Parking trajectory planning method, storage medium, controller and vehicle

Abstract

The invention relates to a parking trajectory planning method, a storage medium, a controller and a vehicle, relates to the technical field of automatic driving, and can plan a parking trajectory based on a single-wheel rotation function of the vehicle so as to improve the parking efficiency. The parking track planning method comprises the steps that an initial parking point, a target parking point and a rotation starting point of a vehicle for a target parking space are determined, the vehicle has the function of rotating around a single wheel, and the rotation starting point is the starting point of the vehicle rotating around a target wheel in a parking track from the target parking point to the initial parking point; and according to the initial parking point, the target parking point and the rotation starting point, a target parking track of the vehicle from the initial parking point to the target parking point is determined.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular, to a parking trajectory planning method, a storage medium, a controller, and a vehicle. Background Art

[0002] With the development of vehicle technology, a vehicle can achieve automatic parking by planning a parking trajectory, that is, the vehicle can move along the planned trajectory to a designated parking space. However, in the parking scenario of a narrow parking space, the vehicle usually needs to perform multiple maneuvers to park in the parking space. Summary of the Invention

[0003] To overcome the technical problems existing in the related art, the present disclosure provides a parking trajectory planning method, a storage medium, a controller, and a vehicle.

[0004] To achieve the above object, in a first aspect, the present disclosure provides a parking trajectory planning method, the method including:

[0005] Determine an initial parking point, a target parking point, and a rotation starting point of the vehicle for a target parking space, where the vehicle has a function of rotating around a single wheel, and the rotation starting point is the starting point of rotating around a target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point;

[0006] Determine a target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation starting point.

[0007] Optionally, the determining a target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation starting point includes:

[0008] Determine a first trajectory according to the target parking point and the rotation starting point, and determine a second trajectory according to the rotation starting point and the initial parking point;

[0009] Obtain a target parking trajectory of the vehicle from the initial parking point to the target parking point according to the first trajectory and the second trajectory.

[0010] Optionally, the determining a first trajectory according to the target parking point and the rotation starting point, and determining a second trajectory according to the rotation starting point and the initial parking point includes:

[0011] Determine a first trajectory from the target parking point to the rotation starting point, and determine a second trajectory from the rotation starting point to the initial parking point;

[0012] Obtaining the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the first trajectory and the second trajectory includes:

[0013] Splice the first trajectory and the second trajectory to obtain an initial parking trajectory from the target parking point to the initial parking point, and reverse the initial parking trajectory to obtain the target parking trajectory of the vehicle from the initial parking point to the target parking point.

[0014] Optionally, determining the second trajectory according to the rotation starting point and the initial parking point includes:

[0015] Determine the minimum rotation angle and the maximum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory, and determine the target rotation end point according to the first rotation end point after the vehicle rotates around the minimum rotation angle and the second rotation end point after the vehicle rotates around the maximum rotation angle;

[0016] Determine the single-wheel rotation trajectory from the rotation starting point to the target rotation end point, and the off-storage parking trajectory from the target rotation end point to the initial parking point;

[0017] Splice the single-wheel rotation trajectory and the off-storage parking trajectory into the second trajectory from the rotation starting point to the initial parking point.

[0018] Optionally, determining the target rotation end point according to the first rotation end point after the vehicle rotates around the minimum rotation angle and the second rotation end point after the vehicle rotates around the maximum rotation angle includes:

[0019] Sample between the first rotation end point after the vehicle rotates around the minimum rotation angle and the second rotation end point after the vehicle rotates around the maximum rotation angle to obtain a plurality of sampling points;

[0020] For each of the sampling points, determine a first candidate trajectory from the sampling point to the rotation starting point through different trajectory planning algorithms, determine a target candidate trajectory according to the trajectory cost of each first candidate trajectory, and use the sampling point corresponding to the target candidate trajectory as the target rotation end point;

[0021] Correspondingly, the off-storage parking trajectory is the target candidate trajectory.

[0022] Optionally, the trajectory cost of the first candidate trajectory is determined by at least one of the trajectory length of the first candidate trajectory, the single-wheel rotation angle of the vehicle in the first candidate trajectory, the collision risk value of the vehicle in the first candidate trajectory, and the number of gear shifts of the vehicle in the first candidate trajectory.

[0023] Optionally, determining a target candidate trajectory according to the trajectory cost of each of the first candidate trajectories includes:

[0024] When there is no collision risk between the vehicles in the first candidate trajectories and surrounding obstacles, determining a target candidate trajectory according to the trajectory cost of each of the first candidate trajectories;

[0025] The method further includes:

[0026] When there is a collision risk between the vehicles in the first candidate trajectories and surrounding obstacles, determining second candidate trajectories from each of the sampling points to the initial parking point in sequence through a trajectory search method until there is no collision risk between the vehicles in the obtained second candidate trajectories and surrounding obstacles;

[0027] Determining the finally obtained second candidate trajectory as the target candidate trajectory.

[0028] Optionally, the minimum rotation angle is greater than a first preset angle, and there is no collision risk between the vehicle and the obstacles around the target parking space during the process of the vehicle driving straight out of the target parking space along the first rotation end point corresponding to the minimum rotation angle;

[0029] The maximum rotation angle is less than a second preset angle, and there is no collision risk between the vehicle and the obstacles outside the target parking space during the process of the vehicle rotating along the maximum rotation angle.

[0030] Optionally, determining the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory includes:

[0031] Determining an initial first rotation angle, and cyclically executing the following steps: determining an initial rotation end point after the vehicle rotates the first rotation angle around the axis of the target wheel with the rotation starting point, determining a straight-line trajectory between the initial rotation end point and the center point of the target rear axle of the vehicle, when there is a collision risk for the vehicle in the straight-line trajectory, increasing the first rotation angle by a first preset step length to obtain a new first rotation angle until there is no collision risk for the vehicle in the obtained straight-line trajectory, where the center point of the target rear axle is located in the part of the vehicle outside the target parking space and is at a preset distance from the initial rotation end point in the target direction, and the target direction is parallel to the short side of the target parking space;

[0032] Determining the finally obtained first rotation angle as the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory.

