Path planning method, device and equipment based on automatic parking and storage medium

Abstract

The embodiment of the invention provides a path planning method and device based on automatic parking, equipment and a storage medium. The method comprises the steps that in response to an automatic parking instruction, map data of an area where a vehicle is located are obtained, and the map data are displayed on a graphical interface; wherein the map data represents the environment of the area where the vehicle is located; determining range information of the virtual region according to a user-defined region operation performed on the graphical interface by a user; wherein the virtual area represents an area where the vehicle needs to avoid or pass when the vehicle is parked; and according to the range information of the virtual area, a parking path of the vehicle from the current position to a preset position is determined, and according to the parking path, the vehicle is controlled to be automatically parked. A user can customize the virtual area through the graphical interface, the parking requirement of the user for a specific area is met, and personalized intelligent parking is achieved.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and particularly to a path planning method, apparatus, device, and storage medium based on automatic parking. Background Art

[0002] With the development of artificial intelligence technology, intelligent vehicles have gradually been applied in people's lives, and the automatic parking function of intelligent vehicles has gradually become a standard configuration of modern vehicles.

[0003] However, when the current automatic parking function performs path planning, it cannot fully consider the personalized needs of users for the parking path, which may cause damage to the surrounding environment during the parking process, or does not conform to the user's parking habits, affecting the user's parking experience. Summary of the Invention

[0004] Embodiments of this application provide a path planning method, apparatus, device, and storage medium based on automatic parking to improve the flexibility of automatic parking and enhance the user experience.

[0005] In a first aspect, embodiments of this application provide a path planning method based on automatic parking, including:

[0006] In response to an automatic parking instruction, obtain map data of the area where the vehicle is located and display the map data on a graphical interface; wherein, the map data represents the environment of the area where the vehicle is located;

[0007] Determine the range information of a virtual area according to a custom area operation made by the user on the graphical interface; wherein, the virtual area represents an area that needs to be avoided or passed through when the vehicle parks.

[0008] Determine a parking path between the current position of the vehicle and a preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0009] In a possible implementation manner, the custom area operation includes a drag operation, and a plurality of identification graphs with preset shapes are displayed on the graphical interface; determining the range information of the virtual area according to the custom area operation made by the user on the graphical interface includes:

[0010] Determine a target identification graph according to a selection operation made by the user on the identification graph on the graphical interface;

[0011] Determine the range information of the virtual area according to a drag operation made by the user on the target identification graph.

[0012] In a possible implementation, the custom area operation includes a zoom operation; determining the range information of the virtual area according to the dragging operation made by the user on the target identification graph, including:

[0013] Determining the coordinate position of the target identification graph on the graphical interface according to the dragging operation made by the user on the target identification graph;

[0014] Determining the scale information of the target identification graph according to the zoom operation made by the user at the coordinate position; wherein, the scale information represents the zoom ratio of the target identification graph;

[0015] Determining the range information of the virtual area according to the coordinate position, the scale information, and the preset shape and size corresponding to the target identification graph.

[0016] In a possible implementation, the custom area operation includes a drawing operation; determining the range information of the virtual area according to the custom area operation made by the user on the graphical interface, including:

[0017] Determining the drawing information according to the drawing operation made by the user on the graphical interface; wherein, the drawing information represents the position where the user draws on the graphical interface;

[0018] Determining the target shape information and the center position information according to the drawing information; wherein, the center position information represents the center point position of the graph drawn by the user, and the target shape information represents the shape of the virtual area;

[0019] Determining the range information of the virtual area according to the target shape information and the center position information.

[0020] In a possible implementation, determining the target shape information according to the drawing information includes:

[0021] Determining the initial shape information according to the drawing information; wherein, the initial shape information represents the shape of the graph drawn by the user;

[0022] Determining the target shape information matching the initial shape information from the preset shape database; wherein, multiple shape information is stored in the preset shape database.

[0023] In a possible implementation, determining the target shape information matching the initial shape information from the preset shape database includes:

[0024] Determining the similarity between the shape information in the preset shape database and the initial shape information according to the preset similarity determination algorithm;

[0025] Determine the target shape information from the preset shape database according to the similarity.

[0026] In a possible implementation manner, it further includes:

[0027] Determine the area category of the virtual area according to the category marking operation made by the user on the graphical interface; wherein, the area category of the virtual area is an obstacle area or a recommended area, the obstacle area represents the area that needs to be avoided when the vehicle parks, and the recommended area represents the area that the vehicle expects to pass through when parking.

[0028] In a possible implementation manner, determining the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area includes:

[0029] Obtain the current position and the preset position of the vehicle; wherein, the preset position represents the parking end point of the vehicle.

[0030] Determine the parking path between the current position of the vehicle and the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area.

[0031] In a possible implementation manner, determining the parking path between the current position of the vehicle and the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area includes:

[0032] Determine the path points between the current position of the vehicle and the preset position based on a preset first path planning algorithm according to the range information corresponding to the obstacle area.

[0033] Perform screening processing on the path points according to the range information corresponding to the recommended area, the preset position, and the positions of the path points.

[0034] Determine the parking path between the current position of the vehicle and the preset position according to the remaining path points.

[0035] In a possible implementation manner, performing screening processing on the path points according to the range information corresponding to the recommended area, the preset position, and the positions of the path points includes:

[0036] Determine the identification information of the path points according to the range information corresponding to the recommended area and the positions of the path points; wherein, the identification information represents whether the path points are located within the recommended area.

[0037] Determine a first length and a second length according to the positions of the path points and the preset position; wherein, the first length represents the length of the RS curve between the path point and the parking end point, and the second length represents the length of the path between the path point and the parking end point;

[0038] Perform screening processing on the path points according to the first length, the second length, and the identification information of the path points.

[0039] In a possible implementation manner, determining the parking path of the vehicle from the current position to the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area includes:

[0040] According to the range information corresponding to the obstacle area, determine a candidate path of the vehicle from the current position to the preset position based on a preset second path planning algorithm; wherein, the candidate path does not pass through the obstacle area;

[0041] Determine the regional coverage length of the candidate path according to the range information corresponding to the recommended area; wherein, the regional coverage length represents the length of the candidate path within the recommended area;

[0042] Determine the parking path according to the regional coverage lengths of the candidate paths.

[0043] In a possible implementation manner, in response to an automatic parking instruction, obtaining map data of the area where the vehicle is located includes:

[0044] In response to an automatic parking instruction, obtain an environmental image of the area where the vehicle is located through an image acquisition device on the vehicle;

[0045] Perform image recognition processing on the environmental image to obtain map data of the area where the vehicle is located.

