Relay point determination for parking path planning, parking path planning method and device

Abstract

The application relates to a relay point determination method and device for parking path planning and a parking path planning method and device. The relay point determination method comprises the following steps: determining the center of a one-step parking path of a vehicle when the vehicle parks with a minimum turning radius; determining a critical channel width and a maximum turning angle of the vehicle; sampling a sampling point as a one-step relay point in the angle range of a preset minimum turning angle and the maximum turning angle and in the range of the distance from the center of the one-step parking path to the minimum turning radius; determining two-step relay points on a two-step parking path based on the one-step relay point when the parking channel width is smaller than the critical channel width; and taking the one-step relay point and the two-step relay point as relay points for first side parking and taking the relay points as relay points for parking path planning. Thus, invalid calculation can be effectively avoided, efficiency is improved, and calculation resources are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking path planning, in particular to a relay point determination for parking path planning, a parking path planning method and device. BACKGROUND

[0002] In the prior art, the relay point is usually selected by uniformly sampling the position and angle, specifically, uniformly sampling from the x direction, y direction and angle direction, i.e., three dimensions.

[0003] However, the above-mentioned relay point selection method will cause a lot of invalid relay point calculation, which will waste computing resources. SUMMARY

[0004] The present application provides a relay point determination for parking path planning, a parking path planning method and device, which can effectively avoid invalid calculation, improve efficiency and save computing resources.

[0005] In a first aspect, the present application provides a relay point determination method for parking path planning, comprising:

[0006] determining the center of a one-step parking path of a vehicle when the vehicle parks with the minimum turning radius;

[0007] determining the critical lane width and the maximum steering angle of the vehicle parking;

[0008] sampling within the angle range of the preset minimum steering angle and the maximum steering angle and within the range of the distance from the center of the one-step parking path to the minimum turning radius to determine a sampling point as a one-step relay point;

[0009] determining a two-step relay point on a two-step parking path based on the one-step relay point when the parking lane width is less than the critical lane width;

[0010] taking the one-step relay point and the two-step relay point as the relay points for one-side parking, and taking the relay points as the relay points for parking path planning.

[0011] In a second aspect, the present application provides a parking path planning method based on relay points, comprising:

[0012] determining the relay points for parking path planning based on the method provided in the present application;

[0013] performing parking path planning based on the relay points.

[0014] In a third aspect, the present application provides a relay point determination device for parking path planning, comprising:

[0015] a one-step parking path center determination module configured to determine a one-step parking path center of a one-step parking path of the vehicle when the vehicle parks at a minimum turning radius;

[0016] a critical passage width and maximum turning angle determination module configured to determine a critical passage width and a maximum turning angle of the vehicle parking;

[0017] a one-step relay point determination module configured to sample a sampling point as a one-step relay point within an angle range of a preset minimum turning angle and the maximum turning angle and within a minimum turning radius range from the one-step parking path center;

[0018] a two-step relay point determination module configured to determine a two-step relay point on a two-step parking path based on the one-step relay point;

[0019] a relay point determination module for parking path planning configured to take the one-step relay point and the two-step relay point as a first side parking relay point and take the relay point as a relay point for parking path planning.

[0020] In a fourth aspect, an embodiment of the present application provides a parking path planning device, which comprises the relay point determination device provided in the embodiments of the present application, and further comprises:

[0021] a path planning module configured to perform parking path planning based on the relay point.

[0022] In a fifth aspect, an embodiment of the present application provides an electronic device, which comprises:

[0023] a memory configured to store a computer program;

[0024] a processor configured to execute the computer program stored in the memory, and when the computer program is executed, implement the method provided in the embodiments of the present application.

[0025] In a sixth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, implement the method provided in the embodiments of the present application.

[0026] The above technical solutions provided in the embodiments of the present application have the following advantages compared with the prior art:

[0027] The technical scheme provided by the embodiment of the application determines the center of the one-step parking path when parking with the minimum turning radius and the maximum turning angle, samples in the range of the preset minimum turning angle and the maximum turning angle and the range with the minimum turning radius from the center of the one-step parking path, determines the sampling point as a one-step relay point, and determines two-step relay points on the two-step parking path through the one-step relay point, that is, the point on the one-step parking path is determined as a one-step relay point, the one-step relay point is determined by sampling in the turning angle range on the basis of the distance being the minimum turning radius, that is, the one-step relay point is determined by sampling in only one angle dimension on the basis of the distance being the minimum turning radius, and the point on the two-step parking path is determined as a two-step relay point through the one-step relay point, thereby effectively avoiding the calculation resource consumption of invalid relay points caused by uniform sampling in the x direction dimension, the y direction dimension, and the angle dimension of the position, improving the accuracy, improving the efficiency, and saving the calculation resources. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate one embodiment consistent with the application and, together with the description, serve to explain the principles of the application.

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, brief introductions will be given to the drawings needed to be used in the embodiments or the prior art descriptions. Obviously, for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0030] One or more embodiments are exemplarily illustrated by the pictures in the drawings corresponding to the embodiments, and the exemplarily illustrations do not constitute a limitation on the embodiments, elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified, and the drawings do not constitute a proportional limitation.

[0031] Figure 1 is a schematic diagram of a vertical parking scene

[0032] Figure 2 is a schematic diagram of another vertical parking scene

[0033] Figure 3 is a schematic diagram of a planned parking path when vertical parking

[0034] Figure 4 is a schematic diagram of a planned parking path when vertical parking

[0035] Figure 5 is a schematic diagram of a coordinate system when vertical parking

[0036] Figure 6is a relay point determination method flowchart of a parking path planning provided by an embodiment of the present application;

[0037] Figure 7 is a right side parking process schematic diagram;

[0038] Figure 8 is a right side parking process schematic diagram;

[0039] Figure 9 is a schematic diagram of a critical collision between a left front corner of a vehicle and an upper boundary of a parking passage in a right side parking process;

[0040] Figure 10 is a one-step relay point sampling schematic diagram in a right side parking process;

[0041] Figure 11 is a schematic diagram of determining a two-step relay point in a right side parking process;

[0042] Figure 12 is a relay point determination method flowchart of a parking path planning provided by an embodiment of the present application;

[0043] Figure 13 is a relay point determination method flowchart of a parking path planning provided by an embodiment of the present application;

[0044] Figure 14 is a relay point determination method flowchart of a parking path planning provided by an embodiment of the present application;

[0045] Figure 15 is a method flowchart of a path planning provided by an embodiment of the present application;

[0046] Figure 16 is a method flowchart of a path planning provided by an embodiment of the present application;

[0047] Figure 17 is a relay point determination device structure block diagram of a parking path planning;

[0048] Figure 18 is a device structure block diagram of a path planning provided by an embodiment of the present application;

[0049] Figure 19 is an electronic device structure schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0052] To address the problem that existing parking path planning methods, which use uniform sampling of position and angle to select relay points, consume significant computational resources, this application provides a method and apparatus for determining relay points and planning parking paths. This method effectively avoids unnecessary calculations, improves efficiency, and saves computational resources.

