Parking path planning method, device and storage medium

Abstract

The application relates to the field of path planning, and discloses a parking path planning method, equipment and a storage medium. The method comprises the following steps: determining a target angle, a parking target point coordinate, a first intermediate point coordinate and a second intermediate point coordinate according to the vertex coordinates of a target garage, the minimum turning radius of a current vehicle, the vehicle width of the current vehicle, the first rear axle distance of the current vehicle, the second rear axle distance of the current vehicle and a preset configuration distance; determining a first parking path according to the current coordinate, the current attitude angle, the second intermediate point coordinate and the target angle of the current vehicle; determining a second parking path according to the second intermediate point coordinate, the first intermediate point coordinate and the parking target point coordinate; and determining a target parking path according to the first parking path and the second parking path. Through the technical scheme of the application, a plurality of path search algorithms are combined and intermediate points are set, and the flexibility of horizontal parking is improved.

Description

Technical Field

[0001] The present invention relates to the field of path planning, and in particular to a parking path planning method, device and storage medium. Background Art

[0002] Autonomous parking planning is a key component of unmanned driving systems. Essentially, it is a path search problem. Its primary task is to abstract models using prior maps, combined with information about the surrounding environment, and provide the intelligent driving vehicle with a series of steering wheel angle and gear position information from the starting position to the target position based on certain rules. The quality of path planning directly determines whether the parking system can find a safe, smooth, and shortest route to the destination.

[0003] Currently, there are multiple approaches to parking path planning, including curve fitting methods such as spirals, spline interpolation, and polynomials, as well as simple geometric construction methods for path planning, and graph-based search algorithms such as Dijkstra and A-star. Curve fitting methods such as third-order Bezier curves for parking path planning suffer from difficulties in finding control points, complex path generation algorithms, and the inability to effectively avoid moving obstacles. Furthermore, dynamic adjustment of the actual trajectory is difficult when a discrepancy occurs between the actual trajectory and the planned trajectory. Path planning using geometric construction methods has a limited scope of application, is inflexible, and suffers from issues such as sudden changes in curvature. Using graph-based search algorithms, such as the Dijkstra algorithm, for example, for a common two-dimensional grid environment model, path search consumes significantly more time than other heuristic search algorithms.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a parking path planning method, device and storage medium, which realizes the effect of combining multiple path search algorithms and setting intermediate points to improve the flexibility and effectiveness of horizontal parking paths.

[0006] An embodiment of the present invention provides a parking path planning method, the method comprising:

[0007] Determining a target angle, a parking target point coordinate, a first intermediate point coordinate, and a second intermediate point coordinate based on the vertex coordinates of the target garage, the minimum turning radius of the current vehicle, the width of the current vehicle, the distance between the first and second rear axles of the current vehicle, and a preset configuration distance; wherein the first intermediate point coordinate is between the parking target point coordinate and the second intermediate point coordinate;

[0008] determine a first parking path according to the current coordinate, the current attitude angle of the current vehicle, the second intermediate point coordinate and the target angle;

[0009] determine a second parking path according to the second intermediate point coordinate, the first intermediate point coordinate and the parking target point coordinate;

[0010] determine a target parking path according to the first parking path and the second parking path.

[0011] An electronic device is provided in the embodiment of the application, and the electronic device comprises:

[0012] a processor and a memory;

[0013] The processor is configured to execute the steps of the parking path planning method according to any one of the embodiments by calling programs or instructions stored in the memory.

[0014] A computer readable storage medium is provided in the embodiment of the application, and the computer readable storage medium stores programs or instructions, which cause a computer to execute the steps of the parking path planning method according to any one of the embodiments.