[0046] In a possible implementation manner, it further includes:

[0047] Associate and store the preset position and the range information of the virtual area.

[0048] In a second aspect, an embodiment of the present application provides a path planning device based on automatic parking, including:

[0049] A map acquisition unit, configured to obtain map data of the area where the vehicle is located in response to an automatic parking instruction, and display the map data on a graphical interface; wherein, the map data represents the environment of the area where the vehicle is located;

[0050] An area determination unit, configured to determine the range information of a virtual area according to a custom area operation made by a user on a graphical interface; wherein, the virtual area represents an area that needs to be avoided or passed through when the vehicle parks.

[0051] A path planning unit, configured to determine a parking path between the current position of the vehicle and a preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0053] The memory stores computer execution instructions;

[0054] The processor executes the computer execution instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored, and when the computer execution instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above first aspect and / or various possible implementation manners of the first aspect.

[0057] A path planning method, device, device and storage medium based on automatic parking provided by an embodiment of the present application can obtain map data of the area where the vehicle is located by responding to an automatic parking instruction, and display the map data on a graphical interface, so that the user can timely see the surrounding environment. The user operates on the graphical interface, and determines the range information of the virtual area according to the custom area operation made by the user on the graphical interface. The virtual area is an area that needs to be avoided or passed through when the vehicle parks. According to the range information of the virtual area, the parking path of the vehicle is planned, so as to control the vehicle to perform automatic parking. By providing a more intuitive graphical interface, supporting the user to perform interface operations to customize the virtual area, the user's control ability over the parking path is improved, the flexibility of parking is increased, it is convenient to meet the actual needs of the user, and the user experience is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0059] Figure 1Schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application;

[0060] Figure 2 Schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application;

[0061] Figure 3 Schematic diagram of a graphical user interface provided by an embodiment of the present application;

[0062] Figure 4 Schematic diagram of a drag operation provided by an embodiment of the present application;

[0063] Figure 5 Schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application;

[0064] Figure 6 Schematic diagram of a drawing operation provided by an embodiment of the present application;

[0065] Figure 7 Schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application;

[0066] Figure 8 Schematic diagram of the structure of a path planning device based on automatic parking provided by an embodiment of the present application;

[0067] Figure 9 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application.

[0068] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0069] Here, exemplary embodiments will be described in detail, and their examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners 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.

[0070] Glossary:

[0071] Memory parking: HPA, Home-zone Parking Assist. When the user sets a parking path for the first time, the system saves these settings in the map and automatically calls them each time parking is performed subsequently.

[0072] Automatic Parking: APA, Automatic Parking Assist. During the automatic parking process of the vehicle, the parking path is dynamically adjusted according to the distribution of obstacles in the environment and the user's instructions.

[0073] Remote Parking: RPA, Remote Parking Assist. The user starts the parking function through a remote control device to plan the parking path.

[0074] Autonomous Valet Parking: AVP, Automated Valet Parking. During the autonomous parking process of the vehicle, the parking path is autonomously planned according to the distribution of obstacles in the environment.

[0075] With the development of intelligent driving technology, the automatic parking function has gradually become a standard configuration of modern vehicles. Technologies such as memory parking, automatic parking, remote parking, and autonomous valet parking provide users with a convenient parking experience.

[0076] However, when the existing automatic parking system performs path planning, it can only plan a relatively safe parking path based on the distribution of obstacles in the environment, and cannot fully consider the personalized needs of users for the parking path. For example, it cannot avoid or pass through specific areas. The specific areas can be lawns, paint, roads outside the parking space area, spaces near the parking space entrance, etc. This may cause damage to the surrounding environment during the parking process of the vehicle, or does not conform to the user's parking habits, affecting the parking effect and reducing the user experience.

[0077] A path planning method, device, equipment, and storage medium based on automatic parking provided by this application aim to solve the above technical problems in the prior art.

[0078] The technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0079] Figure 1 The following is a schematic flowchart of a path planning method based on automatic parking provided by the embodiments of this application. This method can be executed by a path planning device based on automatic parking. As Figure 1 shown, this method includes:

[0080] S101. In response to an automatic parking instruction, obtain map data of the area where the vehicle is located and display the map data on a graphical interface; wherein, the map data represents the environment of the area where the vehicle is located.

[0081] Exemplarily, when the user is driving a vehicle and needs to park, an automatic parking instruction can be issued. For example, the automatic parking instruction can be issued through the in-vehicle computer or by the user's own terminal device. A preset client can be installed on the user's terminal device, and through the preset client, the terminal device can be associated and bound with the in-vehicle computer, so that the vehicle can be controlled through the terminal device.

[0082] The automatic parking instruction is used to instruct the vehicle to perform automatic parking. The automatic parking instruction may include the end position of the vehicle parking. For example, the user can input the end position of parking through the in-vehicle computer or the terminal device, so that the vehicle can automatically park from the current position into the end position. The user can issue the automatic parking instruction by voice or by clicking on the control on the screen, etc. In this embodiment, the way of issuing the automatic parking instruction is not specifically limited.

[0083] In response to the automatic parking instruction, map data of the area where the vehicle is located is obtained. For example, it is possible to determine an area range centered on the vehicle with a preset distance as the radius and obtain the map data within this area range. The map data within this area range can be directly searched through an online map database or searched from a local offline database, etc. After obtaining the map data, the map data can be displayed on a graphical interface. The graphical interface can be the interface of the in-vehicle computer screen or the interface of the user terminal device. The map data can represent the environment of the area where the vehicle is located. For example, through the map data, the user can view information such as surrounding walls, lawns, and parking spaces.

[0084] In this embodiment, obtaining the map data of the area where the vehicle is located in response to the automatic parking instruction includes: in response to the automatic parking instruction, obtaining an environmental image of the area where the vehicle is located through an image acquisition device on the vehicle; performing image recognition processing on the environmental image to obtain the map data of the area where the vehicle is located.

[0085] Specifically, one or more image acquisition devices are installed on the vehicle. For example, a camera is installed at each of the four front, rear, left, and right positions of the vehicle. After responding to the automatic parking instruction, an environmental image of the area where the vehicle is located is obtained through the image acquisition device on the vehicle. The environmental image can represent the environment around the vehicle. For example, images of the four front, rear, left, and right positions of the vehicle can be obtained, and these four images can be stitched together to form the environmental image of the area where the vehicle is located.