[0033] Optionally, determining the maximum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory includes

[0034] Determine an initial second rotation angle, and repeatedly execute the following steps: Determine whether there is a risk of collision when the vehicle rotates by the second rotation angle around the axis of the target wheel starting from the rotation starting point. When there is no risk of collision for the vehicle, increase the second rotation angle by a second preset step length to obtain a new second rotation angle until there is a risk of collision for the vehicle;

[0035] Determine the rotation angle obtained by subtracting the second preset step length from the finally obtained second rotation angle as the maximum rotation angle for the vehicle to rotate around the axis of the target wheel in the parking-out trajectory.

[0036] Optionally, when the target parking space is located in the front right of the vehicle, the target wheel is the left front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or,

[0037] when the target parking space is located in the rear right of the vehicle, the target wheel is the left rear wheel of the vehicle, and correspondingly, the target parking trajectory is a tail-in parking trajectory; or,

[0038] when the target parking space is located in the front left of the vehicle, the target wheel is the right front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or,

[0039] when the target parking space is located in the rear left of the vehicle, the target wheel is the right rear wheel of the vehicle, and correspondingly, the target parking trajectory is a tail-in parking trajectory.

[0040] In a second aspect, the present disclosure provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the parking trajectory planning method described in the first aspect is implemented.

[0041] In a third aspect, the present disclosure provides a controller, including:

[0042] a storage device in which a computer program is stored;

[0043] a control device configured to execute the computer program to implement the parking trajectory planning method described in the first aspect.

[0044] In a fourth aspect, the present disclosure provides a vehicle, where the vehicle includes the controller described in the third aspect.

[0045] Optionally, the vehicle includes four motors, and each motor drives a corresponding wheel.

[0046] Through the above technical solutions, the following beneficial effects can be achieved:

[0047] Based on the initial parking point, the target parking point, and the rotation starting point of the vehicle with respect to the target parking space, determine the target parking trajectory of the vehicle from the initial parking point to the target parking point. Among them, the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of rotating around the target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point. Thus, the target parking trajectory can be planned through the single-wheel rotation function of the vehicle, so that when the vehicle parks according to this target parking trajectory, the vehicle can achieve a one-time parking in a narrow parking space, reduce the number of times of maneuvering in the parking space, and further reduce the parking time of the vehicle and improve the parking efficiency.

[0048] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the accompanying drawings:

[0050] Figure 1 FIG. is a schematic diagram of a parking process shown according to an exemplary embodiment of the present disclosure.

[0051] Figure 2 FIG. is another schematic diagram of a parking process shown according to an exemplary embodiment of the present disclosure.

[0052] Figure 3 FIG. is a flowchart of a parking trajectory planning method shown according to an exemplary embodiment of the present disclosure.

[0053] Figure 4 FIG. is a schematic diagram of a parking trajectory planning shown according to an exemplary embodiment of the present disclosure.

[0054] Figure 5 FIG. is another schematic diagram of a parking trajectory planning shown according to an exemplary embodiment of the present disclosure.

[0055] Figures 6a - 6b FIG. is a schematic diagram of determining the target rotation end point shown according to an exemplary embodiment of the present disclosure.

[0056] Figure 7 FIG. is a schematic diagram of determining the minimum rotation angle shown according to an exemplary embodiment of the present disclosure.

[0057] Figure 8 FIG. is a schematic diagram of determining the maximum rotation angle shown according to an exemplary embodiment of the present disclosure.

[0058] Figures 9a - 9d FIG. is a schematic diagram of different parking-in trajectories shown according to an exemplary embodiment of the present disclosure.

[0059] Figure 10 It is a block diagram of a controller shown according to an exemplary embodiment of the present disclosure.

[0060] Figure 11 It is a block diagram of a vehicle shown according to an exemplary embodiment of the present disclosure. Detailed Embodiments

[0061] The following will describe in detail the detailed embodiments of the present disclosure with reference to the accompanying drawings. It should be understood that the detailed embodiments described herein are only for the purpose of illustrating and explaining the present disclosure, and are not used to limit the present disclosure.

[0062] As described in the background art, the existing trajectory planning method is completed for vehicles without the single-wheel rotation function (hereinafter referred to as conventional vehicles). The rotation center point of a conventional vehicle during rotation is a point outside the vehicle, resulting in a relatively large rotation angle of the vehicle during rotation. In a parking scenario in a narrow parking space, such as a narrow parallel parking scenario, the vehicle usually needs to perform multiple maneuvers to park in the parking space, and the parking efficiency is relatively low.

[0063] It should be understood that the four-wheel independent drive technology means that four motors are configured on the vehicle, and each motor separately drives a wheel, so that the steering and rotational speed of the four wheels of the vehicle can be different. When the vehicle is configured with the four-wheel independent drive technology, the vehicle can lock one wheel to remain different in the stopped state, and control the vehicle to rotate 360° clockwise or counterclockwise with the axis of the locked wheel as the center, that is, the vehicle has the function of rotating around a single wheel, so that the rotation angle of the vehicle during rotation can be controlled within a relatively small range. For example, in a parking scenario in a narrow parking space, the single-wheel rotation method can effectively reduce the parking space, so that the vehicle can be parked in a narrow parking space in one go.

[0064] Referring to Figure 1 , taking the parking space being in front of the right side of the vehicle as an example, the driving trajectory of the vehicle when parking the front of the vehicle into the parking space is: first, drive forward and turn right to enter the parking space, then rotate counterclockwise around the left front wheel of the vehicle until the vehicle body is horizontal with the parking space, and finally move forward or backward to adjust the vehicle to be in the middle of the parking space.

[0065] Referring to Figure 2 , taking the parking space being behind the right side of the vehicle as an example, the driving trajectory of the vehicle when parking the rear of the vehicle into the parking space is: first, reverse and turn right to back into the parking space, then rotate clockwise around the left rear wheel of the vehicle until the vehicle body is horizontal with the parking space, and finally move forward and then backward to adjust the vehicle to be in the middle of the parking space.

[0066] In summary, the process of parking in a side parking space based on single-wheel rotation can be summarized into three stages: driving into the parking space, single-wheel rotation, and pose adjustment. Accordingly, the present disclosure provides a parking trajectory planning method based on the single-wheel rotation function of a vehicle to improve the parking success rate and parking efficiency of automatic parking.