[0015] The embodiment of the application has the following technical effects:

[0016] The target angle, the parking target point coordinate, the first intermediate point coordinate and the second intermediate point coordinate are determined according to the vertex coordinate of the target garage, the minimum turning radius of the current vehicle, the vehicle width of the current vehicle, the first rear axle distance from the rear axle center of the current vehicle to the tail of the vehicle, the second rear axle distance from the rear axle center of the current vehicle to the head of the vehicle and the preset configuration distance, the first parking path is determined according to the current coordinate, the current attitude angle of the current vehicle, the second intermediate point coordinate and the target angle, the second parking path is determined according to the second intermediate point coordinate, the first intermediate point coordinate and the parking target point coordinate, and the target parking path is determined according to the first parking path and the second parking path, so that the flexibility of obstacle avoidance of the hybrid A-star search algorithm can be considered when the path planning is performed outside the target garage, the success rate of the hybrid A-star search algorithm is improved, the time consumption is reduced, the real-time performance of the algorithm is improved, and the adaptability of horizontal parking is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a flow chart of a parking path planning method provided by an embodiment of the present invention;

[0019] Figure 2 is a flowchart of another parking path planning method provided by an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a garage coordinate system provided by an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of various length identifications in a current vehicle provided by an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a target parking path provided by an embodiment of the present invention;

[0023] Figure 6 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0025] The parking path planning method provided in the embodiment of the present invention is mainly applicable to the situation of performing parking path planning for horizontal parking spaces during autonomous driving. The parking path planning method provided in the embodiment of the present invention can be executed by an electronic device.

[0026] Figure 1 This is a flow chart of a parking path planning method provided by an embodiment of the present invention. Figure 1 , the parking path planning method specifically includes:

[0027] S110. Determine a target angle, parking target point coordinates, first intermediate point coordinates, and second intermediate point coordinates based on the vertex coordinates of the target garage, the minimum turning radius of the current vehicle, the width of the current vehicle, the first rear axle distance of the current vehicle, the second rear axle distance of the current vehicle, and a preset configuration distance.

[0028] The current vehicle is the vehicle undergoing automated parking control. The target garage is the horizontal garage to be parked. The vehicle's minimum turning radius is the radius of the circle that the center plane of the outer steering wheel rolls on the support plane when the steering wheel is turned to the extreme position and the vehicle is turning at the lowest stable speed. The first rear axle distance is the distance from the center of the current vehicle's rear axle to the rear edge of the vehicle. The second rear axle distance is the distance from the center of the current vehicle's rear axle to the front edge of the vehicle. The preset configuration distance is the pre-configured minimum distance between each side of the target garage. The parking target point coordinates are the coordinates of the final rear axle center of the current vehicle when parked in the target parking space. The first intermediate point coordinates and the second intermediate point coordinates are the coordinates of the landmark points corresponding to parking at the parking coordinates when planning to enter the target garage using geometric methods. The first intermediate point coordinates are located between the parking target point coordinates and the second intermediate point coordinates. The target angle is the attitude angle of the current vehicle at the second intermediate point coordinates. It can be understood as the vehicle's orientation at the second intermediate point coordinates, that is, the angle between the line connecting the front and body of the vehicle and the edge of the garage opening.

[0029] Specifically, a target garage coordinate system is established, and the coordinates of each vertex of the target garage are determined. The garage length and width are then determined based on the vertex coordinates. Furthermore, combined with the preset configuration distance, the coordinates of the target parking point are obtained. Using geometric relationships, the garage length, garage width, the current vehicle's minimum turning radius, vehicle width, distance between the first and second rear axles, and the preset configuration distance are combined to derive and determine the target angle, the coordinates of the first and second midpoints. This ensures that the line connecting the first midpoint and the target parking point is parallel to the garage opening edge. When the vehicle is at the second midpoint, it is at the target angle and can reach the first midpoint with the minimum turning radius.

[0030] S120 : Determine a first parking path according to the current coordinates, current attitude angle, second intermediate point coordinates, and target angle of the current vehicle.

[0031] The current coordinates and the current attitude angle are the starting coordinates and the starting attitude angle when the vehicle is currently parking. The first parking path is the parking path from the current coordinates to the second intermediate point coordinates.

[0032] Specifically, based on the vehicle sensor, the current coordinates and current attitude angle of the current vehicle are obtained. Starting from the current coordinates and current attitude angle, and with the second intermediate point coordinates and target angle as the target, a preset path search algorithm, such as a hybrid A-star algorithm, can be used to search for a path, which is the first parking path.

