Parking track generation method, device and equipment and computer readable storage medium

Abstract

The invention discloses a parking track generation method, device and equipment and a computer readable storage medium, and belongs to the technical field of automatic driving. The method comprises the following steps: in response to detection of a parking space and existence of an obstacle in a reference direction of the parking space, acquiring first position information of a vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system; generating a first arc and a second arc according to the first position information; generating a third arc and a fourth arc according to the first position information and the second position information; according to the first arc, the second arc, the third arc and the fourth arc, a parking track is determined so that the vehicle can drive into the parking space according to the parking track, one end point of the parking track is the position indicated by the first position information, and the other end point of the parking track is the original point. The parking track generated by the method is reasonable, and the safety of vehicle parking can be improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of autonomous driving technology, and more particularly to a method, device, equipment, and computer-readable storage medium for generating a parking trajectory. Background Art

[0002] With the continuous development of autonomous driving technology, the application of automatic parking systems in the vehicle industry is becoming more and more extensive. The technologies of automatic parking systems mainly include parking space recognition technology and trajectory generation technology. Among them, trajectory generation technology refers to generating a parking trajectory after determining the parking space, so that the vehicle can park in the parking space according to the parking trajectory. However, how to generate a parking trajectory is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiment of the present application provides a method, device, apparatus and computer-readable storage medium for generating a parking trajectory. The technical solution is as follows:

[0004] On the one hand, an embodiment of the present application provides a method for generating a parking trajectory, the method comprising:

[0005] In response to detecting a parking space and an obstacle in a reference direction of the parking space, obtaining first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on a central axis along a length direction of the parking space;

[0006] Generate a first circular arc and a second circular arc according to the first position information, wherein one endpoint of the first circular arc is the origin, one endpoint of the second circular arc is the position indicated by the first position information, and the other endpoint of the first circular arc and the other endpoint of the second circular arc are a first point, and the first point is a circumscribed point of a first circle where the first circular arc is located and a second circle where the second circular arc is located;

[0007] Generate a third arc and a fourth arc according to the first position information and the second position information, wherein one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoints of the third arc and the fourth arc are second points, and the second point is a circumscribed point of a third circle where the third arc is located and a fourth circle where the fourth arc is located;

[0008] A parking trajectory is determined according to the first arc, the second arc, the third arc and the fourth arc, so that the vehicle drives into the parking space according to the parking trajectory, one endpoint of the parking trajectory is the position indicated by the first position information, and the other endpoint is the origin.

[0009] In a possible implementation, in response to detecting a parking space and an obstacle existing in a reference direction of the parking space, acquiring first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system includes:

[0010] In response to detecting a parking space and an obstacle existing in a reference direction of the parking space, acquiring initial position information of the vehicle, initial position information of the parking space, and initial position information of the obstacle;

[0011] Determining first position information of the vehicle in the reference coordinate system according to the initial position information of the vehicle, the initial position information of the parking space, and the angle, wherein the angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space;

[0012] The second position information of the obstacle in the reference coordinate system is determined according to the initial position information of the obstacle, the initial position information of the parking space, and the angle.

[0013] In a possible implementation manner, generating the first arc and the second arc according to the first position information includes:

[0014] Determining a minimum turning radius of the vehicle as the radius of the first circle;

[0015] Determining the center of the first circle according to the radius of the first circle;

[0016] determining the radius of the second circle according to the radius of the first circle, the first position information and an included angle, wherein the included angle is an included angle between a central axis along the length direction of the vehicle and a central axis along the length direction of the parking space;

[0017] Determine the center of the second circle according to the radius of the second circle, the first position information and the included angle;

[0018] Generate the first circle according to the center of the first circle and the radius of the first circle, and generate the second circle according to the center of the second circle and the radius of the second circle;

[0019] An arc between the first point on the first circle and the origin is determined as the first arc, and an arc between the first point on the second circle and the position indicated by the first position information is determined as the second arc.

[0020] In a possible implementation manner, before determining that the minimum turning radius of the vehicle is the radius of the first circle, the method further includes:

[0021] The minimum turning radius of the vehicle is determined according to the wheelbase of the vehicle and the maximum steering angle of the front wheels of the vehicle.

[0022] In a possible implementation manner, generating a third arc and a fourth arc according to the first position information and the second position information includes:

[0023] determining the radius of the third circle according to the first position information, the second position information, an angle and a minimum turning radius of the vehicle, wherein the angle is an angle between a central axis along the length direction of the vehicle and a central axis along the length direction of the parking space;

[0024] Determine the center of the third circle and the radius of the fourth circle according to the radius of the third circle, the first position information and the included angle;

[0025] Determining the center of the fourth circle according to the radius of the fourth circle;

[0026] Generate the third circle according to the radius of the third circle and the center of the third circle, and generate the fourth circle according to the center of the fourth circle and the radius of the fourth circle;

[0027] An arc between the second point on the third circle and the position indicated by the first position information is determined as the third arc, and an arc between the second point on the fourth circle and the origin is determined as the fourth arc.

[0028] In a possible implementation, determining the radius of the third circle according to the first position information, the second position information, the angle, and the minimum turning radius of the vehicle includes:

[0029] Determine a first value and a second value according to the first position information, the second position information and the angle, wherein the first value is the radius of a trajectory of the vehicle when the rear end of the vehicle reverses and does not collide with the obstacle, and the second value is the radius of a trajectory tangent to a trajectory of the vehicle when the front end of the vehicle returns to the parking space and does not collide with the obstacle;

[0030] The maximum value among the first value, the second value and the minimum turning radius of the vehicle is determined as the radius of the third circle.

[0031] In a possible implementation manner, determining a second value according to the first position information, the second position information, and the angle includes:

[0032] Determine a reference value according to the second position information, where the reference value is the radius of a trajectory of the vehicle returning to the parking space without the front end colliding with the obstacle;

[0033] The second value is determined according to the reference value, the angle and the first position information.

[0034] In a possible implementation, the parking trajectory includes a fifth arc and a sixth arc;

[0035] The determining of the parking trajectory according to the first arc, the second arc, the third arc, and the fourth arc includes:

[0036] Determine the radius of the fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle, and the included angle, wherein the included angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space;

[0037] Determining the center of the fifth circle according to the radius of the fifth circle;

[0038] Determine, according to the radius of the fifth circle, the first position information and the included angle, the radius of a sixth circle where the sixth circular arc is located;

[0039] Based on the fact that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle, determining the center of the sixth circle according to the radius of the sixth circle, the included angle and the first position information;

[0040] generating the fifth circle according to the radius and the center of the fifth circle; generating the sixth circle according to the radius and the center of the sixth circle;

[0041] Determine that the arc between the third point on the fifth circle and the origin is the fifth arc, determine that the arc between the third point on the sixth circle and the position indicated by the first position information is the sixth arc, and the third point is the circumscribed point of the fifth circle and the sixth circle.

[0042] In a possible implementation manner, determining the radius of a fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle, and the included angle includes:

[0043] determining a third value according to the first position information, the radius of the first circle, and the radius and the included angle of the fourth circle;

[0044] Determining a first angle according to the radius of the fourth circle, where the first angle is a turning angle of the front wheels of the vehicle when the vehicle passes through a track having a radius equal to the radius of the fourth circle;

[0045] Determine a second angle according to the radius of the first circle, where the second angle is a turning angle of the front wheels of the vehicle when the vehicle passes through a track having a radius equal to the radius of the first circle;

[0046] Determining a fourth value according to the first angle and the second angle;

[0047] The radius of a fifth circle where the fifth circular arc is located is determined according to the third value and the fourth value.

