Parking path planning method and system, vehicle, electronic device and storage medium

Abstract

The invention discloses a parking path planning method and system, a vehicle, an electronic device and a storage medium, and the method comprises the steps: receiving a parking instruction, and determining the current position of a target vehicle in a preset map and an effective region of a target parking space; whether the target parking space is a narrow parking space or not is judged, and under the condition that the target parking space is determined to be the narrow parking space, the current position serves as an initial position to obtain a first target pose when the target vehicle is successfully parked in the target parking space; based on the first target pose, determining a track set when the target vehicle can successfully drive out of the target parking space; and according to the track set, planning a first target parking track corresponding to the target vehicle. According to the technical scheme, the technical problem that in the prior art, parking is not easy to carry out in a narrow parking space can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and particularly to a parking path planning method, system, vehicle, electronic device and storage medium. Background Art

[0002] With the rapid development of the social economy and the sharp increase in the number of automobiles, the number of parking spaces in cities has started to increase significantly, and at the same time, the space of parking spaces has become increasingly narrow. For some drivers, it is not easy to park in relatively narrow parking space.

[0003] Therefore, there is an urgent need for a technology capable of parking path planning to reduce the difficulty of parking in narrow parking spaces. Summary of the Invention

[0004] The present invention provides a parking path planning method, system, vehicle, electronic device and storage medium, aiming to effectively solve the technical problem that it is not easy to park in narrow parking spaces in the prior art.

[0005] According to a first aspect of the present invention, there is provided a parking path planning method, including: receiving a parking instruction, and determining a current position of a target vehicle in a preset map and an effective area of a target parking space; determining whether the target parking space is a narrow parking space, and in the case of determining that it is a narrow parking space, taking the current position as an initial position to obtain a first target pose when the target vehicle successfully parks in the target parking space; based on the first target pose, determining a trajectory set when the target vehicle can successfully drive out of the target parking space; and planning a first target parking trajectory corresponding to the target vehicle according to the trajectory set.

[0006] Further, after determining the trajectory set when the target vehicle can successfully drive out of the target parking space, the method further includes: recording a second target pose when the target vehicle successfully drives out of the target parking space; and determining a second target parking trajectory corresponding to the target vehicle according to the initial pose corresponding to the current position and the second target pose.

[0007] Further, after the step of determining the second target parking trajectory corresponding to the target vehicle, the method further includes: fusing the first target parking trajectory and the second target parking trajectory to obtain a parking path of the target vehicle from the initial pose to the first target pose.

[0008] Further, the step of determining the effective area of the target parking space includes: obtaining the information of the target parking space and the information of the obstacle corresponding to the target parking space; judging whether there is an obstacle within the range of the target parking space according to the information of the target parking space and the obstacle information; if there is no obstacle, the range of the target parking space is the effective area; if there is an obstacle, the parking space range after removing the parking space occupied by the obstacle is the effective area.

[0009] Further, the step of obtaining the first target pose includes: geometrically graphing the shape of the target vehicle, and the geometric graph after geometric graphing completely covers the target vehicle; placing the geometric graph in the effective area, and recording the pose of the geometric graph at this time to obtain the first target pose.

[0010] Further, the step of geometrically graphing the shape of the target vehicle includes: geometrically graphing the outlines of the four directions of the target vehicle into quadrilaterals according to the shape of the target vehicle; cutting off each corner of the quadrilateral to obtain an octagon after geometric graphing.

[0011] Further, the step of cutting off each corner of the quadrilateral includes: obtaining the bumper parameter information of the target vehicle, and using the radii of the left and right side outlines of the bumper in the vehicle bumper parameter information to make circles. Each corner of the quadrilateral corresponds to a circle, and the two sides corresponding to the corner of the quadrilateral are tangent to the circle corresponding to the corner, and the tangent points are the first tangent point and the second tangent point respectively; making a tangent line on one side of the corner of the quadrilateral corresponding to each circle, and the tangent line intersects the two adjacent sides of the quadrilateral at the first intersection point and the second intersection point respectively, and the tangent point of the tangent line and the circle is the third tangent point; using the tangent line or the first intersection point and the second intersection point to cut off the corresponding corner of the quadrilateral to obtain an octagon after geometric graphing.