[0033] Based on the above example, the first parking path can be determined according to the current coordinates, current attitude angle, second intermediate point coordinates, and target angle of the current vehicle in the following manner:

[0034] Determine the coordinates of the overparking point based on the hybrid A-star algorithm according to the current coordinates of the current vehicle, the current attitude angle, the coordinates of the second intermediate point, and the target angle;

[0035] Determine the first part of the path based on the current coordinates and the coordinates of the overparking point;

[0036] determining a second portion of the route based on the coordinates of the overparking point and the coordinates of the second intermediate point;

[0037] A first parking route is determined based on the first partial route and the second partial route.

[0038] The overparking point coordinates are the coordinates of the turning point on the path between the current coordinates and the second intermediate point coordinates. It can be understood that forward movement occurs between the current coordinates and the overparking point coordinates, while reverse movement occurs between the overparking point coordinates and the second intermediate point coordinates. The first partial path is the forward portion of the path constructed using the hybrid A-star algorithm, and the second partial path is the reverse portion of the path constructed using the hybrid A-star algorithm.

[0039] Specifically, a path search is performed using the current coordinates and attitude angle of the vehicle as a starting point, and the coordinates of the second intermediate point and the target angle as a target. The coordinates of the transition point between the forward and reverse gears, i.e., the transition point coordinates, are determined based on the hybrid A-star algorithm. The path between the current coordinates and the transition point coordinates is defined as a first partial path, and the path between the transition point coordinates and the second intermediate point coordinates is defined as a second partial path. The first and second partial paths are combined to obtain a first parking path.

[0040] It's understandable that the efficiency and time consumption of the Hybrid A-Star algorithm depend heavily on the location of the search endpoint. If, for horizontal parking, the Hybrid A-Star algorithm's search endpoint is set directly at the target parking point coordinates in the target garage, the search endpoint is surrounded by the three edges of the target garage, resulting in a high probability that the RS (Reeds-Shepp) curve will collide with the target garage's boundary, causing the Hybrid A-Star algorithm to fail to find a path or making the search extremely time-consuming. Therefore, the coordinates of the second intermediate point are used as the search endpoint.

[0041] S130 : Determine a second parking path according to the coordinates of the second intermediate point, the coordinates of the first intermediate point, and the coordinates of the parking target point.

[0042] The second parking path is a path from the second intermediate point coordinates through the first intermediate point coordinates to the parking target point coordinates.

[0043] Specifically, an arc segment path is constructed between the coordinates of the second intermediate point and the coordinates of the first intermediate point, and a straight segment path is constructed between the coordinates of the first intermediate point and the coordinates of the parking target point. The constructed arc segment path and the straight segment path are combined to obtain the second parking path.

[0044] S140: Determine a target parking path according to the first parking path and the second parking path.

[0045] The target parking path is the final path planned for the current vehicle to enter the target garage.

[0046] Specifically, the constructed first parking path and the second parking path are combined to obtain a target parking path, so as to control the vehicle to travel according to the target parking path and complete the automatic horizontal parking operation.

[0047] The geometric algorithm derives the endpoint of the Hybrid A-Star algorithm's search from a conventional, parallel-to-the-target garage pose to a pose predicted for the vehicle immediately after entering the garage. In this case, the RS curve in the Hybrid A-Star algorithm more easily connects to the predicted pose immediately after entering the garage. This is because the pose immediately after entering the garage isn't surrounded on three sides by the target garage, whereas the pose within the target garage is surrounded by the garage, making it difficult for the RS curve to pass collision detection. This prematurely terminates the entire path search planning process. Meanwhile, the geometric algorithm determines the path from the Hybrid A-Star search endpoint (the coordinates of the second intermediate point) to the final horizontal parking endpoint (the coordinates of the target parking point). The target parking path is then composed of the first parking path from the Hybrid A-Star search and the second parking path from the geometric algorithm.