[0048] In a possible implementation manner, determining the third value according to the first position information, the radius of the first circle, and the radius and the angle of the fourth circle includes:

[0049] Determine a fifth value according to the first position information and the included angle, where the fifth value is a value when the radius of the fifth circle is the same as the radius of the sixth circle;

[0050] When the fifth value is between the radius of the first circle and the radius of the fourth circle, determining the fifth value to be the third value;

[0051] When the fifth value is greater than the radius of the fourth circle, determining the radius of the fourth circle to be the third value;

[0052] When the fifth value is smaller than the radius of the first circle, the radius of the first circle is determined to be the third value.

[0053] On the other hand, an embodiment of the present application provides a parking trajectory generation device, the device comprising:

[0054] an acquisition module, configured to acquire, in response to detecting a parking space and an obstacle existing in a reference direction of the parking space, first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on a central axis along a length direction of the parking space;

[0055] a generating module, configured to generate a first circular arc and a second circular arc according to the first position information, wherein one endpoint of the first circular arc is the origin, one endpoint of the second circular arc is the position indicated by the first position information, and the other endpoints of the first circular arc and the other endpoints of the second circular arc are first points, and the first point is a circumscribed point of a first circle where the first circular arc is located and a second circle where the second circular arc is located;

[0056] The generating module is further configured to generate a third arc and a fourth arc according to the first position information and the second position information, wherein one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoints of the third arc and the other endpoint of the fourth arc are second points, and the second point is an external tangent point of a third circle where the third arc is located and a fourth circle where the fourth arc is located;

[0057] A determination module is used to determine a parking trajectory according to the first arc, the second arc, the third arc and the fourth arc, so that the vehicle drives into the parking space according to the parking trajectory, one endpoint of the parking trajectory is the position indicated by the first position information, and the other endpoint is the origin.

[0058] In a possible implementation, the acquisition module is used to acquire initial position information of the vehicle, initial position information of the parking space, and initial position information of the obstacle in response to detecting a parking space and the presence of an obstacle in a reference direction of the parking space; determine first position information of the vehicle in the reference coordinate system based on the initial position information of the vehicle, the initial position information of the parking space, and an angle, wherein the angle is an angle between a central axis along the length direction of the vehicle and a central axis along the length direction of the parking space; and determine second position information of the obstacle in the reference coordinate system based on the initial position information of the obstacle, the initial position information of the parking space, and the angle.

[0059] In a possible implementation, the generating module is used to determine the minimum turning radius of the vehicle as the radius of the first circle; determine the center of the first circle according to the radius of the first circle; determine the radius of the second circle according to the radius of the first circle, the first position information and the included angle, the included angle being the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the second circle according to the radius of the second circle, the first position information and the included angle; generate the first circle according to the center of the first circle and the radius of the first circle, and generate the second circle according to the center of the second circle and the radius of the second circle; determine the arc between the first point on the first circle and the origin as the first arc, and determine the arc between the first point on the second circle and the position indicated by the first position information as the second arc.

[0060] In a possible implementation, the determination module is further used to determine the minimum turning radius of the vehicle according to the wheelbase of the vehicle and the maximum steering angle of the front wheels of the vehicle.

[0061] In a possible implementation, the generating module is configured to determine the radius of the third circle according to the first position information, the second position information, an angle and the minimum turning radius of the vehicle, wherein the angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the third circle and the radius of the fourth circle according to the radius of the third circle, the first position information and the angle; determine the center of the fourth circle according to the radius of the fourth circle; generate the third circle according to the radius of the third circle and the center of the third circle, and generate the fourth circle according to the center of the fourth circle and the radius of the fourth circle; determine the arc between the second point on the third circle and the position indicated by the first position information as the third arc, and determine the arc between the second point on the fourth circle and the origin as the fourth arc.

[0062] In a possible implementation, the generation module is used to determine a first value and a second value based on the first position information, the second position information and the angle, the first value being the radius of a trajectory of the vehicle when the rear end of the vehicle reverses without colliding with the obstacle, and the second value being the radius of a trajectory tangent to the trajectory of the vehicle when the front end of the vehicle returns to the parking space without colliding with the obstacle; and determine the maximum value of the first value, the second value and the minimum turning radius of the vehicle as the radius of the third circle.

[0063] In a possible implementation, the generating module is used to determine a reference value based on the second position information, where the reference value is the radius of a trajectory of the vehicle returning to the parking space without the front of the vehicle colliding with the obstacle; and determine the second value based on the reference value, the angle and the first position information.

[0064] In a possible implementation, the parking trajectory includes a fifth arc and a sixth arc;

[0065] The determination module is configured to determine the radius of a fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle, and the included angle, wherein the included angle is the included angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the fifth circle according to the radius of the fifth circle; determine the radius of a sixth circle where the sixth arc is located according to the radius of the fifth circle, the first position information, and the included angle; determine the center of the sixth circle according to the radius of the sixth circle, the included angle, and the first position information, based on the fact that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle; generate the fifth circle according to the radius and the center of the fifth circle; generate the sixth circle according to the radius and the center of the sixth circle; determine the arc between the third point on the fifth circle and the origin as the fifth arc, determine the arc between the third point on the sixth circle and the position indicated by the first position information as the sixth arc, and the third point is the circumscribed point of the fifth circle and the sixth circle.

[0066] In one possible implementation, the determination module is used to determine a third value based on the first position information, the radius of the first circle, the radius of the fourth circle and the angle; determine a first angle based on the radius of the fourth circle, the first angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the fourth circle; determine a second angle based on the radius of the first circle, the second angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the first circle; determine a fourth value based on the first angle and the second angle; and determine the radius of a fifth circle where the fifth arc is located based on the third value and the fourth value.

[0067] In a possible implementation, the determination module is used to determine a fifth value based on the first position information and the angle, the fifth value being the value when the radius of the fifth circle is the same as the radius of the sixth circle; when the fifth value is between the radius of the first circle and the radius of the fourth circle, the fifth value is determined to be the third value; when the fifth value is greater than the radius of the fourth circle, the radius of the fourth circle is determined to be the third value; when the fifth value is less than the radius of the first circle, the radius of the first circle is determined to be the third value.

[0068] On the other hand, an embodiment of the present application provides a computer device, comprising a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the computer device implements any of the above-mentioned methods for generating parking trajectories.

[0069] On the other hand, a computer-readable storage medium is provided, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor so that a computer implements any of the above-mentioned methods for generating parking trajectories.

[0070] On the other hand, a computer program or a computer program product is also provided, wherein at least one computer instruction is stored in the computer program or the computer program product, and the at least one computer instruction is loaded and executed by a processor so that a computer implements any of the above-mentioned methods for generating a parking trajectory.

[0071] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0072] The technical solution provided in the embodiment of the present application not only takes into account the location information of the parking space and the location information of the vehicle when generating the parking trajectory, but also takes into account the location information of obstacles, so that the generated parking trajectory can avoid obstacles and the generated parking trajectory is more reasonable. When the vehicle enters the parking space according to the parking trajectory, the safety of the vehicle parking can be improved. Moreover, compared with the method of manually controlling the vehicle to drive the vehicle to the parking space, the time required for parking in this method is less, thereby improving the efficiency of vehicle parking, improving the driving experience of the driver, and further promoting the development of autonomous driving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0074] Figure 1 It is a schematic diagram of an implementation environment of a method for generating a parking trajectory provided in an embodiment of the present application;

[0075] Figure 2 is a flow chart of a method for generating a parking trajectory provided in an embodiment of the present application;

[0076] Figure 3 is a schematic diagram of a parking space, a vehicle and an obstacle provided in an embodiment of the present application;

[0077] Figure 4 is a schematic diagram of a reference coordinate system provided in an embodiment of the present application;

[0078] Figure 5 is a schematic diagram of an angle provided in an embodiment of the present application;

[0079] Figure 6 is a schematic diagram of a first circle and a second circle provided in an embodiment of the present application;

[0080] Figure 7 is a schematic diagram of an embodiment of the present application in which the rear end of a vehicle reverses and just does not hit an obstacle;

[0081] Figure 8 It is a schematic diagram of a vehicle returning to the correct position without colliding with an obstacle provided by an embodiment of the present application;

[0082] Fig. 9 is a schematic diagram of a third circle and a fourth circle provided in an embodiment of the present application;

[0083] Fig.10 is a schematic diagram of a reference area provided in an embodiment of the present application;

[0084] Fig.11 is a schematic diagram of a fifth circle and a sixth circle provided in an embodiment of the present application;

[0085] Fig.12 is a structural schematic diagram of a parking trajectory generation device provided in an embodiment of the present application;

[0086] Fig.13 It is a structural diagram of a server provided in an embodiment of the present application;

[0087] Fig.14 It is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0089] It should be noted that the terms "first", "second", etc. in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0090] Figure 1 is a schematic diagram of an implementation environment of a method for generating a parking trajectory provided in an embodiment of the present application, such as Figure 1 As shown, the implementation environment includes: a computer device 101. The computer device 101 is used to execute the method for generating a parking trajectory provided in the embodiment of the present application.

