Lateral parking method and device, electronic equipment and storage medium

Abstract

The invention relates to a lateral parking method and device, electronic equipment and a storage medium. The method comprises the steps that parking state information of a to-be-parked vehicle is acquired; according to the position information of the vehicle and the position information of the parking space, determining a plurality of parking paths by using a geometric programming algorithm; determining a target parking path from the parking paths according to the obstacle position information; and according to the target parking path, the vehicle is controlled to be parked in the side direction. According to the method, a plurality of parking paths can be determined by using a geometric programming algorithm according to the position information of the vehicle and the position information of the parking space, and then the target parking path is determined from the parking paths according to the position information of the obstacle, so that the vehicle is controlled to be parked in the side direction according to the target parking path. The parking path is determined through the three-section path of the first arc, the straight line and the second arc, so that the parking requirement in a complex scene is met, the method is not limited to a standard parking lot, and the application range of the automatic parking function is widened.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking of vehicles, and in particular to a side parking method, device, electronic equipment and storage medium. Background Art

[0002] As cars become increasingly intelligent, people have higher and higher requirements for cars. Cars must be more comfortable and intelligent to meet people's increasing demand for cars. At present, smart parking systems have covered most vehicles, but the automatic parking systems on the market are mostly suitable for standard parking scenarios, such as parking lots or roads with clear parking lines. In complex scenarios, such as narrow roads, no clear parking lines or other obstacles, the stability and flexibility of existing automatic parking systems are poor, and it is difficult to meet actual needs. Summary of the invention

[0003] In order to solve the technical problem of how to perform automatic parking in complex scenarios, the present application provides a side parking method, device, electronic device and storage medium.

[0004] In a first aspect, the present application provides a parallel parking method, the method comprising:

[0005] Acquire parking status information of a vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information;

[0006] According to the vehicle's own position information and the parking space position information, a plurality of entry paths are determined using a geometric programming algorithm; wherein the entry path is a three-segment path including a first arc, a straight line, and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line;

[0007] determining a target parking path from the parking path according to the obstacle position information;

[0008] The vehicle is controlled to perform parallel parking according to the target parking path.

[0009] Optionally, according to the vehicle's own position information and the parking space position information, a plurality of entry paths are determined using a geometric programming algorithm, including:

[0010] Determine the starting point position and posture according to the vehicle's own position information; wherein the starting point position and posture serve as the starting point coordinates of the first arc;

[0011] Determine the end point position according to the parking space position information; wherein the end point position is used as the end point coordinates of the second arc;

[0012] Establishing a straight line function of the straight line; wherein the first coordinate of the straight line is used as the coordinate of the end point of the first circular arc, and the second coordinate of the straight line is used as the coordinate of the starting point of the second circular arc;

[0013] Determine a target function for the radius of the first circular arc according to the starting point posture, the straight line function, the first coordinate of the straight line, and the second coordinate of the straight line;

[0014] A plurality of storage paths are determined according to the objective function and the end point position.

[0015] Optionally, determining a target parking path from the parking path according to the obstacle position information includes:

[0016] Determining a target storage path from the storage paths according to the obstacle position information;

[0017] Curve fitting is performed on the target storage path to obtain the target parking path.

[0018] Optionally, determining a target storage path from the storage paths according to the obstacle position information includes:

[0019] Determining constraint conditions according to the obstacle position information;

[0020] The target storage path is determined from the storage paths according to the constraint conditions.

[0021] Optionally, determining the target storage path from the storage paths according to the constraint condition includes:

[0022] The target warehousing path satisfying the objective function is determined from the warehousing paths by using the geometric programming algorithm and the constraint conditions.

[0023] Optionally, before determining the starting point posture according to the vehicle's own position information, the method further includes: establishing a kinematic model of the vehicle;

[0024] Accordingly, a plurality of storage paths are determined according to the objective function and the end point position, including:

[0025] A plurality of storage paths are determined according to the objective function, the kinematic model and the end point position.

[0026] Optionally, the method further comprises:

[0027] In the process of controlling the vehicle to perform parallel parking according to the target parking path, detecting whether the parking space position information and the obstacle position information change;

[0028] If the parking space position information and / or the obstacle position information changes, the step of determining multiple parking paths based on the vehicle's own position information and the parking space position information using a geometric programming algorithm is re-executed until the step of controlling the vehicle to perform parallel parking according to the target parking path.