[0048] The present invention has the following technical effects: by determining the target angle, parking target point coordinates, first intermediate point coordinates, and second intermediate point coordinates based on the vertex coordinates of the target garage, the minimum turning radius of the current vehicle, the width of the current vehicle, the first rear axle distance from the center of the rear axle of the current vehicle to the rear of the vehicle, the second rear axle distance from the center of the rear axle of the current vehicle to the front of the vehicle, and a preset configuration distance; determining a first parking path based on the current coordinates of the current vehicle, the current attitude angle, the second intermediate point coordinates, and the target angle; determining a second parking path based on the second intermediate point coordinates, the first intermediate point coordinates, and the parking target point coordinates; and determining a target parking path based on the first parking path and the second parking path. This achieves the goal of taking into account the obstacle avoidance flexibility of the hybrid A-star search algorithm when performing path planning outside the target garage, while also improving the success rate of the hybrid A-star algorithm search, reducing time consumption, and improving the real-time performance of the algorithm. At the same time, the second parking path is derived from geometric relationships and is therefore automatically derived as the size of the target garage changes, eliminating the need for repeated parameter adjustment for target garages of different sizes, thereby improving the adaptability of horizontal parking.

[0049] Figure 2 This is a flow chart of another parking path planning method provided by an embodiment of the present invention. Figure 2 , the parking path planning method specifically includes:

[0050] S210. Establish a garage coordinate system with the intersection of the garage bottom edge and the first garage edge as the origin, the direction from the garage bottom edge to the second garage edge as the positive horizontal axis direction, and the direction from the first garage edge to the garage opening edge as the positive vertical axis direction.

[0051] The first garage side is opposite to the second garage side, and the garage bottom is opposite to the garage opening side. It can be understood that the current vehicle enters the target garage from the garage opening side. The garage coordinate system is the coordinate system used for subsequent parking. The schematic diagram of the garage coordinate system is as follows Figure 3 As shown in the figure, the target garage is surrounded by corner points ABCD. Side AD is the garage opening side, side BC is the garage bottom side, side AB is the first garage side, and side CD is the second garage side. The garage coordinate system has corner point B as its origin, direction BA as the positive vertical axis, and direction BC as the positive horizontal axis.

[0052] S220: Determine the garage length and garage width of the target garage based on the coordinates of each vertex.

[0053] Specifically, the width of the garage can be obtained by subtracting the coordinates of the two corner points corresponding to the first garage edge, and the length of the garage can be obtained by subtracting the coordinates of the two corner points corresponding to the garage bottom edge. Figure 3 As shown, the length L of side BC is the length of the garage, and the length W of side CD is the width of the garage.

[0054] S230: Determine the coordinates of the parking target point according to the first configuration distance, the first rear axle distance, and the garage width in the preset configuration distances.

[0055] The first configuration distance is the minimum distance between the current vehicle and the first garage edge of the target garage, that is, the minimum distance between the rear edge of the current vehicle and the first garage edge.

[0056] Specifically, in order to ensure the safety of the current vehicle, the distance between the center of the rear axle of the current vehicle and the first garage edge can be determined by combining the first configuration distance and the first rear axle distance, so that the horizontal coordinate of the parking target point coordinate in the garage coordinate system can be obtained. Furthermore, in order to ensure the reliability and effectiveness of parking, the current vehicle is usually parked in the middle of the garage. It can be understood that the center of the rear axle of the current vehicle is located on the line connecting the midpoint of the first garage edge and the middle of the second garage edge of the target garage, thereby obtaining the vertical coordinate of the parking target point coordinate in the garage coordinate system. Figure 3 As shown, the coordinates of point P0 are the parking target point coordinates, and buffer1 is the first configuration distance. Figure 4 This is a schematic diagram of the length identification of the current vehicle, where Lb is the first rear axle distance, La is the second rear axle distance, Lw is the vehicle width, and Ll is the vehicle length.

[0057] Based on the above example, the following method can be used to determine the parking target point coordinates based on the first configuration distance, the first rear axle distance, and the garage width in the preset configuration distances:

[0058] Determine the sum of the first configuration distance and the first rear axle distance in the preset configuration distances as the horizontal coordinate of the parking target point coordinate;

[0059] Half of the width of the garage is determined as the vertical coordinate of the parking target point.

[0060] like Figure 3 In the example shown, the horizontal coordinate of point P0 is , the vertical axis is , from which we can get: , .