[0091] Among them, the computer device 101 can be a terminal device or a server, which is not limited in the embodiments of the present application. For example, the terminal device can be a vehicle-mounted terminal, or it can be any electronic product that can perform human-computer interaction with the user through one or more methods such as a keyboard, a touchpad, a touch screen, a remote control, voice interaction, or a handwriting device. For example, the terminal device can be a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car machine, a smart TV, a smart speaker, etc. The server can be a server, or a server cluster composed of multiple servers, or a cloud computing service center, which is not limited in the embodiments of the present application, and the server is connected to the vehicle-mounted terminal.

[0092] Those skilled in the art should understand that the above-mentioned computer device 101 is only an example, and other existing or future computer devices, if applicable to the present application, should also be included in the scope of protection of the present application and are included here by reference.

[0093] The present application embodiment provides a method for generating a parking trajectory, which can be applied to the above Figure 1 The implementation environment shown is Figure 2 Taking the flowchart of a method for generating a parking trajectory provided by an embodiment of the present application as an example, the method can be performed by Figure 1 The computer device 101 in the embodiment is executed. Figure 2 As shown, the method includes the following steps 201 to 204.

[0094] In step 201, in response to detecting a parking space and the presence of an obstacle in a reference direction of the parking space, first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system are obtained, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on the central axis along the length direction of the parking space.

[0095] The reference direction of the parking space is determined according to the direction of the vehicle relative to the parking space. If the direction of the vehicle relative to the parking space is the left side, that is, the vehicle is on the left side of the parking space, then the reference direction of the parking space is the left side. If the direction of the vehicle relative to the parking space is the right side, that is, the vehicle is on the right side of the parking space, then the reference direction of the parking space is the right side. Moreover, the obstacle is located between the parking space and the vehicle, that is, the vehicle may collide with the obstacle when entering the parking space.

[0096] like Figure 3 301 is a schematic diagram of a parking space, a vehicle and an obstacle provided in an embodiment of the present application, wherein 302 is a parking space, 302 is a vehicle, 303 is an obstacle, the vehicle 302 is on the left side of the parking space 301, and the obstacle 303 is on the left side of the parking space 301.

[0097] In a possible implementation, a positioning sensor is installed and operated in the vehicle. When a parking space is detected and there is an obstacle in the reference direction of the parking space, the positioning sensor is called to obtain the initial position information of the vehicle, the initial position information of the parking space, and the initial position information of the obstacle. The initial position information of the vehicle refers to the position information of the vehicle in the vehicle coordinate system, the initial position information of the parking space refers to the position information of the parking space in the vehicle coordinate system, and the initial position information of the obstacle refers to the position information of the obstacle in the vehicle coordinate system.

[0098] Since the vehicle is moving when entering the parking space, that is, the position of the vehicle is constantly changing, while the position of the parking space is fixed, the method for generating the parking trajectory provided in the embodiment of the present application adopts reverse planning to plan the trajectory of the vehicle from the parking space to the position of the vehicle, and use the trajectory as the parking trajectory. The initial position information of the vehicle, the initial position information of the parking space, and the initial position information of the obstacle are all position information in the vehicle coordinate system. Therefore, the initial position information of the vehicle needs to be converted into the first position information of the vehicle in the reference coordinate system, and the initial position information of the obstacle needs to be converted into the second position information of the obstacle in the reference coordinate system. The position information of the parking space in the reference coordinate system is the origin (0, 0) of the reference coordinate system. Among them, the reference coordinate system refers to the parking space coordinate system, the origin of the reference coordinate system is the point at the first distance from the tail of the parking space on the central axis along the length direction of the parking space, the positive horizontal axis of the reference coordinate system is the direction pointing to the head of the parking space on the central axis along the length direction of the parking space, and the positive vertical axis of the reference coordinate system passes through the origin of the reference coordinate system, is perpendicular to the horizontal axis of the reference coordinate system, and is in the direction of the reference direction of the origin of the reference coordinate system.

[0099] Optionally, the first distance is set based on experience or adjusted according to the implementation environment, which is not limited in the embodiment of the present application. Exemplarily, the first distance is 0.8 meters.

[0100] like Figure 4 4 is a schematic diagram of a reference coordinate system provided in an embodiment of the present application, wherein point O is the origin of the reference coordinate system, 401 is the positive horizontal axis of the reference coordinate system, and 402 is the positive vertical axis of the reference coordinate system.

[0101] In a possible implementation, the first position information of the vehicle in the reference coordinate system is determined based on the initial position information of the vehicle, the initial position information of the parking space, and the angle. The second position information of the obstacle in the reference coordinate system is determined based on the initial position information of the obstacle, the initial position information of the parking space, and the angle. The angle refers to the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space.

[0102] like Figure 5 501 is a schematic diagram of an angle provided in an embodiment of the present application, wherein 501 is the central axis along the length direction of the parking space, 502 is the central axis along the length direction of the vehicle, and 503 is the angle.

[0103] In a possible implementation, the first position information of the vehicle in the reference coordinate system is determined according to the following formula (1) based on the initial position information of the vehicle, the initial position information of the parking space, and the angle.

[0104]

[0105] In the above formula (1), (x, y) is the initial position information of the vehicle, (x ′ 0,y0 ′ ) is the initial position information of the parking space, (x0, y0) is the first position information, and θ is the angle.

[0106] In a possible implementation, the second position information of the obstacle in the reference coordinate system is determined according to the following formula (2) based on the initial position information of the obstacle, the initial position information of the parking space, and the angle.

[0107]

[0108] In the above formula (1), (x ′ ,y ′ ) is the initial position information of the obstacle, (x r ,y r ) is the second position information, (x ′ 0,y0 ′ ) is the initial position information of the parking space, and θ is the angle.

[0109] In step 202, a first arc and a second arc are generated according to the first position information, one endpoint of the first arc is the origin, one endpoint of the second arc is the position indicated by the first position information, and the other endpoint of the first arc and the other endpoint of the second arc are a first point, which is the circumscribed point of the first circle where the first arc is located and the second circle where the second arc is located.

[0110] In a possible implementation, after obtaining the first position information in the above step 201, the process of generating the first arc and the second arc according to the first position information includes: determining the minimum turning radius of the vehicle as the radius of the first circle; determining the center of the first circle according to the radius of the first circle; determining the radius of the second circle according to the radius of the first circle, the first position information and the angle; determining the center of the second circle according to the radius of the second circle, the first position information and the angle; generating the first circle according to the center of the first circle and the radius of the first circle, and generating the second circle according to the center of the second circle and the radius of the second circle; determining the arc between the first point on the first circle and the origin as the first arc; determining the arc between the first point on the second circle and the position indicated by the first position information as the second arc.