[0067] Figure 3 FIG. is a flowchart of a parking trajectory planning method shown according to an exemplary embodiment of the present disclosure. As Figure 3 shown, the parking trajectory planning method may include the following steps:

[0068] In step S11, determine the initial parking point, the target parking point, and the rotation starting point of the vehicle with respect to the target parking space. Among them, the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of rotating around the target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point.

[0069] It should be noted that the initial parking point "init point" represents the position point corresponding to the center point of the rear axle of the vehicle at the start of parking, and the target parking point "target point" represents the position point corresponding to the center point of the rear axle of the vehicle after the vehicle is safely parked in the target parking space.

[0070] Among them, the short side of the target parking space can be used as the Y-axis and the long side of the target parking space can be used as the X-axis to establish a two-dimensional coordinate system. This two-dimensional coordinate system can cover the position of the center point of the rear axle of the vehicle during the entire parking process. Thus, the initial parking point, the target parking point, and the rotation starting point can be determined according to the coordinate points of the center point of the rear axle of the vehicle in the two-dimensional coordinate system when the vehicle is in different positions during parking.

[0071] It should be understood that the target parking space can be a perpendicular parking space or a side parking space, and the present disclosure does not limit this.

[0072] In step S12, according to the initial parking point, the target parking point, and the rotation starting point, determine the target parking trajectory of the vehicle from the initial parking point to the target parking point.

[0073] It should be understood that when the initial parking point is outside the target parking space and the target parking point and the rotation starting point are inside the target parking space, the target parking trajectory can be a parking-in trajectory; when the initial parking point and the rotation starting point are inside the target parking space and the target parking point is inside the target parking space, the target parking trajectory can be a parking-out trajectory.

[0074] In the embodiments of the present disclosure, according to the initial parking point, the target parking point, and the rotation starting point of the vehicle for the target parking space, the target parking trajectory of the vehicle from the initial parking point to the target parking point is determined. Among them, the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of rotating around the target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point. Thus, the target parking trajectory can be planned through the single-wheel rotation function of the vehicle, so that when the vehicle parks according to the target parking trajectory, the vehicle can be parked in a narrow parking space in one go, reducing the number of times of maneuvering the vehicle into the space, and further reducing the parking time of the vehicle and improving the parking efficiency.

[0075] To facilitate those skilled in the art to better understand the parking trajectory planning method provided by the present disclosure, the steps of this method will be described in detail with examples below.

[0076] In an alternative embodiment, in step S12, determining the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation starting point may include:

[0077] Determine a first trajectory according to the target parking point and the rotation starting point, and determine a second trajectory according to the rotation starting point and the initial parking point;

[0078] Obtain the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the first trajectory and the second trajectory.

[0079] It should be noted that in the case where the target parking point coincides with the rotation starting point, the target parking trajectory of the vehicle from the initial parking point to the target parking point can be directly obtained according to the initial parking point and the target parking point.

[0080] Exemplarily, according to the target parking point "target point" and the initial parking point "initpoint" of the vehicle corresponding to the target parking space, the target parking trajectory of the vehicle from the initial parking point "init point" to the target parking point "target point" can be obtained.

[0081] It should be understood that the first trajectory and the second trajectory can be planned simultaneously, or the first trajectory can be planned first and then the second trajectory, or the second trajectory can be planned first and then the first trajectory. The present disclosure does not limit this.

[0082] It should be noted that the first trajectory can be the adjustment trajectory of the vehicle within the target parking space. In practical applications, to avoid collisions between the vehicle contours, the adjustment trajectory within the target parking space is a horizontal straight line. Therefore, in the embodiments of the present disclosure, the first trajectory can be a straight-line trajectory. The second trajectory can be the movement trajectory of the vehicle between the target parking space and the starting position of parking, and can be a curved trajectory.

[0083] Such as Figure 4As shown, according to the target parking point target point of the vehicle corresponding to the target parking space and the rotation starting point, the first trajectory can be determined. According to the rotation starting point and the initial parking point init point, the second trajectory can be determined. Thus, based on the first trajectory and the second trajectory, the target parking trajectory of the vehicle from the initial parking point init point to the target parking point target point can be obtained. Therefore, by using the segmented planning method for parking trajectory planning, the difficulty of trajectory planning can be reduced, and further the efficiency of trajectory planning can be improved.

[0084] In an alternative embodiment, determining the first trajectory according to the target parking point and the rotation starting point, and determining the second trajectory according to the rotation starting point and the initial parking point may include:

[0085] Determine the first trajectory from the target parking point to the rotation starting point, and determine the second trajectory from the rotation starting point to the initial parking point;

[0086] According to the first trajectory and the second trajectory, obtaining the target parking trajectory of the vehicle from the initial parking point to the target parking point may include:

[0087] Splice the first trajectory and the second trajectory to obtain the initial parking trajectory from the target parking point to the initial parking point, and reverse the initial parking trajectory to obtain the target parking trajectory of the vehicle from the initial parking point to the target parking point.

[0088] It should be understood that in the case where the target parking trajectory is an out-parking trajectory, there is no need to perform the reverse process. In the case where the target parking trajectory is an in-parking trajectory, the out-parking trajectory needs to be reversed to obtain the corresponding in-parking trajectory.

[0089] It should be understood that there is no risk of collision between the vehicle and the safety parking space boundary in both the first trajectory and the second trajectory. Among them, the safety parking space limit can be the space boundary where the vehicle may collide during the parking process, such as Figure 5 the space limit of the target parking space shown in, and the space limit outside the target garage.

[0090] It should be noted that when planning the parking-in trajectory of the planned vehicle from the initial parking point to the target parking point in the embodiments of the present disclosure, it is necessary to first determine the rotation starting point. However, it is difficult to determine the rotation starting point when directly planning the parking-in trajectory. Therefore, the present disclosure can first plan the parking-out trajectory of the vehicle from the target parking point to the initial parking point, and then reverse the parking-out trajectory to obtain the parking-in trajectory of the vehicle from the initial parking point to the target parking point. Moreover, when determining the rotation starting point when directly planning the parking-in trajectory, a large amount of data is required for complex calculations. Therefore, in the embodiments of the present disclosure, the rotation starting point can be quickly determined according to the relevant data when the vehicle is located in the target parking space. The entire process only involves a small amount of data, and the calculation process is simple, further reducing the calculation amount of trajectory planning.