[0061] S240: Determine an intermediate transition coordinate according to the garage width, the garage length, and a second configuration distance among the preset configuration distances.

[0062] The second configuration distance is the minimum distance between the current vehicle and the second side of the target garage, that is, the minimum distance between the head edge of the current vehicle and the second side of the garage. The intermediate transition coordinates are the coordinates of the position point where the distance between each part of the current vehicle and the second side of the garage is the minimum during the current vehicle's driving process. Figure 3 As shown, buffer2 is the second configuration distance, and the coordinates of point P3 are the intermediate transition coordinates.

[0063] Specifically, since the intermediate transition coordinate should be at the second configuration distance from the second garage edge, the horizontal coordinate of the intermediate transition coordinate can be obtained based on the garage length and the second configuration distance. Furthermore, the intermediate transition coordinate should be at the edge of the garage opening, so the garage width can be used as the vertical coordinate of the intermediate transition coordinate.

[0064] Based on the above example, the intermediate transition coordinates can be determined according to the garage width, garage length, and the second configuration distance in the preset configuration distances in the following manner:

[0065] Determine the difference between the garage length and the second configuration distance in the preset configuration distance as the abscissa of the intermediate transition coordinate;

[0066] Determine the garage width as the vertical coordinate of the middle transition coordinate.

[0067] like Figure 3 In the example shown, the horizontal coordinate of point P3 is , the vertical axis is , from which we can get: , .

[0068] S250: Determine a target angle based on the intermediate transition coordinate, the vehicle width, the distance to the second rear axle, and the minimum turning radius.

[0069] Specifically, based on the geometric relationship between the intermediate transition coordinates, the second intermediate point coordinates and the parking target point coordinates, a geometric relationship formula between the target angle can be constructed, and then these geometric relationship formulas can be solved jointly to obtain that the target angle is only related to the intermediate transition coordinates, vehicle width, second rear axle distance and minimum turning radius. Therefore, the target angle can be calculated through the intermediate transition coordinates, vehicle width, second rear axle distance and minimum turning radius.

[0070] Based on the above example, the target angle can be determined according to the intermediate transition coordinate, vehicle width, distance to the second rear axle, and minimum turning radius in the following way:

[0071] Determining a first intermediate value according to the second rear axle distance, the vehicle width, the minimum turning radius, and the longitudinal coordinate of the intermediate transition coordinate;

[0072] Determining a second intermediate value according to the vehicle width, the minimum turning radius, and the longitudinal coordinate of the intermediate transition coordinate;

[0073] The target angle is determined according to an arc tangent value corresponding to the ratio of the first intermediate value to the second intermediate value.

[0074] The first intermediate value and the second intermediate value are input values ​​required to solve the target angle.

[0075] Specifically, four times the square of the second rear axle distance, the square of the vehicle width, four times the product of the vehicle width and the minimum turning radius, and eight times the product of the minimum turning radius and the ordinate of the intermediate transition coordinate are summed. The square root of the difference between this sum and four times the square of the ordinate of the intermediate transition coordinate is used as the subtrahend, and two times the second rear axle distance is used as the minuend. The resulting difference is the first intermediate value. The difference between the sum of four times the minimum turning radius and the vehicle width minus two times the ordinate of the intermediate transition coordinate is used as the second intermediate value. An inverse tangent operation is performed on the ratio of the first intermediate value to the second intermediate value, and the result of the inverse operation is multiplied by -2 to obtain the target angle.

[0076] like Figure 3 In the example shown, the coordinates of point P0 ( , ) is the coordinate of the parking target point, buffer1 is the first configuration distance, buffer2 is the second configuration distance, the coordinate of point P1 ( , ) is the coordinate of the first intermediate point, the coordinate of point P2 ( , ) is the coordinate of the second intermediate point, the coordinate of point P3 ( , ) is the intermediate transition coordinate. According to the geometric relationship, , , , , , Where theta is the target angle, L is the length of the garage, W is the width of the garage, Lw is the width of the car, and Rmin is the minimum turning radius. By using the above formulas, the numerator of the theta result, i.e. the first intermediate value, can be solved. , and the denominator of the theta result, which is the second intermediate value Then, the target angle is solved according to the first intermediate value and the second intermediate value. .