[0111] The angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space, and the first point is the circumscribed point of the first circle and the second circle.

[0112] Before determining that the minimum turning radius of the vehicle is the radius of the first circle, the minimum turning radius of the vehicle needs to be determined first. The embodiment of the present application does not limit the method for determining the minimum turning radius of the vehicle. Optionally, the minimum turning radius of the vehicle is determined based on the wheelbase of the vehicle and the maximum steering angle of the front wheels of the vehicle.

[0113] Furthermore, according to the wheelbase of the vehicle and the maximum steering angle of the front wheels of the vehicle, the minimum turning radius of the vehicle is determined according to the following formula (3).

[0114]

[0115] In the above formula (3), R min is the minimum turning radius of the vehicle, L is the wheelbase of the vehicle, and α is the maximum steering angle of the front wheels of the vehicle.

[0116] In a possible implementation, due to the kinematics limitation of the vehicle, the front wheel turning angle of the vehicle is limited, so the minimum turning radius (R min ) as the radius (R1) of the first circle. Since the first circle passes through the origin, the center of the first circle is determined to be (0, the radius of the first circle) according to the radius of the first circle, that is, the center of the first circle is (0, R1).

[0117] Since the first circle and the second circle are circumscribed, the first circle and the second circle have a relationship as shown in the following formula (4).

[0118]

[0119] In the above formula (4), R1 is the radius of the first circle, R2 is the radius of the second circle, and (x2, y2) is the center of the second circle.

[0120] Since the parking trajectory planning is a rolling planning, when the vehicle moves along the parking trajectory, there is an angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space. Therefore, the center of the second circle can be expressed by borrowing the first position information of the vehicle, the radius of the second circle and the angle. For example, the following formula (5) is used to express the center of the second circle.

[0121]

[0122] In the above formula (5), (x2, y2) is the center of the second circle, (x0, y0) is the first position information, R2 is the radius of the second circle, and θ is the angle.

[0123] Substituting the above formula (5) into the above formula (4), the following formula (6) for determining the radius of the second circle can be obtained. That is, according to the radius of the first circle, the first position information and the included angle, the radius of the second circle is determined according to the following formula (6).

[0124]

[0125] In the above formula (6), R2 is the radius of the second circle, (x0, y0) is the first position information, R1 is the radius of the first circle, and θ is the angle.

[0126] After the radius of the second circle is determined, the center (x2, y2) of the second circle is determined according to the radius of the second circle, the first position information and the included angle according to the above formula (5).

[0127] After determining the center of the first circle, the radius of the first circle, the center of the second circle, and the radius of the second circle, the first circle is generated according to the center of the first circle and the radius of the first circle; and the second circle is generated according to the center of the second circle and the radius of the second circle. Figure 6 Schematic diagram of the first circle and the second circle provided in the embodiment of the present application. 601 is the first circle, 602 is the second circle, the radius of the first circle 601 is R1, the center is (0, R1), the radius of the second circle 602 is R2, and the center is (x2, y2). The circumscribed point of the first circle 601 and the second circle 602 is point A. 603 is the first arc, and 604 is the second arc.

[0128] In step 203, a third arc and a fourth arc are generated based on the first position information and the second position information, one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoint of the third arc and the other endpoint of the fourth arc are the second point, and the second point is the circumscribed point of the third circle where the third arc is located and the fourth circle where the fourth arc is located.

[0129] In a possible implementation, the process of generating a third arc and a fourth arc according to the first position information and the second position information includes: determining the radius of the third circle according to the first position information, the second position information, the angle and the minimum turning radius of the vehicle, the angle being the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determining the center of the third circle and the radius of the fourth circle according to the radius of the third circle, the first position information and the angle; determining the center of the fourth circle according to the radius of the fourth circle; generating a third circle according to the radius of the third circle and the center of the third circle, and generating a fourth circle according to the center of the fourth circle and the radius of the fourth circle; determining the arc between the second point on the third circle and the position indicated by the first position information as the third arc, and determining the arc between the second point on the fourth circle and the origin as the fourth arc.

[0130] Among them, the process of determining the radius of the third circle according to the first position information, the second position information, the angle and the minimum turning radius of the vehicle includes: determining the first value and the second value according to the first position information, the second position information and the angle, the first value being the radius of the trajectory of the vehicle when reversing without colliding with the rear end of the vehicle, and the second value being the radius of the trajectory tangent to the trajectory of the vehicle when returning to the parking space without colliding with the front end of the vehicle; determining the maximum value among the first value, the second value and the minimum turning radius of the vehicle as the radius of the third circle.

[0131] Due to vehicle kinematic limitations, when the front wheel turning angle of the vehicle is at an extreme position, the first selectable value of the radius of the third circle is the minimum turning radius of the vehicle.

[0132] The position limit is that the rear end of the vehicle does not hit the obstacle when reversing. Figure 7 701 is an obstacle, 702 is a vehicle, and 703 is a parking space. The geometric relationship between the vehicle and the obstacle can be expressed as the following formula (7).

[0133] (x3-x r ) 2 +(y3-y r ) 2 =(R3-b) 2 (7)

[0134] In the above formula (7), (x3, y3) is the center of the third circle, (x r ,y r ) is the second position information, R3 is the radius of the third circle, and b is half of the wheelbase of the vehicle.

[0135] The center of the third circle can be represented by the first position information, the radius of the third circle and the angle, as shown below: Based on the first position information, the radius of the third circle and the angle, the center of the third circle is represented by formula (8).

[0136]

[0137] In the above formula (8), (x3, y3) is the center of the third circle, (x0, y0) is the first position information, R3 is the radius of the third circle, and θ is the angle.

[0138] Substituting the above formula (8) into the above formula (7), the following formula (9) for determining the first value can be obtained. That is, according to the first position information, the second position information and the included angle, the first value is determined according to the following formula (9), and the first value is the second optional value of the radius of the third circle.

[0139]

[0140] In the above formula (9), is the first value, (x0, y0) is the first position information, (x r ,y r ) is the second position information, θ is the angle, and b is half of the wheelbase of the vehicle.

[0141] In a possible implementation, the process of determining the second value according to the first position information, the second position information and the angle includes: determining a reference value according to the second position information, the reference value being the radius of the trajectory of the vehicle returning to the parking space without colliding with an obstacle; determining the second value according to the reference value, the angle and the first position information. The second value is a third optional value of the radius of the third circle.

[0142] When the vehicle is returning to the parking space, the vehicle front just does not collide with the obstacle, which is the ultimate safety position. Figure 8 801 is an obstacle, 802 is a vehicle, and 803 is a parking space. At this time, the reference value can be determined according to the second position information according to the following formula (10).

[0143]

[0144] In the above formula (10), m is a reference value, (x r ,y r ) is the second position information, L is the wheelbase of the vehicle, and b is half of the wheelbase of the vehicle.

[0145] Since the trajectory with the reference value radius is tangent to the trajectory with the second value radius, the second value can be determined according to the reference value, the angle and the first position information according to the following formula (11).

[0146]

[0147] In the above formula (11), is the second value, (x0, y0) is the first position information, θ is the angle, and m is the reference value.

[0148] In a possible implementation, after the three optional values ​​of the third circle (the minimum turning radius of the vehicle, the first value, and the second value) are determined in the above content, the maximum value among the first value, the second value, and the minimum turning radius of the vehicle is used as the radius of the third circle. After the radius of the third circle is determined, the center (x3, y3) of the third circle is determined according to the radius of the third circle, the first position information, and the angle according to the above formula (8).

[0149] Since the third circle and the fourth circle are circumscribed, the radius of the fourth circle can be determined according to the radius of the third circle, the first position information and the included angle according to the following formula (12).

[0150]

[0151] In the above formula (12), R4 is the radius of the fourth circle, (x0, y0) is the first position information, R3 is the radius of the third circle, and θ is the angle.