[0012] Further, the included angle between the line connecting the center of the circle to the first tangent point and the line connecting the center of the circle to the second tangent point is 90°; the distance from the third tangent point to the first intersection point is equal to the distance from the first intersection point to the first tangent point, and is equal to the difference between the radius and the distance from the first intersection point to the corresponding angular vertex, and is equal to a first preset value; or / and, the distance from the third tangent point to the second intersection point is equal to the distance from the second intersection point to the second tangent point, and is equal to the difference between the radius and the distance from the second intersection point to the corresponding angular vertex, and is equal to a second preset value; or / and, the sum of the square value of the first preset value and the square value of the second preset value is equal to the square value of the sum of the distance from the first intersection point to the third tangent point and the distance from the third tangent point to the second intersection point, and is equal to the square value of the difference between twice the radius and the first preset value and the second preset value; or / and, the difference between twice the square value of the radius and twice the product of the radius and the second preset value, the quotient of this difference and the difference between twice the radius value and the second preset value is equal to the first preset value; wherein, the second preset value is less than the radius.

[0013] Further, the step of determining the trajectory set when the target vehicle can successfully drive out of the target parking space based on the first target pose includes: Step A, calculate the first collision point between the target vehicle and the edge of the effective area when the target vehicle drives out of the target parking space at a first predetermined angle from the current pose, and record the driving-out path and the vehicle pose; wherein, when the target vehicle drives out of the target parking space for the first time, the current pose is the first target pose; Step B, based on the vehicle pose at the first collision point, calculate the second collision point between the vehicle and the edge of the effective area when the vehicle drives into the parking space at a second predetermined angle, and record the driving-in path and the vehicle pose, and update the current pose to the vehicle pose at the second collision point; Loop through Step A - Step B until there is no collision point between the vehicle and the edge of the effective area when the vehicle drives out of the parking space, and record the driving-out vehicle pose; Generate the trajectory set from all the driving-out paths and driving-in paths obtained in Step A - Step C in the recorded order.

[0014] Further, during the process of calculating the first target parking trajectory, the method further includes: Select a predetermined point of the target vehicle as a trajectory point, and during the process of calculating the first target parking trajectory, record the movement trajectory of the trajectory point as the first target parking trajectory.

[0015] According to a second aspect of the present invention, the present invention further provides a parking path planning system, including: an environmental perception module for determining an effective area of a target parking space; a positioning module for determining a current position of a target vehicle in a preset map; a decision-making and planning module for determining whether the target parking space is a narrow parking space, and in the case of determining it is a narrow parking space, taking the current position as an initial position to obtain a first target pose when the target vehicle successfully parks in the target parking space; based on the first target pose, determining a trajectory set when the target vehicle can successfully drive out of the target parking space; according to the trajectory set, planning a first target parking trajectory corresponding to the target vehicle; a motion control module for controlling the vehicle to park through the first target parking trajectory generated by the decision-making and planning module.

[0016] According to a third aspect of the present invention, the present invention further provides a vehicle, including the above-mentioned parking path planning system.

[0017] According to a fourth aspect of the present invention, the present invention further provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program, implementing the parking path planning method described in any one of the above.

[0018] According to a fifth aspect of the present invention, the present invention further provides a computer-readable storage medium, on which a computer program is stored, when the computer program is executed by a processor, implementing the parking path planning method described in any one of the above.

[0019] Through one embodiment or multiple embodiments of the above embodiments in the present invention, at least the following technical effects can be achieved:

[0020] In the technical solution disclosed in the present invention, the trajectory generated by simulating the target vehicle driving out of the target parking space by using the first target pose when the target vehicle parks successfully is the trajectory when driving out of the target parking space. If this trajectory is sorted in reverse order, then the first target parking trajectory from outside the target parking space into the target parking space can be obtained, and using the first target parking trajectory can provide a parking reference for the driver, or embedding the first target parking trajectory into an automatic driving system for automatic parking, both can reduce the parking difficulty of narrow parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following, in conjunction with the drawings, through a detailed description of the specific embodiments of the present invention, will make the technical solutions and other beneficial effects of the present invention obvious.