[0086] According to the preset image recognition algorithm, the environmental image is subjected to image recognition processing. For example, obstacles, parking spaces, roads, etc. in the environmental image can be identified. In this embodiment, the preset image recognition algorithm is not specifically limited. Based on the recognition result, map data of the area where the vehicle is located is obtained. The map data can be data in the form of an image, and objects such as obstacles, parking spaces, roads, etc. in the environment can be represented in the map data. For example, the identified objects can be marked in the environmental image, and the marked environmental image can be used as map data. It is also possible to draw a simple map based on the identified objects, and to indicate information such as the size and layout of each object in the environment in the map data.

[0087] The beneficial effect of such a setting is that images of the vehicle's surroundings are automatically acquired to obtain current map data, making it easier for users to observe the surrounding environment in real time and improving the flexibility and accuracy of parking.

[0088] S102. Determine range information of a virtual area according to a user-defined area operation performed on a graphical interface; wherein the virtual area represents an area that a vehicle needs to avoid or pass through when parking.

[0089] Exemplarily, a user views map data through a graphical interface and performs a custom area operation on the map data on the graphical interface. Custom area operation means that the user confirms a part of the area in the map data and determines the area confirmed by the user as a virtual area. A virtual area refers to an area that needs to be avoided or passed when a vehicle is parked. For example, a user confirms a lawn in the map data as a virtual area so that the parking path of the vehicle does not pass through the lawn. For another example, a user sets the entrance of a parking space in the map data as a virtual area so that the parking path of the vehicle passes through the entrance of the parking space as much as possible.

[0090] The user can customize the range of the virtual area. For example, the user can define a range by touching the screen on the graphical interface, and determine the position and size of the range as the range information of the virtual area. The user can set multiple virtual areas on the graphical interface, and each virtual area has its own range information.

[0091] S103: Determine a parking path for the vehicle from the current position to the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0092] For example, the preset position is the position of the parking destination preset by the user, and one or more parking paths are planned according to the range of the virtual area, so that the parking path can reach the preset position from the current position and avoid or pass through the virtual area. The parking path can also be displayed on a graphical interface so that the user can view the parking path.

[0093] The planned parking path can be displayed in real time, and the user is allowed to adjust the parking path. For example, the user can change the parking path on the interface by means of touch screen or the like, or can also adjust the size or position of the virtual area, and then generate a parking path again according to the adjusted virtual area for display. After the user confirms the parking path, the vehicle can park automatically according to the parking path.

[0094] In this embodiment, it further includes: associatively storing the range information of the preset position and the virtual area.

[0095] Specifically, after the vehicle finishes parking, it can associatively store the preset position, that is, the parking end position, and the range information of the virtual area. When parking in the same preset position each time subsequently, the range information of the virtual area associated with and saved for this preset position can be called. According to the range information of the virtual area and the real-time map data, path planning is performed again to ensure that the vehicle always avoids or passes through the virtual area.

[0096] The beneficial effect of such a setting is that by associatively storing the range information of the preset position and the virtual area, the memory parking function can be realized, reducing subsequent operations of the user, improving the parking efficiency, and enhancing the user experience.

[0097] Currently, most of the memory parking functions are for the memory of fixed paths, lacking the ability to store and call user-defined settings. The embodiment of this application enhances the personalization and adaptability of the memory parking through the map storage and dynamic call mechanism. In the memory parking function, the virtual areas set by the user are saved in the map, and these settings are automatically called during subsequent parking to realize the repeated use of personalized parking paths.

[0098] The path planning method based on automatic parking provided by the embodiment of this application can obtain the map data of the area where the vehicle is located by responding to the automatic parking instruction, and display the map data on the graphical interface, enabling the user to see the surrounding environment in time. The user operates on the graphical interface, and determines the range information of the virtual area according to the custom area operation made by the user on the graphical interface. The virtual area is the area that the vehicle needs to avoid or pass through when parking. According to the range information of the virtual area, the parking path of the vehicle is planned, so as to control the vehicle to park automatically. By providing a more intuitive graphical interface and supporting the user to perform interface operations to customize the virtual area, the control ability of the user over the parking path is improved, the flexibility of parking is increased, it is convenient to meet the actual needs of the user, and the user experience is enhanced.

[0099] Figure 2 is a schematic flowchart of a path planning method based on automatic parking provided by the embodiment of this application. As Figure 2 shown, this embodiment is in Figure 1Based on the embodiments, a path planning method based on automatic parking is described in detail. The method includes:

[0100] S201. In response to an automatic parking instruction, obtain map data of the area where the vehicle is located, and display the map data on a graphical interface; wherein, the map data represents the environment of the area where the vehicle is located.

[0101] Exemplarily, this step can refer to step S101 above and will not be elaborated here.

[0102] S202. Determine a target identification graph according to the selection operation made by the user on the identification graph on the graphical interface.

[0103] Exemplarily, multiple identification graphs of different shapes are displayed on the graphical interface. For example, preset identification graphs can be displayed in the left half of the graphical interface, and map data can be displayed in the right half. The identification graphs can be in shapes such as circles and rectangles. Figure 3 It is a schematic diagram of the graphical interface. Figure 3 In it, three identification graphs of different shapes are displayed on the left side of the interface, and the map data on the right represents the environment where the vehicle is currently located.

[0104] The user can make a selection operation on the interface to select the identification graph. For example, the user can click on the identification graph through touch screen or other means, that is, select the clicked identification graph. The identification graph selected by the user is determined as the target identification graph.

[0105] S203. Determine the range information of the virtual area according to the dragging operation made by the user on the target identification graph.

[0106] Exemplarily, the custom area operation can be a dragging operation, and the dragging operation can drag the identification graph in the interface. After the user selects the target identification graph, drag the target identification graph to any position on the map data, or drag the target identification graph to any position within a preset range on the map data. If the user drags the target identification graph to a position outside the preset range, a prompt message can be displayed on the interface to prompt the user to change the position of the target identification graph. For example, the target identification graph cannot be dragged to the preset position. The area of the target identification graph on the map data is the virtual area, and the range information of the virtual area represents the range covered by the target identification graph on the map data.

[0107] The user can set multiple virtual areas on the map data. For example, after the user drags the target identification graph into the map data, the user can also select an identification graph of the same or different shape as the new target identification graph and drag the new target identification graph again until the user completes the setting of the virtual area.

[0108] Figure 4 It is a schematic diagram of the dragging operation.Figure 4 In this case, the user holds down the circular identification diagram and drags the circular identification diagram to the right map, thus completing the setting of a virtual area.

[0109] In this embodiment, the custom area operation includes a zoom operation; according to the dragging operation made by the user on the target identification diagram, the range information of the virtual area is determined, including: according to the dragging operation made by the user on the target identification diagram, the coordinate position of the target identification diagram on the graphical interface is determined; according to the zoom operation made by the user on the target identification diagram at the coordinate position, the scale information of the target identification diagram is determined; wherein, the scale information represents the zoom ratio of the target identification diagram; according to the coordinate position, the scale information, and the preset shape and size corresponding to the target identification diagram, the range information of the virtual area is determined.

