Parking path planning method, device and equipment

Abstract

The invention discloses a parking path planning method, device and equipment, and the method comprises the steps: firstly obtaining the environment information around a target vehicle, and constructing a target coordinate system through the environment information, the starting point position and the final point position of the target vehicle in the target coordinate system and a plannable area of the target parking path are determined through the environment information, and then the parking number and the parking recommendation direction in the plannable area of the target parking path are determined according to the starting point position and the final point position of the target vehicle in the target coordinate system; wherein the number of parking handles is one or two; calculating a parking transfer position by using the parking handlebar number and the parking recommendation direction; and based on the parking transfer position, a target parking path for parking the target vehicle into the target parking space is planned. Therefore, the path planning of one or two parks can be realized by searching the optimal parking transfer position, the problem that the number of parks in the path planned at present is large is solved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a parking path planning method, device and equipment. Background Art

[0002] With the improvement of people's living standards and the rapid development of social economy, the use rate of cars has gradually increased, and more and more cars have entered people's lives, bringing great convenience to all aspects of people's lives. Among them, how to improve users' driving and riding experience is particularly important.

[0003] At present, there are usually two existing parking path planning methods: one is a planning method based on hybrid A*, which has high requirements on processor computing power and sensor perception ability, resulting in high parking path planning costs. The other is a path planning method based on arc-straight line geometry method. Although this method has a faster solution speed, the path it plans has a large number of problems, resulting in a poor driving experience for users. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to provide a parking path planning method, device and equipment, which can realize one or two parking path planning by finding the best parking transfer position, solve the problem of a large number of parking paths currently planned, and improve the user's driving experience.

[0005] The present application embodiment provides a parking path planning method, including:

[0006] Acquire environmental information around the target vehicle, and use the environmental information to construct a target coordinate system, and use the environmental information to determine the starting position, end position and plannable area of ​​the target parking path of the target vehicle in the target coordinate system;

[0007] Determine the number of parking positions and recommended parking directions within a plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system; the number of parking positions is one or two;

[0008] The parking transfer position is calculated using the parking number and the recommended parking direction; and based on the parking transfer position, a target parking path for parking the target vehicle in a target parking space is planned.

[0009] In an optional implementation, the environmental information around the target vehicle includes position information of the target vehicle, size information of the target vehicle, target parking space information and obstacle information.

[0010] In an optional implementation, determining the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system includes:

[0011] Calculating the position of the obstacle safety circle according to the corner point position information of the obstacle in the obstacle information;

[0012] Taking the minimum turning radius of the target vehicle as the radius, calculate the position of a tangent circle that is tangent to the obstacle safety circle and is also tangent to the finish line where the finish position in the target parking space is located;

[0013] Taking the minimum turning radius of the target vehicle as the radius, calculate the position of the minimum left-turn circle tangent to the target vehicle tangent to the starting point;

[0014] Taking the minimum turning radius of the target vehicle as the radius, calculate the position of the minimum right-turn circle tangent to the target vehicle tangent at the starting point;

[0015] The positional relationships among the common tangent circle, the minimum left-turn circle and the minimum right-turn circle are compared, and the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path are determined according to the comparison result and the starting point position.

[0016] In an optional implementation, the number of parking positions is two; the method of calculating a parking transfer position by using the number of parking positions and a recommended parking direction; and planning a target parking path for parking the target vehicle in a target parking space based on the parking transfer position, including:

[0017] When the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle is tangent to the common tangent circle, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after the target vehicle is advanced from the starting position to the tangent point position by the minimum left-turn circle, it is then retreated from the tangent point position by the minimum right-turn circle to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0018] Alternatively, when there are two parking positions and the first parking recommended direction is forward, and when the minimum left-turn circle is separated from the common tangent circle, the parking transfer position is calculated by making the preset left-turn circle circumscribing the common tangent circle according to the positional relationship between the current target vehicle heading line and the center position of the common tangent circle, or when the calculation result cannot be obtained, the parking transfer position is calculated by making the preset right-turn circle inscribing the common tangent circle, so as to determine the best parking transfer position; and after the target vehicle is turned left from the starting position with a preset radius greater than the minimum turning radius (a straight line can be regarded as an arc with an infinite radius) to the best parking transfer position, it is then turned right from the best parking transfer position with the minimum turning radius and retreated to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0019] Alternatively, when the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle intersects the common tangent circle, the center and radius of the obstacle safety circle, the minimum turning radius, and the center of the minimum left-turn circle are used to calculate a parking transfer position within a plannable area of ​​a target parking path; and based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned.

[0020] In an optional implementation, the number of parking positions is one; calculating a parking transfer position by using the number of parking positions and a recommended parking direction; and planning a target parking path for parking the target vehicle in a target parking space based on the parking transfer position, including:

[0021] When the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined as the starting position; and the vehicle is retreated from the starting position along a minimum right-turn circle to a position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position as the planned parking path for the target vehicle;

[0022] Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after retreating from the starting position to the tangent point position of the minimum left-turn circle and the common tangent circle with the minimum left-turn circle, the vehicle then turns right with a minimum turning radius from the tangent point position and retreats to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreats to the end position, as the planned parking path for the target vehicle;

[0023] Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the starting position; and the vehicle turns right at the starting position with a minimum turning radius and retreats to a position tangent to the end line of the end position in the target parking space, and then retreats to the end position as the planned parking path for the target vehicle; or, the starting position, the center point and radius of the tangent circle are used to calculate the tangent circle between the starting position and the tangent circle, and the parking transfer position and the target parking path are recalculated. In particular, a straight line can be regarded as an arc with an infinite radius.

