the vehicle does not collide with the front outer corner of the rectangular parking space, and the right side line of the vehicle does not collide with the front outer corner of the rectangular parking space;

[0017] When the vehicle moves along the adjusted path from the extreme position, the right front vertex of the vehicle does not collide with the inner edge of the rectangular parking space, the distances between the two end points of the front side of the vehicle and the front edge of the rectangular parking space are both greater than or equal to the preset safety distance, and the distances between the two end points of the rear side of the vehicle and the rear edge of the rectangular parking space are both greater than or equal to the preset safety distance.

[0018] As a further limitation of the first aspect of the present invention, the rectangular parking space is an actual rectangular parking space that is designated and identified by a vehicle's onboard camera; or, the rectangular parking space is a virtual rectangular parking space that identifies obstacles in front, behind, and on the left and right of the side parking space by the vehicle's onboard camera, and determines a virtual rectangular parking space based on the relative positions and distances between the obstacles.

[0019] In a second aspect, the present invention provides an automatic parallel parking path planning system.

[0020] An automatic side parking path planning system for side parking in a rectangular parking space, comprising:

[0021] A vehicle parking control unit is configured to: use the center point of the rear axle of the vehicle as a reference point for path tracking, control the vehicle to reach an initial position, and make the vehicle enter a rectangular parking space along a parking path and reach a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0022] The vehicle parking adjustment unit is configured to: control the vehicle to walk along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0023] In a third aspect, the present invention provides a computer device, comprising: a processor and a computer-readable storage medium;

[0024] a processor adapted to execute a computer program;

[0025] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the automatic parking path planning method as described in the first aspect of the present invention is implemented.

[0026] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the automatic parking path planning method as described in the first aspect of the present invention.

[0027] A fifth aspect of the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the automatic parking path planning method as described in the first aspect of the present invention.

[0028] The sixth aspect of the present invention provides a vehicle, including a control terminal, wherein the vehicle is equipped with a surround-view camera and a laser radar, and the control terminal identifies a rectangular parking space based on the data of the surround-view camera and the laser radar, and executes the automatic parking path planning method described in the first aspect of the present invention after identification.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention innovatively designs an automatic parallel parking path planning strategy, designs a parking path and an adjustment path, combines and plans clothoid curves, straight lines, and circular arc curves, and realizes a smooth transition between paths with different curvatures. It can be applied to any vehicle equipped with a panoramic imaging system, a lidar, or an ultrasonic parking radar assistance system.

[0031] 2. The parking path of the present invention includes, in sequence: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve and a second circular arc curve. The calculation is simple and the curvature has no sudden change, thereby achieving fast and accurate vehicle parking.

[0032] 3. The adjustment path of the present invention includes a forward section and a backward section. The forward section includes the fourth clothoid curve, the fifth clothoid curve, the third circular arc curve, the sixth clothoid curve, the seventh clothoid curve, the fourth circular arc curve and the eighth clothoid curve in sequence. The backward section takes the end point of the eighth clothoid curve as the starting point, and the end point of the backward section is the final parking point, thereby realizing fine adjustment inside a parking space with a shorter length and ensuring the accuracy of parking.

[0033] 4. When the vehicle enters the rectangular parking space along the parking path, the right front vertex of the vehicle does not collide with the front outer corner of the rectangular parking space, and the right side line of the vehicle does not collide with the front outer corner of the rectangular parking space, thereby ensuring the safety of the vehicle when parking.

[0034] 5. When the vehicle moves along the adjustment path from the extreme position, the right front vertex of the vehicle does not collide with the inner edge of the rectangular parking space, and the distances between the two front end points of the vehicle and the front edge of the rectangular parking space are greater than or equal to the preset safety distance, ensuring the safety of the vehicle during adjustment.

[0035] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0037] Figure 1 A schematic diagram of an automatic parking path planning method provided in Embodiment 1 of the present invention;

[0038] Figure 2 A schematic diagram of a vehicle entering a rectangular parking space and coming to a complete stop provided by Embodiment 1 of the present invention;

[0039] Figure 3 A parking path diagram for a vehicle provided in Embodiment 1 of the present invention;

[0040] Figure 4 A schematic diagram of a forward section provided in Example 1 of the present invention;

[0041] Figure 5 An enlarged diagram of the adjustment path curve provided in Example 1 of the present invention;

[0042] Figure 6 A schematic diagram of an automatic parallel parking path planning system provided in Embodiment 2 of the present invention;

[0043] Figure 7 A schematic diagram of a computer device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0046] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0047] Embodiment 1:

[0048] This implementation proposes an automatic parking path planning method, including the following process:

[0049] S1: The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters a rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0050] S2: Control the vehicle to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space (that is, the center line of the rectangular parking space along the road forward), the end point of the eighth clothoid curve is the starting point of the second straight line (the second straight line is parallel to the center line of the rectangular parking space), and the end point of the backward section is the final parking point.