[0110] Specifically, the user makes a dragging operation on the target identification diagram and drags the target identification diagram onto the map data. After the dragging ends, the coordinate position of the target identification diagram on the graphical interface is determined, that is, the position information of the target identification diagram in the map data is determined. In this embodiment, the coordinate position may refer to the coordinates of the center point of the target identification diagram.

[0111] The target identification diagram may have a preset default shape and size. The user can perform a zoom operation on the target identification diagram according to actual needs, so as to adjust the size of the target identification diagram on the interface. For example, after the user drags the target identification diagram, the user can perform a two-finger zoom operation by touching the screen. According to the user's zoom operation, the scale information of the target identification diagram can be obtained, that is, the zoom ratio can be obtained. For example, when the user slides two fingers away from each other at the same time to zoom in, and slides two fingers towards each other at the same time to zoom out.

[0112] According to the coordinate position, the scale information, and the preset shape and size corresponding to the target identification diagram, the range information of the virtual area can be determined. Specifically, each identification diagram may correspond to a preset size. According to the coordinate position, the preset shape, and the preset shape and size of the target identification diagram, the virtual area covered by the target identification diagram on the interface can be determined, so as to obtain the range information of the virtual area. The preset shape and size is the default identification diagram area. According to the preset shape and the preset shape and size, it can be determined what shape and how large an area the target identification diagram is on the interface. Then, according to the coordinate position of the target identification diagram, the range information of the virtual area can be obtained, that is, the range information may include the position, shape, and size of the virtual area, etc.

[0113] In this embodiment, according to the scale information and the preset shape and size, the area of the target identification diagram after zooming can be calculated, that is, the area information can be obtained. For example, the preset shape and size can be multiplied by the scale information to obtain the area information.

[0114] The range information of the virtual area can be determined based on the coordinate position of the target identification map, the preset shape corresponding to the target identification map, and the area information. For example, if the preset shape is a rectangle and the area information is 10, a rectangular frame with an area of 10 can be determined, and then the range information of the virtual area can be obtained according to the coordinate position of the center point of the rectangular frame. The range information may include the coordinate position of the target identification map, the preset shape corresponding to the target identification map, and the area information.

[0115] The beneficial effect of such a setting is that the user can drag the target identification map according to actual needs and preferences, and can scale the graph according to actual needs to adjust the size of the virtual area. The range information of the virtual area is determined according to the dragging and scaling operations of the user, improving the flexibility of the parking path planning, making the planned path more in line with the user's expectations, and enhancing the user's satisfaction with the automatic parking function.

[0116] S204. Determine the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0117] Exemplarily, this step can refer to the above step S103 and will not be elaborated here.

[0118] In the embodiment of the present application, by responding to the automatic parking instruction, the map data of the area where the vehicle is located can be obtained and displayed on the graphical interface, enabling the user to see the surrounding environment in a timely manner. The user operates on the graphical interface, and the range information of the virtual area is determined according to the custom area operation made by the user on the graphical interface. The virtual area is the area that needs to be avoided or passed through when the vehicle parks. According to the range information of the virtual area, the parking path of the vehicle is planned, so as to control the vehicle to perform automatic parking. By providing a more intuitive graphical interface and supporting the user to perform interface operations to customize the virtual area, the user's control ability over the parking path is improved, the flexibility of parking is increased, it is convenient to meet the actual needs of the user, and the user experience is enhanced.

[0119] Figure 5 It is a schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application. As Figure 5 shown, on the basis of the Figure 1 embodiment, the path planning method based on automatic parking is described in detail. The method includes:

[0120] S501. Respond to the automatic parking instruction, obtain the map data of the area where the vehicle is located, and display the map data on the graphical interface; wherein, the map data represents the environment of the area where the vehicle is located.

[0121] Exemplarily, this step can refer to the above step S101 and will not be elaborated here.

[0122] S502. Determine the drawing information according to the drawing operation made by the user on the graphical interface; wherein, the drawing information represents the position where the user performs drawing on the graphical interface.

[0123] Exemplarily, the custom area operation can be a drawing operation, and the drawing operation is an operation where the user swipes on the interface by means such as touch screen. For example, the user can draw a graph of any shape on the interface.

[0124] During the process of the user performing the drawing operation, the drawing information can be obtained in real time, and the drawing information can represent the position where the user performs drawing on the graphical interface. The drawing made by the user on the interface is in the form of a line, and the drawing information can be the position of the line. The line can be composed of points, and the drawing information includes the positions of each point on the line, that is, the positions where the user touches the interface. Figure 6 is a schematic diagram of the drawing operation. Figure 6 In, if the user draws an irregularly shaped bounding box, the position of the boundary of the bounding box in the interface can be obtained.

[0125] S503. Determine the target shape information and the center position information according to the drawing information; wherein, the center position information represents the center point position of the graph drawn by the user, and the target shape information represents the shape of the virtual area.

[0126] Exemplarily, the drawing information is the position information of the line drawn by the user. According to the user's drawing information, the shape of the virtual area can be determined, and the shape of the virtual area can be determined as the target shape information. For example, if the line drawn by the user encloses a closed bounding box, the shape of the bounding box can be determined as the target shape information.

[0127] The center position information can also be determined according to the drawing information, and the center position information is the center point position of the graph drawn by the user. For example, if the user draws a bounding box, the position where the center of the bounding box is located is the center point position.

[0128] The range of the virtual area can be directly determined according to the drawing information. For example, if the line drawn by the user encloses a closed bounding box, the range of the bounding box is determined according to the drawing information. The range of the bounding box is determined as the range of the virtual area, and the bounding box is the virtual area. The range information of the virtual area can include the coordinate positions of the boundary of the bounding box and all the coordinate positions included in the bounding box.

[0129] In this embodiment, determining the target shape information according to the drawing information includes: determining the initial shape information according to the drawing information, where the initial shape information represents the shape of the graph drawn by the user; determining the target shape information that matches the initial shape information from a preset shape database, where multiple shape information are stored in the preset shape database.

[0130] Specifically, the graph drawn by the user is a closed or semi-closed graph, and the drawing information is the coordinate positions of the lines drawn by the user, that is, the positions of the boundaries of the graph drawn by the user. According to the drawing information, the initial shape information and the center position information are determined. The initial shape information can represent the shape and size of the graph drawn by the user, that is, the graph enclosed by the lines. The center position information represents the center point position of the graph drawn by the user, that is, the position of the center point of the graph enclosed by the lines.