[0024] Corresponding to the above parking path planning method, the present application proposes a parking path planning device, comprising:

[0025] An acquisition unit, used to acquire environmental information around the target vehicle, and to construct a target coordinate system using the environmental information, and to determine a starting position, an end position, and a plannable area of ​​a target parking path of the target vehicle in the target coordinate system using the environmental information;

[0026] a determination unit, configured to determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system; the number of parking positions is one or two;

[0027] The planning unit is used to calculate a parking transfer position by using the parking number and the recommended parking direction; and based on the parking transfer position, plan a target parking path for parking the target vehicle into a target parking space.

[0028] In an optional implementation, the environmental information around the target vehicle includes position information of the target vehicle, size information of the target vehicle, target parking space information and obstacle information.

[0029] In an optional implementation, the determining unit includes:

[0030] A first calculation subunit, configured to calculate the position of the obstacle safety circle according to the corner point position information of the obstacle in the obstacle information;

[0031] A second calculation subunit is used to calculate the position of a tangent circle that is tangent to the obstacle safety circle and is also tangent to the finish line where the finish position in the target parking space is located, taking the minimum turning radius of the target vehicle as a radius;

[0032] A third calculation subunit is used to calculate the position of the minimum left-turn circle tangent to the target vehicle at the starting point position with the minimum turning radius of the target vehicle as the radius;

[0033] A fourth calculation subunit, used to calculate the position of a minimum right-turn circle tangent to the target vehicle at the starting position with the minimum turning radius of the target vehicle as the radius;

[0034] The determination subunit is used to compare the positional relationship among the common tangent circle, the minimum left-turn circle and the minimum right-turn circle, and determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the comparison result and the starting point position.

[0035] In an optional implementation, the number of parking spaces is two; and the planning unit is specifically configured to:

[0036] When the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle is tangent to the common tangent circle, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after the target vehicle is advanced from the starting position to the tangent point position by the minimum left-turn circle, it is then retreated from the tangent point position by the minimum right-turn circle to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0037] Alternatively, when there are two parking positions and the first parking recommended direction is forward, and when the minimum left-turn circle is separated from the common tangent circle, the parking transfer position is calculated by making the preset left-turn circle circumscribing the common tangent circle according to the positional relationship between the current target vehicle heading line and the center position of the common tangent circle, or when the calculation result cannot be obtained, the parking transfer position is calculated by making the preset right-turn circle inscribing the common tangent circle, so as to determine the best parking transfer position; and after the target vehicle is turned left from the starting position with a preset radius greater than the minimum turning radius to the best parking transfer position, it is then turned right from the best parking transfer position with the minimum turning radius and retreated to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0038] Alternatively, when the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle intersects the common tangent circle, the center and radius of the obstacle safety circle, the minimum turning radius, and the center of the minimum left-turn circle are used to calculate a parking transfer position within a plannable area of ​​a target parking path; and based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned.

[0039] In an optional implementation, the number of parking spaces is one; and the planning unit is specifically configured to:

[0040] When the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined as the starting position; and the vehicle is retreated from the starting position along a minimum right-turn circle to a position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position as the planned parking path for the target vehicle;

[0041] Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after retreating from the starting position to the tangent point position of the minimum left-turn circle and the common tangent circle with the minimum left-turn circle, the vehicle then turns right with a minimum turning radius from the tangent point position and retreats to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreats to the end position, as the planned parking path for the target vehicle;

[0042] Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the starting position; and the vehicle turns right at the starting position with a minimum turning radius and retreats to a position tangent to the end line of the end position in the target parking space, and then retreats to the end position as the planned parking path for the target vehicle; or, the starting position, the center point and radius of the tangent circle are used to calculate the tangent circle between the starting position and the tangent circle, and the parking transfer position and the target parking path are recalculated. In particular, a straight line can be regarded as an arc with an infinite radius.

[0043] The embodiment of the present application also provides a parking path planning device, including: a processor, a memory, and a system bus;

[0044] The processor and the memory are connected via the system bus;

[0045] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes any one of the implementations of the above-mentioned parking path planning method.

[0046] An embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes any one of the implementations of the above-mentioned parking path planning method.

[0047] It can be seen that the embodiments of the present application have the following beneficial effects:

[0048] The embodiment of the present application provides a parking path planning method, device and equipment, which first obtains the environmental information around the target vehicle, and uses the environmental information to construct a target coordinate system, and uses the environmental information to determine the starting position, end position and plannable area of ​​the target parking path of the target vehicle in the target coordinate system, and then, according to the starting position and end position of the target vehicle in the target coordinate system, determines the number of parking positions and the recommended parking direction in the plannable area of ​​the target parking path; wherein the number of parking positions is one or two; then, uses the number of parking positions and the recommended parking direction to calculate the parking transfer position; and based on the parking transfer position, plans the target parking path for parking the target vehicle in the target parking space. Thus, by finding the best parking transfer position, the path planning of one or two parking positions can be realized, which solves the problem of a large number of positions in the currently planned path and improves the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A flowchart of a parking path planning method provided in an embodiment of the present application;

[0051] Figure 2 An example diagram of the starting position, the end position and the plannable area of ​​the target parking path of the target vehicle in the target coordinate system provided in the embodiment of the present application;

[0052] Figure 3 An example diagram of an obstacle safety circle, a common tangent circle, a minimum left-turn circle, and a minimum right-turn circle provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of a process for determining the number of parking positions and the recommended parking direction provided in an embodiment of the present application;