[0022] Figure 1 It is a flowchart of the parking path planning method provided by an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the parking space environment for the parking path planning method provided by the embodiment of the present invention;

[0024] Figure 3 Obstacle map model diagram of the parking path planning method provided by the embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the parking path based on the obstacle map model for the parking path planning method provided by the embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the octagonal geometric imaging of the target vehicle for the parking path planning method provided by the embodiment of the present invention;

[0027] Figure 6 Block diagram of the parking path planning system provided by the embodiment of the present invention;

[0028] Figure 7 Structural schematic block diagram of the electronic device according to the embodiment of the present invention. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after without special explanation.

[0031] With the rapid development of the social economy and the sharp increase in the number of automobiles, the number of parking spaces in cities has begun to increase significantly, and at the same time, the space of parking spaces has become increasingly narrow. Parallel parking is a common parking method. However, for some drivers, parallel parking operations may have a certain degree of difficulty, especially in a narrow parking space. Therefore, it is of great practical significance to develop a parking path planning method that can help drivers achieve efficient parallel parking.

[0032] There are some automatic parking path planning algorithms in the current technology, but some of these algorithms may not be able to handle special environments or complex road layouts, and some have drawbacks such as local optimization, overfitting, and sensitivity to initial conditions. Some may not be able to find a feasible path planning solution in a relatively narrow space parking space, or the number of maneuvers in the generated path planning is too large, which does not conform to actual driving operations.

[0033] Therefore, the present application provides a parking path planning method, system, vehicle, electronic device, and storage medium, which can improve the planning success rate of the parallel parking path planning algorithm in a narrow space parking space, so that the automatic parking system can quickly find a parking path in a complex environment.

[0034] Figure 1 The parking path planning method provided by the embodiment of the present invention is shown as follows and includes:

[0035] S101. Receive a parking instruction, and determine the current position of the target vehicle in a preset map and the effective area of the target parking space;

[0036] S102. Determine whether the target parking space is a narrow parking space, and in the case of determining it is a narrow parking space, use the current position as the initial position to obtain the first target pose when the target vehicle successfully parks in the target parking space;

[0037] S103. Based on the first target pose, determine a trajectory set when the target vehicle can successfully drive out of the target parking space;

[0038] S104. According to the trajectory set, plan the first target parking trajectory corresponding to the target vehicle.

[0039] In step S101, the preset map can be a map generated in the vehicle coordinate system or under it, or a world coordinate system or a map generated under it. The effective area of the target parking space is the area where there are no obstacles in the parking space. Exemplarily, if there are no obstacles in the entire parking space range, the entire parking space range is the effective area. If there are obstacles in the parking space range, such as at the head of the parking space, the parking space range outside the obstacles is used as the effective area. In this embodiment, the obstacles can be warning cones, or the parts of the vehicles parked in the surrounding parking spaces that cross the boundary and occupy the target parking space, etc. Among them, ultrasonic sensors, 360° surround view cameras and other sensors can be used to fuse and sense the parking space information and obstacle information, so as to determine the effective area according to the parking space information and obstacle information. A positioning module can be used to position the vehicle to obtain the position information of the target vehicle. After detecting the obstacle information, an obstacle map model can be constructed, and the obstacles are represented by convex polygons. Exemplarily, as Figure 2As shown, it is a schematic diagram of the parking space environment in front of the target vehicle. It is a state diagram before the target vehicle parks into the target parking space. The dotted line in the figure represents the parking path. Vehicles have been parked in the parking spaces on both sides of the target parking space. Therefore, in the obstacle map model constructed as Figure 3 the parking spaces on both sides of the target parking space where vehicles have been parked are represented by quadrilaterals.