[0051] The rectangular parking space described in this implementation is an actual rectangular parking space that is demarcated and identified by a vehicle's onboard camera; alternatively, the rectangular parking space is a virtual rectangular parking space, which identifies obstacles in front of and behind and on the left and right of the side parking space through the vehicle's onboard camera, and determines a virtual rectangular parking space based on the relative positions and distances between the obstacles.

[0052] Specifically, Figure 1 As shown in the figure, it is a schematic diagram of a vehicle entering a rectangular parking space and stopping steadily, a and b represent the front left corner point and the front right corner point of the vehicle, d and c represent the rear left corner point and the front right corner point of the vehicle; Lf, L, Lr, Wa represent the front overhang, wheelbase, rear overhang, and vehicle width respectively; Lp and Wp represent the length and width of the parking space respectively, A and B represent the front left corner point and the front right corner point of the rectangular parking space, D and C represent the rear left corner point and the front right corner point of the rectangular parking space.

[0053] Among them, the CD line represents the inner edge of the parking space, and the AB line represents the outer edge of the parking space. Figure 3 As shown, a rectangular coordinate system XOY is established, with O as the origin. The origin O coincides with point A of the rectangular parking space. The initial parking posture is as follows: Figure 2 As shown in the middle position Ⅰ, the initial position of the vehicle is C1, and the center point of the rear axle of the vehicle is selected as the reference point for path tracking;

[0054] The parking path includes the first clothoid curve C1-C2, the first circular arc curve C2-C3, the second clothoid curve C3-C4, the first straight line C4-C5, the third clothoid curve C5-C6, and the second circular arc curve C6-P. The limit position of the vehicle is Figure 2 As shown in the middle III position.

[0055] like Figure 4 and Figure 5As shown, the adjustment path consists of a forward section and a backward section, the forward section includes the fourth clothoid curve P-P1, the fifth clothoid curve P1-P2, the third circular arc curve P2-P3, the sixth clothoid curve P3-P4, the seventh clothoid curve P4-P5, the circular arc curve P5-P6, and the eighth clothoid curve P6-P7 in sequence; the fourth clothoid curve P-P1 and the fifth clothoid curve P1-P2 are two sections of reverse clothoid curves, the sixth clothoid curve P3-P4 and the seventh clothoid curve P4-P5 are two sections of reverse clothoid curves; the backward section includes a second straight line P7-P8, the second straight line P7-P8 is parallel to the center line of the rectangular parking space (i.e., the center line of the positive direction of the parking space), the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0056] To avoid collision between the vehicle and obstacles during parking, the following conditions must be met: (1) During the parking phase, the right front vertex b of the vehicle does not collide with point A; the right side bc of the vehicle does not collide with point A; (2) During the adjustment phase, the right front vertex b of the vehicle does not collide with the boundary of the parking space BC; the distances between the right front vertex b of the vehicle and the left front vertex a of the vehicle and the boundary of the rectangular parking space AB are all less than or equal to the safety distance D. s , the distances between the right rear vertex c and the left rear vertex d of the vehicle and the boundary of the rectangular parking space CD are both less than or equal to the safety distance D s .

[0057] In the present implementation, preferably, the following method can be used for obtaining each spiral curve, circular arc curve and straight line: for any vehicle, the positions of its two front vertices and the two rear vertices can be clearly determined, and according to the size of the vehicle, a minimum rectangular size that can meet the size of the vehicle is determined, and big data fitting calculations are performed based on the minimum rectangular size to obtain the functions of each spiral curve, circular arc curve and straight line corresponding to the vehicle; in actual application, if the size of the real rectangular parking space determined by the surround-view camera or the virtual rectangular parking space determined in combination with the laser radar data can cover the above-mentioned minimum rectangular size, automatic parking control is directly performed using the function determined according to the minimum rectangular size. The specific function is not limited and will not be repeated here.