[0091] Exemplarily, as Figure 4 shown, in the case where the target parking space is located at the rear right of the vehicle, let the position of the center point of the rear axle of the vehicle outside the parking space when the vehicle starts parking be init_point (initial parking point), and the position of the center point of the rear axle of the vehicle in the parking space when parking is completed be target_point (target parking point). First, plan the parking-out trajectory from target_point to init_point, and then reverse the parking-out trajectory to be the parking-in trajectory from init_point to target_point.

[0092] Through the above method, in the embodiments of the present disclosure, the single-wheel rotation function of the vehicle can be combined. First, plan the parking-out trajectory from the target parking point to the initial parking point, and then reverse the parking-out trajectory to obtain the parking-in trajectory from the initial parking point to the target parking point, providing a new parking trajectory planning method, which can realize one-time parking of the vehicle in a narrow parking space, reduce the number of times of parking and maneuvering, and further reduce the parking time of the vehicle and improve the parking efficiency.

[0093] In an alternative embodiment, determining the second trajectory from the rotation starting point to the initial parking point may include:

[0094] Determine the minimum rotation angle and the maximum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory, and determine the target rotation end point according to the first rotation end point after the vehicle rotates around the minimum rotation angle and the second rotation end point after the vehicle rotates around the maximum rotation angle;

[0095] Determine the single-wheel rotation trajectory from the rotation starting point to the target rotation end point, and the out-of-parking-space parking trajectory from the target rotation end point to the initial parking point;

[0096] Splice the single-wheel rotation trajectory and the out-of-parking-space parking trajectory into the second trajectory from the rotation starting point to the initial parking point.

[0097] For the sake of convenience of description, let the single-wheel rotation process be VOT, and let the rotation start point in the parking-out trajectory from the target parking point target_point to the initial parking point init_point be vot_start, and the target rotation end point be vot_end; the trajectory from target_point to vot_start is the in-warehouse adjustment trajectory, and let the planning of this in-warehouse adjustment trajectory be Plannrt1; the trajectory from vot_start to vot_end is the single-wheel rotation trajectory, and let the planning of the single-wheel rotation trajectory be VOT-Planner; the trajectory from vot_end to init_point is the out-warehouse parking-in trajectory, and let the planning of the out-warehouse parking-in trajectory be Planner2.

[0098] It should be understood that the planning of the second trajectory is composed of VOT-Planner + Planner2. Correspondingly, when the target parking point coincides with the rotation start point, the planning of the target parking trajectory is composed of VOT-Planner + Planner2. Correspondingly, when the target parking point does not coincide with the rotation start point, the planning of the target parking trajectory is composed of Planner1 + VOT-Planner + Planner2.

[0099] It is worth noting that the vehicle rotates around the axis of the target wheel in the parking-out trajectory, and there is no collision risk for the vehicle during the whole process from the rotation start point to the target rotation end point. Therefore, the target rotation end point can be determined according to the minimum rotation angle and the maximum rotation angle, then the single-wheel rotation trajectory of the vehicle rotating around the axis of the target wheel from the rotation start point to the target rotation end point can be planned, and the out-warehouse parking trajectory from the target rotation end point to the initial parking point can be planned, and the single-wheel rotation trajectory and the out-warehouse parking trajectory are spliced into the second trajectory.

[0100] Exemplarily, as Figure 5 shown, the target rotation end point vot_end can be determined according to the minimum rotation angle and the maximum rotation angle, then the single-wheel rotation trajectory from vot_start to vot_end and the out-warehouse parking trajectory from vot_end to init_point can be planned, and the single-wheel rotation trajectory and the out-warehouse parking trajectory are spliced to obtain the trajectory from vot_start to init_point.

[0101] In the embodiments of the present disclosure, based on the single-wheel rotation function of the vehicle, first, according to the minimum rotation angle and the maximum rotation angle when the vehicle performs single-wheel rotation in the parking trajectory, the rotation end point is determined, and then according to the rotation start point, the rotation end point and the initial parking point, segmented trajectory planning is carried out to obtain the second trajectory. The difficulty of the second trajectory planning can be reduced, and the efficiency of the target parking trajectory planning can be further improved.

[0102] In an alternative embodiment, determining a target rotation end point based on a first rotation end point after the vehicle rotates by a minimum rotation angle and a second rotation end point after the vehicle rotates by the maximum rotation angle may include:

[0103] Sampling between the first rotation end point after the vehicle rotates by the minimum rotation angle and the second rotation end point after the vehicle rotates by the maximum rotation angle to obtain a plurality of sampling points;

[0104] For each sampling point, determining a first candidate trajectory from the sampling point to the rotation start point through different trajectory planning algorithms, determining a target candidate trajectory according to the trajectory cost of each first candidate trajectory, and using the sampling point corresponding to the target candidate trajectory as the target rotation end point;

[0105] Correspondingly, the out-of-library parking trajectory is the target candidate trajectory.

[0106] It should be understood that, as Figures 6a - 6b shown, the first rotation end point after the vehicle rotates by the minimum rotation angle can be used as the sampling start point, the second rotation end point after the vehicle rotates by the maximum rotation angle can be used as the sampling end point, and then sampling is performed from the sampling start point to the sampling end point according to the sampling step size, so as to obtain a plurality of sampling points. Among them, the sampling step size can be preset according to the accuracy requirements of trajectory planning, or can be preset according to the distance between the vehicle contour and the safety parking space limit during the single-wheel rotation of the vehicle. In the present disclosure, the sampling step size is taken as 5°.

[0107] It is worth noting that the trajectory planning algorithm may include existing trajectory planning algorithms such as geometric trajectory planning algorithms and RS curve trajectory algorithms. Among them, the geometric trajectory algorithm can be used to plan trajectories in parallel parking or angled parking. The RS curve algorithm can be used to plan curve trajectories during parking trajectory planning.