[0131] A shape database is preset, and multiple shape information are stored in the shape database, and each shape information represents a graphic shape. The initial shape information is matched with each shape information in the shape database, and the shape information that matches the initial shape information is found from the shape database as the target shape information. For example, the graph drawn by the user can be overlapped with each graph in the shape database, and the shape information of the graph with the highest overlap degree in the shape database is determined as the target shape information.

[0132] The beneficial effect of such a setting is that the user can draw a virtual area according to their own needs and preferences, making the range of the virtual area more in line with the user's expectations, improving the flexibility of setting the virtual area, and thus improving the user's satisfaction with the automatic parking function. According to the standard graph in the shape database, the graph drawn by the user is dynamically adjusted, improving the standardization of setting the virtual area, and thus improving the planning efficiency and accuracy of the parking path.

[0133] In this embodiment, determining the target shape information that matches the initial shape information from a preset shape database includes: determining the similarity between the shape information in the preset shape database and the initial shape information according to a preset similarity determination algorithm; determining the target shape information from the preset shape database according to the similarity.

[0134] Specifically, for each shape information in the shape database, the similarity between the shape information and the initial shape information is determined. The cosine similarity method can be used to calculate the similarity, and in this embodiment, the calculation method of the similarity is not specifically limited.

[0135] A similarity threshold can be preset, and the calculated similarity is compared with the preset similarity threshold. If the similarity is greater than the preset similarity threshold, the shape information corresponding to the similarity is determined as the target shape information. It is also possible to compare each similarity and determine the shape information corresponding to the maximum similarity as the target shape information. For example, if a user draws an unclosed arc, and the similarity between the initial shape information of the arc and the shape information of a circle in the shape database is the highest, the target shape information can be determined as the shape information of the circle.

[0136] The beneficial effect of such a setting is that by calculating the similarity, the virtual area that best meets the user's expectations can be determined, reducing the user's drawing difficulty, improving the accuracy of parking path planning, and enhancing the user experience.

[0137] S504. Determine the range information of the virtual area according to the target shape information and the central position information.

[0138] Exemplarily, the graph corresponding to the target shape information is determined as the graph drawn by the user. According to the central position information, the area of the graph in the interface is determined, and this area is determined as the virtual area. That is, the range information of the virtual area can be determined based on the target shape information and the central position information.

[0139] S505. Determine the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0140] Exemplarily, this step can refer to the above step S103 and will not be elaborated here.

[0141] In the embodiment of the present application, by responding to the automatic parking instruction, the map data of the area where the vehicle is located can be obtained and displayed on the graphical interface, enabling the user to timely view the surrounding environment. The user operates on the graphical interface, and according to the custom area operation made by the user on the graphical interface, the range information of the virtual area is determined. The virtual area is the area that the vehicle needs to avoid or pass through when parking. According to the range information of the virtual area, the parking path of the vehicle is planned, thereby controlling the vehicle to perform automatic parking. By providing a more intuitive graphical interface and supporting the user to perform interface operations to customize the virtual area, the user's control ability over the parking path is enhanced, the flexibility of parking is improved, it is convenient to meet the actual needs of the user, and the user experience is enhanced.

[0142] Figure 7 It is a schematic flowchart of a path planning method based on automatic parking provided by an embodiment of the present application. As Figure 7 shown, on the basis of the Figure 1 embodiment, the path planning method based on automatic parking is described in detail. The method includes:

[0143] S701. In response to an automatic parking instruction, obtain map data of the area where the vehicle is located, and display the map data on a graphical interface; wherein, the map data characterizes the environment of the area where the vehicle is located.

[0144] Exemplarily, this step can refer to the above step S101 and will not be elaborated here.

[0145] S702. Determine the range information of a virtual area according to a custom area operation made by the user on the graphical interface; wherein, the virtual area characterizes an area that the vehicle needs to avoid or pass through when parking.

[0146] Exemplarily, the virtual area can be an area that the vehicle needs to avoid when parking, or an area that the vehicle expects to pass through when parking. That is, the area categories of the virtual area can include at least two types, namely an obstacle area and a recommended area. The obstacle area is the area where virtual obstacles are located, characterizing the area that the vehicle needs to avoid when parking, and the recommended area characterizes the area that the vehicle expects to pass through when parking. When making a custom area operation, the user can set the area category of the virtual area, so as to make the parking path avoid or pass through the virtual area during path planning. By virtualizing the obstacle area as an obstacle, it is ensured that the vehicle can safely avoid these areas during automatic parking, reducing the collision risk and improving the safety of parking. By setting a recommended area through which the parking path is expected to pass, the automatic parking system can try to meet the user's needs during path planning, making the parking path more in line with the user's expectations.

[0147] In this embodiment, it further includes: determining the area category of the virtual area according to a category marking operation made by the user on the graphical interface; wherein, the area category of the virtual area is an obstacle area or a recommended area, the obstacle area characterizes the area that the vehicle needs to avoid when parking, and the recommended area characterizes the area that the vehicle expects to pass through when parking.

[0148] Specifically, the user can determine the category of the virtual area to be confirmed before or after making a custom area operation, that is, the user can make a category marking operation on the graphical interface. According to the category marking operation, determine the area category of the virtual area to be set next, or determine the area category of the virtual area that has just been set. For example, a drop-down box is set on the graphical interface. The user clicks the drop-down box to display the area categories to be selected, and the user clicks on one of the area categories to complete the category marking operation.

[0149] On the graphical interface, different colors, lines, or other information representations can be used to represent the area categories of the virtual areas in the map data. For example, for the obstacle area set by the user, a red dotted line can be used, and for the recommended area set by the user, a green solid line can be used.

[0150] The beneficial effect of such a setting is that it allows users to set different types of virtual areas, such as obstacle areas and recommended areas, through a graphical interface, improving the flexibility and diversity of virtual areas and helping the parking path meet the actual needs of users.

[0151] S703. Obtain the current position and preset position of the vehicle; wherein, the preset position represents the parking end point of the vehicle.

[0152] Exemplarily, a positioning device can be installed on the vehicle to obtain the current position of the vehicle in real time. The user can select or input the end position of parking as the preset position according to the actual parking needs. For example, the user can input a preset position when issuing an automatic parking instruction, or click on a position on the map data as the preset position after seeing the map data.

[0153] S704. Determine the parking path of the vehicle from the current position to the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area.

[0154] Exemplarily, the graphical interface includes an obstacle area and a recommended area, and each virtual area corresponds to its own range information, and the range information corresponding to the obstacle area and the range information corresponding to the recommended area are determined.