[0053] Figure 1 This is a schematic diagram of a vertical parking scenario. Figure 2 This is a schematic diagram of another perpendicular parking scenario, such as... Figure 1 As shown, the vehicle moves forward from point A to point B, shifts gears, and reverses to point C to complete parking, or as... Figure 2 As shown, the vehicle reverses from point A to point B to shift gears, then moves forward to point C to shift gears again, and finally reverses to point D to complete parking. Figure 1 Point B in Figure 2 Points B and C in the diagram are shift points, referred to as relay points in this application. By determining relay points using the method provided in this application, a parking path can be planned once any relay point is reached. For example... Figure 3 As shown, B1, ..., B n The path to point C is a one-step parking path, meaning that when the vehicle is on this path, it can park in the parking space without shifting gears. Therefore, when the vehicle is in another position, and a path from the current position to the one-step parking path can be planned (including but not limited to arc-straight line, Bézier curve, and other arbitrary curve connections), the vehicle can reach the intermediate point and park in the parking space, such as... Figure 3 The path A-B2-C in the example. Figure 4As shown in the middle, when the current position of the vehicle can not be able to plan to reach the relay point on the one-step parking path (such as the curvature exceeding the maximum curvature of the vehicle turning), the one-step relay point according to the one-step parking in the application can be used to calculate the two-step relay point of the two-step parking. When the vehicle can plan a path from the current position to the two-step relay point (including but not limited to circular-rectilinear, Bezier curve and any curve connection mode), the vehicle can reach the relay point and park in the garage, such as Figure 4 A-B4-C4-D path in the middle.

[0054] It should be noted that in the technical solution of the present application, the target parking point in the parking space is taken as the coordinate origin to establish an xoy coordinate system, as shown in Figure 5 The rectangular frame abcd is a vehicle collision checking frame, and the points in the rectangular frame represent the rear axle center. The four points a, b, c, and d represent the left front, left rear, right rear, and right front corner points of the vehicle, respectively. f and l r are the distances from the rear axle center to the front suspension and the rear suspension, respectively, w car is the width of the vehicle. A, B, C, and D represent the four corner points perpendicular to the parking space and the position coordinates are known (which can be calculated in advance by external detection means), l slot and w slot are the length and width of the parking space, respectively; h slot is the width of the parking channel.

[0055] Figure 6 is a relay point determination method flowchart of a parking path planning provided by an embodiment of the present application. The method can be applied to the determination of the relay point of the vertical parking path planning. It should be noted that the parking path is reversible, that is, the vehicle can drive in reverse along the parking-out path to complete parking in the parking space. The method provided by the embodiment of the present application can be calculated from the parking space and then reversed along the parking-out path.

[0056] As shown in Figure 6 , the method comprises the following steps:

[0057] Step 101: determining the center of the one-step parking path when the vehicle parks with the minimum turning radius.

[0058] Specifically, the one-step parking path of the vehicle adopts the form of circular-rectilinear splicing curve, and the vehicle parks with the minimum turning radius without collision. Due to the reversibility of the parking path, the parking-out case is taken as an example for description. For example, referring to Figure 7 , the vehicle parks out to the right with the minimum turning radius R, and the center is c1 point. The collision danger point is the first parking space corner point ( Figure 7Point D0 in the diagram refers to the point where the vehicle just touches point D0 at the moment of a critical collision; the first parking space corner point (D0 point) is the corner point at the entrance / exit of the parking space, and is close to the inside of the vehicle's turn; where, for example Figure 7 As shown, when a vehicle parks on its right side, the right side of the vehicle is the inside of the turning area.

[0059] The minimum turning radius is the turning radius corresponding to the maximum steering wheel angle, such as... Figure 7 As shown, the center of the circle (point c1) can be calculated using geometric relationships. The location of point D0 can be determined using external vehicle detection methods, such as analyzing images captured by external cameras.

[0060] Step 102: Determine the critical lane width and maximum steering angle for parking the vehicle.

[0061] Specifically, the critical lane width for vehicle parking can be determined first. This critical lane width is the minimum width required for a single-step parking maneuver. The maximum turning angle of the vehicle during parking can be determined by the relationship between the actual parking lane width and the critical lane width. The parking lane width refers to the width of the parking lane during the actual parking process. This width can be determined using external detection methods, such as images of the parking lane captured by an external camera, or other external methods.

[0062] For the specific determination of the critical channel width, please refer to... Figure 8 Taking parking on the right as an example, if the width of the parking lane is h slot The lane is narrow, and there is a risk of collision between point a (the outer front corner of the vehicle, or the left front corner when parking from the right) and the upper boundary of the parking lane. The point of collision is point a. ′ Point. For example... Figure 8 As shown, when the front left corner of the vehicle makes a critical collision with the upper boundary of the parking lane, the vehicle can just exit the parking space. Similarly, if parking is attempted from the right, when the front left corner of the vehicle makes a critical collision with the upper boundary of the parking lane, the vehicle can just enter the parking space. In this case, the critical lane width h can be calculated using geometric relationships. slot_min .

[0063] In this embodiment, when the parking lane width is less than the critical lane width, the vehicle cannot park in one step; specifically, the vehicle cannot park out or park in one step. (See reference) Figure 9 Taking parking from the right as an example, when the width of the parking lane is less than the critical lane width, the maximum steering angle θ of the vehicle can be determined through geometric relationships. max .like Figure 8As shown, in the case that the parking channel width is greater than the critical channel width, the vehicle can drive to a position parallel to the parking channel without collision risk, and the maximum turning angle θ max may be a preset angle, which can be

[0064] It should be noted that the above is only an example of determining the maximum turning angle of the vehicle parking, and is limited to the above method. In other embodiments, other calculation methods can also be used to determine the maximum turning angle of the vehicle parking.

[0065] Step 103: Sampling within the angle range of the preset minimum turning angle and the maximum turning angle, and within the range of the distance from the center of the one-step parking path to the minimum turning radius, to determine the sampling point as a one-step relay point.

[0066] In the technical scheme provided in the embodiments of the present application, the distance from the sampling point to the center of the one-step parking path is the minimum turning radius. In the case that the distance from the center of the one-step parking path is the minimum turning radius, sampling is performed at different turning angle values within the angle range of the preset minimum turning angle and the maximum turning angle, and the sampling point is used as a one-step relay point. Since the vehicle parks at the minimum turning radius, the path is the one-step parking path, and therefore the sampling point is a point on the one-step parking path.

[0067] Reference Figure 10 is taken as an example, in the case that the distance from the center of the one-step parking path is the minimum turning radius, sampling is performed at different turning angles θ i to obtain a one-step relay point. The position and heading angle of the relay point can be calculated through geometric relationships. Wherein, θ i ∈(θ min ,θ max ), wherein θ min is a preset minimum turning angle, which can be valued according to experience, for example, can be or , etc.