[0077] S260: Determine the coordinates of the second intermediate point according to the target angle, the garage length, the second configuration distance, the garage width, the vehicle width, and the second rear axle distance.

[0078] Specifically, by solving a geometric formula for the target angle, the target angle may be substituted into the portion corresponding to the coordinates of the second intermediate point to obtain the coordinates of the second intermediate point.

[0079] Based on the above example, the coordinates of the second intermediate point can be determined according to the target angle, garage length, second configuration distance, garage width, vehicle width, and second rear axle distance in the following manner:

[0080] a product of the second rear axle distance and a cosine value of the target angle as a third intermediate value, and a product of a half of the vehicle width and a sine value of the target angle as a fourth intermediate value;

[0081] a product of the second rear axle distance and a sine value of the target angle as a fifth intermediate value, and a product of a half of the vehicle width and a cosine value of the target angle as a sixth intermediate value;

[0082] determining the abscissa of the second intermediate point coordinate by taking the garage length as a minuend and a sum of the second arrangement distance, the third intermediate value and the fourth intermediate value as a subtrahend;

[0083] determining the ordinate of the second intermediate point coordinate by taking the garage width as a minuend and a difference between the fifth intermediate value and the sixth intermediate value as a subtrahend.

[0084] The third intermediate value and the fourth intermediate value are the substitution values required for solving the abscissa of the second intermediate point coordinate. The fifth intermediate value and the sixth intermediate value are the substitution values required for solving the ordinate of the second intermediate point coordinate.

[0085] As shown in the example, Figure 3 Lw is the vehicle width, theta is the target angle, L is the garage length, W is the garage width, buffer2 is the second arrangement distance, La is the second rear axle distance, and the coordinate of point P2 is the second intermediate point coordinate. , , .

[0086] S270, determining the first intermediate point coordinate according to the second intermediate point coordinate, the minimum turning radius, the target angle and the garage width.

[0087] Specifically, due to the geometric arrangement and the vehicle parking comfort, it can be determined that the line connecting the first intermediate point coordinate and the parking target point coordinate is parallel to the horizontal axis of the garage coordinate axis, so it can be known that the ordinate of the first intermediate point coordinate is the same as the ordinate of the parking target point coordinate. And since the second intermediate point coordinate and the first intermediate point coordinate are two endpoints of an arc segment with the minimum turning radius as the included angle, the abscissa of the first intermediate point coordinate can be obtained on the basis of the second intermediate point coordinate solved above.

[0088] On the basis of the above example, the first intermediate point coordinate can be determined according to the second intermediate point coordinate, the minimum turning radius, the target angle and the garage width in the following manner:

[0089] determining the abscissa of the first intermediate point coordinate by taking the abscissa of the second intermediate point coordinate as a minuend and a product of the minimum turning radius and a sine value of the target angle as a subtrahend; ​

[0090] Determine half of the garage width as the vertical coordinate of the first midpoint.

[0091] like Figure 3 In the example shown, the coordinates of point P1 are the first intermediate point coordinates, the coordinates of point P2 are the second intermediate point coordinates, and the horizontal coordinate of point P1 is , the vertical axis is , the horizontal coordinate of point P2 is , W is the width of the garage, Rmin is the minimum turning radius, and theta is the target angle, from which we can get: , .

[0092] S280: Determine a first parking path based on the current coordinates of the current vehicle and the coordinates of the second intermediate point; determine a second parking path based on the coordinates of the second intermediate point, the coordinates of the first intermediate point, and the coordinates of the parking target point; and determine a target parking path based on the first parking path and the second parking path.