[0040] In step S102, the narrow parking space is judged based on the relative sizes of the size of the target vehicle and the effective area of the target parking space. Specifically, the steps for judging whether the current target parking space is a narrow parking space include: obtaining the size of the effective area of the target parking space, and judging whether the difference between the size of the effective area of the target parking space and the vehicle size of the target vehicle is a positive value and whether it is less than or equal to a preset threshold. If it is a positive value and less than or equal to the preset threshold, then the current parking space is a narrow parking space. In addition, the first target pose is the pose of the target vehicle when it successfully parks into the target parking space. It can be understood that as long as the target vehicle is within the effective area of the target parking space, the pose of the target vehicle can be the first target pose. Therefore, there is not only one first target pose. For example, if the difference between the size of the effective area and the vehicle size of the target vehicle is 10 cm, and if this difference is the distance from the left and right sides of the target vehicle to the edge of the effective area of the target parking space, then when the distance from the left and right sides of the target vehicle to the edge of the effective area is 5 cm each, the pose of the target vehicle is the first target pose. In another case, for example, when the distance from the left side of the target vehicle is 7 cm and the distance from the right side is 3 cm, the pose of the target vehicle can also be the first target pose. Among them, all "poses" in this embodiment can be represented by the X-axis coordinate, Y-axis coordinate, the angle between the longitudinal axis and the world coordinate system in a fixed coordinate system.

[0041] In other embodiments, after step S102, if it is determined that the target parking space is not a narrow parking space, a parking path is directly generated for the target vehicle. For example, the corresponding parking path can be generated for the target vehicle through the hybrid A* algorithm.

[0042] In step S103, based on the first target pose, the trajectory for driving out of the parking space can be obtained. Since there can be multiple first target poses of the target vehicle, the trajectories for driving out of the parking space obtained based on the first target pose are also multiple. In this embodiment, a set formed by multiple trajectories is determined, and any trajectory in the set can be used as the first target parking trajectory when in use.

[0043] In step S104, that is, according to the trajectory set, a trajectory is selected for trajectory planning for parking to obtain the first target parking trajectory.

[0044] Please refer to Figure 4 this application embodiment is based on Figure 3The obstacle map model shown is used to plan the parking path of the target vehicle, where point P is the first target pose.

[0045] Therefore, the parking path planning method provided in this embodiment uses the first target pose when the target vehicle parks successfully to simulate the trajectory generated when the target vehicle exits the target parking space. This trajectory is the trajectory when exiting the target parking space. If this trajectory is sorted in reverse order, the first target parking trajectory from outside the target parking space to inside the target parking space can be obtained. Using the first target parking trajectory can provide a parking reference for the driver, or embedding the first target parking trajectory into the automatic driving system for automatic parking can reduce the parking difficulty in a narrow parking space.

[0046] In one embodiment, after step S103 of determining the trajectory set when the target vehicle can successfully exit the target parking space, the parking path planning method further includes: recording the second target pose of the target vehicle when it successfully exits the target parking space;

[0047] According to the initial pose corresponding to the current position and the second target pose, determine the second target parking trajectory corresponding to the target vehicle.

[0048] Please refer to Figure 4 , the embodiment of the present application is based on Figure 3 the obstacle map model shown to plan the parking path of the target vehicle, where point S is the initial pose and point M is the second target pose. The path from point S to point M is the second target parking trajectory, and the path from point M to point P is the first target parking trajectory.

[0049] In this embodiment, by recording the second target pose and using the second target pose as an end point and the initial pose of the target vehicle as a starting point, another parking trajectory, that is, the second target parking trajectory, can be generated. This trajectory can drive the target vehicle from the starting pose to the first target pose, so that the first target parking trajectory can be used for parking in the state of the first target pose. The second target parking trajectory obtained in this embodiment can provide a parking reference for the driver, or embedding the first target parking trajectory into the automatic driving system for automatic parking enables the vehicle to drive to the first target pose where it is easier to park, thereby reducing the parking difficulty in a narrow parking space.

[0050] In one embodiment, after the step of determining the second target parking trajectory corresponding to the target vehicle, the parking path planning method further includes:

[0051] Fuse the first target parking trajectory and the second target parking trajectory to obtain the parking path of the target vehicle from the initial pose to the first target pose.