[0068] Step 104: In the case that the parking channel width is less than the critical channel width, determining two-step relay points on the two-step parking path based on the one-step relay point.

[0069] In the case that the parking channel width is greater than the critical channel width, the vehicle can park in one step, i.e. the vehicle can park out or park in, and only needs to determine a one-step relay point; in the case that the parking channel width is less than the critical channel width, the vehicle cannot park in one step, and therefore two-step relay points need to be determined.

[0070] The two-step relay point can be implemented by reversing the steering wheel of the one-step relay point, simulating driving along the one-step relay point at a minimum turning radius until the vehicle collides with the second parking angle point, the current pose of the vehicle being the two-step relay point, and the path of the simulation driving being a two-step parking path, the two-step parking path being opposite in bending direction to the one-step parking path. The second parking angle point is another parking angle point at the entrance of the parking space, i.e., the second parking angle point is at the entrance of the parking space and opposite to the first parking angle point. Alternatively, a circular arc path can be planned at the one-step relay point as a starting point at a minimum turning radius until the vehicle collides with the second parking angle point; the bending direction of the circular arc path is opposite to the bending direction of the one-step parking path.

[0071] Reference Figure 11 Taking right-side parking out as an example, the position of the one-step relay point p i is taken as a starting point, the steering angle is θ, and the vehicle is simulated to drive at a minimum turning radius until the vehicle collides with the second parking angle point A0. A segment of a circular arc path is turned, and the pose of the vehicle at this time is the two-step relay point p j . The center of the circular arc path is the center of the two-step parking path, and the circular arc path is the two-step parking path. The pose of the two-step relay point can be calculated through geometric relationships, and the position of the second parking angle point can be obtained through external detection means, which can be the same as the method of obtaining the position of the first parking angle point. Thus, the one-step relay point and the two-step relay point correspond to each other.

[0072] Step 105: taking the one-step relay point and the two-step relay point as the relay points of the first side parking, and taking the relay points as the relay points of the parking path planning.

[0073] In an embodiment, the first side parking can be left-side parking or right-side parking. Optionally, the relay points of the first side parking can be taken as the relay points of the parking path planning, and subsequent parking path planning can be performed through the relay points.

[0074] In an embodiment, the vehicle can determine whether to park on the left side or the right side in advance, which can be determined through external detection methods, such as detecting the position of the parking space through images, determining whether to park on the left side or the right side through the position of the parking space and the current position of the vehicle, and then determining the relay points of the left-side parking or the right-side parking to perform subsequent parking path planning.

[0075] The technical scheme provided by the embodiments of the present application determines the center of the one-step parking path when parking with the minimum turning radius, samples in the range of the preset minimum turning angle and maximum turning angle and the range with the minimum turning radius from the center of the one-step parking path, determines the sampling point as a one-step relay point, and determines the two-step relay point on the two-step parking path through the one-step relay point; that is, the point on the one-step parking path is determined as a one-step relay point, the one-step relay point is determined by sampling in the turning angle range on the basis of the distance being the minimum turning radius, that is, the one-step relay point is determined by sampling in only one angle dimension on the basis of the distance being the minimum turning radius, and the point on the two-step parking path is determined as a two-step relay point through the one-step relay point, thereby effectively avoiding the calculation resource consumption of invalid relay points caused by uniform sampling in the x direction dimension, the y direction dimension and the angle dimension of the position, improving the accuracy, improving the efficiency and saving the calculation resources.

[0076] Figure 12 is a relay point determination method flowchart of a parking path planning provided by the embodiments of the present application, in Figure 6 The steps 101, 102 and 104 are limited on the basis of the flowchart shown in the figure.

[0077] As shown in Figure 12 The method comprises the following steps:

[0078] Step 201: determining the center of a one-step parking path when a vehicle parks with the minimum turning radius.

[0079] As an optional implementation, the center of the one-step parking path is determined based on the following formula:

[0080]

[0081] wherein R is the minimum turning radius; and are the horizontal coordinate and the vertical coordinate of the center of the one-step parking path in the coordinate system with the target parking point in the parking space as the coordinate origin; w car is the vehicle width; w slot is the width of the parking space; is the vertical coordinate of the first parking angle point in the coordinate system with the target parking point in the parking space as the coordinate origin. Refer to Figure 7 For example, the vehicle parks out to the right with the minimum turning radius R, the center is the c1 point, the collision danger point is the first parking angle point, the D0 point, and the vehicle just contacts the D0 point at the critical collision, and the coordinates of the center of the one-step parking path can be calculated through the above formula (1).

[0082] Step 202: Determine the critical lane width for one-step parking based on the center of the one-step parking path, the first parking space corner point, and the target distance; wherein, the target distance is the distance from the outer front corner of the vehicle to the center of the one-step parking path when a critical collision occurs between the outer front corner of the vehicle and the upper boundary of the parking lane; the first parking space corner point is the parking space entrance / exit point, and the parking space corner point close to the inner side of the vehicle's turn.

[0083] As an optional implementation, determining the critical lane width for one-step parking based on the center of the one-step parking path, the corner point of the first parking space, and the target distance includes:

[0084] The critical lane width for one-step parking is determined based on the following formula:

[0085]

[0086] Among them, h slot_min R is the critical channel width; a It is the target distance; l f The distance from the center of the rear axle to the front overhang; w car The width of the vehicle is given.

[0087] refer to Figure 8 To illustrate, taking parking on the right as an example, if the width of the parking lane is h... slot The lane is narrow, and there is a risk of collision between point a (the outer front corner of the vehicle, or the left front corner when parking from the right) and the upper boundary of the parking lane. The point of collision is point a. ′ Point. For example... Figure 8 As shown, when the front left corner of the vehicle is about to collide with the upper boundary of the parking lane, the vehicle can just park. The critical lane width for one-step parking can be calculated by using geometric relationships and the above formula (2).

[0088] Step 203: If the width of the parking lane is greater than or equal to the critical lane width, the preset angle is used as the maximum turning angle for parking.

[0089] Step 204: If the width of the parking lane is less than the critical lane width, determine the maximum steering angle for parking based on the parking lane width, the distance from the rear axle center to the front overhang, the first parking space corner point, the center of the one-step parking path, and the target distance.

[0090] As an optional implementation, if the parking channel width is greater than or equal to the critical channel width, a preset angle is taken as the maximum steering angle of parking; if the parking channel width is less than the critical channel width, the maximum steering angle of parking is determined based on the parking channel width, the distance from the center of the rear axle of the vehicle to the front suspension, the first parking angle point, the center of the one-step parking path and the target distance, including:

[0091] The maximum steering angle is determined based on the following formula:

[0092]

[0093] wherein, h slot is the parking channel width; θ max is the maximum steering angle.