[0152] After determining the radius of the fourth circle, since the fourth circle passes through the origin, the center of the fourth circle is determined to be (0, radius of the fourth circle) according to the radius of the fourth circle, that is, the center of the fourth circle is (0, R4).

[0153] After determining the center of the third circle, the radius of the third circle, the center of the fourth circle, and the radius of the fourth circle, the third circle is generated according to the center of the third circle and the radius of the third circle, and the fourth circle is generated according to the center of the fourth circle and the radius of the fourth circle. Fig. 9 Schematic diagram of the third circle and the fourth circle provided in the embodiment of the present application. Among them, 901 is the third circle, 902 is the fourth circle, the radius of the third circle 901 is R3, the center is (x3, y3), the radius of the fourth circle 902 is R4, and the center is (0, R4). The circumscribed point of the third circle 901 and the fourth circle 902 is point B. 903 is the third arc, and 904 is the fourth arc.

[0154] In step 204, a parking trajectory is determined based on the first arc, the second arc, the third arc and the fourth arc, so that the vehicle enters the parking space according to the parking trajectory, one endpoint of the parking trajectory is the position indicated by the first position information, and the other endpoint is the origin.

[0155] In a possible implementation, after the first arc and the second arc are generated in step 202 and the third arc and the fourth arc are generated in step 203, the first arc, the second arc, the third arc and the fourth arc constitute a reference area, such as Fig.10 A schematic diagram of a reference area provided for an embodiment of the present application. Wherein, 1001 is a reference area. Theoretically, any curve in the reference area that conforms to the kinematics of the vehicle can be used as a parking trajectory. However, considering the curvature and adjustable margin of the curve, there must be an optimal trajectory in the reference area. The embodiment of the present application considers the curvature and adjustable margin of the curve, determines an optimal curve in the reference area, and uses the curve as the parking trajectory. Wherein, the curvature of the curve refers to the degree of bending of the curve, and the curvature of the curve is the difference between the radii of the circles where the two arcs included in the curve are located. The adjustable margin of the curve refers to the space for adjusting the curve, that is, the margin of the adjustable curve when the vehicle deviates from the curve when parking according to the curve.

[0156] The parking trajectory includes a fifth arc and a sixth arc. The fifth arc is a section of an arc on the fifth circle, and the sixth arc is a section of an arc on the sixth circle. The fifth circle and the sixth circle are circumscribed at the third point. The process of determining the parking trajectory according to the first arc, the second arc, the third arc and the fourth arc includes: determining the radius of the fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle and the included angle, wherein the included angle is the included angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determining the center of the fifth circle according to the radius of the fifth circle; determining the radius of the sixth circle where the sixth arc is located according to the radius of the fifth circle, the first position information and the included angle; determining the center of the sixth circle according to the radius of the sixth circle, the included angle and the first position information, based on the fact that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle; generating the fifth circle according to the radius and the center of the fifth circle, and generating the sixth circle according to the radius and the center of the sixth circle; determining the arc between the third point on the fifth circle and the origin as the fifth arc, determining the arc between the third point on the sixth circle and the position indicated by the first position information as the sixth arc, and the third point as the circumscribed point of the fifth circle and the sixth circle.

[0157] Among them, the process of determining the radius of the fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle and the angle includes: determining the third value according to the first position information, the radius of the first circle, the radius of the fourth circle and the angle; determining the first angle according to the radius of the fourth circle, the first angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the fourth circle; determining the second angle according to the radius of the first circle, the second angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the first circle, and determining the fourth value according to the first angle and the second angle; determining the radius of the fifth circle where the fifth arc is located according to the third value and the fourth value.

[0158] Since when the radius of the fifth circle is the same as the radius of the sixth circle, the difference between the radii of the circles where the two arcs included in the parking trajectory are located is the smallest, and the curvature of the parking trajectory is the softest, but the fifth arc should be between the first arc and the fourth arc, that is, the radius of the fifth circle should be between the radius of the first circle and the radius of the fourth circle. Therefore, the process of determining the third value according to the first position information, the radius of the first circle, the radius of the fourth circle and the included angle includes: determining the fifth value according to the first position information and the included angle, the fifth value being the value when the radius of the fifth circle and the radius of the sixth circle are the same; when the fifth value is between the radius of the first circle and the radius of the fourth circle, determining the fifth value as the third value; when the fifth value is greater than the radius of the fourth circle, determining the radius of the fourth circle as the third value; when the fifth value is less than the radius of the first circle, determining the radius of the first circle as the third value.

[0159] Optionally, the fifth value is determined according to the first position information and the angle according to the following formula (13).

[0160]

[0161] In the above formula (13), p is the fifth value, (x0, y0) is the first position information, and θ is the angle.

[0162] In a possible implementation, the first angle is determined according to the radius of the fourth circle according to the following formula (14).

[0163]

[0164] In the above formula (14), β1 is the first angle, R4 is the radius of the fourth circle, and L is the wheelbase of the vehicle.

[0165] Based on the radius of the first circle, the second angle is determined according to the following formula (15).

[0166]

[0167] In the above formula (15), β2 is the second angle, R1 is the radius of the first circle, and L is the wheelbase of the vehicle.

[0168] Based on the first angle and the second angle, the fourth value is determined according to the following formula (16).

[0169]

[0170] In the above formula (16), q is the fourth value, β1 is the first angle, β2 is the second angle, and L is the wheelbase of the vehicle.

[0171] Optionally, the process of determining the radius of the fifth circle where the fifth arc is located according to the third value and the fourth value includes: determining the radius of the fifth circle where the fifth arc is located according to the third value, the fourth value, the first weight and the second weight. The first weight and the second weight are set based on experience or adjusted according to the implementation environment, which is not limited in the embodiments of the present application. The sum of the first weight and the second weight is 1, exemplarily, the first weight is 0.6 and the second weight is 0.4.

[0172] Based on the third value, the fourth value, the first weight and the second weight, the radius of the fifth circle where the fifth arc is located is determined according to the following formula (17).

[0173] R5=K1n+K2q (17)

[0174] In the above formula (17), R5 is the radius of the fifth circle where the fifth arc is located, K1 is the first weight, n is the third value, K2 is the second weight, and q is the fourth value.

[0175] After the radius of the fifth circle is determined in the above steps, since the fifth circle passes through the origin, the center of the fifth circle determined according to the radius of the fifth circle is (0, radius of the fifth circle), that is, the center of the fifth circle is (0, R5).

[0176] Since the sixth circle where the sixth arc is located is tangent to the fifth circle, the radius of the sixth circle where the sixth arc is located is determined according to the radius of the fifth circle, the first position information and the included angle according to the following formula (18).

[0177]

[0178] In the above formula (18), R6 is the radius of the sixth circle, (x0, y0) is the first position information, R5 is the radius of the fifth circle, and θ is the angle.

[0179] After the radius of the sixth circle is determined, since the radius of the sixth circle needs to be between the radius of the second circle and the radius of the third circle, the sixth arc included in the parking trajectory determined in this way can be within the reference area formed by the first arc, the second arc, the third arc and the fourth arc. Therefore, it is necessary to determine whether the radius of the sixth circle is between the radius of the second circle and the radius of the third circle. In the case that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle, the center of the sixth circle is determined according to the radius of the sixth circle, the angle and the first position information according to the following formula (19).

[0180]

[0181] In the above formula (19), (x6, y6) is the center of the sixth circle, R6 is the radius of the sixth circle, θ is the angle, and (x0, y0) is the first position information.