[0054] Figure 5 One of the example diagrams of the planned target parking path provided in the embodiment of the present application;

[0055] Figure 6 A second example diagram of a planned target parking path provided in an embodiment of the present application;

[0056] Figure 7 The third example diagram of the planned target parking path provided in the embodiment of the present application;

[0057] Figure 8A fourth example of a planned target parking path provided in an embodiment of the present application;

[0058] Fig. 9 Figure 5 is an example of a planned target parking path provided in an embodiment of the present application;

[0059] Fig.10 Figure 6 of the example of the planned target parking path provided in the embodiment of the present application;

[0060] Fig.11 A schematic diagram of the composition of a parking path planning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] Currently, the existing parking path planning methods generally include the following two methods:

[0063] One is a planning method based on hybrid A*. Although this method has high robustness for the initial parking position of the vehicle, it places higher requirements on the processor computing power and sensor perception capabilities, resulting in higher planning costs.

[0064] The other is a path planning method based on the arc-straight line geometry method. Although this method has a faster solution speed, the path it plans has a problem of too many times. Taking most vertical storage locations as an example, the reason why the arc-straight line geometry method leads to a large number of automatic parking times is mainly due to two points: First, when designing the planning path, engineers often aim at the planning success rate, and to a certain extent ignore the driver's requirements for the number of parking times. Another point is that the initial parking position of the driver is random, which increases the difficulty of path planning in many cases. Ultimately, it leads to a poor driving experience for users.

[0065] Based on this, the present application proposes a parking path planning method, device and equipment, which realizes one or two parking path planning by finding the best parking transfer position, solves the problem of a large number of parking paths in the current planning, and improves the user's driving experience.

[0066] The parking path planning method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings. Figure 1As shown, it shows a flowchart of an embodiment of a parking path planning method provided by an embodiment of the present application. This embodiment may include the following steps:

[0067] S101: Acquire environmental information around a target vehicle, construct a target coordinate system using the environmental information, and determine a starting position, an end position, and a plannable area of ​​a target parking path of the target vehicle in the target coordinate system using the environmental information.

[0068] In this embodiment, any vehicle that uses the method of the embodiment of the present application to achieve reasonable parking path planning is defined as the target vehicle. In order to achieve the path planning of one or two parkings for the target vehicle, in order to solve the problem of a large number of parkings in the currently planned path, the present application proposes a two-stage automatic parking path planning method, the purpose of which is to make full use of the forward channel space and achieve one or two parkings in the target parking space at any position near the target parking space. Among them, the "two sections" in the two-stage automatic parking can be simply understood as dividing the parking task into two sections, the first section is the path from the parking starting position to the best transfer position, and the second section is the path from the best transfer position to the final parking position, so that the number of parkings can be reduced by lifting or pulling forward, and the three maneuvers can be reduced to two maneuvers. It should be noted that the directions of the "two sections" parking paths proposed in this application can be the same or different, and different parking directions are defined as secondary maneuver parking paths (the number of parkings is two at this time), and the same parking direction is defined as one parking maneuver (the number of parkings is one at this time).

[0069] Specifically, in order to plan one or two parking paths to improve the user's driving experience, the present application can first obtain the surrounding environmental information of the target vehicle through the on-board visual equipment (such as cameras, etc.) and ultrasonic sensing equipment (such as ultrasonic radar, etc.) of the target vehicle, and use the environmental information to construct a target coordinate system (expressed in XOY), such as Figure 2 As shown, a target coordinate system can be established with a corner point of the target parking space as the origin, and the specific construction method will not be repeated here.

[0070] Among them, the present application does not limit the specific content of the environmental information around the target vehicle, which can be obtained according to actual conditions and experience values, and may include but is not limited to the location information of the target vehicle, the size information of the target vehicle, the target parking space information (such as the wheel block information of the target parking space, etc.) and obstacle information (such as vehicles parked in other parking spaces in the garage, etc.).

[0071] Furthermore, the starting point and the end point of the target vehicle can be planned by using the position information of the target vehicle in the environment information, the size information of the target vehicle, the corner point information and the wheel block information in the target parking space information, and then the two can be converted to the corresponding coordinate values ​​in the target coordinate system to obtain the starting point and the end point of the target vehicle in the target coordinate system, and respectively use StartPoint(x 0, y 0 ) and EndPoint(x 1, y 1 ) means that if Figure 2 As shown, Ang 0 and Ang 1 Respectively represent the heading angle of the target vehicle at the starting position and the end position, and the Ang of the vertical storage position 1 Generally, it is 90 degrees. In addition, the obstacle information and garage channel information in the environmental information can also be used to determine the plannable area of ​​the target parking path to constrain the drivable range of the target vehicle when parking, that is, to simplify the channel feasible domain of the target vehicle parking path planning, such as Figure 2 shown.

[0072] S102: Determine the number of parking positions and recommended parking directions within a plannable area of ​​a target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system; wherein the number of parking positions is one or two.

[0073] In this embodiment, in order to plan a one-way or two-way parking path to improve the user's driving experience, after determining the starting position, the end position and the plannable area of ​​the target parking path of the target vehicle in the target coordinate system through step S101, the number of parking spaces (one or two) and the recommended parking direction (forward or backward) in the plannable area of ​​the target parking path can be further determined according to the starting position and the end position of the target vehicle in the target coordinate system to execute the subsequent step S103.