[0094] Reference is made to Figure 9 , taken as an example of right side parking out, in the case where the parking channel width h slot is less than the critical channel width h slot_min , the maximum steering angle θ max of the vehicle parking can be determined by the above formula (3). As shown in Figure 8 , in the case where the parking channel width h slot is greater than the critical channel width h slot_min , the vehicle can travel to a position parallel to the parking channel without collision risk, and the maximum steering angle θ max of the vehicle parking can be

[0095] Step 205: sampling points are determined as one-step relay points within the angle range of the preset minimum steering angle and the maximum steering angle, and within the range of the distance from the center of the one-step parking path being the minimum turning radius.

[0096] As an optional implementation, the sampling points are determined as one-step relay points within the angle range of the preset minimum steering angle and the maximum steering angle, and within the range of the distance from the center of the one-step parking path being the minimum turning radius, including:

[0097] The one-step relay point is determined based on the following formula:

[0098]

[0099] wherein, and are the horizontal coordinate, vertical coordinate and heading angle of the one-step relay point in the coordinate system with the target parking point in the parking space as the coordinate origin; θ i ∈(θmin , θ max ), i = 1, 2, 3, … n; wherein, θ min is the preset minimum steering angle.

[0100] Reference Figure 10 is taken as an example, in the case of minimum turning path with the distance from the one-step parking path to the center of the circle, sampling is performed at different steering angles θ i , and the obtained sampling points are one-step relay points. The position and heading angle of the one-step relay points can be calculated by the above formula (4). As can be seen from the above formula (4), the calculation of the position and heading angle of the one-step relay points has a variable θ i , and other quantities can be obtained by calculation, that is, by the above formula (4), the determination of the one-step relay points can only be sampled in one angle dimension, without sampling in the x direction and y direction, so as to avoid the calculation of invalid relay points, save calculation resources, and improve efficiency.

[0101] Step 206: In the case where the parking channel width is less than the critical channel width, taking the one-step relay point as the starting point and simulating driving with the minimum turning radius until the vehicle and the second parking corner point have a critical collision, the current pose of the vehicle is determined as a two-step relay point; wherein, the second parking corner point is another parking corner point at the entrance of the parking space; the simulated driving path is a two-step parking path, and the bending direction of the two-step parking path is opposite to that of the one-step parking path.

[0102] As an optional implementation, the taking the one-step relay point as the starting point and simulating driving with the minimum turning radius until the vehicle and the second parking corner point have a critical collision to determine the current pose of the vehicle as a two-step relay point comprises:

[0103] The two-step relay point is determined based on the following formula:

[0104]

[0105] wherein, θ is the angle turned by simulating driving with the minimum turning radius from the one-step relay point;

[0106] and are the horizontal coordinate, vertical coordinate and heading angle of the two-step relay point in the coordinate system with the target parking point in the parking space as the coordinate origin, respectively;

[0107] and respectively are the horizontal coordinate and the vertical coordinate of the one-step relay point in the coordinate system with the target parking point in the parking space as the coordinate origin; and is the heading angle of the one-step relay point;

[0108] and respectively are the horizontal coordinate and the vertical coordinate of the second parking space corner point in the coordinate system with the target parking point in the parking space as the coordinate origin; R is the minimum turning radius.

[0109] Reference Figure 11 is described, taking the right side parking out as an example, taking the position of the one-step relay point p i as the starting point, driving in the minimum turning radius simulation, the steering angle θ, until the vehicle and the second parking space corner point (A0 point) have a critical collision, turning a circular arc path, at this time the pose of the vehicle is the two-step relay point p j ; the circular arc path is the simulation driving path, the simulation driving path is the two-step parking path, and the position and the heading angle of the two-step relay point can be calculated through the above formula (5). It can be known from the above formula (5) that the two-step relay point corresponds to the one-step relay point one by one, and it can be known from the above formula (5) that after the one-step relay point is determined, the position and the heading angle of the two-step relay point can be calculated through the position and the heading angle of the one-step relay point and other known quantities. In the process of calculating the two-step relay point, reference Figure 11 is selected as the two-step relay point when the vehicle and the second parking space corner point (A0 point) have a critical collision, instead of selecting the point between p i and p j as the two-step relay point, so that the one-step relay point corresponds to one two-step relay point, which can reduce the calculation of the number of two-step relay points and save the calculation resources.

[0110] Step 207: taking the one-step relay point and the two-step relay point as the relay point of the first side parking, and taking the relay point as the relay point of the parking path planning.

[0111] The introduction of step 207 can refer to the introduction of the above-mentioned embodiments, and will not be repeated.

[0112] The technical scheme provided by the embodiments of the present application takes the points on the one-step parking path and the two-step parking path as the relay point of the parking path planning, avoids the calculation resource consumption of the invalid relay point of uniform position and angle sampling, improves the accuracy, saves the calculation resources; and in the embodiments of the present application, the relay point is determined through the driving of the vehicle in the minimum turning radius, the one-step parking path is the shortest path, which can adapt to the narrow parking space, improves the reliability of the algorithm, the number of relay points is small and accurate, and the calculation real-time performance is high.

[0113] Figure 13is a relay point determination method flowchart of a parking path planning provided by the embodiment of the present application, and is based on the flowchart shown in Figure 6 On the basis of the flow shown in Figure 13 The method comprises the following steps:

[0114] Step 301: determining the center of a one-step parking path when a vehicle parks with a minimum turning radius.

[0115] Step 302: determining a critical lane width and a maximum steering angle of the vehicle.

[0116] Step 303: sampling a sampling point as a one-step relay point in an angle range of a preset minimum steering angle and the maximum steering angle and a range of a distance of the minimum turning radius from the center of the one-step parking path.

[0117] Step 304: determining two-step relay points on a two-step parking path based on the one-step relay point in a case where a parking lane width is less than the critical lane width.

[0118] Step 305: taking the one-step relay point and the two-step relay point as relay points of a first side parking, and performing symmetric operation on the relay points of the first side parking to obtain relay points of a second side parking.

[0119] In the embodiment, the steps 301-304 can refer to the introduction of the above-mentioned embodiments, and will not be described repeatedly.

[0120] In an embodiment, if the first side parking is a left side parking, the second side parking is a right side parking; if the first side parking is a right side parking, the second side parking is a left side parking. In a case where the vehicle does not judge the left side parking or the right side parking in advance, the relay points of the first side parking and the relay points of the second side parking need to be determined, and all the relay points are used for parking path planning subsequently. Therefore, after the relay points of the first side parking are determined, the relay points of the second side parking also need to be determined.

[0121] As an optional implementation, the symmetric operation on the relay points of the first side parking to obtain the relay points of the second side parking comprises:

[0122] The relay points of the second side parking are determined based on the following formula:

[0123]

[0124] wherein, M sym = (-1, 1, -1) T , N sym = (0, 0, π)

[0125] pi’ and p j’ are respectively one-step relay point and two-step relay point of the second side parking; p i and p j are respectively one-step relay point and two-step relay point of the first side parking. When calculated by the above formula (6), the position and the heading angle of the relay point of the first side parking can be brought into the right side of the formula, so as to obtain the position and the heading angle of the relay point of the second side parking.