[0155] A path planning algorithm is preset in advance. The path planning algorithm can plan the parking path from the current position to the preset position. When running the path planning algorithm, the range information corresponding to the obstacle area can be used as the range where the obstacle is located, and the range information corresponding to the recommended area can be used as the range where it is expected to pass through. According to the range information corresponding to the obstacle area and the range information corresponding to the recommended area, a parking path that can avoid the obstacle area and pass through the recommended area as much as possible can be obtained. For example, the obstacle area is an area such as a lawn or a flower bed, so as to avoid damage to areas such as lawns and flower beds near the parking space during the automatic parking process of the vehicle and reduce the impact on the surrounding environment.

[0156] In this embodiment, determining the parking path of the vehicle from the current position to the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area includes: determining the path points of the vehicle from the current position to the preset position based on the preset first path planning algorithm according to the range information corresponding to the obstacle area; screening and processing the path points according to the range information corresponding to the recommended area, the preset position, and the position of the path points; and determining the parking path of the vehicle from the current position to the preset position according to the remaining path points.

[0157] Specifically, a first path planning algorithm is preset, and the first path planning algorithm can be a hybrid A* algorithm. In the hybrid A* algorithm, according to the range information corresponding to the obstacle area, the obstacle area set by the user is virtualized as an obstacle. The hybrid A* algorithm constructs the map data into a grid-like map environment and marks the obstacle area as an impassable grid node. The recommended area set by the user is used as the reward area for path planning, that is, when the path passes through the recommended area, the path is rewarded. A heuristic function is preset, and the heuristic function is used to make the path planning prioritize passing through the recommended area.

[0158] The hybrid A* algorithm takes the current position of the vehicle as the starting point and a preset position as the ending point, and uses the hybrid A* algorithm to search for multiple path points that avoid the obstacle area. According to the range information corresponding to the recommended area, the preset position, and the positions of the path points, these path points are screened. For example, the path points located within the recommended area can be retained, and the path points far from the recommended area can be screened out. According to the retained path points, the parking path between the current position of the vehicle and the preset position is obtained. For example, the retained path points can be connected in sequence to obtain the parking path.

[0159] During the search process, the algorithm can also consider the dynamic model of the vehicle to ensure that the planned path is a path that the vehicle can actually drive. For example, the hybrid A* algorithm can perform node expansion according to constraints such as the minimum turning radius and maximum steering angular velocity of the vehicle. In this embodiment, the dynamic model of the vehicle is not specifically limited.

[0160] The beneficial effect of such a setting is that using the hybrid A* algorithm can search for an optimal path that avoids the obstacle area and covers the recommended area as much as possible, and can smooth the searched path to obtain a practical path that can be tracked, improving the planning accuracy of the parking path.

[0161] In this embodiment, screening the path points according to the range information corresponding to the recommended area, the preset position, and the positions of the path points includes: determining the identification information of the path points according to the range information corresponding to the recommended area and the positions of the path points; wherein, the identification information represents whether the path point is located within the recommended area; determining a first length and a second length according to the position of the path point and the preset position; wherein, the first length represents the length of the RS curve between the path point and the parking end point, and the second length represents the length of the path between the path point and the parking end point; screening the path points according to the first length, the second length, and the identification information of the path points.

[0162] Specifically, determine the coordinate positions of each path point in the map. Based on the range information corresponding to the recommended area and the positions of the path points, the identification information of the path points can be determined. The identification information can indicate whether the path point is within the recommended area. For example, 0 indicates not within the recommended area, and 1 indicates within the recommended area.

[0163] For each path point, based on the position of the path point and the preset position, the first length and the second length can be calculated. Among them, the first length represents the length of the RS (Reeds Shepp) curve between the path point and the preset position, that is, the length of the RS curve between the path point and the parking end point. The second length represents the path length between the path point and the preset position, that is, the path length between the path point and the parking end point. The path length can be the length of a straight line or the length of a curve, which is determined by the path planned by the hybrid A* algorithm. It should be noted that the obstacle area is avoided when determining the path point. Therefore, the second length is the path length from the path point considering the obstacles to the parking end point. When determining the second length, the kinematic constraints of the vehicle can be not considered. For example, it is not considered whether the vehicle is driving horizontally or longitudinally.

[0164] A heuristic function is preset. Substitute the first length, the second length, and the identification information of the path point into the heuristic function. According to the calculation result of the function, the path points are screened. The heuristic function can be expressed as:

[0165] h = max(αd rs +βd obstacle -γl, 0);

[0166] Among them, h is the heuristic function, and α, β, and γ are all preset weights. d rs is the first length, d obstacle is the second length, and l is the identification information. The smaller the calculation result of the heuristic function, the better the path point. A function threshold can be preset, and the calculation result of h is compared with the function threshold. If the calculation result of h is greater than the function threshold, the path point is screened out.

[0167] The beneficial effect of such a setting is that the recommended area set by the user is used as the reward area for path planning, so that path planning gives priority to passing through the recommended area, meeting the user's path planning requirements.

[0168] In this embodiment, according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area, determining the parking path between the current position of the vehicle and the preset position includes: determining a candidate path between the current position of the vehicle and the preset position based on the preset second path planning algorithm according to the range information corresponding to the obstacle area; wherein, the candidate path does not pass through the obstacle area; determining the regional coverage length of the candidate path according to the range information corresponding to the recommended area; wherein, the regional coverage length represents the length of the candidate path within the recommended area; determining the parking path according to the regional coverage lengths of the candidate paths.

[0169] Specifically, the second path planning algorithm can be a geometric method or a Rapidly-exploring Random Trees (RRT) algorithm, etc. Through the second path planning algorithm, the movement trajectory of the vehicle from the current position to the preset position can be calculated. And during the calculation process, it can be detected whether the movement trajectory collides with the obstacle area to avoid the movement trajectory intersecting with the obstacle area. The calculated movement trajectory is determined as the candidate path.

[0170] According to the range information corresponding to the recommended area, determine the regional coverage lengths of each candidate path. The regional coverage length represents the length of the candidate path within the recommended area. If the candidate path does not pass through the recommended area, the regional coverage length is 0. Determine the parking path according to the regional coverage lengths of the candidate paths. For example, the candidate path with the largest regional coverage length can be determined as the final parking path.

[0171] For example, if the second path planning algorithm is the geometric method, the movement trajectory of the vehicle from the current position to the preset position can be calculated according to the preset vehicle geometric model and movement constraint conditions. During the calculation process, it is detected whether the movement trajectory collides with the obstacle area. If a collision occurs, the candidate path that avoids the virtual obstacle area can be generated by adjusting the steering angle or driving path of the vehicle. Taking the recommended area as the optimization goal of path planning, by adjusting the coverage range of the candidate path within the recommended area, the candidate path is made to pass through the recommended area as much as possible, and finally the candidate path with the largest coverage range is determined as the parking path.