[0093] like Figure 3 In the example shown, the garage coordinate system is established with point B as the origin. The orientations of points P0 and P1 are 0, and the orientation of point P2 is theta. After the current vehicle parks in the target garage and stops steadily, the final parking point (parking target point coordinates) of the current vehicle is parallel to the target garage, and the distances from both sides of the current vehicle to the target garage are equal. The schematic diagram of the target parking path is shown as follows: Figure 5 As shown, the complete horizontal parking path (target parking path) is P4->P5->P2->P1->P0. The P4->P5->P2 segment represents the first parking path searched by the hybrid A-star algorithm. Point P4 represents the current vehicle coordinates, while point P5 represents the transition point. P2->P1->P0 represents the geometric path, or the second parking path. It can be understood that point P2 represents the target point searched by the hybrid A-star algorithm, and point P0 represents the final parking point, or the target parking point.

[0094] The present invention has the following technical effects: a garage coordinate system is established by taking the intersection of the garage bottom edge and the first garage edge as the origin, the direction along the garage bottom edge pointing to the second garage edge as the positive direction of the horizontal axis, and the direction along the first garage edge pointing to the garage opening edge as the positive direction of the vertical axis; the garage length and garage width of the target garage are determined according to the coordinates of each vertex; the parking target point coordinates are determined according to the first configuration distance, the first rear axle distance and the garage width in the preset configuration distances; the intermediate transition coordinates are determined according to the garage width, the garage length and the second configuration distance in the preset configuration distances; the target angle is determined according to the intermediate transition coordinates, the vehicle width, the second rear axle distance and the minimum turning radius; the second intermediate point coordinates are determined according to the target angle, the garage length, the second configuration distance, the garage width, the vehicle width and the second rear axle distance; the first intermediate point coordinates are determined according to the second intermediate point coordinates, the minimum turning radius, the target angle and the garage width, thereby realizing reasonable planning of the coordinates of each driving point according to a geometric algorithm and improving the effectiveness of parking path planning.

[0095] Figure 6 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 6 As shown, the electronic device 300 includes one or more processors 301 and a memory 302 .

[0096] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0097] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the vehicle-mounted BSD camera calibration method of any embodiment of the present invention described above and / or other desired functions. The computer-readable storage medium may also store various contents such as initial external parameters and threshold values.

[0098] In one example, electronic device 300 may further include an input device 303 and an output device 304, which are interconnected via a bus system and / or other connection mechanisms (not shown). Input device 303 may include, for example, a keyboard, a mouse, etc. Output device 304 may output various information to the outside, including warning information, braking force, etc. Output device 304 may include, for example, a display, a speaker, a printer, a communication network, and remote output devices connected thereto.

[0099] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the electronic device 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 300 may further include any other appropriate components according to specific application scenarios.

[0100] In addition to the above methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the parking path planning method provided by any embodiment of the present invention.

[0101] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the parking path planning method provided by any embodiment of the present invention.

[0103] The computer-readable storage medium may be any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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 thereof.

[0104] It should be noted that the terms used in the present invention are only for describing specific embodiments and are not intended to limit the scope of this application. As shown in the present specification, unless the context clearly indicates an exception, the words "one", "an", "a kind of" and / or "the" do not specifically refer to the singular and may also include the plural. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method or device comprising a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method or device comprising the elements.

[0105] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0106] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application.

Claims

1. A parking path planning method, characterized in that: include: Establish a garage coordinate system with the intersection of the garage base and the first garage edge as the origin, the direction from the garage base to the second garage edge as the positive horizontal axis, and the direction from the first garage edge to the garage opening edge as the positive vertical axis. Determine the length and width of the target garage based on the coordinates of each vertex; Determining the coordinates of the parking target point according to a first configuration distance, a first rear axle distance, and the width of the garage in the preset configuration distances; Determining an intermediate transition coordinate according to the garage width, the garage length, and a second configuration distance in the preset configuration distances; determining a target angle according to the intermediate transition coordinate, the vehicle width, the distance from the second rear axle, and the minimum turning radius; determining the coordinates of a second intermediate point according to the target angle, the garage length, the second configuration distance, the garage width, the vehicle width, and the second rear axle distance; Determining the coordinates of the first intermediate point according to the coordinates of the second intermediate point, the minimum turning radius, the target angle, and the garage width; The coordinates of the first intermediate point are located between the coordinates of the parking target point and the coordinates of the second intermediate point. The first rear axle distance is the distance from the center of the rear axle of the current vehicle to the rear of the vehicle, and the second rear axle distance is the distance from the center of the rear axle of the current vehicle to the front of the vehicle. The first configuration distance is the minimum distance between the current vehicle and the first parking edge of the target garage, and the second configuration distance is the minimum distance between the current vehicle and the second parking edge of the target garage. The first parking edge is opposite to the second parking edge, and the garage bottom edge is opposite to the garage opening edge. determining a first parking path according to the current coordinates, the current attitude angle, the coordinates of the second intermediate point, and the target angle of the current vehicle; determining a second parking path according to the coordinates of the second intermediate point, the coordinates of the first intermediate point, and the coordinates of the parking target point; A target parking path is determined based on the first parking path and the second parking path.