[0074] Specifically, an optional implementation method is that after obtaining the obstacle information in the environment information around the target vehicle, the position of the obstacle safety circle (expressed by SafetyCircle) can be further calculated according to the corner point position information of the obstacle in the obstacle information, such as Figure 3 As shown, the center of the obstacle safety circle SafetyCircle is the obstacle position (which can be Figure 3The corner point position of the parked vehicle in the parking space adjacent to the target parking space can be represented by the coordinate point (X, Y), and the radius (represented by Rsafety) can be half of the width of the target vehicle plus a preset safety margin (represented by safetydis, the specific value is limited and can be set according to actual conditions and experience), that is, Rsafety = 0.5 * target vehicle width + safetydis.

[0075] Then, taking the minimum turning radius of the target vehicle (expressed by Rmin, the specific value can be determined according to the physical parameters of the target vehicle) as the radius, calculate the position of the tangent circle (expressed by TangentCircle) that is tangent to the obstacle safety circle and tangent to the finish line (i.e., the central axis of the target garage) where the end position of the target parking space is located, as shown in the figure: Figure 3 As shown, the center of the tangent circle TangentCircle is defined as Pt0(Xp0,Yp0).

[0076] Next, taking the minimum turning radius Rmin of the target vehicle as the radius, calculate the position of the minimum left turning circle (expressed by LeftCircle) that is tangent to the target vehicle tangent line (a straight line passing through the center of the rear axle of the target vehicle and along its driving direction) at the starting point (StartPoint), as follows: Figure 3 As shown, the center of the minimum left-turn circle LeftCircle is defined as Pt1(Xp1, Yp1). At the same time, with the minimum turning radius Rmin of the target vehicle as the radius, calculate the position of the minimum right-turn circle (expressed by RightCircle) tangent to the target vehicle at the starting point (StartPoint) as shown, Figure 3 As shown, the center of the minimum right-turn circle RightCircle is defined as Pt2(Xp2,Yp2).

[0077] Finally, the positional relationship among the tangent circle TangentCircle, the minimum left-turn circle LeftCircle, and the minimum right-turn circle RightCircle can be compared, and the number of parking spaces and the recommended parking direction within the plannable area of ​​the target parking path can be determined based on the comparison result and the starting point of the target vehicle (StartPoint), such as Figure 4 As shown, it is used to execute the subsequent step S103.

[0078] In the specific implementation process, Figure 4 As shown, the first position relationship between the tangent circle TangentCircle and the minimum left-turn circle LeftCircle can be compared and represented by Flag1, that is, Flag1 = Sqrt((Xp1-Xp0) 2+(Yp1-Yp0) 2 )-2*Rmin. When the value of the first position relationship Flag1 is less than 0 (ie, Flag1<0), it can be determined that the target vehicle needs to perform a secondary maneuver parking, and the first recommended parking direction is forward.

[0079] Alternatively, when the value of the first position relationship Flag1 is equal to 0 (ie, Flag1 = 0), the tangent point of the minimum left-turning circle LeftCircle and the tangent circle TangentCircle can be calculated first, and defined as Pt(Xp, Yp, Ang p ). Then compare the second position relationship between the tangent point and the starting point of the target vehicle (StartPoint), and use Flag2 to represent it, that is, Flag2 = y 0 -Y p When the value of the second position relationship Flag2 is less than 0 (i.e., Flag2<0), it is determined that the target vehicle needs to perform a second maneuver parking, and the first recommended parking direction is forward; and when the value of the second position relationship Flag2 is not less than 0 (i.e., Flag2>0 or Flag2=0), it is determined that the target vehicle needs to perform a maneuver parking, and the first recommended parking direction is backward.

[0080] Alternatively, when the value of the first positional relationship Flag1 is greater than 0 (i.e., Flag1>0), the third positional relationship between the minimum right-turn circle RightCircle and the tangent circle TangentCircle can be calculated first and represented by Flag3, i.e., Flag3=Yp2-Yp0. When the value of the third positional relationship Flag3 is less than 0 (i.e., Flag3<0), it can be determined that the target vehicle needs to perform a second maneuver parking, and the first recommended parking direction is forward. Conversely, when the value of the third positional relationship Flag3 is not less than 0 (i.e., Flag3≥0), it can be determined that the target vehicle needs to perform a maneuver parking, and the first recommended parking direction is backward.

[0081] S103: Calculate a parking transfer position using the number of parking passes and the recommended parking direction; and plan a target parking path for parking the target vehicle into the target parking space based on the parking transfer position.

[0082] In this embodiment, after the number of parking positions (one or two) and the recommended parking direction (the first recommended direction is forward or backward) within the plannable area of ​​the target parking path are determined in step S102, the optimal parking transfer positions of the target vehicle can be calculated respectively according to the different numbers of parking positions and the recommended parking directions, and then the target parking paths for parking the target vehicle in the target parking space can be planned respectively based on the different optimal parking transfer positions.

[0083] Specifically, after determining the starting point of the target vehicle, StartPoint(x 0, y 0 ), when planning the target parking path of the target vehicle, when the target vehicle needs to turn left, it can be set to turn left with a preset radius R (the specific value is not limited, but the value is usually not less than Rmin), and the center of the preset left turn circle (Xc0, Yc0) satisfies the following formula:

[0084] Xc0=X 0 -Rcos(Ang 0 ); Yc0=Y 0 -Rsin(Ang 0 ) (1)

[0085] When the target vehicle needs to turn right, it can still be set to turn right with a preset radius R (the specific value is not limited, but the value is usually not less than Rmin), and the center of the preset right turn circle (Xc1, Yc1) satisfies the following formula:

[0086] Xc1=X 0 +Rcos(Ang 0 ); Yc0=Y 0 +Rsin(Ang 0 ) (2)

[0087] It can be understood that when R=Rmin, the center of the left-turn circle and the center of the right-turn circle are Pt1 and Pt2 respectively.