[0172] If the second path planning algorithm is the RRT algorithm, the RRT algorithm can be used to quickly explore the environment around the vehicle to generate a candidate path from the current position to the preset position. During the generation process of the candidate path, the obstacle area can be regarded as an obstacle to avoid the candidate path intersecting with the obstacle area. By adjusting the preset sampling strategy of the RRT, the recommended area is preferentially explored to make the candidate path cover the recommended area set by the user as much as possible, and finally the parking path is obtained.

[0173] The beneficial effects of such a setting are as follows. Through path planning algorithms such as geometric methods and RRT algorithms, dynamic path planning is achieved, which not only avoids the obstacle areas defined by the user, but also optimizes the path to cover the recommended areas defined by the user, improving the accuracy of path planning.

[0174] In the embodiment of the present application, by responding to the automatic parking instruction, the map data of the area where the vehicle is located can be obtained and displayed on the graphical interface, enabling the user to timely view the surrounding environment. The user operates on the graphical interface, and according to the custom area operation made by the user on the graphical interface, the range information of the virtual area is determined. The virtual area is the area that the vehicle needs to avoid or pass through when parking. According to the range information of the virtual area, the parking path of the vehicle is planned, thereby controlling the vehicle to perform automatic parking. By providing a more intuitive graphical interface to support the user to perform interface operations to customize the virtual area, the user's control ability over the parking path is improved, the flexibility of parking is enhanced, it is convenient to meet the actual needs of the user, and the user experience is improved.

[0175] Figure 8 It is a schematic structural diagram of a path planning device based on automatic parking provided by an embodiment of the present application, as Figure 8 shown. The path planning device 80 based on automatic parking provided in this embodiment includes:

[0176] A map acquisition unit 801, configured to obtain map data of the area where the vehicle is located in response to an automatic parking instruction and display the map data on a graphical interface; wherein, the map data represents the environment of the area where the vehicle is located;

[0177] An area determination unit 802, configured to determine the range information of the virtual area according to the custom area operation made by the user on the graphical interface; wherein, the virtual area represents the area that the vehicle needs to avoid or pass through when parking;

[0178] A path planning unit 803, configured to determine the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

[0179] In a possible implementation manner, the custom area operation includes a drag operation, and a plurality of identification graphs with preset shapes are displayed on the graphical interface; the area determination unit 802 includes:

[0180] An identification graph selection module, configured to determine a target identification graph according to the selection operation made by the user on the identification graph on the graphical interface;

[0181] An identification graph drag module, configured to determine the range information of the virtual area according to the drag operation made by the user on the target identification graph.

[0182] In a possible implementation, the custom area operation includes a zoom operation; the identification graph dragging module is specifically used for:

[0183] Determine the coordinate position of the target identification graph on the graphical interface according to the dragging operation made by the user on the target identification graph;

[0184] Determine the scale information of the target identification graph according to the zoom operation made by the user on the target identification graph at the coordinate position; wherein, the scale information represents the zoom ratio of the target identification graph;

[0185] Determine the range information of the virtual area according to the coordinate position, the scale information, and the preset shape and size corresponding to the target identification graph.

[0186] In a possible implementation, the custom area operation includes a drawing operation; the area determination unit 802 includes:

[0187] The drawing module is used to determine the drawing information according to the drawing operation made by the user on the graphical interface; wherein, the drawing information represents the position where the user draws on the graphical interface;

[0188] The target determination module is used to determine the target shape information and the center position information according to the drawing information; wherein, the center position information represents the center point position of the graph drawn by the user, and the target shape information represents the shape of the virtual area

[0189] The range determination module is used to determine the range information of the virtual area according to the target shape information and the center position information.

[0190] In a possible implementation, the target determination module is specifically used for:

[0191] Determine the initial shape information according to the drawing information; wherein, the initial shape information represents the shape of the graph drawn by the user;

[0192] Determine the target shape information matching the initial shape information from the preset shape database; wherein, multiple shape information is stored in the preset shape database.

[0193] In a possible implementation, the target determination module is specifically used for:

[0194] Determine the similarity between the shape information in the preset shape database and the initial shape information according to the preset similarity determination algorithm;

[0195] Determine the target shape information from the preset shape database according to the similarity.

[0196] In a possible implementation, it further includes:

[0197] A category determination unit, configured to determine the area category of the virtual area according to the category marking operation made by the user on the graphical interface; wherein, the area category of the virtual area is an obstacle area or a recommended area, the obstacle area represents an area that needs to be avoided when the vehicle parks, and the recommended area represents an area that the vehicle expects to pass through when parking.

[0198] In a possible implementation, the path planning unit 803 includes:

[0199] A position acquisition module, configured to acquire the current position and the preset position of the vehicle; wherein, the preset position represents the parking end point of the vehicle;

[0200] A path determination module, configured to determine the parking path of the vehicle from the current position to the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area.

[0201] In a possible implementation, the path determination module is specifically configured to:

[0202] According to the range information corresponding to the obstacle area, based on a preset first path planning algorithm, determine the path points of the vehicle from the current position to the preset position;

[0203] According to the range information corresponding to the recommended area, the preset position, and the positions of the path points, perform screening processing on the path points;

[0204] According to the remaining path points, determine the parking path of the vehicle from the current position to the preset position.

[0205] In a possible implementation, the path determination module is specifically configured to:

[0206] According to the range information corresponding to the recommended area and the positions of the path points, determine the identification information of the path points; wherein, the identification information represents whether the path points are located in the recommended area;

[0207] According to the positions of the path points and the preset position, determine a first length and a second length; wherein, the first length represents the length of the RS curve between the path point and the parking end point, and the second length represents the path length between the path point and the parking end point;

[0208] According to the first length, the second length, and the identification information of the path points, perform screening processing on the path points.

[0209] In a possible implementation, the path determination module is specifically configured to:

[0210] Based on the range information corresponding to the obstacle area, determine a candidate path between the current position of the vehicle and a preset position according to a preset second path planning algorithm; wherein, the candidate path does not pass through the obstacle area;

[0211] Determine the area coverage length of the candidate path according to the range information corresponding to the recommended area; wherein, the area coverage length represents the length of the candidate path within the recommended area;

[0212] Determine the parking path according to the area coverage lengths of the candidate paths.