[0182] After determining the radius and center of the fifth circle, the radius and center of the sixth circle, the fifth circle is generated according to the radius and center of the fifth circle, and the sixth circle is generated according to the radius and center of the sixth circle. Since the fifth circle and the sixth circle are tangent to the third point, the arc between the third point on the fifth circle and the origin is determined to be the fifth arc, and the arc between the third point on the sixth circle and the position indicated by the first position information is determined to be the sixth arc. The parking track is obtained according to the fifth arc and the sixth arc, with one end of the parking track being the origin and the other end being the position indicated by the first position information, so that when the vehicle moves according to the parking track, it can travel from the position indicated by the first position information to the parking space.

[0183] like Fig.11 1 is a schematic diagram of a fifth circle and a sixth circle provided in an embodiment of the present application. 1101 is the fifth circle, 1102 is the sixth circle, the center of the fifth circle 1101 is (0, R5), the radius is R5, the center of the sixth circle 1102 is (x6, y6), the radius is R6. The circumscribed point of the fifth circle 1101 and the sixth circle 1102 is point C. 1103 is the fifth arc, and 1104 is the sixth arc.

[0184] In a possible implementation, after the first arc, the second arc, the third arc and the fourth arc are generated, a reference area may be determined according to the first arc, the second arc, the third arc and the fourth arc, where the reference area is an area where the vehicle can enter the parking space from the first position information. Fig.10 1001 in the reference area. The reference area includes a plurality of optional trajectories, each optional trajectory includes two arcs, and the parking trajectory can be determined from the plurality of optional trajectories.

[0185] Optionally, the process of determining the parking trajectory from the plurality of optional trajectories includes: determining the difference between the radii of the circles where two arcs included in each optional trajectory are located, the difference between the radii of the circles where two arcs included in any optional trajectory are located is used to indicate the curvature of any optional trajectory; and taking the optional trajectory with the smallest difference between the radii of the circles where two arcs included in the plurality of optional trajectories are located as the parking trajectory. The parking trajectory determined in this manner is more gentle, and the process of the vehicle entering the parking space from the position indicated by the first position information is smoother.

[0186] Optionally, the process of determining the parking trajectory from the multiple optional trajectories may also include: determining the length of each optional trajectory; and determining the optional trajectory with the smallest length from the multiple optional trajectories as the parking trajectory. The parking trajectory determined in this manner is shorter, thereby saving fuel consumption required for the vehicle to enter the parking space from the position indicated by the first position information.

[0187] Optionally, the process of determining the parking trajectory from the plurality of optional trajectories may also include: taking the optional trajectory from the plurality of optional trajectories located in the middle of the reference area formed by the first arc, the second arc, the third arc, and the fourth arc as the parking trajectory. In this way, when parking is performed according to the parking trajectory, there is room for adjustment to better park the vehicle.

[0188] When generating a parking trajectory, the above method not only considers the location information of the parking space and the location information of the vehicle, but also considers the location information of obstacles, so that the generated parking trajectory can avoid obstacles and is more reasonable. When the vehicle enters the parking space according to the parking trajectory, the safety of the vehicle parking can be improved. Moreover, compared with the method of manually controlling the vehicle to drive the vehicle to the parking space, the time required for parking in this method is less, thereby improving the efficiency of vehicle parking and the driving experience of the driver, thereby promoting the development of autonomous driving technology.

[0189] Fig.12 FIG. 1 is a schematic diagram of a parking trajectory generating device provided in an embodiment of the present application. Fig.12 As shown, the device comprises:

[0190] an acquisition module 1201, configured to acquire, in response to detecting a parking space and an obstacle in a reference direction of the parking space, first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on a central axis along a length direction of the parking space;

[0191] A generating module 1202 is used to generate a first arc and a second arc according to the first position information, wherein one endpoint of the first arc is the origin, one endpoint of the second arc is the position indicated by the first position information, and the other endpoints of the first arc and the second arc are first points, and the first point is a circumscribed point of a first circle where the first arc is located and a second circle where the second arc is located;

[0192] The generating module 1202 is further used to generate a third arc and a fourth arc according to the first position information and the second position information, wherein one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoints of the third arc and the fourth arc are the second point, and the second point is the circumscribed point of a third circle where the third arc is located and a fourth circle where the fourth arc is located;

[0193] The determination module 1203 is used to determine a parking trajectory according to the first arc, the second arc, the third arc and the fourth arc, so that the vehicle drives into the parking space according to the parking trajectory, one end point of the parking trajectory is the position indicated by the first position information, and the other end point is the origin.

[0194] In one possible implementation, the acquisition module 1201 is used to obtain the initial position information of the vehicle, the initial position information of the parking space, and the initial position information of the obstacle in response to detecting a parking space and the presence of an obstacle in the reference direction of the parking space; determine the first position information of the vehicle in the reference coordinate system based on the initial position information of the vehicle, the initial position information of the parking space, and the angle, where the angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the second position information of the obstacle in the reference coordinate system based on the initial position information of the obstacle, the initial position information of the parking space, and the angle.

[0195] In a possible implementation, the generation module 1202 is used to determine the minimum turning radius of the vehicle as the radius of a first circle; determine the center of the first circle according to the radius of the first circle; determine the radius of the second circle according to the radius of the first circle, the first position information and the angle, the angle being the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the second circle according to the radius of the second circle, the first position information and the angle; generate a first circle according to the center of the first circle and the radius of the first circle, and generate a second circle according to the center of the second circle and the radius of the second circle; determine the arc between the first point on the first circle and the origin as the first arc, and determine the arc between the first point on the second circle and the position indicated by the first position information as the second arc.

[0196] In a possible implementation, the determination module 1203 is further configured to determine a minimum turning radius of the vehicle according to the wheelbase of the vehicle and a maximum steering angle of the front wheels of the vehicle.

[0197] In one possible implementation, the generation module 1202 is used to determine the radius of the third circle according to the first position information, the second position information, the angle and the minimum turning radius of the vehicle, where the angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the third circle and the radius of the fourth circle according to the radius of the third circle, the first position information and the angle; determine the center of the fourth circle according to the radius of the fourth circle; generate a third circle according to the radius of the third circle and the center of the third circle, and generate a fourth circle according to the center of the fourth circle and the radius of the fourth circle; determine the arc between the second point on the third circle and the position indicated by the first position information as the third arc, and determine the arc between the second point on the fourth circle and the origin as the fourth arc.

[0198] In one possible implementation, the generation module 1202 is used to determine a first value and a second value based on the first position information, the second position information and the angle, the first value being the radius of a trajectory of a vehicle when the rear end of the vehicle reverses without colliding with an obstacle, and the second value being the radius of a trajectory tangent to a trajectory of a vehicle when the front end of the vehicle returns to a parking space without colliding with an obstacle; and the maximum value among the first value, the second value and the minimum turning radius of the vehicle is determined as the radius of the third circle.

[0199] In one possible implementation, the generation module 1202 is used to determine a reference value based on the second position information, where the reference value is the radius of the trajectory of the vehicle returning to the parking space without the front of the vehicle colliding with an obstacle; and determine the second value based on the reference value, the angle and the first position information.

[0200] In a possible implementation, the parking trajectory includes a fifth arc and a sixth arc;

[0201] Determination module 1203 is used to determine the radius of the fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle and the included angle, the included angle being the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; determine the center of the fifth circle according to the radius of the fifth circle; determine the radius of the sixth circle where the sixth arc is located according to the radius of the fifth circle, the first position information and the included angle; based on the fact that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle, determine the center of the sixth circle according to the radius of the sixth circle, the included angle and the first position information; generate the fifth circle according to the radius and the center of the fifth circle; generate the sixth circle according to the radius and the center of the sixth circle; determine the arc between the third point on the fifth circle and the origin as the fifth arc, determine the arc between the third point on the sixth circle and the position indicated by the first position information as the sixth arc, and the third point is the circumscribed point of the fifth circle and the sixth circle.