[0058] In this implementation, preferably, the initial position of the vehicle is located in the front left side of the rectangular parking space, and the X-axis coordinates of the rear left vertex of the vehicle and the rear right vertex of the vehicle are both greater than 0 (i.e., exceeding the origin O along the X-axis direction). The initial position of the vehicle can be parallel to the rectangular parking space or at a certain angle (this implementation takes a certain angle as an example, such as 20° or 30°, etc., which will not be described in detail here).

[0059] Embodiment 2:

[0060] like Figure 6 As shown, this implementation provides an automatic side parking path planning system for side parking in a rectangular parking space, including:

[0061] A vehicle parking control unit is configured to: use the center point of the rear axle of the vehicle as a reference point for path tracking, control the vehicle to reach an initial position, and make the vehicle enter a rectangular parking space along a parking path and reach a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0062] The vehicle parking adjustment unit is configured to: control the vehicle to walk along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0063] The rectangular parking space described in this implementation is an actual rectangular parking space that is demarcated and identified by a vehicle's onboard camera; alternatively, the rectangular parking space is a virtual rectangular parking space, which identifies obstacles in front of and behind and on the left and right of the side parking space through the vehicle's onboard camera, and determines a virtual rectangular parking space based on the relative positions and distances between the obstacles.

[0064] In the present implementation, preferably, the following method can be used for obtaining each spiral curve, circular arc curve and straight line: for any vehicle, the positions of its two front vertices and the two rear vertices can be clearly determined, and according to the size of the vehicle, a minimum rectangular size that can meet the size of the vehicle is determined, and big data fitting calculations are performed based on the minimum rectangular size to obtain the functions of each spiral curve, circular arc curve and straight line corresponding to the vehicle; in actual application, if the size of the real rectangular parking space determined by the surround-view camera or the virtual rectangular parking space determined in combination with the laser radar data can cover the above-mentioned minimum rectangular size, automatic parking control is directly performed using the function determined according to the minimum rectangular size. The specific function is not limited and will not be repeated here.

[0065] In this implementation, preferably, the initial position of the vehicle is located in the front left side of the rectangular parking space, and the X-axis coordinates of the rear left vertex of the vehicle and the rear right vertex of the vehicle are both greater than 0 (i.e., exceeding the origin O along the X-axis direction). The initial position of the vehicle can be parallel to the rectangular parking space or at a certain angle (this implementation takes a certain angle as an example, such as 20° or 30°, etc., which will not be described in detail here).

[0066] The specific working process of each of the above units is described in Example 1 and will not be repeated here.

[0067] It is understandable that the above-mentioned various units can be separately or all combined into one or several other units to constitute, or some (some) units therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the function of a unit can also be realized by multiple units, or the function of multiple units can be realized by one unit. In other embodiments of the present application, the system can also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0068] According to another embodiment of the present application, the system described in this embodiment can be constructed, and the method of Example 1 of the present application can be implemented by running a computer program (including program code) capable of executing the steps involved in the corresponding method described in Example 1 on a general computing device such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0069] Embodiment 3:

[0070] like Figure 7 As shown, this implementation provides an electronic device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. The processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 may be connected via a bus or other means.

[0071] Among them, the communication interface 1002 is used to receive and send data, the computer-readable storage medium 1003 can be stored in the memory of the electronic device, the computer-readable storage medium 1003 is used to store a computer program, the computer program includes program instructions, and the processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0072] Processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0073] The processor 1001 is configured to execute the following process:

[0074] The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters the rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0075] The vehicle is controlled to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0076] The specific working process is described in Example 1 and will not be repeated here.

[0077] Embodiment 4:

[0078] This implementation provides a computer-readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides a storage space that stores the processing system of the electronic device.

[0079] In addition, the storage space also stores one or more instructions suitable for being loaded and executed by the processor, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it may also be at least one computer-readable storage medium located away from the aforementioned processor.

[0080] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process:

[0081] The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters the rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0082] The vehicle is controlled to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0083] The specific working process is described in Example 1 and will not be repeated here.

[0084] Embodiment 5:

[0085] The present implementation provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the following process:

[0086] The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters the rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve;

[0087] The vehicle is controlled to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

[0088] The specific working process is described in Example 1 and will not be repeated here.