[0126] Step 306: taking the relay point as the relay point of the parking path planning.

[0127] In the embodiment, the relay point of the first side parking and the relay point of the second side parking are stored, and all the relay points are taken as the relay points of the parking path planning.

[0128] Therefore, by adding the step of determining the relay point of the second side parking, and taking the relay point of the first side parking and the relay point of the second side parking as the relay points of the parking path planning, all the relay points of the two sides can be taken as the relay points of the parking path planning without judging which side parking in advance, which can effectively avoid the situation that the judgment of which side parking is inaccurate or not easy to judge.

[0129] Figure 14 is a flow chart of a relay point determination method of a parking path planning provided by the embodiment of the application, and Figure 12 on the basis of the flow shown in the figure, the step of determining the relay point of the second side parking is added.

[0130] As shown in the figure, Figure 14 the method comprises the following steps:

[0131] Step 401: determining the center of a one-step parking path when a vehicle parks with a minimum turning radius.

[0132] Step 402: determining a critical channel width of one-step parking based on the center of the one-step parking path, a first parking angle point and a target distance; wherein the target distance is the distance from the front corner of the vehicle to the center of the one-step parking path when the front corner of the vehicle outside the vehicle collides with the upper boundary of the parking channel; and the first parking angle point is the parking angle point near the turning inside of the vehicle at the entrance and exit of the parking space.

[0133] Step 403: if the parking channel width is greater than or equal to the critical channel width, taking a preset angle as the maximum turning angle of parking.

[0134] Step 404: If the parking passage width is less than the critical passage width, determining a maximum steering angle of parking based on the parking passage width, a distance from a center of a rear axle of the vehicle to a front suspension, the first parking angle point, a center of the one-step parking path, and the target distance.

[0135] Step 405: Sampling a sampling point as a one-step relay point in an angle range of a preset minimum steering angle and the maximum steering angle, and in a range of a minimum turning radius from the center of the one-step parking path.

[0136] Step 406: In the case that the parking passage width is less than the critical passage width, determining a current pose of the vehicle as a two-step relay point by simulating driving from the one-step relay point and with the minimum turning radius until a critical collision occurs between the vehicle and a second parking angle point, wherein the second parking angle point is another parking angle point at an entrance of the parking space, and a driving path of the simulation is a two-step driving path, and a bending direction of the two-step driving path is opposite to a bending direction of the one-step parking path.

[0137] Step 407: Taking the one-step relay point and the two-step relay point as relay points of first side parking, and obtaining relay points of second side parking by symmetric operation on the relay points of the first side parking.

[0138] Step 408: Taking the relay points as relay points of parking path planning.

[0139] The steps in the embodiment can refer to the descriptions of the corresponding steps in the above embodiments, and will not be repeated.

[0140] Figure 15 is a method flowchart of path planning provided by the embodiment, and the method determines relay points by the method provided by the embodiment, as shown in Figure 15 The method comprises the following steps:

[0141] Step 501: Determining a center of a one-step parking path when the vehicle parks with a minimum turning radius.

[0142] Step 502: Determining a critical passage width and a maximum steering angle of parking of the vehicle.

[0143] Step 503: Sampling a sampling point as a one-step relay point in an angle range of a preset minimum steering angle and the maximum steering angle, and in a range of the minimum turning radius from the center of the one-step parking path.

[0144] Step 504: Determining a two-step relay point on a two-step parking path based on the one-step relay point in the case that the parking passage width is less than the critical passage width.

[0145] Step 505: taking the one-step relay point and the two-step relay point as the relay points of the first side parking, and taking the relay points as the relay points of the parking path planning.

[0146] Step 506: performing parking path planning based on the relay points.

[0147] As an optional implementation, the parking path planning based on the relay points comprises: traversing the relay points and selecting a target relay point; planning a target parking path from the current pose of the vehicle to the target relay point; if the target relay point is a one-step relay point, planning a one-step parking path from the target relay point to a target parking point in the parking space, and forming a final parking path from the target parking path and the corresponding one-step parking path; if the target relay point is a two-step relay point, planning a two-step parking path from the target relay point to a corresponding one-step relay point, and planning a one-step parking path from the corresponding one-step relay point of the target relay point to the target parking point in the parking space, and forming a final parking path from the target parking path, the corresponding two-step parking path, and the corresponding one-step parking path.

[0148] Specifically, all the relay points can be traversed in sequence, and a feasible relay point can be selected as the target relay point. The method for planning the target parking path can be in the form of a circular arc-curve in the prior art, or in the form of a Bezier curve, etc. For the one-step parking path corresponding to the target relay point, if the target relay point is a one-step relay point, the one-step parking path can be planned through the position and heading angle of the target relay point, and the position of the target parking point in the parking space. For the two-step parking path corresponding to the target relay point, if the target relay point is a two-step relay point, the two-step parking path can be planned through the position and heading angle of the target relay point, and the position and heading angle of the corresponding one-step relay point.

[0149] The technical scheme provided by the embodiments of the present application takes the points on the one-step parking path as the one-step relay points, which is based on determining the distance as the minimum turning radius, and sampling in the turning angle range to determine the one-step relay points, i.e. sampling in only one angle dimension based on determining the distance as the minimum turning radius. The points on the two-step parking path are determined as the two-step relay points through the one-step relay points. Thus, in the determination of the relay points, the calculation resource consumption of the invalid relay points caused by uniform sampling in the x direction and y direction of the position, and the angle dimension is effectively avoided, the accuracy and efficiency are improved, and the calculation resource is saved. Since the calculation of the invalid relay points is avoided, the processing of the invalid relay points in the parking path planning is avoided, and the calculation resource is saved.

[0150] In a possible embodiment, determining the critical lane width for parking the vehicle comprises:

[0151] determining the critical lane width for one-step parking based on the center of the one-step parking path, the first parking spot corner point, and a target distance; wherein the target distance is the distance from the front corner of the vehicle to the center of the one-step parking path when the front corner of the vehicle collides with the upper boundary of the parking lane; and the first parking spot corner point is the parking spot corner point close to the inside of the turning of the vehicle at the entrance of the parking spot.

[0152] In a possible embodiment, determining the maximum turning angle for parking the vehicle comprises:

[0153] if the parking lane width is greater than or equal to the critical lane width, setting a preset angle as the maximum turning angle for parking;

[0154] if the parking lane width is less than the critical lane width, determining the maximum turning angle for parking the vehicle based on the parking lane width, the distance from the center of the rear axle of the vehicle to the front overhang, the first parking spot corner point, the center of the one-step parking path, and the target distance.