[0029] In a second aspect, the present application provides a side parking device, the device comprising:

[0030] An acquisition module, used to acquire parking status information of a vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information;

[0031] A first determination module is used to determine a plurality of entry paths using a geometric programming algorithm according to the vehicle's own position information and the parking space position information; wherein the entry path includes a three-segment path of a first arc, a straight line, and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line;

[0032] A second determination module, configured to determine a target parking path from the parking path according to the obstacle position information;

[0033] The parking control module is used to control the vehicle to perform parallel parking according to the target parking path.

[0034] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0035] Memory, used to store computer programs;

[0036] The processor is used to implement the steps of the parallel parking method described in any one of the embodiments of the first aspect when executing the program stored in the memory.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the parallel parking method as described in any one of the embodiments of the first aspect.

[0038] Beneficial effects of this application:

[0039] The method provided by the embodiment of the present application obtains parking status information of the vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information; a plurality of entry paths are determined by using a geometric programming algorithm according to the vehicle position information and the parking space position information; wherein the entry path is a three-segment path including a first arc, a straight line and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line; a target parking path is determined from the entry path according to the obstacle position information; and the vehicle is controlled to perform side parking according to the target parking path. The method can determine a plurality of entry paths by using a geometric programming algorithm according to the vehicle position information and the parking space position information, and then determine a target parking path from the entry path according to the obstacle position information, thereby controlling the vehicle to perform side parking according to the target parking path. Since the entry path is determined by a three-segment path including a first arc, a straight line and a second arc, it is adapted to parking requirements in complex scenarios and is not limited to standard parking lots, thereby improving the scope of application of the automatic parking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] 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 work.

[0042] Figure 1 A system architecture diagram of a parallel parking method provided by one embodiment of the present application;

[0043] Figure 2 A schematic diagram of a flow chart of a parallel parking method provided in one embodiment of the present application;

[0044] Figure 3 A schematic diagram of a parking scenario provided for an embodiment of the present application;

[0045] Figure 4 A logic diagram of a side parking method provided by one embodiment of the present application;

[0046] Figure 5 A schematic structural diagram of a side parking device provided in one embodiment of the present application;

[0047] Figure 6 A schematic diagram of the structure of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0049] The first embodiment of the present application provides a side parking method, which can be applied to Figure 1 The system architecture shown in the figure includes at least a data acquisition module 101 and a data processing module 102, and the data acquisition module 101 and the data processing module 102 establish a communication connection. Specifically, the system architecture can be a vehicle, and the type of vehicle is not limited, for example, it can be a fuel vehicle, a pure electric vehicle, a hybrid vehicle or a fuel cell vehicle, etc.

[0050] Next, based on the system architecture, the side parking method is described in detail. Figure 2 , the side parking method includes:

[0051] Step 201, obtaining parking status information of a vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information.

[0052] In this embodiment, the parking scene is as follows Figure 3 Based on the acquisition equipment such as the camera and laser radar carried by the vehicle, the parking space position information, obstacle position information and vehicle position information can be determined from the parking scene where the current vehicle is located. Obstacles can be other vehicles, railings, cones and other objects that need to be avoided during parking. The parking space position information can be the target area for parking determined from the obstacles, and the vehicle position information can be the current position of the vehicle or the starting position suitable for starting to reverse into the garage.

[0053] Step 202, based on the vehicle's own position information and the parking space position information, a plurality of storage paths are determined using a geometric programming algorithm; wherein the storage path is a three-segment path including a first arc, a straight line and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line.

[0054] In one embodiment, a plurality of warehousing paths are determined based on the vehicle's own position information and the parking space position information using a geometric programming algorithm, including: determining a starting point posture based on the vehicle's own position information; wherein the starting point posture is used as the starting point coordinate of the first arc; determining an ending point position based on the parking space position information; wherein the ending point position is used as the ending point coordinate of the second arc; establishing a straight line function of a straight line; wherein the first coordinate of the straight line is used as the ending point coordinate of the first arc, and the second coordinate of the straight line is used as the starting point coordinate of the second arc; determining a target function of the radius of the first arc based on the starting point posture, the straight line function, the first coordinate of the straight line, and the second coordinate of the straight line; and determining a plurality of warehousing paths based on the target function and the ending point position.