[0088] An optional implementation is that when it is determined in step S102 that there are two parking spaces within the plannable area of ​​the target parking path and the recommended direction of the first parking space is forward, and Flag1=0 and Flag2<0 (at this time, the minimum left-turn circle is tangent to the common tangent circle), the best parking transfer position can be determined as the tangent point position Pt(Xp, Yp, Ang p ); and move the target vehicle from the starting position to the tangent point position Pt(Xp, Yp, Ang p ), then retreat from the tangent point position with the minimum right turn circle to the position where the common tangent circle is tangent to the end line where the end position of the target parking space is located, and then retreat to the end position as the planned parking path for the target vehicle, such as Figure 5 shown.

[0089] Alternatively, when it is determined in step S102 that there are two parking spaces within the plannable area of ​​the target parking path and the first parking recommended direction is forward, and Flag1>0 and Flag3<0 (at this time, the minimum left-turn circle is separated from the tangent circle), the optimal parking transfer position can be calculated by making a preset left-turn circle (with a radius of R) circumscribed to the tangent circle TangentCircle according to the positional relationship between the current target vehicle heading line and the center position Pt0 of the tangent circle TangentCircle. At this time, for the center of the preset left-turn circle (Xc0, Yc0), the following formula needs to be satisfied:

[0090] (Xc0-Xp0) 2 +(Yc0-Yp0) 2 =(Rmin+R) 2 (3)

[0091] Thus, after combining formulas (1) and (3), we can get the value of R as follows: R = ((X 0 -Xp0) 2 +((Y 0 -Yp0) 2 -Rmin 2 ) / 2 / (Rmin+cos(Ang 0 )(X 0 -Xp0)+sin(Ang 0 )(Y 0 -Yp0))

[0092] Combined formula (Xt-Xc0) 2 +(Yt-Yc0) 2 =R 2 and (Xt-Xp0) 2 +(Yt-Yp0) 2 =Rmin 2 , the optimal parking transfer position can be solved and represented by (Xt, Yt).

[0093] However, when the above formulas cannot be solved to obtain the calculation result, the preset right-turn circle and the tangent circle TangentCircle can be inscribed to calculate the parking transfer position to determine the best parking transfer position; at this time, for the preset right-turn circle center (Xc1, Yc1), the following formula needs to be satisfied:

[0094] (Xc1-Xp0) 2 +(Yc1-Yp0) 2 =(R-Rmin) 2 (4)

[0095] In this way, after combining formulas (2) and (4), the value of R and the optimal parking transfer position can be re-solved.

[0096] like Figure 6 As shown, after the target vehicle turns left from the starting position with a preset radius R (a special straight line can be regarded as an arc with an infinite radius) greater than the minimum turning radius Rmin to the solved optimal parking transfer position, it turns right from the optimal parking transfer position with the minimum turning radius Rmin and retreats to the position where the tangent circle TangentCircle is tangent to the finish line where the end position in the target parking space is located, and then retreats to the end position, as the planned parking path for the target vehicle.

[0097] Alternatively, when step S102 determines that there are two parking spaces within the plannable area of ​​the target parking path and the recommended direction for the first parking space is forward, and Flag1<0 (at this time the minimum left-turn circle intersects with the common tangent circle), the center (X, Y) and radius Rsafety of the obstacle safety circle SafetyCircle, the minimum turning radius Rmin, and the center Pt1 (Xp1, Yp1) of the minimum left-turn circle LeftCircle can be used to calculate the optimal parking transfer position within the plannable area of ​​the target parking path.

[0098] Specifically, at this time, for the center (X, Y) and radius Rsafety of the obstacle safety circle SafetyCircle, and the center (XC, YC) of the minimum turning radius circle inscribed therein, the following formula needs to be satisfied:

[0099] (XC-X) 2 +(YC-Y) 2 =(Rmin-Rsafety) 2 (5)

[0100] In this way, using the minimum turning radius Rmin, according to the Ackerman front wheel steering model, the maximum turning radius Router of the target vehicle outside can be obtained. The specific calculation formula is as follows:

[0101] Router = sqrt((Rmin + 0.5 * target vehicle width) 2 +(Lf+L) 2 ) (6)

[0102] Wherein, L represents the wheelbase of the target vehicle; Lf represents the front overhang length of the target vehicle.

[0103] In addition, according to the channel width in the plannable area of ​​the target parking path, the center position of the inscribed circle can be limited to satisfy the following formula:

[0104] XC-Router>XO-Wc+safetydis (7)

[0105] Wherein, Wc represents the channel width in the plannable area of ​​the target parking path.

[0106] And the calculation formula of the limit circle CircleLim allowed by the channel and the abscissa XClim of the center position of the circle is as follows:

[0107] XClim= X-Wc+Router+ safetydis (8)

[0108] For the center of the minimum left-turn circle LeftCircle Pt1 and the minimum turning radius Rmin, as well as the center of the tangent right-turn circle with the minimum turning radius (XR, YR), the following formula needs to be satisfied:

[0109] (XR-Xp1) 2 +(YR-Yp1) 2 =(2*Rmin) 2 (9)

[0110] Let XClim = XR, and substitute formula (8) into formula (9), we can get the ordinate of the center position of the limit circle CircleLim: YClim = YR = Sqrt((2*Rmin) 2 -(X-Wc+Router+safetydis-Xp1) 2 )+Yp1.