[0202] In one possible implementation, the determination module 1203 is used to determine a third value based on the first position information, the radius of the first circle, the radius of the fourth circle and the angle; determine a first angle based on the radius of the fourth circle, the first angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the fourth circle; determine a second angle based on the radius of the first circle, the second angle being the turning angle of the front wheels of the vehicle when the vehicle passes through a trajectory with a radius equal to the radius of the first circle; determine a fourth value based on the first angle and the second angle; and determine the radius of a fifth circle where the fifth arc is located based on the third value and the fourth value.

[0203] In one possible implementation, the determination module 1203 is used to determine a fifth value based on the first position information and the angle, the fifth value being the value when the radius of the fifth circle is the same as the radius of the sixth circle; when the fifth value is between the radius of the first circle and the radius of the fourth circle, the fifth value is determined to be the third value; when the fifth value is greater than the radius of the fourth circle, the radius of the fourth circle is determined to be the third value; when the fifth value is less than the radius of the first circle, the radius of the first circle is determined to be the third value.

[0204] When generating a parking trajectory, the above device not only considers the location information of the parking space and the location information of the vehicle, but also considers the location information of obstacles, so that the generated parking trajectory can avoid obstacles and is more reasonable. When the vehicle enters the parking space according to the parking trajectory, the safety of the vehicle parking can be improved. Moreover, compared with the method of manually controlling the vehicle to drive the vehicle to the parking space, the time required for parking in the present application is less, thereby improving the efficiency of vehicle parking and the driving experience of the driver, thereby promoting the development of autonomous driving technology.

[0205] It should be understood that the above-mentioned device only uses the division of the above-mentioned functional modules as an example to illustrate when implementing its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0206] Fig.13 This is a schematic diagram of the structure of the server provided in the embodiment of the present application. The server 1300 may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) 1301 and one or more memories 1302, wherein the one or more memories 1302 store at least one program code, and the at least one program code is loaded and executed by the one or more processors 1301 to implement the parking trajectory generation method provided by the above-mentioned various method embodiments. Of course, the server 1300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The server 1300 may also include other components for implementing device functions, which will not be described in detail here.

[0207] Fig.14 The structural block diagram of a terminal device 1400 provided by an exemplary embodiment of the present application is shown. The terminal device 1400 may be any electronic device product that can perform human-computer interaction with a user through one or more methods such as a keyboard, a touchpad, a remote controller, voice interaction, or a handwriting device. For example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car machine, a smart TV, a smart speaker, a smart watch, etc.

[0208] Typically, the terminal device 1400 includes: a processor 1401 and a memory 1402 .

[0209] The processor 1401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1401 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1401 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1401 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1401 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0210] The memory 1402 may include one or more computer-readable storage media, which may be non-transitory. The memory 1402 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1402 is used to store at least one instruction, which is used to be executed by the processor 1401 to implement the method for generating a parking trajectory provided in the method embodiment of the present application.

[0211] In some embodiments, the terminal device 1400 may further optionally include: a peripheral device interface 1403 and at least one peripheral device. The processor 1401, the memory 1402 and the peripheral device interface 1403 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 1403 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1404, a display screen 1405, a camera assembly 1406, an audio circuit 1407 and a power supply 1408.

[0212] The peripheral device interface 1403 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 1401 and the memory 1402. In some embodiments, the processor 1401, the memory 1402, and the peripheral device interface 1403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1401, the memory 1402, and the peripheral device interface 1403 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0213] The radio frequency circuit 1404 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1404 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 1404 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 1404 can communicate with other terminal devices through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 1404 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0214] The display screen 1405 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 1405 is a touch display screen, the display screen 1405 also has the ability to collect touch signals on the surface or above the surface of the display screen 1405. The touch signal can be input to the processor 1401 as a control signal for processing. At this time, the display screen 1405 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 1405 can be one, which is set on the front panel of the terminal device 1400; in other embodiments, the display screen 1405 can be at least two, which are respectively set on different surfaces of the terminal device 1400 or are folded; in other embodiments, the display screen 1405 can be a flexible display screen, which is set on the curved surface or folded surface of the terminal device 1400. Even, the display screen 1405 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 1405 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0215] The camera assembly 1406 is used to capture images or videos. Optionally, the camera assembly 1406 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal device 1400, and the rear camera is arranged on the back of the terminal device 1400. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1406 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0216] The audio circuit 1407 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 1401 for processing, or input them into the radio frequency circuit 1404 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal device 1400. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 1401 or the radio frequency circuit 1404 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 1407 may also include a headphone jack.

[0217] The power supply 1408 is used to power various components in the terminal device 1400. The power supply 1408 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 1408 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0218] In some embodiments, the terminal device 1400 further includes one or more sensors 1409 , including but not limited to: an acceleration sensor 1410 , a gyroscope sensor 1411 , a pressure sensor 1412 , an optical sensor 1413 , and a proximity sensor 1414 .

[0219] The acceleration sensor 1410 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal device 1400. For example, the acceleration sensor 1410 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 1401 can control the display screen 1405 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 1410. The acceleration sensor 1410 can also be used for collecting game or user motion data.

[0220] The gyro sensor 1411 can detect the body direction and rotation angle of the terminal device 1400, and the gyro sensor 1411 can cooperate with the acceleration sensor 1410 to collect the user's 3D actions on the terminal device 1400. The processor 1401 can implement the following functions based on the data collected by the gyro sensor 1411: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0221] The pressure sensor 1412 can be set on the side frame of the terminal device 1400 and / or the lower layer of the display screen 1405. When the pressure sensor 1412 is set on the side frame of the terminal device 1400, it can detect the user's holding signal of the terminal device 1400, and the processor 1401 performs left and right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 1412. When the pressure sensor 1412 is set on the lower layer of the display screen 1405, the processor 1401 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 1405. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0222] The optical sensor 1413 is used to collect the ambient light intensity. In one embodiment, the processor 1401 can control the display brightness of the display screen 1405 according to the ambient light intensity collected by the optical sensor 1413. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1405 is increased; when the ambient light intensity is low, the display brightness of the display screen 1405 is reduced. In another embodiment, the processor 1401 can also dynamically adjust the shooting parameters of the camera assembly 1406 according to the ambient light intensity collected by the optical sensor 1413.

[0223] The proximity sensor 1414, also called a distance sensor, is usually arranged on the front panel of the terminal device 1400. The proximity sensor 1414 is used to collect the distance between the user and the front of the terminal device 1400. In one embodiment, when the proximity sensor 1414 detects that the distance between the user and the front of the terminal device 1400 is gradually decreasing, the processor 1401 controls the display screen 1405 to switch from the screen-on state to the screen-off state; when the proximity sensor 1414 detects that the distance between the user and the front of the terminal device 1400 is gradually increasing, the processor 1401 controls the display screen 1405 to switch from the screen-off state to the screen-on state.

[0224] Those skilled in the art will understand that Fig.14 The structure shown in the figure does not constitute a limitation on the terminal device 1400, and may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0225] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to enable a computer to implement any of the above-mentioned methods for generating a parking trajectory.

[0226] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0227] In an exemplary embodiment, a computer program or a computer program product is further provided. The computer program or the computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor to enable a computer to implement any of the above-mentioned methods for generating a parking trajectory.

[0228] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the location information involved in this application is obtained with full authorization.

[0229] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0230] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for generating a parking trajectory, characterized in that: The method comprises: In response to detecting a parking space and an obstacle in a reference direction of the parking space, obtaining first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on a central axis along a length direction of the parking space; Generate a first circular arc and a second circular arc according to the first position information, wherein one endpoint of the first circular arc is the origin, one endpoint of the second circular arc is the position indicated by the first position information, and the other endpoint of the first circular arc and the other endpoint of the second circular arc are a first point, and the first point is a circumscribed point of a first circle where the first circular arc is located and a second circle where the second circular arc is located; Generate a third arc and a fourth arc according to the first position information and the second position information, wherein one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoints of the third arc and the fourth arc are second points, and the second point is a circumscribed point of a third circle where the third arc is located and a fourth circle where the fourth arc is located; A parking trajectory is determined according to the first arc, the second arc, the third arc and the fourth arc, so that the vehicle drives into the parking space according to the parking trajectory, one endpoint of the parking trajectory is the position indicated by the first position information, and the other endpoint is the origin.