[0155] In a possible embodiment, determining the two-step relay point on the two-step parking path based on the one-step relay point comprises:

[0156] determining the current pose of the vehicle as the two-step relay point by simulating driving from the one-step relay point with the minimum turning radius until the vehicle collides with the second parking spot corner point; wherein the second parking spot corner point is another parking spot corner point at the entrance of the parking spot; and the driving path is the two-step driving path, and the turning direction of the two-step driving path is opposite to the turning direction of the one-step parking path.

[0157] In a possible embodiment, determining the center of the one-step parking path when the vehicle parks with the minimum turning radius comprises:

[0158] determining the center of the one-step parking path based on the following formula:

[0159]

[0160] wherein R is the minimum turning radius; and are the horizontal coordinate and the vertical coordinate of the center of the one-step parking path in the coordinate system with the target parking point in the parking spot as the coordinate origin, respectively;

[0161] w car is the vehicle width; w slot is the parking spot width; the longitudinal coordinate of the first parking space corner in a coordinate system with the target parking point in the parking space as the coordinate origin.

[0162] In a possible embodiment, the critical passage width of one-step parking is determined based on the center of the one-step parking path, the first parking space corner, and the target distance, and the method comprises:

[0163] The critical passage width of one-step parking is determined based on the following formula:

[0164]

[0165] wherein h slot_min is the critical passage width; R a is the target distance; l f is the distance from the rear axle center of the vehicle to the front suspension; and w car is the vehicle width.

[0166] In a possible embodiment, if the parking passage width is greater than or equal to the critical passage width, a preset angle is taken as the maximum steering angle of parking; if the parking passage width is less than the critical passage width, the maximum steering angle of parking of the vehicle is determined based on the parking passage width, the distance from the rear axle center of the vehicle to the front suspension, the first parking space corner, the center of the one-step parking path, and the target distance, and the method comprises:

[0167] The maximum steering angle is determined based on the following formula:

[0168]

[0169] wherein h slot is the parking passage width; and θ max is the maximum steering angle.

[0170] In a possible embodiment, the one-step relay point is determined by sampling in the angle range from the preset minimum steering angle to the maximum steering angle and in the range with the minimum turning radius from the center of the one-step parking path, and the method comprises:

[0171] The one-step relay point is determined based on the following formula:

[0172]

[0173] wherein x and y are the horizontal coordinate, the longitudinal coordinate, and the heading angle of the one-step relay point in a coordinate system with the target parking point in the parking space as the coordinate origin; and θ i ∈ (θ min , θ max), i = 1, 2, 3, … n; wherein, θ min is the preset minimum turning angle.

[0174] In a possible embodiment, the step of determining the current pose of the vehicle as the two-step relay point, including:

[0175] The two-step relay point is determined based on the following formula:

[0176]

[0177] wherein, θ is the angle turned by the vehicle starting from the one-step relay point and simulating driving with the minimum turning radius;

[0178] and are the horizontal coordinate, the vertical coordinate and the heading angle of the two-step relay point in the coordinate system with the in-lot target parking point as the coordinate origin, respectively.

[0179] and are the horizontal coordinate, the vertical coordinate and the heading angle of the one-step relay point in the coordinate system with the in-lot target parking point as the coordinate origin, respectively.

[0180] and are the horizontal coordinate and the vertical coordinate of the second in-lot corner point in the coordinate system with the in-lot target parking point as the coordinate origin, respectively; and R is the minimum turning radius.

[0181] In a possible embodiment, before the step of taking the relay point as the relay point of the parking path planning, the method further includes:

[0182] Symmetrically operating the relay point of the first side parking to obtain the relay point of the second side parking.

[0183] In a possible embodiment, the step of symmetrically operating the relay point of the first side parking to obtain the relay point of the second side parking, including:

[0184] The relay point of the second side parking is determined based on the following formula:

[0185] p i’ = M sym p i + N sym

[0186] p j’ = M sym p j + N sym

[0187] wherein M sym = (-1, 1, -1) T , N sym = (0, 0, π)

[0188] p i’ and p j’ are one-step relay point and two-step relay point of second side parking respectively; p i and p j are one-step relay point and two-step relay point of first side parking respectively.

[0189] Figure 16 is a flow chart of a parking path planning method provided by an embodiment of the present application, on the flow chart shown in Figure 15 , a step of determining relay points of second side parking is added, and the specific flow can refer to Figure 16 , and the introduction of each step will not be repeated, please refer to the introduction of the above embodiment.

[0190] Figure 17 is a structure block diagram of a relay point determination device of a parking path planning, and the device comprises:

[0191] a center of a one-step parking path determination module 701, configured to determine a center of a one-step parking path when a vehicle parks with a minimum turning radius;

[0192] a critical passage width and maximum turning angle determination module 702, configured to determine a critical passage width and a maximum turning angle of the vehicle parking;

[0193] a one-step relay point determination module 703, configured to sample in a range of a preset minimum turning angle and the maximum turning angle and a range of a distance from the center of the one-step parking path being the minimum turning radius, and determine a sampling point as a one-step relay point;

[0194] a two-step relay point determination module 704, configured to determine a two-step relay point on a two-step parking path based on the one-step relay point;

[0195] a relay point determination module 705 of a parking path planning, configured to take the one-step relay point and the two-step relay point as relay points of first side parking, and take the relay points as relay points of a parking path planning.

[0196] In a possible embodiment, the critical passage width of the vehicle parking is determined, comprising:

[0197] determining a critical passage width of the one-step parking based on the one-step parking path center, the first parking space corner point and a target distance, wherein the target distance is a distance from a front corner of the vehicle to the one-step parking path center when a critical collision occurs between the front corner of the vehicle and an upper boundary of the parking passage; and the first parking space corner point is a parking space corner point close to an inside corner of the vehicle at an entrance of the parking space.

[0198] In a possible embodiment, the maximum turning angle of the vehicle is determined, comprising:

[0199] if the passage width of the parking passage is greater than or equal to the critical passage width, a preset angle is taken as the maximum turning angle of the parking;

[0200] if the passage width of the parking passage is less than the critical passage width, the maximum turning angle of the vehicle is determined based on the passage width of the parking passage, a distance from a rear axle center of the vehicle to a front overhang, the first parking space corner point, the one-step parking path center and the target distance.

[0201] In a possible embodiment, the two-step relay point on the two-step parking path is determined based on the one-step relay point, comprising:

[0202] a current pose of the vehicle is determined as the two-step relay point by simulating driving from the one-step relay point with the minimum turning radius until a critical collision occurs between the vehicle and a second parking space corner point, wherein the second parking space corner point is another parking space corner point at the entrance of the parking space; and the simulated driving path is a two-step driving path, and a bending direction of the two-step driving path is opposite to a bending direction of the one-step parking path.