[0052] In this embodiment, by fusing the first target parking trajectory and the second target parking trajectory, a parking path can be obtained. This parking path starts from the initial pose of the target vehicle and ends at the first target pose, i.e., the pose when successfully parked in the parking space. It can smoothly provide parking guidance for the driver, reducing the parking difficulty for the driver in a narrow parking space. Moreover, the parking path can also be embedded in the automatic driving system for parking, enabling the vehicle to directly park in the parking space from the initial pose of the target vehicle, reducing the parking difficulty in a narrow parking space.

[0053] In one embodiment, the steps for determining the effective area of the target parking space include:

[0054] Obtain the information of the target parking space and the information of the obstacles corresponding to the target parking space;

[0055] Judge whether there are obstacles within the range of the target parking space according to the information of the target parking space and the obstacle information;

[0056] If there are no obstacles, the range of the target parking space is the effective area;

[0057] If there are obstacles, the range of the parking space after removing the parking space occupied by the obstacles is the effective area.

[0058] In this embodiment, by determining the information of the obstacles, the influence of the obstacles in the target parking space on the parking path planning can be fully excluded. Within the effective area, there is no need to consider the obstacles.

[0059] In one embodiment, the steps for obtaining the first target pose include:

[0060] Geometrically represent the shape of the target vehicle, and the geometric figure after geometric representation completely covers the target vehicle;

[0061] Place the geometric figure in the effective area and record the pose of the geometric figure at this time to obtain the first target pose.

[0062] In this embodiment, since the shape of the vehicle is not a regular geometric figure, if each part of the vehicle is considered, the calculation difficulty will increase. However, representing the shape of the vehicle with a geometric figure can greatly reduce the calculation difficulty to a large extent. And when the geometric figure can completely cover the target vehicle, the collision situation of the geometric figure can fully represent the collision situation of the vehicle itself. In addition, in this embodiment, the shape of the vehicle refers to the planar shape of the vehicle, that is, the top view shape or the bottom view shape of the vehicle.

[0063] In one embodiment, the steps for geometrically representing the shape of the target vehicle include:

[0064] According to the shape of the target vehicle, geometrically represent the contour geometries in four directions of the target vehicle as quadrilaterals;

[0065] Excise each corner of the quadrilateral to obtain a geometrically represented octagon.

[0066] In this embodiment, since the overall shape of the vehicle is an irregular quadrilateral, geometrically representing the shape of the vehicle as a quadrilateral first can initially represent the vehicle shape. However, since each corner of the vehicle, such as the bumper or headlight part, is not a right angle but an arc with a chamfer, using a quadrilateral to represent the vehicle will have some redundancies at the corners. If an obstacle is at the corner part, there may be a situation where the obstacle interferes with the quadrilateral but does not actually interfere with the arc-shaped corner. Therefore, to further improve the calculation accuracy, in the embodiment of the present application, the four corners of the quadrilateral are excised to reduce the redundancies at the corners of the quadrilateral, and the octagon formed by the quadrilateral with four corners excised can also cover the vehicle.

[0067] In one embodiment, the step of excising each corner of the quadrilateral includes:

[0068] Obtain the bumper parameter information of the target vehicle, and use the radius of the left and right side contours of the bumper in the vehicle bumper parameter information to make circles. Each corner of the quadrilateral corresponds to a circle, and the two sides corresponding to the corner of the quadrilateral are tangent to the circle corresponding to the corner, and the tangent points are the first tangent point and the second tangent point respectively;

[0069] Make a tangent on the side of the corner of the quadrilateral corresponding to each circle, and the tangent intersects the two adjacent sides of the quadrilateral at the first intersection point and the second intersection point respectively, and the tangent point of the tangent and the circle is the third tangent point;

[0070] Use the tangent or the first intersection point and the second intersection point to excise the corresponding corner of the quadrilateral to obtain a geometrically represented octagon.