[0055] In this embodiment, the storage path is a three-segment path including a first arc, a straight line, and a second arc. The first arc is tangent to the straight line, and the second arc is tangent to the straight line. The storage path first needs to determine the radius of the first arc. The objective function of the radius of the first arc can be established. Then, the straight line and the second arc are determined according to the objective function and the end point position, and then multiple storage paths are determined. The process of establishing the objective function of the radius of the first arc can be as follows:

[0056] Determine the starting point position:

[0057] x s1 =x0,y s1 =y0,yaw s1 =θ0 (1)

[0058] Among them, (x0, y0, θ0) represents the vehicle’s own position information, (x s1 ,y s1 , yaw s1 ) represents the starting point posture.

[0059] Determine the coordinates of the starting point of the line:

[0060]

[0061] Among them, (x t1 ,y t1 ) is the first coordinate of the storage line (that is, the coordinate of the end point of the first arc), θ In is the straight line angle for storage, R 0min It represents the minimum turning radius of the vehicle, CL is the first arc, CLX is the X-axis coordinate of the center of the arc CL, and CLY is the Y-axis coordinate of the center of the arc CL.

[0062] Determine the coefficients of the straight line function:

[0063]

[0064] Among them, k1 and b1 are the coefficients of the straight line function (i.e., the straight line equation), and the first coordinate of the straight line (x t1 ,y t1 ) as the end point coordinates of the first arc CL, and the second coordinates of the straight line (x t2 ,y t2 ) as the starting point coordinates of the second arc Cr. The first coordinate is the tangent point between the straight line and the first arc CL, and the second coordinate is the tangent point between the straight line and the second arc Cr.

[0065] The constraint equation of Cr for the second coordinate t2 of the line is as follows:

[0066]

[0067] Among them, CrX is the X-axis coordinate of the center of the arc Cr, CrY is the Y-axis coordinate of the center of the arc Cr, and R is the radius of the first arc CL.

[0068] From the straight line equation and formulas (1)-(4), we can get:

[0069]

[0070] Substituting equation (5) into the straight line equation at point t2: yt2 = k1 xt2 + b1, we can solve R as follows:

[0071] y s1 +R*(cosd*(θ In )-cosd(θ0))=k1*(x s1 +R*(sind(θ0)-sind(θ In )))+b1

[0072] We can get: R*(cosd*(θ In )-cosd(θ0)-k1 sind(θ0)+k1 sind(θ In ))=k1x s1 +b1-y s1

[0073] We can get:

[0074] In this embodiment, by adopting a geometric planning algorithm of a three-segment path of a first arc, a straight line and a second arc, an objective function of the radius of the first arc can be established, i.e., equation (6), so that multiple storage paths can be determined according to the objective function and the end point position.

[0075] In one embodiment, before determining the starting point posture according to the vehicle's own position information, the method further includes: establishing a kinematic model of the vehicle. Accordingly, determining multiple storage paths according to the objective function and the end point position includes: determining multiple storage paths according to the objective function, the kinematic model and the end point position.

[0076] In this embodiment, a kinematic model of the vehicle can be established according to the structure and motion characteristics of the vehicle. The kinematic model can describe the motion law of the vehicle on a plane, such as the position, speed, acceleration and other parameters of the vehicle, so that multiple entry paths can be determined according to the objective function, the end point position and the kinematic model.

[0077] Step 203: determine a target parking path from the parking path according to the obstacle position information.

[0078] In one embodiment, determining a target parking path from the parking path according to the obstacle position information includes: determining the target parking path from the parking path according to the obstacle position information; and performing curve fitting on the target parking path to obtain the target parking path.

[0079] In this embodiment, the optimal target entry path can be determined from multiple entry paths according to the obstacle position information, and the target entry path can be curve fitted to obtain the final target parking path. By curve fitting the determined discrete target entry path, a continuous and smooth target parking path can be obtained.

[0080] In one embodiment, determining a target storage path from the storage paths according to the obstacle position information includes: determining a constraint condition according to the obstacle position information; and determining the target storage path from the storage paths according to the constraint condition.

[0081] In this embodiment, the constraint condition can be determined according to the obstacle position information, for example, the constraint condition can be that the distance between the vehicle outline and the obstacle should be greater than or equal to a preset distance when driving along the path, for example, the preset distance can be 30 cm, etc., without limitation. Of course, the constraint condition can also include other conditions, such as the length of a single-step path, the arc and the straight line must be tangent, etc., without limitation. By setting the constraint condition, it can be ensured that the target entry path finally selected is a safe and accurate driving path.