2. The method according to claim 1, characterized in that In response to detecting a parking space and an obstacle existing in a reference direction of the parking space, acquiring first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system includes: In response to detecting a parking space and an obstacle existing in a reference direction of the parking space, acquiring initial position information of the vehicle, initial position information of the parking space, and initial position information of the obstacle; Determining first position information of the vehicle in the reference coordinate system according to the initial position information of the vehicle, the initial position information of the parking space, and the angle, wherein the angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; The second position information of the obstacle in the reference coordinate system is determined according to the initial position information of the obstacle, the initial position information of the parking space, and the angle.

3. The method according to claim 1, characterized in that Generating a first arc and a second arc according to the first position information includes: Determining a minimum turning radius of the vehicle as the radius of the first circle; Determining the center of the first circle according to the radius of the first circle; determining the radius of the second circle according to the radius of the first circle, the first position information and an included angle, wherein the included angle is an included angle between a central axis along the length direction of the vehicle and a central axis along the length direction of the parking space; Determine the center of the second circle according to the radius of the second circle, the first position information and the included angle; Generate the first circle according to the center of the first circle and the radius of the first circle, and generate the second circle according to the center of the second circle and the radius of the second circle; An arc between the first point on the first circle and the origin is determined as the first arc, and an arc between the first point on the second circle and the position indicated by the first position information is determined as the second arc.

4. The method according to claim 3, characterized in that Before determining that the minimum turning radius of the vehicle is the radius of the first circle, the method further includes: The minimum turning radius of the vehicle is determined according to the wheelbase of the vehicle and the maximum steering angle of the front wheels of the vehicle.

5. The method according to claim 1, characterized in that Generating a third arc and a fourth arc according to the first position information and the second position information includes: determining the radius of the third circle according to the first position information, the second position information, an angle and a minimum turning radius of the vehicle, wherein the angle is an angle between a central axis along the length direction of the vehicle and a central axis along the length direction of the parking space; Determine the center of the third circle and the radius of the fourth circle according to the radius of the third circle, the first position information and the included angle; Determining the center of the fourth circle according to the radius of the fourth circle; Generate the third circle according to the radius of the third circle and the center of the third circle, and generate the fourth circle according to the center of the fourth circle and the radius of the fourth circle; An arc between the second point on the third circle and the position indicated by the first position information is determined as the third arc, and an arc between the second point on the fourth circle and the origin is determined as the fourth arc.

6. The method according to claim 5, characterized in that The determining the radius of the third circle according to the first position information, the second position information, the angle, and the minimum turning radius of the vehicle includes: Determine a first value and a second value according to the first position information, the second position information and the angle, wherein the first value is the radius of a trajectory of the vehicle when the rear end of the vehicle reverses and does not collide with the obstacle, and the second value is the radius of a trajectory tangent to a trajectory of the vehicle when the front end of the vehicle returns to the parking space and does not collide with the obstacle; The maximum value among the first value, the second value and the minimum turning radius of the vehicle is determined as the radius of the third circle.

7. The method according to claim 6, characterized in that Determining a second value according to the first position information, the second position information, and the angle includes: Determine a reference value according to the second position information, where the reference value is the radius of a trajectory of the vehicle returning to the parking space without the front end colliding with the obstacle; The second value is determined according to the reference value, the angle and the first position information.

8. The method according to any one of claims 1 to 7, characterized in that: The parking trajectory includes a fifth arc and a sixth arc; The determining of the parking trajectory according to the first arc, the second arc, the third arc, and the fourth arc includes: Determine the radius of the fifth circle where the fifth arc is located according to the first position information, the radius of the first circle, the radius of the fourth circle, and the included angle, wherein the included angle is the angle between the central axis along the length direction of the vehicle and the central axis along the length direction of the parking space; Determining the center of the fifth circle according to the radius of the fifth circle; Determine, according to the radius of the fifth circle, the first position information and the included angle, the radius of a sixth circle where the sixth circular arc is located; Based on the fact that the radius of the sixth circle is between the radius of the second circle and the radius of the third circle, determining the center of the sixth circle according to the radius of the sixth circle, the included angle and the first position information; generating the fifth circle according to the radius and the center of the fifth circle; generating the sixth circle according to the radius and the center of the sixth circle; Determine that the arc between the third point on the fifth circle and the origin is the fifth arc, determine that the arc between the third point on the sixth circle and the position indicated by the first position information is the sixth arc, and the third point is the circumscribed point of the fifth circle and the sixth circle.

9. The method according to claim 8, characterized in that The determining, according to the first position information, the radius of the first circle, the radius of the fourth circle, and the included angle, the radius of the fifth circle where the fifth arc is located includes: determining a third value according to the first position information, the radius of the first circle, and the radius and the included angle of the fourth circle; Determining a first angle according to the radius of the fourth circle, where the first angle is a turning angle of the front wheels of the vehicle when the vehicle passes through a track having a radius equal to the radius of the fourth circle; Determine a second angle according to the radius of the first circle, where the second angle is a turning angle of the front wheels of the vehicle when the vehicle passes through a track having a radius equal to the radius of the first circle; Determining a fourth value according to the first angle and the second angle; The radius of a fifth circle where the fifth circular arc is located is determined according to the third value and the fourth value.

10. The method according to claim 9, characterized in that The determining a third value according to the first position information, the radius of the first circle, the radius of the fourth circle and the included angle includes: Determine a fifth value according to the first position information and the included angle, where the fifth value is a value when the radius of the fifth circle is the same as the radius of the sixth circle; When the fifth value is between the radius of the first circle and the radius of the fourth circle, determining the fifth value to be the third value; When the fifth value is greater than the radius of the fourth circle, determining the radius of the fourth circle to be the third value; When the fifth value is smaller than the radius of the first circle, the radius of the first circle is determined to be the third value.

11. A parking trajectory generation device, characterized in that: The device comprises: an acquisition module, configured to acquire, in response to detecting a parking space and an obstacle existing in a reference direction of the parking space, first position information of the vehicle in a reference coordinate system and second position information of the obstacle in the reference coordinate system, wherein the origin of the reference coordinate system is a point at a first distance from the rear of the parking space on a central axis along a length direction of the parking space; a generating module, configured to generate a first circular arc and a second circular arc according to the first position information, wherein one endpoint of the first circular arc is the origin, one endpoint of the second circular arc is the position indicated by the first position information, and the other endpoints of the first circular arc and the other endpoints of the second circular arc are first points, and the first point is a circumscribed point of a first circle where the first circular arc is located and a second circle where the second circular arc is located; The generating module is further configured to generate a third arc and a fourth arc according to the first position information and the second position information, wherein one endpoint of the third arc is the position indicated by the first position information, one endpoint of the fourth arc is the origin, and the other endpoints of the third arc and the other endpoint of the fourth arc are second points, and the second point is an external tangent point of a third circle where the third arc is located and a fourth circle where the fourth arc is located; A determination module is used to determine a parking trajectory according to the first arc, the second arc, the third arc and the fourth arc, so that the vehicle drives into the parking space according to the parking trajectory, one endpoint of the parking trajectory is the position indicated by the first position information, and the other endpoint is the origin.

12. A computer device, characterized in that: The computer device includes a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor, so that the computer device implements the method for generating a parking trajectory according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor so that a computer implements the method for generating a parking trajectory according to any one of claims 1 to 10.

14. A computer program product, characterized in that The computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor, so that a computer implements the method for generating a parking trajectory according to any one of claims 1 to 10.

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