2. The method according to claim 1, characterized in that The determining of the intermediate transition coordinate according to the garage width, the garage length, and a second configuration distance in the preset configuration distances includes: Determine the difference between the garage length and the second configuration distance in the preset configuration distance as the abscissa of the intermediate transition coordinate; The garage width is determined as the vertical coordinate of the middle transition coordinate.

3. The method according to claim 1, characterized in that The determining of the target angle according to the intermediate transition coordinate, the vehicle width, the distance from the second rear axle, and the minimum turning radius includes: determining a first intermediate value according to the second rear axle distance, the vehicle width, the minimum turning radius, and the longitudinal coordinate of the intermediate transition coordinate; determining a second intermediate value according to the vehicle width, the minimum turning radius, and the longitudinal coordinate of the intermediate transition coordinate; A target angle is determined according to an arctangent value corresponding to a ratio of the first intermediate value to the second intermediate value.

4. The method according to claim 1, wherein The determining the coordinates of the second intermediate point according to the target angle, the garage length, the second configuration distance, the garage width, the vehicle width, and the second rear axle distance includes: The product of the second rear axle distance and the cosine value of the target angle is used as a third intermediate value, and the product of half the vehicle width and the sine value of the target angle is used as a fourth intermediate value; The product of the second rear axle distance and the sine value of the target angle is used as a fifth intermediate value, and the product of half the vehicle width and the cosine value of the target angle is used as a sixth intermediate value; Determine the abscissa of the second intermediate point coordinates by using the garage length as a minuend and the sum of the second configuration distance, the third intermediate value, and the fourth intermediate value as a subtrahend; The vertical coordinate of the second intermediate point is determined by taking the garage width as the minuend and the difference between the fifth intermediate value and the sixth intermediate value as the subtrahend.

5. The method according to claim 1, wherein The determining the coordinates of the first intermediate point according to the coordinates of the second intermediate point, the minimum turning radius, the target angle, and the garage width includes: Determine the abscissa of the coordinates of the first intermediate point by using the abscissa of the coordinates of the second intermediate point as a minuend and the product of the minimum turning radius and the sine value of the target angle as a subtrahend; Half of the width of the garage is determined as the vertical coordinate of the first middle point coordinate.

6. The method according to claim 1, characterized in that The determining the coordinates of the parking target point according to the first configuration distance, the first rear axle distance, and the garage width in the preset configuration distances includes: determining the sum of a first configuration distance in the preset configuration distances and the first rear axle distance as the horizontal coordinate of the parking target point coordinate; Half of the width of the garage is determined as the vertical coordinate of the parking target point coordinate.

7. The method according to claim 1, characterized in that The determining of a first parking path according to the current coordinates, the current posture angle, the second intermediate point coordinates, and the target angle of the current vehicle includes: Determining the coordinates of the overparking point based on the hybrid A-star algorithm according to the current coordinates of the current vehicle, the current posture angle, the coordinates of the second intermediate point, and the target angle; Determining a first portion of the route based on the current coordinates and the coordinates of the overparking point; determining a second partial route according to the coordinates of the overparking point and the coordinates of the second intermediate point; A first parking path is determined according to the first partial path and the second partial path.

8. An electronic device, characterized in that: The electronic device comprises: processor and memory; The processor is configured to execute the steps of the parking path planning method according to any one of claims 1 to 7 by calling the program or instructions stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the steps of the parking path planning method according to any one of claims 1 to 7.

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