[0082] In one embodiment, determining a target warehousing path from the warehousing paths according to the constraint conditions includes: using a geometric programming algorithm and the constraint conditions to determine a target warehousing path that satisfies an objective function from the warehousing paths.

[0083] In this embodiment, when searching for the optimal path from the warehousing path, the geometric programming algorithm and constraints can be used to search for the optimal path that satisfies the objective function. During the search process, the geometric programming algorithm can be used to continuously iterate and optimize until the optimal solution of the objective function is found, thereby determining the target warehousing path based on the optimal solution.

[0084] Step 204 : Control the vehicle to perform parallel parking according to the target parking path.

[0085] The method can determine multiple parking paths using a geometric planning algorithm according to the vehicle's own position information and the parking space position information, and then determine a target parking path from the parking paths according to the obstacle position information, thereby controlling the vehicle to perform parallel parking according to the target parking path. Since the parking path is determined by a three-segment path of a first arc, a straight line, and a second arc, it is suitable for parking needs in complex scenarios and is not limited to standard parking lots, thereby improving the scope of application of the automatic parking function.

[0086] In one embodiment, the method further includes: in the process of controlling the vehicle to perform parallel parking according to the target parking path, detecting whether the parking space position information and the obstacle position information have changed; if the parking space position information and / or the obstacle position information have changed, re-executing the step of determining multiple parking paths using a geometric programming algorithm based on the vehicle's own position information and the parking space position information, until the step of controlling the vehicle to perform parallel parking according to the target parking path is completed.

[0087] In this embodiment, during the parking process, the system can sense environmental changes in real time, such as the appearance of obstacles, changes in road width, etc., and readjust the parking path accordingly to ensure the stability and safety of the parking process.

[0088] In the above embodiments of the present application, through precise calculation and planning, the parallel parking method can achieve efficient and accurate parallel parking in complex scenes, reducing the risk of collision during parking. At the same time, the method also has the advantages of strong adaptability and good stability, can meet the parking needs in different scenes, and can calculate the optimal target parking path, achieve fast parking, improve parking efficiency, and further, because it can perceive environmental changes in real time and make adjustments, it ensures the safety of the parking process.

[0089] In a specific embodiment, the logic diagram of the parallel parking method is as follows: Figure 4 ,include:

[0090] Step S1, vehicle status information acquisition. Parking status information is acquired through a data acquisition module such as a perception module. The perception module detects parking space position information, obstacle position information, and vehicle position information in real time through sensors such as cameras and radars on the vehicle, and transmits this information to a data processing module such as a planning module. In order to improve perception accuracy and robustness, multi-sensor fusion technology can be used to fuse information from different sensors to obtain more accurate parking status information.

[0091] Step S2: Geometric path planning: Based on the information provided by the perception module, a geometric planning algorithm is used to calculate the storage path.

[0092] Step S3, path fitting and optimization. Perform curve fitting on the determined discrete parking path to obtain a continuous and smooth target parking path. At the same time, the path parameters can be adjusted in real time according to environmental changes and vehicle status to achieve dynamic optimization of the parking path.

[0093] Step S4, intelligent control. According to the target parking path, the system controls the vehicle's steering, acceleration, braking and other actions to achieve automatic parking of the vehicle. During the parking process, the system can sense environmental changes in real time, such as the appearance of obstacles and changes in road width, and adjust the parking strategy accordingly to ensure the stability and safety of the parking process.

[0094] Based on the same technical concept, the second embodiment of the present application provides a side parking device, such as Figure 5 , the device comprises:

[0095] The acquisition module 501 is used to acquire parking status information of the vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information;

[0096] The first determination module 502 is used to determine a plurality of entry paths using a geometric programming algorithm according to the vehicle's own position information and the parking space position information; wherein the entry path includes a three-segment path of a first arc, a straight line, and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line;

[0097] A second determination module 503, configured to determine a target parking path from the parking path according to the obstacle position information;

[0098] The parking control module 504 is used to control the vehicle to perform parallel parking according to the target parking path.