[0108] In the embodiments of the present disclosure, the target candidate trajectory can be determined according to the trajectory costs of a plurality of first candidate trajectories from each sampling point to the rotation start point, so as to obtain the target rotation end point. That is, the target rotation end point is determined according to the target candidate trajectory with the lowest trajectory cost, so that the target parking trajectory obtained by trajectory planning according to the target rotation end point has the lowest cost during vehicle driving, further reducing the cost of automatic parking and improving the efficiency of automatic parking.

[0109] In an alternative embodiment, the trajectory cost of the first candidate trajectory is determined by at least one of the trajectory length of the first candidate trajectory, the single-wheel rotation angle of the vehicle in the first candidate trajectory, the collision risk value of the vehicle in the first candidate trajectory, and the number of gear shifts of the vehicle in the first candidate trajectory.

[0110] It should be understood that the more types of parameters involved in determining the trajectory cost, the higher the accuracy of the obtained trajectory cost, and the more reliable the target candidate trajectory determined according to the trajectory cost.

[0111] Exemplarily, in the case of determining the trajectory cost according to the trajectory length, single-wheel rotation angle, collision risk value, and number of gear shifts, the cost values corresponding to the trajectory length, single-wheel rotation angle, collision risk value, and number of gear shifts can be substituted into the calculation formula:

[0112] Costtraj = p1·cost 轨迹长度 + p2·cost 单轮旋转角度 + p3·cost 碰撞风险值 + p4·cost 换挡次数 ,

[0113] where Costtraj represents the trajectory cost, p1 represents the preset weight of the trajectory length, cost 轨迹长度 represents the cost value corresponding to the trajectory length, p2 represents the preset weight corresponding to the single-wheel rotation angle, cost 单轮旋转角度 represents the cost value corresponding to the single-wheel rotation angle, p3 represents the preset weight corresponding to the collision risk value, cost 碰撞风险值 represents the cost value corresponding to the collision risk value, p4 represents the preset weight corresponding to the number of gear shifts, cost 换挡次数 represents the cost value corresponding to the number of gear shifts.

[0114] It should be noted that p1, p2, p3, and p4 can be optimized and adjusted through simulation or real vehicle testing.

[0115] In the trajectory cost calculation process of the embodiments of the present disclosure, the impacts of the trajectory length, single-wheel rotation angle, trajectory collision risk, and trajectory gear shift times on the parking efficiency and parking safety are comprehensively considered. The trajectory costs of each trajectory can be obtained on the basis of ensuring parking safety and parking efficiency, so that the target candidate trajectory can be determined according to the trajectory cost, which can reduce the automatic parking cost and improve the automatic parking efficiency.

[0116] In an optional implementation manner, determining a target candidate trajectory according to the trajectory cost of each first candidate trajectory may include:

[0117] When there is no collision risk between the vehicle and surrounding obstacles in the first candidate trajectories, determining a target candidate trajectory according to the trajectory cost of each first candidate trajectory;

[0118] The parking trajectory method may further include:

[0119] When there is a risk of collision between the vehicle in the first candidate trajectory and surrounding obstacles, the second candidate trajectory from each sampling point to the initial parking point is determined in turn through a trajectory search method until there is no risk of collision between the vehicle in the obtained second candidate trajectory and the surrounding obstacles;

[0120] Determine the finally obtained second candidate trajectory as the target candidate trajectory.

[0121] It should be noted that the trajectory search method may include algorithms such as hybrid A* and RTT (Recurrently Target-attennding Tracking). Compared with the trajectory planning algorithm, the trajectory search algorithm involves more parameters and a more complex calculation process in its calculation. Among them, both the hybrid A* algorithm and the RTT algorithm can perform trajectory planning for each sampling point in turn. For each planned second candidate trajectory, it is determined whether there is a risk of collision between the vehicle in the second candidate trajectory and the surrounding obstacles. If there is a risk of collision between the vehicle in the second candidate trajectory and the surrounding obstacles, trajectory planning is performed for the next sampling point; if there is no risk of collision between the vehicle in the second candidate trajectory and the surrounding obstacles, the second candidate trajectory planned this time is determined as the target candidate trajectory, and there is no need to perform trajectory planning for the next sampling point.

[0122] It should be understood that when there is no risk of collision between the vehicle in the first candidate trajectory obtained through the trajectory planning method and the surrounding obstacles, the trajectory planning is successful, and there is no need to use the trajectory search algorithm for trajectory planning; when there is a risk of collision between the vehicle in the first candidate trajectory obtained through the trajectory planning method and the surrounding obstacles, the trajectory planning fails, and the trajectory search algorithm can be used for trajectory planning to obtain the target candidate trajectory.

[0123] Exemplarily, as Figures 6a - 6b shown, the planning process of the target candidate trajectory may include:

[0124] I. Sample between the first rotation end point after the vehicle rotates by the minimum rotation angle and the second rotation end point after the vehicle rotates by the maximum rotation angle to obtain n sampling points pi.

[0125] II. For each sampling point, use the geometric trajectory planning algorithm to plan the trajectory from the sampling point pi to the initial parking point init_point, and use the RS curve trajectory algorithm to plan the trajectory from the sampling point pi to the initial parking point init_point to obtain 2n first candidate trajectories.

[0126] III. Determine whether there is a risk of collision between the vehicle in the 2n first candidate trajectories and the surrounding obstacles. If so, execute V; if not, execute IV.

[0127] IV. Determine the target candidate trajectory with the lowest trajectory cost from the 2n first candidate trajectories according to the trajectory cost of each candidate trajectory, and use the sampling points corresponding to the target candidate trajectory as the target rotation end points.

[0128] V. Sequentially determine the second candidate trajectories from each sampling point pi to the initial parking point init_point through the RTT algorithm until there is no collision risk between the vehicle and the surrounding obstacles in the obtained second candidate trajectories. Determine the finally obtained second candidate trajectory as the target candidate trajectory, and use the sampling points corresponding to the target candidate trajectory as the target rotation end points.