[0071] As Figure 5 shown, Figure 5 shows a specific schematic diagram of excising one of the corners of the quadrilateral obtained by geometrically representing the target vehicle. Among them, Rf represents the radius of the left and right side contours of the front bumper, B and E are the above-mentioned first tangent point and second tangent point respectively, A and D are the above-mentioned first intersection point and second intersection point respectively, C is the above-mentioned third tangent point; F is the vertex of the quadrilateral corresponding to this corner.

[0072] In this embodiment, in order to better cut off the four corners of the quadrilateral, the present application uses the bumper of the target vehicle as a reference, makes circles using the radii of the left and right contours of the bumper, and there is a circle for each corner. Each circle is externally tangent to two adjacent sides of the quadrilateral. And if an external tangent line is made on one side of the circle close to its corresponding corner, this external tangent line will have intersections with the above-mentioned two adjacent sides. After cutting off the corresponding corner along this external tangent line, the redundant existence of the quadrilateral at this corner is reduced. If all four corners are cut off in the above manner, the redundant existence of the quadrilateral at the four corners is reduced, and at the same time an octagon is generated, and the shape of the vehicle can be replaced by this octagon.

[0073] In one embodiment, the included angle between the line connecting the center of the circle to the first tangent point and the line connecting the center of the circle to the second tangent point is 90°; that is Figure 5 the included angle between the line connecting the center of the circle to B and the line connecting the center of the circle to E in is 90°;

[0074] The distance from the third tangent point to the first intersection point is equal to the distance from the first intersection point to the first tangent point, and is equal to the difference between the radius and the distance from the first intersection point to the corresponding corner vertex, and is equal to the first preset value; that is Figure 5 the length of AC in is equal to the length of AB, and is equal to Rf minus the value of AF, and is equal to the first preset value Y, where the first preset value Y is a value greater than 0 and less than Rf.

[0075] Or / and, the distance from the third tangent point to the second intersection point is equal to the distance from the second intersection point to the second tangent point, and is equal to the difference between the radius and the distance from the second intersection point to the corresponding corner vertex, and is equal to the value obtained by subtracting the second preset value from the radius; that is Figure 5 the length of CD in is equal to the length of DE, and is equal to Rf minus the value of FD, and is equal to the value obtained by subtracting the second preset value X from Rf, where the second preset value X is equal to the first preset value Y.

[0076] Or / and, the sum of the square value of the first preset value and the square value of the second preset value is equal to the square value of the sum of the distance from the first intersection point to the third tangent point and the distance from the third tangent point to the second intersection point, and is equal to the square value of the difference between twice the radius and the first preset value and the second preset value; that is Figure 5 in, the sum of the square value of the second preset value X and the square value of the first preset value Y is equal to the square value of the sum of AC and CD, and is equal to the square value of the value obtained by subtracting the first preset value Y from the radius Rf and then adding the radius Rf and subtracting the second preset value X.

[0077] Or / and, the difference between twice the square value of the radius and twice the product of the radius and the second preset value, the quotient of this difference and the difference between twice the radius value and the second preset value, this quotient is equal to the first preset value; that is (2*Rf 2-2*Rf*Y) / (2*Rf - Y).

[0078] Wherein, the second preset value is less than the radius.

[0079] The parameters set in this embodiment, where Y is a calibrated quantity greater than 0 and less than Rf. Usually, we take Y = X, then X = (2 - sqrt(2))*Rf, and further, the coordinates of vertices A and D can be determined by combining parameters such as the pose and length-width dimensions of the vehicle in the planned map.

[0080] In one embodiment, the steps of determining the trajectory set when the target vehicle can successfully drive out of the target parking space based on the first target pose include:

[0081] Step A: Calculate the first collision point between the target vehicle and the edge of the effective area when the target vehicle drives out of the target parking space at the first predetermined angle from the current pose, and record the driving-out path and the vehicle pose; wherein, when the target vehicle drives out of the target parking space for the first time, the current pose is the first target pose.

[0082] Step B: Based on the vehicle pose at the first collision point, calculate the second collision point between the vehicle and the edge of the effective area when the vehicle drives into the parking space at the second predetermined angle, and record the driving-in path and the vehicle pose, and update the current pose to the vehicle pose at the second collision point.