[0111] In this way, after obtaining the coordinate values ​​XClim and YClim of the center position of the limit circle CircleLim, the heading angle of the optimal parking transfer position can be calculated as: Ang Pc = atan((Xp0-XClim) / (YClim-Yp0)), and the coordinates of the optimal parking transfer position are: X Pc =XClim-Rmin*cos(Ang Pc );Y Pc =YClim-Rmin*sin(Ang Pc ).

[0112] like Figure 7 As shown in FIG. 1 , the first section of the parking path of the target vehicle is: the target vehicle is advanced to the tangent point of the minimum left-turn circle LeftCircle and the limit circle CircleLim with the minimum turning radius Rmin, and then turns right along the limit circle CircleLim with the minimum turning radius Rmin to (X Pc , Y PcThe second section of the parking path of the target vehicle is: the target vehicle is parked at (X Pc , Y Pc ) is the starting point and moves back along a straight line to the coordinate point (Xp0-Rmin*cos(Ang Pc ),Yp0-Rmin*sin(Ang Pc )), and then retreat along the tangent circle TangentCircle to the point of tangency with the finish line, and then retreat to the finish line.

[0113] Another optional implementation is that when it is determined through step S102 that the number of parking spaces in the plannable area of ​​the target parking path is one and the recommended parking direction is backward, and Flag1=0 and Flag2=0, it can be determined that the best parking transfer position is the starting position of the target vehicle; and the target vehicle is backed up from the starting position in a minimum right-turn circle to a position where the tangent circle TangentCircle is tangent to the end line where the end position in the target parking space is located, and then backed up to the end position, as the planned parking path for the target vehicle, such as Figure 8 shown.

[0114] Alternatively, when it is determined through step S102 that the number of parking spaces within the plannable area of ​​the target parking path is one and the recommended parking direction is backward, and Flag1=0 and Flag2>0, the best parking transfer position can be determined as the tangent point position of the minimum left-turn circle LeftCircle and the tangent circle TangentCircle; and after retreating from the starting position with the minimum left-turn circle to the tangent point position of the minimum left-turn circle and the tangent circle, then turning right from the tangent point position with a minimum turning radius and retreating to the position where the tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreating to the end position, as the planned parking path for the target vehicle, such as Fig. 9 shown.

[0115] Alternatively, when it is determined through step S102 that the number of parking spaces within the plannable area of ​​the target parking path is one and the recommended parking direction is backward, and Flag1>0 and Flag3=0, the parking transfer position can be determined as the starting position; and the vehicle turns right with a minimum turning radius at the starting position and retreats to a position where the minimum right-turn circle is tangent to the finish line where the end position in the target parking space is located, and then retreats to the end position as the planned parking path for the target vehicle.

[0116] Alternatively, when step S102 determines that there is one parking space within the plannable area of ​​the target parking path and the recommended parking direction is backward, and Flag1>0 and Flag3>0, the starting position, the center point and the radius of the tangent circle can be used to calculate the tangent circle between the starting position and the tangent circle to recalculate the parking transfer position and the target parking path. In particular, a straight line can be regarded as an arc with an infinite radius.

[0117] Specifically, the center (XA, YA) and radius RA of the tangent circle CircleA between the starting position and the parking finish line can be calculated first. If the obtained tangent circle satisfies the following constraint formula (10):

[0118]

[0119] The optimal parking transfer position of the target vehicle is its starting position, and the target parking path is: from the starting position with RA as the radius, a right turn circle is retreated to the finish line until it retreats to the finish position.

[0120] However, if the obtained tangent circle does not satisfy the above constraint formula (10), the tangent circle from the starting position of the target vehicle to the TangentCircle can be calculated, and the tangent point between the tangent circle and the TangentCircle is taken as the optimal parking transfer position for the target vehicle. Fig.10 As shown, the first section of the parking path of the target vehicle is: the target vehicle is backed up from the parking starting point position to the TangentCircle by turning right with a larger preset radius (greater than Rmin). The second section of the parking path of the target vehicle is: the target vehicle is backed up from the TangentCircle by turning right with a radius of Rmin to a position tangent to the finish line, and then backed up to the finish position.

[0121] In summary, the parking path planning method provided in this embodiment first obtains the environmental information around the target vehicle, and uses the environmental information to construct a target coordinate system, and uses the environmental information to determine the starting position, the end position and the plannable area of ​​the target parking path of the target vehicle in the target coordinate system, and then, according to the starting position and the end position of the target vehicle in the target coordinate system, determines the number of parking positions and the recommended parking direction in the plannable area of ​​the target parking path; wherein the number of parking positions is one or two; then, uses the number of parking positions and the recommended parking direction to calculate the parking transfer position; and based on the parking transfer position, plans the target parking path for parking the target vehicle in the target parking space. Thus, by finding the best parking transfer position, the path planning of one or two parking positions can be realized, which solves the problem of a large number of positions in the currently planned path and improves the user's driving experience.