[0129] In an alternative embodiment, the minimum rotation angle is greater than the first preset angle, and there is no collision risk between the vehicle and the obstacles around the target parking space during the process of the vehicle driving straight out of the target parking space along the first rotation end point corresponding to the minimum rotation angle;

[0130] The maximum rotation angle is less than the second preset angle, and there is no collision risk between the vehicle and the obstacles outside the target parking space during the process of the vehicle rotating along the maximum rotation angle.

[0131] It should be noted that the first preset angle and the second preset angle can be empirical values determined according to a large amount of actual parking data. In the embodiments of the present disclosure, the first preset angle can be taken as 20°, and the second preset angle can be taken as 60°. For example, the minimum rotation angle can be greater than 20°, and it can be ensured that there is no collision risk between the vehicle and the obstacles around the target parking space during the process of the vehicle driving straight out of the target parking space along the first rotation end point corresponding to the minimum rotation angle. The maximum rotation angle can be less than 60°, and it can be ensured that there is no collision risk between the vehicle and the obstacles outside the target parking space during the process of the vehicle rotating around the axis of the target wheel by the maximum rotation angle.

[0132] In an alternative embodiment, determining the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking out trajectory may include:

[0133] Determine the initial first rotation angle, and loop through the following steps: Determine the initial rotation end point after the vehicle rotates around the axis of the target wheel by the first rotation angle with the rotation start point, determine the straight line trajectory between the initial rotation end point and the center point of the target rear axle of the vehicle. When there is a collision risk for the vehicle in the straight line trajectory, increase the first rotation angle by the first preset step length to obtain a new first rotation angle until there is no collision risk for the vehicle in the obtained straight line trajectory. Among them, the center point of the target rear axle is located in the part of the vehicle outside the target parking space and is at a preset distance from the initial rotation end point in the target direction, and the target direction is parallel to the short side of the target parking space;

[0134] Determine the finally obtained first rotation angle as the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking out trajectory.

[0135] Exemplarily, in the embodiments of the present disclosure, the first preset step size may be taken as 2%.

[0136] It should be understood that when the parking trajectory of the vehicle is a reverse parking of the vehicle tail, the target rear axle center point point may be on the ray in the vehicle head direction starting from the initial rotation end point vot_point1, and the longitudinal axis distance between the target rear axle center point point and the initial rotation end point vot_point1 in the two-dimensional coordinate system described above may be 1.5 m. When the target parking space is a side parking space, the longitudinal axis direction in the two-dimensional coordinate system is the width direction of the vehicle when the vehicle is located in the side parking space. For example, the target rear axle center point point may be on the ray in the vehicle head direction starting from the initial rotation end point vot_point1, and the distance between the target rear axle center point point and the initial rotation end point vot_point1 in the vehicle width direction when the vehicle is located in the side parking space is 1.5 m.

[0137] It should be understood that the rotation direction of the vehicle rotating around the axis of the target wheel starting from the rotation starting point may be determined by the positions of the vehicle and the target parking space. For example, when the target parking space is at the right front or left rear of the vehicle, the rotation direction may be counterclockwise; when the target parking space is at the right rear or left front of the vehicle, the rotation direction may be clockwise rotation.

[0138] Exemplarily, the target parking space is at the right rear of the vehicle, see Figure 7 , let the first preset step size be angel_step1, let the target rear axle center point be point, let the first rotation angle be angel_min, let the initial rotation end point be vot_point1, initialize angel_min = 20°, and the first preset step size angel_step1 = 2%.

[0139] a. Calculate vot_point1 after the vehicle rotates counterclockwise by angel_min around the axis of the target wheel starting from the rotation starting point.

[0140] b. Determine whether there is a collision risk for the vehicle in the straight-line trajectory between vot_point1 and point. If so, let angel_min += angel_step1, and return to execute step a. If not, use the current angel_min as the minimum rotation angle.

[0141] In an alternative embodiment, determining the maximum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory may include:

[0142] Determine an initial second rotation angle and loop through the following steps: Determine whether there is a risk of collision when the vehicle rotates by the second rotation angle around the axis of the target wheel starting from the rotation starting point. When there is no risk of collision for the vehicle, increase the second rotation angle by a second preset step size to obtain a new second rotation angle until there is a risk of collision for the vehicle;

[0143] Determine the rotation angle obtained by subtracting the second preset step size from the finally obtained second rotation angle as the maximum rotation angle for the vehicle to rotate around the axis of the target wheel in the parking-out trajectory.

[0144] It should be noted that the first preset step size and the second preset step size can be the same or different.

[0145] Exemplarily, the target parking space is at the right rear of the vehicle. Refer to Figure 8 , let the second preset step size be angel_step2, let the second rotation angle be angel_max, let the rotation end point after the vehicle rotates by the second rotation angle around the axis of the target wheel starting from the rotation starting point be vot_point2, initialize angel_min = 60°, and the second preset step size angel_step2 = 2%.

[0146] c. Calculate vot_point2 after the vehicle rotates counterclockwise by angel_max around the axis of the target wheel starting from the rotation starting point.

[0147] d. Determine whether the vehicle contour crosses the safety parking space limit when the vehicle is at vot_point2, that is, whether there is a risk of collision after the vehicle rotates counterclockwise by angel_max around the axis of the target wheel starting from the rotation starting point. If so, let angel_max += angel_step2 and return to execute step c. If not, let angel_max -= angel_step2 and use the current angel_max as the maximum rotation angle.

[0148] In an alternative embodiment, as Figure 9a shown, when the target parking space is in front of the right side of the vehicle, the target wheel is the left front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or,

[0149] as Figure 9b shown, when the target parking space is at the right rear of the vehicle, the target wheel is the left rear wheel of the vehicle, and correspondingly, the target parking trajectory is a tail-in parking trajectory; or,

[0150] as Figure 9c shown, when the target parking space is in front of the left side of the vehicle, the target wheel is the right front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or,

[0151] asFigure 9d As shown, when the target parking space is located at the left rear of the vehicle, the target wheel is the right rear wheel of the vehicle. Correspondingly, the target parking trajectory is the tail-in parking trajectory.