[0083] Loop through Step A - Step B until there is no collision point between the vehicle and the edge of the effective area when the vehicle drives out of the parking space, and record the driving-out vehicle pose.

[0084] Generate a trajectory set by arranging all the driving-out paths and driving-in paths obtained in Step A - Step C in the recorded order.

[0085] In this embodiment, by looping through Step A - Step B, the trajectory of the target vehicle driving out of the target parking space from the first target pose of successful parking can be obtained. Since there may be multiple first target poses, a trajectory set can be generated. Among them, the first predetermined angle can be the maximum turning angle for driving out of the parking space, or a 180° turning angle for driving out of the parking space, etc., and the second predetermined angle can be the maximum turning angle for driving into the parking space, or a 180° turning angle for driving into the parking space, etc.

[0086] In one embodiment, during the process of calculating the first target parking trajectory, the parking path planning method further includes:

[0087] Select a predetermined point of the target vehicle as the trajectory point, and during the process of calculating the first target parking trajectory, record the movement trajectory of the trajectory point as the first target parking trajectory.

[0088] In this embodiment, the predetermined point may be the center point of the rear axle of the target vehicle, or other points of the vehicle. By recording the movement trajectory of the predetermined point as the first target parking trajectory, in other embodiments, the trajectory of the predetermined point is also recorded as the second target parking trajectory.

[0089] Please refer to Figure 6 , this embodiment of the present application also provides a parking path planning system, including: an environment perception module 1, a positioning module 2, a decision-making and planning module 3, and a motion control module 4; the environment perception module 1 is used to determine the effective area of the target parking space; the positioning module 2 is used to determine the current position of the target vehicle in the preset map; the decision-making and planning module 3 is used to determine whether the target parking space is a narrow parking space, and in the case of determining it is a narrow parking space, use the current position as the initial position to obtain the first target pose when the target vehicle successfully parks in the target parking space; based on the first target pose, determine the trajectory set when the target vehicle can successfully drive out of the target parking space; according to the trajectory set, plan the first target parking trajectory corresponding to the target vehicle; the motion control module 4 is used to control the vehicle to park through the first target parking trajectory generated by the decision-making and planning module.

[0090] In one embodiment, the environment perception module 1 includes a parking space information perception unit and an obstacle information perception unit. The parking space information perception unit is used to perceive the parking space information of the target parking space, where the parking space information includes the effective area of the target parking space, and the obstacle information perception unit is used to perceive the obstacle information.

[0091] The decision-making and planning module 3 includes: a mode management unit, a behavior planning unit, an environment construction unit, and a path planning unit. Among them, the mode management unit is used to receive user instructions to turn on / off / switch the parking type of the vehicle. The parking type is, for example, remote parking, automatic parking in, automatic parking out, etc., and transmit the parking type to the behavior planning unit. The behavior planning unit is used to generate control instructions according to the parking type and the parking path, and send the parking path and the control instructions to the motion control module. The behavior planning unit is also used to send the parking type to the path scale unit; the environment construction unit is used to construct an obstacle model; the path planning unit is used to plan the parking path according to the parking type, the target parking space information, and the obstacle map model, and transmit the parking path to the behavior planning unit.

[0092] The motion control module includes a lateral control unit, a longitudinal control unit, and a gear control unit, which are respectively used to perform lateral control, longitudinal control, and gear control on the target vehicle according to the control instructions and the parking path sent by the behavior planning module.

[0093] In one embodiment, the path planning unit is further configured to record the second target pose of the target vehicle when it successfully exits the target parking space; determine a second target parking trajectory corresponding to the target vehicle according to the initial pose corresponding to the current position and the second target pose. The first target parking trajectory and the second target parking trajectory are fused to obtain a parking path of the target vehicle from the initial pose to the first target pose.

[0094] In one embodiment, the parking space information perception unit is further configured to determine whether there are obstacles within the range of the target parking space according to the information of the target parking space and the obstacle information; if there are no obstacles, the range of the target parking space is an effective area; if there are obstacles, the range of the parking space after removing the parking space occupied by the obstacles is the effective area.