[0203] In a possible embodiment, the one-step parking path center of the vehicle is determined when the vehicle parks with the minimum turning radius, comprising:

[0204] the one-step parking path center is determined based on the following formula:

[0205]

[0206] wherein R is the minimum turning radius; and are respectively a horizontal coordinate and a vertical coordinate of the one-step parking path center in a coordinate system with a target parking point in the parking space as a coordinate origin;

[0207] w car is a vehicle width; w slot is a parking space width; is a vertical coordinate of the first parking space corner point in the coordinate system with the target parking point in the parking space as the coordinate origin.

[0208] In a possible implementation, the method further includes determining a critical passage width of the one-step parking based on the center of the one-step parking path, the first parking space angle point, and the target distance, including:

[0209] The critical passage width of the one-step parking is determined based on the following formula:

[0210]

[0211] wherein h slot_min is the critical passage width; R a is the target distance; l f is the distance from the rear axle center of the vehicle to the front suspension; and w car is the vehicle width.

[0212] In a possible implementation, if the parking passage width is greater than or equal to the critical passage width, a preset angle is taken as the maximum steering angle of parking; if the parking passage width is less than the critical passage width, the maximum steering angle of parking of the vehicle is determined based on the parking passage width, the distance from the rear axle center of the vehicle to the front suspension, the first parking space angle point, the center of the one-step parking path, and the target distance, including:

[0213] The maximum steering angle is determined based on the following formula:

[0214]

[0215] wherein h slot is the parking passage width; and θ max is the maximum steering angle.

[0216] In a possible implementation, the one-step relay point is determined by sampling in an angle range from the preset minimum steering angle to the maximum steering angle and in a range with a minimum turning radius from the center of the one-step parking path, including:

[0217] The one-step relay point is determined based on the following formula:

[0218]

[0219] wherein x and y are the horizontal coordinate and the vertical coordinate of the one-step relay point in a coordinate system with the target parking point in the parking space as the coordinate origin; and θ i ∈(θ min ,θ max ), i = 1, 2, 3, … n; wherein θ min is the preset minimum steering angle.

[0220] In a possible embodiment, the pose of the vehicle currently located is determined as the two-step relay point by simulating driving from the one-step relay point with the minimum turning radius until the vehicle has a critical collision with the second parking space corner point, comprising:

[0221] The two-step relay point is determined based on the following formula:

[0222]

[0223] wherein θ is an angle of simulated driving from the one-step relay point with the minimum turning radius;

[0224] and are respectively the horizontal coordinate, the vertical coordinate and the heading angle of the two-step relay point in the coordinate system with the in-parking target parking point as the coordinate origin;

[0225] and are respectively the horizontal coordinate, the vertical coordinate and the heading angle of the one-step relay point in the coordinate system with the in-parking target parking point as the coordinate origin;

[0226] and are respectively the horizontal coordinate and the vertical coordinate of the second parking space corner point in the coordinate system with the in-parking target parking point as the coordinate origin; and R is the minimum turning radius.

[0227] In a possible embodiment, the symmetry operation module is further configured to perform symmetry operation on the relay point of the first side parking to obtain the relay point of the second side parking before the relay point is used as the relay point of the parking path planning.

[0228] In a possible embodiment, the symmetry operation on the relay point of the first side parking to obtain the relay point of the second side parking comprises:

[0229] The relay point of the second side parking is determined based on the following formula:

[0230] p i’ =M sym p i +N sym

[0231] p j’ =M sym p j +N sym

[0232] wherein M sym =(-1, 1, -1) T , and N sym =(0, 0, π)

[0233] p i’ and p j’ are respectively one-step relay point and two-step relay point of the second side parking; p i and p j are respectively one-step relay point and two-step relay point of the first side parking.

[0234] Figure 18 is a structure block diagram of a parking path planning device provided by an embodiment of the present application, comprising a relay point determination device 801 for parking path planning provided by an embodiment of the present application, and further comprising:

[0235] a path planning module 802, configured to perform parking path planning based on the relay point.

[0236] In a possible embodiment, the parking path planning based on the relay point comprises:

[0237] traversing the relay points and selecting a target relay point;

[0238] planning a target parking path from a current pose of the vehicle to the target relay point;

[0239] if the target relay point is a one-step relay point, planning a one-step parking path from the target relay point to a target parking point in the parking space, and forming a final parking path by combining the target parking path and the corresponding one-step parking path;

[0240] if the target relay point is a two-step relay point, planning a two-step parking path from the target relay point to a corresponding one-step relay point, planning a one-step parking path from the corresponding one-step relay point to the target parking point in the parking space, and forming a final parking path by combining the target parking path, the corresponding two-step parking path and the corresponding one-step parking path.

[0241] As shown in Figure 19 , an electronic device is provided by an embodiment of the present application, comprising a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 complete mutual communication through the communication bus 114,

[0242] the memory 113 is configured to store a computer program;

[0243] In an embodiment of the present application, the processor 111 is configured to execute the program stored in the memory 113, and implement the method provided by any one of the preceding method embodiments.

[0244] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method provided by any one of the preceding method embodiment.

[0245] The apparatus embodiments described above are merely illustrative, wherein the units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment.

[0246] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0247] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order dependent step. It is also to be understood that additional or alternative steps can be employed.

[0248] The above description is merely illustrative of the application and the generic principles of the application described herein can be employed in other examples without departing from the spirit or scope of the application. Accordingly, the application is not to be restricted based on the specific examples described above, but is to be accorded the widest scope consistent with the claims, and the novel features disclosed herein.

Claims

1. A method for determining relay points in parking route planning, characterized in that, include: Determine the center of the circle for the one-step parking path when parking the vehicle with the minimum turning radius; Determine the critical lane width and maximum steering angle for parking the vehicle; Within the angle range of the preset minimum steering angle and the maximum steering angle, and within the range where the distance from the center of the one-step parking path is the minimum turning radius, sampling is performed to determine the sampling point as a one-step relay point; When the width of the parking lane is less than the critical lane width, two relay points on the two-step parking path are determined based on the one-step relay point; The one-step relay point and the two-step relay point are used as relay points for the first side parking, and the relay points are used as relay points for parking path planning. Determining the critical aisle width for parking the vehicle includes: The critical lane width for one-step parking is determined based on the center of the one-step parking path, the first parking space corner point, and the target distance; wherein, the target distance is the distance from the outer front corner of the vehicle to the center of the one-step parking path when a critical collision occurs between the outer front corner of the vehicle and the upper boundary of the parking lane; the first parking space corner point is the parking space entrance / exit point, and the parking space corner point close to the inner side of the vehicle's turn. Determining the maximum steering angle for parking the vehicle includes: If the width of the parking lane is greater than or equal to the critical lane width, the preset angle is used as the maximum turning angle for parking; if the width of the parking lane is less than the critical lane width, the maximum turning angle for parking is determined based on the width of the parking lane, the distance from the center of the rear axle to the front overhang, the corner point of the first parking space, the center of the one-step parking path, and the target distance. The determination of the two-step relay point on the two-step parking path based on the one-step relay point includes: Starting from the first-step relay point and simulating driving with the minimum turning radius, until the vehicle makes a critical collision with the second parking space corner point, the current position of the vehicle is determined as the two-step relay point; wherein, the second parking space corner point is another parking space corner point at the parking space entrance and exit; the simulated driving path is a two-step driving path, and the bending direction of the two-step driving path is opposite to the bending direction of the first-step parking path.