[0122] See also Fig.11As shown, the present application also provides an embodiment of a parking path planning device, which may include:

[0123] An acquisition unit 1101 is used to acquire environmental information around a target vehicle, and to construct a target coordinate system using the environmental information, and to determine a starting position, an end position, and a plannable area of ​​a target parking path of the target vehicle in the target coordinate system using the environmental information;

[0124] The determining unit 1102 is used to determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the starting position and the end position of the target vehicle in the target coordinate system; the number of parking positions is one or two;

[0125] The planning unit 1103 is used to calculate a parking transfer position using the parking number and the recommended parking direction; and based on the parking transfer position, plan a target parking path for parking the target vehicle into a target parking space.

[0126] In some possible implementations of the present application, the environmental information around the target vehicle includes position information of the target vehicle, size information of the target vehicle, target parking space information, and obstacle information.

[0127] In some possible implementations of the present application, the determining unit 1102 includes:

[0128] A first calculation subunit, configured to calculate the position of the obstacle safety circle according to the corner point position information of the obstacle in the obstacle information;

[0129] A second calculation subunit is used to calculate the position of a tangent circle that is tangent to the obstacle safety circle and is also tangent to the finish line where the finish position in the target parking space is located, taking the minimum turning radius of the target vehicle as a radius;

[0130] A third calculation subunit is used to calculate the position of the minimum left-turn circle tangent to the target vehicle at the starting point position with the minimum turning radius of the target vehicle as the radius;

[0131] A fourth calculation subunit, used to calculate the position of a minimum right-turn circle tangent to the target vehicle at the starting position with the minimum turning radius of the target vehicle as the radius;

[0132] The determination subunit is used to compare the positional relationship among the common tangent circle, the minimum left-turn circle and the minimum right-turn circle, and determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the comparison result and the starting point position.

[0133] In some possible implementations of the present application, the number of parking spaces is two; and the planning unit 1103 is specifically configured to:

[0134] When the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle is tangent to the common tangent circle, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after the target vehicle is advanced from the starting position to the tangent point position by the minimum left-turn circle, it is then retreated from the tangent point position by the minimum right-turn circle to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0135] Alternatively, when there are two parking positions and the first parking recommended direction is forward, and when the minimum left-turn circle is separated from the common tangent circle, the parking transfer position is calculated by making the preset left-turn circle circumscribing the common tangent circle according to the positional relationship between the current target vehicle heading line and the center position of the common tangent circle, or when the calculation result cannot be obtained, the parking transfer position is calculated by making the preset right-turn circle inscribing the common tangent circle, so as to determine the best parking transfer position; and after the target vehicle is turned left from the starting position with a preset radius greater than the minimum turning radius to the best parking transfer position, it is then turned right from the best parking transfer position with the minimum turning radius and retreated to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle;

[0136] Alternatively, when the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle intersects the common tangent circle, the center and radius of the obstacle safety circle, the minimum turning radius, and the center of the minimum left-turn circle are used to calculate a parking transfer position within a plannable area of ​​a target parking path; and based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned.

[0137] In some possible implementations of the present application, the number of parking positions is one; and the planning unit 1103 is specifically configured to:

[0138] When the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined as the starting position; and the vehicle is retreated from the starting position along a minimum right-turn circle to a position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position as the planned parking path for the target vehicle;

[0139] Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after retreating from the starting position to the tangent point position of the minimum left-turn circle and the common tangent circle with the minimum left-turn circle, the vehicle then turns right with a minimum turning radius from the tangent point position and retreats to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreats to the end position, as the planned parking path for the target vehicle;

[0140] Alternatively, when the number of parking turns is one and the recommended parking direction is backward, the parking transfer position is determined to be the starting position; and the vehicle turns right at the starting position with a minimum turning radius and retreats to a position tangent to an end line where the end position in the target parking space is located, and then retreats to the end position as the planned parking path for the target vehicle; or, the starting position, the center point and radius of the tangent circle are used to calculate the tangent circle between the starting position and the tangent circle to recalculate the parking transfer position and the target parking path.

[0141] As can be seen from the above embodiments, the parking path planning device provided in the embodiments of the present application first obtains the environmental information around the target vehicle, and uses the environmental information to construct a target coordinate system, and uses the environmental information to determine the starting position, the end position and the plannable area of ​​the target parking path of the target vehicle in the target coordinate system, and then, according to the starting position and the end position of the target vehicle in the target coordinate system, determines the number of parking positions and the recommended parking direction in the plannable area of ​​the target parking path; wherein the number of parking positions is one or two; then, uses the number of parking positions and the recommended parking direction to calculate the parking transfer position; and based on the parking transfer position, plans the target parking path for parking the target vehicle into the target parking space. Thus, by finding the best parking transfer position, the path planning of one or two parking positions can be realized, which solves the problem of a large number of positions in the currently planned path and improves the user's driving experience.

[0142] Furthermore, an embodiment of the present application also provides a parking path planning device, including: a processor, a memory, and a system bus;

[0143] The processor and the memory are connected via the system bus;

[0144] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes any one of the implementation methods of the above-mentioned parking path planning method.

[0145] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes any one of the implementation methods of the above-mentioned parking path planning method.

[0146] It can be known from the description of the above implementation mode that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0147] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0148] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0149] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A parking path planning method, It is characterized in that include: Acquire environmental information around the target vehicle, and use the environmental information to construct a target coordinate system, and use the environmental information to determine the starting position, end position and plannable area of ​​the target parking path of the target vehicle in the target coordinate system; Determine the number of parking positions and recommended parking directions within a plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system; the number of parking positions is one or two; The parking transfer position is calculated using the parking number and the recommended parking direction; and based on the parking transfer position, a target parking path for parking the target vehicle in a target parking space is planned.