[0213] In a possible implementation, the map acquisition unit 801 includes:

[0214] An image acquisition module, configured to obtain an environmental image of the area where the vehicle is located through an image acquisition device on the vehicle in response to an automatic parking instruction;

[0215] A map determination module, configured to perform image recognition processing on the environmental image to obtain map data of the area where the vehicle is located.

[0216] In a possible implementation, it further includes:

[0217] An associated storage unit, configured to associate and store the preset position and the range information of the virtual area.

[0218] A path planning device based on automatic parking provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0219] Figure 9 It is a schematic structural diagram of an electronic device provided in this application. As Figure 9 shown, the electronic device 90 provided in this embodiment includes: at least one processor 901 and a memory 902. Optionally, the device 90 further includes a communication component 903. Among them, the processor 901, the memory 902, and the communication component 903 are connected through a bus 904.

[0220] In a specific implementation process, at least one processor 901 executes computer execution instructions stored in the memory 902, so that at least one processor 901 executes the above method.

[0221] The specific implementation process of the processor 901 can be referred to in the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0222] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU for short), or may also be other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0223] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0224] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus in the attached drawings of this application is not limited to only one bus or one type of bus.

[0225] This application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0226] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the above method is implemented.

[0227] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disk. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0228] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0229] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed among each other can be through some interfaces, and the indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0230] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0231] Furthermore, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can physically exist alone, or two or more units can be integrated in one unit.

[0232] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0233] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0234] Finally, it should be noted that: after considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A path planning method based on automatic parking, characterized in that, Including: In response to an automatic parking instruction, obtain map data of the area where the vehicle is located and display the map data on a graphical interface; wherein, the map data characterizes the environment of the area where the vehicle is located; Determine the range information of the virtual area according to the customized area operation made by the user on the graphical interface; wherein, the virtual area characterizes the area that needs to be avoided or passed through when the vehicle parks; Determine the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

2. The method according to claim 1, wherein The customized area operation includes a drag operation, and multiple identification graphs with preset shapes are displayed on the graphical interface; The determining the range information of the virtual area according to the customized area operation made by the user on the graphical interface includes: Determine the target identification graph according to the selection operation made by the user on the identification graph on the graphical interface; Determine the range information of the virtual area according to the drag operation made by the user on the target identification graph.

3. The method according to claim 2, wherein The customized area operation includes a zoom operation; the determining the range information of the virtual area according to the drag operation made by the user on the target identification graph includes: Determine the coordinate position of the target identification graph on the graphical interface according to the drag operation made by the user on the target identification graph; Determine the scale information of the target identification graph according to the zoom operation made by the user at the coordinate position on the target identification graph; wherein, the scale information characterizes the zoom ratio of the target identification graph; Determine the range information of the virtual area according to the coordinate position, the scale information, and the preset shape and size corresponding to the target identification graph.

4. The method according to claim 1, wherein The customized area operation includes a drawing operation; the determining the range information of the virtual area according to the customized area operation made by the user on the graphical interface includes: Determine the drawing information according to the drawing operation made by the user on the graphical interface; wherein, the drawing information characterizes the position where the user draws on the graphical interface; Determine the target shape information and the center position information according to the drawing information; wherein, the center position information characterizes the center point position of the graph drawn by the user, and the target shape information characterizes the shape of the virtual area; Determine the range information of the virtual area according to the target shape information and the center position information.

5. The method according to claim 4, wherein The determining the target shape information according to the drawing information includes: Determine the initial shape information according to the drawing information; wherein, the initial shape information characterizes the shape of the graph drawn by the user; Determine the target shape information matching the initial shape information from a preset shape database; wherein, multiple shape information are stored in the preset shape database.

6. The method according to claim 5, wherein The determining the target shape information matching the initial shape information from a preset shape database includes: Determine the similarity between the shape information in the preset shape database and the initial shape information according to a preset similarity determination algorithm; Determine the target shape information from the preset shape database according to the similarity.

7. The method according to claim 1, wherein Also including: Determine the area category of the virtual area according to the category marking operation made by the user on the graphical interface; wherein, the area category of the virtual area is an obstacle area or a recommended area, the obstacle area represents the area that needs to be avoided when the vehicle parks, and the recommended area represents the area that the vehicle expects to pass through when parking.

8. The method according to claim 7, wherein The determining of the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area includes: Obtain the current position and the preset position of the vehicle; wherein, the preset position represents the parking end point of the vehicle. Determine the parking path between the current position of the vehicle and the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area.

9. The method according to claim 8, wherein The determining of the parking path between the current position of the vehicle and the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area includes: Based on the range information corresponding to the obstacle area and a preset first path planning algorithm, determine the path points between the current position of the vehicle and the preset position. Perform screening processing on the path points according to the range information corresponding to the recommended area, the preset position, and the positions of the path points. Determine the parking path between the current position of the vehicle and the preset position according to the remaining path points.

10. The method according to claim 8, wherein The determining of the parking path between the current position of the vehicle and the preset position according to the range information corresponding to the obstacle area and the range information corresponding to the recommended area includes: Based on the range information corresponding to the obstacle area and a preset second path planning algorithm, determine the candidate path between the current position of the vehicle and the preset position; wherein, the candidate path does not pass through the obstacle area. Determine the area coverage length of the candidate path according to the range information corresponding to the recommended area; wherein, the area coverage length represents the length of the candidate path within the recommended area. Determine the parking path according to the area coverage lengths of the candidate paths.

11. The method according to claim 1, characterized in that The obtaining of the map data of the area where the vehicle is located in response to the automatic parking instruction includes: In response to the automatic parking instruction, obtain the environmental image of the area where the vehicle is located through the image acquisition device on the vehicle. Perform image recognition processing on the environmental image to obtain the map data of the area where the vehicle is located.

12. An automatic parking-based path planning device, characterized in that, Includes: A map acquisition unit, configured to obtain the map data of the area where the vehicle is located in response to the automatic parking instruction and display the map data on the graphical interface; wherein, the map data represents the environment of the area where the vehicle is located. An area determination unit, configured to determine the range information of the virtual area according to the custom area operation made by the user on the graphical interface; wherein, the virtual area represents the area that needs to be avoided or passed through when the vehicle parks. A path planning unit, configured to determine the parking path between the current position of the vehicle and the preset position according to the range information of the virtual area, and control the vehicle to perform automatic parking according to the parking path.

13. An electronic device, characterized in that, Includes: A memory, a processor; The memory stores computer execution instructions; The processor executes the computer-executable instructions stored in the memory, such that the processor performs the method according to any one of claims 1-11.

14. A computer-readable storage medium / computer program product, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1-11; and / or, The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method according to any one of claims 1-11.

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