[0152] Exemplarily, as Figure 9a shown, when the target parking space is located at the right front of the vehicle, the corresponding head-in parking trajectory is as follows: the vehicle first turns right and drives into the target parking space, then rotates around the axis of the left front wheel of the vehicle until the vehicle body is parallel to the long side of the target parking space, and finally moves forward or backward to adjust so that the vehicle is located in the middle position of the target parking space. As Figure 9b shown, when the target parking space is located at the right rear of the vehicle, the corresponding tail-in parking trajectory is as follows: the vehicle first reverses and turns right to drive into the parking space, then rotates around the axis of the left rear wheel of the vehicle until the vehicle body is parallel to the long side of the target parking space, and finally moves forward or backward to adjust so that the vehicle is located in the middle position of the target parking space. As Figure 9c shown, when the target parking space is located at the left front of the vehicle, the corresponding head-in parking trajectory is as follows: the vehicle first turns left and drives into the target parking space, then rotates around the axis of the right front wheel of the vehicle until the vehicle body is parallel to the long side of the target parking space, and finally moves forward or backward to adjust so that the vehicle is located in the middle position of the target parking space. As Figure 9d shown, when the target parking space is located at the left rear of the vehicle, the corresponding tail-in parking trajectory is as follows: the vehicle first reverses and turns left to drive into the parking space, then rotates around the axis of the right rear wheel of the vehicle until the vehicle body is parallel to the long side of the target parking space, and finally moves forward or backward to adjust so that the vehicle is located in the middle position of the target parking space.

[0153] In the embodiments of the present disclosure, the head-in parking trajectory or the tail-in parking trajectory can be planned according to the positional relationship between the target parking space and the vehicle, so that the vehicle can park with the head in or the tail in, realizing head-in parking in the scenario of the end road of the side parking space, while conventional parking cannot achieve head-in parking in the scenario of the end road of the side parking space.

[0154] The embodiments of the present disclosure also provide a controller, as Figure 10 shown, the controller includes:

[0155] A storage device 801, in which a computer program is stored;

[0156] A control device 802, which is used to execute the computer program to implement any of the above parking trajectory planning methods.

[0157] In an embodiment of the present disclosure, a target parking trajectory of the vehicle from an initial parking point to a target parking point is determined based on the initial parking point, the target parking point, and the rotation starting point of the vehicle with respect to the target parking space. Among them, the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of rotating around the target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point. Thus, the target parking trajectory can be planned through the single-wheel rotation function of the vehicle, so that when the vehicle parks according to the target parking trajectory, the vehicle can be parked in a narrow parking space in one go, avoiding multiple maneuvers of straightening the wheels. Furthermore, the parking time of the vehicle can be reduced, and the parking efficiency can be improved.

[0158] An embodiment of the present disclosure also provides a vehicle, which includes the above-mentioned controller.

[0159] In a feasible embodiment, the vehicle includes four motors, and each motor drives a wheel correspondingly.

[0160] In an embodiment of the present disclosure, a target parking trajectory of the vehicle from an initial parking point to a target parking point is determined based on the initial parking point, the target parking point, and the rotation starting point of the vehicle with respect to the target parking space. Among them, the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of rotating around the target wheel in the parking-out trajectory of the vehicle from the target parking point to the initial parking point. Thus, the target parking trajectory can be planned through the single-wheel rotation function of the vehicle, so that when the vehicle parks according to the target parking trajectory, the vehicle can be parked in a narrow parking space in one go, reducing the number of maneuvers of straightening the wheels. Furthermore, the parking time of the vehicle can be reduced, and the parking efficiency can be improved.

[0161] Figure 11 FIG. is a block diagram of a vehicle 900 shown according to an exemplary embodiment. For example, the vehicle 900 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 900 can be an autonomous vehicle or a semi-autonomous vehicle.

[0162] Refer to Figure 11 , the vehicle 900 may include various subsystems. For example, an infotainment system 910, a perception system 920, a decision control system 930, a drive system 940, and a computing platform 950. Among them, the vehicle 900 may further include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 900 can be interconnected by wired or wireless means.

[0163] In some embodiments, the infotainment system 910 may include a communication system, an entertainment system, a navigation system, etc.

[0164] The perception system 920 may include several types of sensors for sensing information about the environment around the vehicle 900. For example, the perception system 920 may include a Global Positioning System (which may be a GPS system, or a Beidou system, or other positioning systems), an Inertial Measurement Unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0165] The decision-making and control system 930 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0166] The drive system 940 may include components that provide motive power for the vehicle 900. In one embodiment, the drive system 940 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting the energy provided by the energy source into mechanical energy.

[0167] Some or all functions of the vehicle 900 are controlled by the computing platform 950. The computing platform 950 may include at least one processor 951 and a memory 952, and the processor 951 may execute instructions 953 stored in the memory 952.

[0168] The processor 951 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0169] The memory 952 may 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.

[0170] In addition to the instructions 953, the memory 952 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 952 can be used by the computing platform 950.

[0171] In an embodiment of the present disclosure, the processor 951 may execute the instruction 953 to complete all or part of the steps of the above parking trajectory planning method.

[0172] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions. When the program instructions are executed by a processor, the steps of the above parking trajectory planning method are implemented. For example, the computer-readable storage medium may be the memory 952 including the program instructions above. The above program instructions may be executed by the processor 951 of the vehicle 900 to complete the above parking trajectory planning method. In another exemplary embodiment, there is also provided a computer program product. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code part for executing the above autonomous driving method when executed by the programmable device.

[0173] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0174] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure does not separately describe various possible combination methods.

[0175] In addition, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A parking trajectory planning method, characterized in that, The method includes: Determine an initial parking point, a target parking point, and a rotation starting point for the vehicle to a target parking space, where the vehicle has a single-wheel rotation function, and the rotation starting point is the starting point of the vehicle rotating around the target wheel in the parking-out trajectory from the target parking point to the initial parking point; Determine a target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation starting point.

2. The parking trajectory planning method according to claim 1, wherein The determining the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the initial parking point, the target parking point, and the rotation starting point includes: Determine a first trajectory according to the target parking point and the rotation starting point, and determine a second trajectory according to the rotation starting point and the initial parking point; Obtain the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the first trajectory and the second trajectory.