2. The method according to claim 1, It is characterized in that The environmental information around the target vehicle includes the position information of the target vehicle, the size information of the target vehicle, the target parking space information and the obstacle information.

3. The method according to claim 2, It is characterized in that The step of determining the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system includes: Calculating the position of the obstacle safety circle according to the corner point position information of the obstacle in the obstacle information; Taking the minimum turning radius of the target vehicle as the radius, calculate the position of a tangent circle that is tangent to the obstacle safety circle and is also tangent to the finish line where the finish position in the target parking space is located; Taking the minimum turning radius of the target vehicle as the radius, calculate the position of the minimum left-turn circle tangent to the target vehicle tangent to the starting point; Taking the minimum turning radius of the target vehicle as the radius, calculate the position of the minimum right-turn circle tangent to the target vehicle tangent at the starting point; The positional relationships among the common tangent circle, the minimum left-turn circle and the minimum right-turn circle are compared, and the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path are determined according to the comparison result and the starting point position.

4. The method according to claim 3, It is characterized in that The number of parking positions is two; the parking transfer position is calculated using the number of parking positions and the recommended parking direction; Based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned, including: When the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle is tangent to the common tangent circle, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after the target vehicle is advanced from the starting position to the tangent point position by the minimum left-turn circle, it is then retreated from the tangent point position by the minimum right-turn circle to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle; Alternatively, when there are two parking positions and the first parking recommended direction is forward, and when the minimum left-turn circle is separated from the common tangent circle, the parking transfer position is calculated by making the preset left-turn circle circumscribing the common tangent circle according to the positional relationship between the current target vehicle heading line and the center position of the common tangent circle, or when the calculation result cannot be obtained, the parking transfer position is calculated by making the preset right-turn circle inscribing the common tangent circle, so as to determine the best parking transfer position; and after the target vehicle is turned left from the starting position with a preset radius greater than the minimum turning radius to the best parking transfer position, it is then turned right from the best parking transfer position with the minimum turning radius and retreated to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position, as the planned parking path of the target vehicle; Alternatively, when the number of parking positions is two and the first parking recommended direction is forward, and when the minimum left-turn circle intersects the common tangent circle, the center and radius of the obstacle safety circle, the minimum turning radius, and the center of the minimum left-turn circle are used to calculate a parking transfer position within a plannable area of ​​a target parking path; and based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned.

5. The method according to claim 3, It is characterized in that The number of parking positions is one; the parking transfer position is calculated by using the number of parking positions and the recommended parking direction; Based on the parking transfer position, a target parking path for parking the target vehicle into a target parking space is planned, including: When the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined as the starting position; and the vehicle is retreated from the starting position along a minimum right-turn circle to a position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreated to the end position as the planned parking path for the target vehicle; Alternatively, when the number of parking handles is one and the recommended parking direction is backward, the parking transfer position is determined to be the tangent point position of the minimum left-turn circle and the common tangent circle; and after retreating from the starting position to the tangent point position of the minimum left-turn circle and the common tangent circle with the minimum left-turn circle, the vehicle then turns right with a minimum turning radius from the tangent point position and retreats to the position where the common tangent circle is tangent to the end line where the end position in the target parking space is located, and then retreats to the end position, as the planned parking path for the target vehicle; Alternatively, when the number of parking turns is one and the recommended parking direction is backward, the parking transfer position is determined to be the starting position; and the vehicle turns right at the starting position with a minimum turning radius and retreats to a position tangent to an end line where the end position in the target parking space is located, and then retreats to the end position as the planned parking path for the target vehicle; or, the starting position, the center point and radius of the tangent circle are used to calculate the tangent circle between the starting position and the tangent circle to recalculate the parking transfer position and the target parking path.

6. A parking path planning device, It is characterized in that include: An acquisition unit, used to acquire environmental information around the target vehicle, and to construct a target coordinate system using the environmental information, and to determine a starting position, an end position, and a plannable area of ​​a target parking path of the target vehicle in the target coordinate system using the environmental information; a determination unit, configured to determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the starting position and the ending position of the target vehicle in the target coordinate system; the number of parking positions is one or two; The planning unit is used to calculate a parking transfer position by using the parking number and the recommended parking direction; and based on the parking transfer position, plan a target parking path for parking the target vehicle into a target parking space.

7. The device according to claim 6, It is characterized in that The environmental information around the target vehicle includes the position information of the target vehicle, the size information of the target vehicle, the target parking space information and the obstacle information.

8. The device according to claim 7, It is characterized in that The determining unit comprises: A first calculation subunit is used to calculate the position of the obstacle safety circle according to the corner point position information of the obstacle in the obstacle information; A second calculation subunit is used to calculate the position of a tangent circle that is tangent to the obstacle safety circle and is also tangent to the finish line where the finish position in the target parking space is located, taking the minimum turning radius of the target vehicle as a radius; A third calculation subunit is used to calculate the position of the minimum left-turn circle tangent to the target vehicle at the starting position with the minimum turning radius of the target vehicle as the radius; A fourth calculation subunit, used to calculate the position of a minimum right-turn circle tangent to the target vehicle at the starting position with the minimum turning radius of the target vehicle as the radius; The determination subunit is used to compare the positional relationship among the common tangent circle, the minimum left-turn circle and the minimum right-turn circle, and determine the number of parking positions and the recommended parking direction within the plannable area of ​​the target parking path according to the comparison result and the starting point position.

9. A parking path planning device, It is characterized in that include: Processor, memory, system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method according to any one of claims 1 to 5.

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