[0089] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0090] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instruction can be stored in a computer-readable storage medium or transmitted by a computer-readable storage medium. The computer instruction can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server, a data center, etc. that contains one or more available media integration. Available media can be magnetic media (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state drive (Solid State Disk, SSD)) and the like.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic parking path planning method, characterized in that: Parallel parking for rectangular parking spaces includes the following processes: The center point of the rear axle of the vehicle is used as a reference point for path tracking, and the vehicle is controlled to reach an initial position, so that the vehicle enters the rectangular parking space along a parking path and reaches a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve; The vehicle is controlled to move along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

2. The automatic parking path planning method according to claim 1, characterized in that: An XOY rectangular coordinate system is constructed with the front outer corner point of the rectangular parking space as the origin, the forward direction of the rectangular parking space as the positive direction of the X-axis, the sideline of the rectangular parking space close to the road edge as the inner sideline of the rectangular parking space, and the direction from the inside to the outside of the rectangular parking space as the positive direction of the Y-axis; wherein, the front direction of the rectangular parking space is the travel direction of the road where the rectangular parking space is located, and when the reference point is located at the end of the first clothoid curve, the rear corner point of the vehicle is located on the Y-axis.

3. The automatic parking path planning method according to claim 2, characterized in that: The first clothoid curve, the first circular arc curve and the second clothoid curve are all located outside the rectangular parking space, the starting point of the first straight line is located outside the rectangular parking space, the starting point of the first straight line is located inside the rectangular parking space, and the third clothoid curve and the second circular arc curve are all located inside the rectangular parking space.

4. The automatic parking path planning method according to claim 2, characterized in that: The fourth clothoid curve and the fifth clothoid curve are two sections of inverse clothoid curves, and the sixth clothoid curve and the seventh clothoid curve are two sections of inverse clothoid curves.

5. The automatic parking path planning method according to claim 2, characterized in that: The bulge of the third arc curve faces the outer edge of the rectangular parking space.

6. The automatic parking path planning method according to claim 1, characterized in that: When the vehicle enters the rectangular parking space along the parking path, the right front vertex of the vehicle does not collide with the front outer corner of the rectangular parking space, and the right side line of the vehicle does not collide with the front outer corner of the rectangular parking space; When the vehicle moves along the adjusted path from the extreme position, the right front vertex of the vehicle does not collide with the inner edge of the rectangular parking space, the distances between the two end points of the front side of the vehicle and the front edge of the rectangular parking space are both greater than or equal to the preset safety distance, and the distances between the two end points of the rear side of the vehicle and the rear edge of the rectangular parking space are both greater than or equal to the preset safety distance.

7. The automatic parking path planning method according to claim 1, characterized in that: The rectangular parking space is an actual rectangular parking space that is designated and identified by a vehicle's onboard camera; or, the rectangular parking space is a virtual rectangular parking space that is identified by the vehicle's onboard camera in front of, behind, and on the left and right of the side parking space, and a virtual rectangular parking space is determined based on the relative positions and distances between the obstacles.

8. An automatic parallel parking path planning system, characterized in that: For side parking in rectangular parking spaces, including: A vehicle parking control unit is configured to: use the center point of the rear axle of the vehicle as a reference point for path tracking, control the vehicle to reach an initial position, and make the vehicle enter a rectangular parking space along a parking path and reach a limit position, wherein the parking path sequentially includes: a first clothoid curve, a first circular arc curve, a second clothoid curve, a first straight line, a third clothoid curve, and a second circular arc curve; The vehicle parking adjustment unit is configured to: control the vehicle to walk along the adjustment path from the extreme position to complete the final parking, the adjustment path includes a forward section and a backward section, the forward section includes a fourth clothoid curve, a fifth clothoid curve, a third circular arc curve, a sixth clothoid curve, a seventh clothoid curve, a fourth circular arc curve and an eighth clothoid curve in sequence, the backward section is a second straight line, the second straight line is parallel to the center line of the rectangular parking space, the end point of the eighth clothoid curve is the starting point of the second straight line, and the end point of the backward section is the final parking point.

9. A computer device, characterized in that: include: A processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the automatic parking path planning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the automatic parking path planning method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the automatic parking path planning method as described in any one of claims 1 to 7 is implemented.

12. A vehicle, characterized in that: It includes a control terminal, the vehicle is equipped with a surround-view camera and a laser radar, and the control terminal recognizes a rectangular parking space according to the data of the surround-view camera and the laser radar, and executes the automatic parking path planning method according to any one of claims 1-7 after the recognition.

Images