3. The parking trajectory planning method according to claim 2, wherein The determining the first trajectory according to the target parking point and the rotation starting point, and determining the second trajectory according to the rotation starting point and the initial parking point includes: Determine a first trajectory from the target parking point to the rotation starting point, and determine a second trajectory from the rotation starting point to the initial parking point; The obtaining the target parking trajectory of the vehicle from the initial parking point to the target parking point according to the first trajectory and the second trajectory includes: Stitch the first trajectory and the second trajectory to obtain an initial parking trajectory from the target parking point to the initial parking point, and reverse the initial parking trajectory to obtain the target parking trajectory of the vehicle from the initial parking point to the target parking point.

4. The parking trajectory planning method according to claim 2, wherein, The determining the second trajectory according to the rotation starting point and the initial parking point includes: Determine a minimum rotation angle and a maximum rotation angle for the vehicle to rotate around the axis of the target wheel in the parking-out trajectory, and determine a target rotation end point according to a first rotation end point after the vehicle rotates by the minimum rotation angle and a second rotation end point after the vehicle rotates by the maximum rotation angle; Determine a single-wheel rotation trajectory from the rotation starting point to the target rotation end point, and an out-of-parking-space parking trajectory from the target rotation end point to the initial parking point; Stitch the single-wheel rotation trajectory and the out-of-parking-space parking trajectory into a second trajectory from the rotation starting point to the initial parking point.

5. The parking trajectory planning method according to claim 4, wherein The determining the target rotation end point according to the first rotation end point after the vehicle rotates by the minimum rotation angle and the second rotation end point after the vehicle rotates by the maximum rotation angle includes: Sample between the first rotation end point after the vehicle rotates by the minimum rotation angle and the second rotation end point after the vehicle rotates by the maximum rotation angle to obtain a plurality of sampling points; For each of the sampling points, a first candidate trajectory from the sampling point to the rotation starting point is determined by different trajectory planning algorithms. According to the trajectory cost of each first candidate trajectory, a target candidate trajectory is determined, and the sampling point corresponding to the target candidate trajectory is used as the target rotation end point; Correspondingly, the out-of-library parking trajectory is the target candidate trajectory.

6. The parking trajectory planning method according to claim 5, wherein, The trajectory cost of the first candidate trajectory is determined by at least one of the trajectory length of the first candidate trajectory, the single-wheel rotation angle of the vehicle in the first candidate trajectory, the collision risk value of the vehicle in the first candidate trajectory, and the number of gear shifts of the vehicle in the first candidate trajectory.

7. The parking trajectory planning method according to claim 5, wherein The determining a target candidate trajectory according to the trajectory cost of each first candidate trajectory includes: When there is no collision risk between the vehicle in the first candidate trajectory and the surrounding obstacles, a target candidate trajectory is determined according to the trajectory cost of each first candidate trajectory; The method further includes: When there is a collision risk between the vehicle in the first candidate trajectory and the surrounding obstacles, second candidate trajectories from each sampling point to the initial parking point are sequentially determined by a trajectory search method until there is no collision risk between the vehicle in the obtained second candidate trajectory and the surrounding obstacles; The finally obtained second candidate trajectory is determined as the target candidate trajectory.

8. The parking trajectory planning method according to any one of claims 4-7, characterized in that, The minimum rotation angle is greater than a first preset angle, and there is no collision risk between the vehicle and the obstacles around the target parking space during the process of driving straight out of the target parking space along the first rotation end point corresponding to the minimum rotation angle; The maximum rotation angle is less than a second preset angle, and there is no collision risk between the vehicle and the obstacles outside the target parking space during the process of the vehicle rotating along the maximum rotation angle.

9. The parking trajectory planning method according to any one of claims 4-7, characterized in that The determining the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory includes: Determine an initial first rotation angle, and repeatedly execute the following steps: determine the initial rotation end point after the vehicle rotates the first rotation angle around the axis of the target wheel with the rotation starting point, determine the straight-line trajectory between the initial rotation end point and the target rear axle center point of the vehicle. When there is a collision risk for the vehicle in the straight-line trajectory, increase the first rotation angle by a first preset step length to obtain a new first rotation angle until there is no collision risk for the vehicle in the obtained straight-line trajectory, where the target rear axle center point is located in the part of the vehicle outside the target parking space and is at a preset distance from the initial rotation end point in the target direction, and the target direction is parallel to the short side of the target parking space; The finally obtained first rotation angle is determined as the minimum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory.

10. The parking trajectory planning method according to any one of claims 4-7, characterized in that, The determining the maximum rotation angle of the vehicle rotating around the axis of the target wheel in the parking-out trajectory includes Determine an initial second rotation angle, and loop through the following steps: Determine whether there is a collision risk when the vehicle rotates by the second rotation angle around the axis of the target wheel starting from the rotation starting point. When there is no collision risk for the vehicle, increase the second rotation angle by a second preset step length to obtain a new second rotation angle until there is a collision risk for the vehicle; Determine the rotation angle obtained by subtracting the second preset step length from the finally obtained second rotation angle as the maximum rotation angle for the vehicle to rotate around the axis of the target wheel in the parking-out trajectory.

11. The parking trajectory planning method according to any one of claims 1-7, characterized in that When the target parking space is located in the front right of the vehicle, the target wheel is the left front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or, When the target parking space is located in the rear right of the vehicle, the target wheel is the left rear wheel of the vehicle, and correspondingly, the target parking trajectory is a tail-in parking trajectory; or, When the target parking space is located in the front left of the vehicle, the target wheel is the right front wheel of the vehicle, and correspondingly, the target parking trajectory is a head-in parking trajectory; or, When the target parking space is located in the rear left of the vehicle, the target wheel is the right rear wheel of the vehicle, and correspondingly, the target parking trajectory is a tail-in parking trajectory.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by a processor, the computer program implements the parking trajectory planning method according to any one of claims 1-11.

13. A controller, characterized in that, Comprising: A storage device in which a computer program is stored; A control device for executing the computer program to implement the parking trajectory planning method according to any one of claims 1-11.

14. A vehicle, characterized in that, The vehicle includes the controller according to claim 13.

15. The vehicle according to claim 14, characterized in that, The vehicle includes four motors, and each motor drives one wheel correspondingly.

Images