2. The method according to claim 1, characterized in that, The determination of the center of the circle for the one-step parking path when parking the vehicle with the minimum turning radius includes: The center of the one-step parking path is determined based on the following formula: ； in, It is the minimum turning radius; and These are the x-coordinate and y-coordinate of the center of the circle in the one-step parking path, respectively, in a coordinate system with the target parking point in the parking space as the origin. For vehicle width; This refers to the width of the parking space. Let be the ordinate of the corner point of the first parking space in a coordinate system with the target parking point within the parking space as the origin.

3. The method according to claim 2, characterized in that, The determination of the critical aisle width for one-step parking based on the center of the circle of the one-step parking path, the corner point of the first parking space, and the target distance includes: The critical lane width for one-step parking is determined based on the following formula: ； in, The critical channel width; It is the target distance; This is the distance from the center of the rear axle to the front overhang. The width of the vehicle is given.

4. The method according to claim 3, characterized in that, If the width of the parking lane is greater than or equal to the critical lane width, a preset angle is used as the maximum steering angle for parking; if the width of the parking lane is less than the critical lane width, the maximum steering angle for parking is determined based on the parking lane width, the distance from the rear axle center to the front overhang, the first parking space corner point, the center of the one-step parking path, and the target distance, including: The maximum steering angle is determined based on the following formula: in, The width of the parking lane; This refers to the maximum steering angle.

5. The method according to claim 4, characterized in that, The step of sampling within the angle range of the preset minimum steering angle and the maximum steering angle, and within the range where the distance from the center of the one-step parking path is the minimum turning radius, to determine the sampling point as a one-step relay point includes: The relay point in the first step is determined based on the following formula: in, , and These are the x-coordinate, y-coordinate, and heading angle of the relay point in the first step, respectively, in a coordinate system with the target parking point in the parking space as the origin. ， ;in, The preset minimum steering angle is defined as follows.

6. The method according to claim 1, characterized in that, The process of simulating driving with the minimum turning radius, starting from the first-step relay point, continues until the vehicle makes a critical collision with the corner point of the second parking space, to determine the current pose of the vehicle as the two-step relay point, including: The two-step relay points are determined based on the following formula: in, It is based on the aforementioned relay point as the starting point, and the angle of the simulated driving is calculated with the minimum turning radius; , and These are the x-coordinate, y-coordinate, and heading angle of the two relay points in a coordinate system with the target parking point in the parking space as the origin. , and These are the x-coordinate, y-coordinate, and heading angle of the relay point in the first step, respectively, in a coordinate system with the target parking point in the parking space as the origin. and These are the x-coordinate and y-coordinate of the corner point of the second parking space in a coordinate system with the target parking point in the parking space as the origin; The minimum turning radius is given.

7. The method according to any one of claims 1-6, characterized in that, Before using the relay point as a relay point for parking route planning, the following steps are also included: By performing a symmetrical operation on the relay point of the first parking side, the relay point of the second parking side is obtained.

8. The method according to claim 7, characterized in that, The step of performing a symmetrical operation on the relay point of the first side parking to obtain the relay point of the second side parking includes: The relay point for parking on the second side is determined based on the following formula: in ， ， and These are the one-step relay point and the two-step relay point for parking on the second side, respectively. and These are the one-step relay point and the two-step relay point for parking on the first side, respectively.

9. A parking path planning method based on relay points, characterized in that, include: The method described in any one of claims 1-8 is used to determine the relay point for parking route planning; Parking route planning is performed based on the relay points.

10. The method according to claim 9, characterized in that, The parking route planning based on the relay point includes: Traverse the relay points and select the target relay point; Plan the target parking path from the vehicle's current position to the target relay point; If the target relay point is a one-step relay point, plan a one-step parking path from the target relay point to the target parking point in the parking space, and combine the target parking path with the corresponding one-step parking path to form the final parking path; If the target relay point is a two-step relay point, plan a two-step parking path from the target relay point to the corresponding one-step relay point, and plan a one-step parking path from the one-step relay point corresponding to the target relay point to the target parking point within the parking space. Combine the target parking path, the corresponding two-step parking path, and the corresponding one-step parking path to form the final parking path.

11. A relay point determination device for parking route planning, characterized in that, include: The one-step parking path center determination module is used to determine the center of the one-step parking path when the vehicle parks with the minimum turning radius; The critical passage width and maximum steering angle determination module is used to determine the critical passage width and maximum steering angle for parking the vehicle. A one-step relay point determination module is used to sample within the angle range of the preset minimum steering angle and the maximum steering angle, and within the range where the distance from the center of the one-step parking path is the minimum turning radius, and determine the sampling point as a one-step relay point; A two-step relay point determination module is used to determine two-step relay points on a two-step parking path based on the one-step relay point when the parking lane width is less than the critical lane width. The parking path planning relay point determination module is used to use the one-step relay point and the two-step relay point as the relay point of the first side parking, and use the relay point as the relay point of the parking path planning. Determining the critical aisle width for parking the vehicle includes: The critical lane width for one-step parking is determined based on the center of the one-step parking path, the first parking space corner point, and the target distance; wherein, the target distance is the distance from the outer front corner of the vehicle to the center of the one-step parking path when a critical collision occurs between the outer front corner of the vehicle and the upper boundary of the parking lane; the first parking space corner point is the parking space entrance / exit point, and the parking space corner point close to the inner side of the vehicle's turn. Determining the maximum steering angle for parking the vehicle includes: If the width of the parking lane is greater than or equal to the critical lane width, the preset angle is used as the maximum turning angle for parking; if the width of the parking lane is less than the critical lane width, the maximum turning angle for parking is determined based on the width of the parking lane, the distance from the center of the rear axle to the front overhang, the corner point of the first parking space, the center of the one-step parking path, and the target distance. The determination of the two-step relay point on the two-step parking path based on the one-step relay point includes: Starting from the first-step relay point and simulating driving with the minimum turning radius, until the vehicle makes a critical collision with the second parking space corner point, the current position of the vehicle is determined as the two-step relay point; wherein, the second parking space corner point is another parking space corner point at the parking space entrance and exit; the simulated driving path is a two-step driving path, and the bending direction of the two-step driving path is opposite to the bending direction of the first-step parking path.

12. A parking path planning device, characterized in that, The apparatus of claim 11 further includes: The route planning module is used for parking route planning based on relay points.

13. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory, wherein when the computer program is executed, it implements the method described in any one of claims 1-8 or 9-10.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-8 or 9-10.

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