[0099] The device can determine multiple parking paths using a geometric planning algorithm based on the vehicle's own position information and the parking space position information, and then determine a target parking path from the parking paths based on the obstacle position information, thereby controlling the vehicle to perform side parking according to the target parking path. Since the parking path is determined by a three-segment path of a first arc, a straight line, and a second arc, it is suitable for parking needs in complex scenarios and is not limited to standard parking lots, thereby improving the scope of application of the automatic parking function.

[0100] like Figure 6 As shown, the third embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0101] Memory 113, used for storing computer programs;

[0102] In one embodiment, the processor 111 is configured to implement the parallel parking method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 113 .

[0103] The memory and processor in the above electronic device communicate through the communication bus and the communication interface. The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0104] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0105] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0106] A fourth embodiment of the present application provides a computer-readable medium having a non-volatile program code executable by a processor.

[0107] Optionally, in an embodiment of the present application, a computer-readable medium is configured to store program code for a processor to execute the above method.

[0108] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0109] When the embodiments of the present application are specifically implemented, reference may be made to the above-mentioned embodiments, which have corresponding technical effects.

[0110] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of the present application, or a combination thereof.

[0111] For software implementation, the technology of this article can be implemented by a unit that performs the functions of this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0112] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein 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. Professional and technical personnel 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.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0114] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0115] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0117] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0118] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0119] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A method for side parking, characterized in that: The method comprises: Acquire parking status information of a vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information; According to the vehicle's own position information and the parking space position information, a plurality of entry paths are determined using a geometric programming algorithm; wherein the entry path is a three-segment path including a first arc, a straight line, and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line; determining a target parking path from the parking path according to the obstacle position information; The vehicle is controlled to perform parallel parking according to the target parking path.

2. The method according to claim 1, characterized in that According to the vehicle's own position information and the parking space position information, a plurality of entry paths are determined using a geometric programming algorithm, including: Determine the starting point position and posture according to the vehicle's own position information; wherein the starting point position and posture serve as the starting point coordinates of the first arc; Determine the end point position according to the parking space position information; wherein the end point position is used as the end point coordinates of the second arc; Establishing a straight line function of the straight line; wherein the first coordinate of the straight line is used as the coordinate of the end point of the first circular arc, and the second coordinate of the straight line is used as the coordinate of the starting point of the second circular arc; Determine a target function for the radius of the first circular arc according to the starting point posture, the straight line function, the first coordinate of the straight line, and the second coordinate of the straight line; A plurality of storage paths are determined according to the objective function and the end point position.

3. The method according to claim 2, characterized in that Determining a target parking path from the parking path according to the obstacle position information includes: Determining a target storage path from the storage paths according to the obstacle position information; Curve fitting is performed on the target storage path to obtain the target parking path.

4. The method according to claim 3, characterized in that Determining a target storage path from the storage paths according to the obstacle position information includes: Determining constraint conditions according to the obstacle position information; The target storage path is determined from the storage paths according to the constraint conditions.

5. The method according to claim 4, characterized in that Determining the target storage path from the storage paths according to the constraint condition includes: The target warehousing path satisfying the objective function is determined from the warehousing paths by using the geometric programming algorithm and the constraint conditions.

6. The method according to claim 2, characterized in that Before determining the starting point posture according to the vehicle's own position information, the method further includes: establishing a kinematic model of the vehicle; Accordingly, a plurality of storage paths are determined according to the objective function and the end point position, including: A plurality of storage paths are determined according to the objective function, the kinematic model and the end point position.

7. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the vehicle to perform parallel parking according to the target parking path, detecting whether the parking space position information and the obstacle position information change; If the parking space position information and / or the obstacle position information changes, the step of determining multiple parking paths using a geometric programming algorithm based on the vehicle's own position information and the parking space position information, and then controlling the vehicle to perform parallel parking according to the target parking path is re-executed.

8. A side parking device, characterized in that: The device comprises: An acquisition module, used to acquire parking status information of a vehicle to be parked; wherein the parking status information includes parking space position information, obstacle position information and vehicle position information; A first determination module is used to determine a plurality of entry paths using a geometric programming algorithm according to the vehicle's own position information and the parking space position information; wherein the entry path includes a three-segment path of a first arc, a straight line, and a second arc; the first arc is tangent to the straight line, and the second arc is tangent to the straight line; A second determination module, configured to determine a target parking path from the parking path according to the obstacle position information; The parking control module is used to control the vehicle to perform parallel parking according to the target parking path.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method according to any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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