[0095] In one embodiment, the positioning module 2 is specifically configured to geometrically represent the shape of the target vehicle, and the geometric figure obtained by geometric representation completely covers the target vehicle; place the geometric figure within the effective area and record the pose of the geometric figure at this time to obtain the first target pose.

[0096] Among them, the step of the positioning module 2 geometrically representing the shape of the target vehicle includes: geometrically representing the contours of the four directions of the target vehicle as quadrilaterals according to the shape of the target vehicle; cutting off each corner of the quadrilateral to obtain an octagon obtained by geometric representation.

[0097] In one embodiment, the information of the target vehicle further includes vehicle bumper parameter information;

[0098] The step of the positioning module 2 cutting off each corner of the quadrilateral includes: obtaining the bumper parameter information of the target vehicle, and using the radius of the left and right side contours of the bumper in the vehicle bumper parameter information to make circles. Each corner of the quadrilateral corresponds to a circle, and the two sides corresponding to the corner of the quadrilateral are tangent to the circle corresponding to the corner, and the tangent points are the first tangent point and the second tangent point respectively; make a tangent line on the side of the quadrilateral corresponding to each circle, and the tangent line intersects the adjacent two sides of the quadrilateral at the first intersection point and the second intersection point respectively, and the tangent point of the tangent line and the circle is the third tangent point; use the tangent line or the first intersection point and the second intersection point to cut off the corresponding corner of the quadrilateral to obtain an octagon obtained by geometric representation.

[0099] In one embodiment, during the process of the positioning module 2 cutting off each corner of the quadrilateral, the parameters are: the included angle between the line connecting the center of the circle to the first tangent point and the line connecting to the second tangent point is 90°;

[0100] The distance from the third tangent point to the first intersection point is equal to the distance from the first intersection point to the first tangent point, and is equal to the difference between the radius and the distance from the first intersection point to the corresponding corner vertex, and is equal to the first preset value;

[0101] Or / and, the distance from the third tangent point to the second intersection point is equal to the distance from the second intersection point to the second tangent point, and is equal to the difference between the radius and the distance from the second intersection point to the corresponding angular vertex, and is equal to the second preset value;

[0102] Or / and, the sum of the square value of the first preset value and the square value of the second preset value is equal to the square value of the sum of the distance from the first intersection point to the third tangent point and the distance from the third tangent point to the second intersection point, and is equal to the square value of the difference between twice the radius and the first preset value and the second preset value;

[0103] Or / and, the first preset value is equal to the difference between twice the square value of the radius and twice the product value of the radius and the second preset value, and is equal to the quotient value of the difference between twice the radius value and the second preset value,

[0104] Wherein, the second preset value is less than the radius.

[0105] In one embodiment, the path planning unit is further configured to loop through step A-step B until there is no collision point between the vehicle and the edge of the valid area when the vehicle exits the parking space, and record the pose of the vehicle when it exits; generate a trajectory set from all the exit paths and entry paths obtained in step A-step C in the recorded order. Wherein, step A includes: calculating the first collision point between the target vehicle and the edge of the valid area when the target vehicle exits the target parking space at the first predetermined angle from the current pose, and recording the exit path and the vehicle pose; wherein, when the target vehicle exits the target parking space for the first time, the current pose is the first target pose; step B includes: based on the vehicle pose at the first collision point, calculating the second collision point between the vehicle and the edge of the valid area when the vehicle enters the parking space at the second predetermined angle, and recording the entry path and the vehicle pose, and updating the current pose to the vehicle pose at the second collision point.

[0106] In one embodiment, the path planning unit is further configured to select a predetermined point of the vehicle as a trajectory point during the calculation of the first target parking trajectory, and record the movement trajectory of the trajectory point as the first target parking trajectory during the calculation of the first target parking trajectory.

[0107] The embodiment of the present application further provides a vehicle, including the parking path planning system described in the above embodiment.

[0108] The embodiment of the present application provides an electronic device, please refer to Figure 7 This electronic device includes: a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602. When the processor 602 executes the computer program, it implements the parking path planning method described above.

[0109] Furthermore, this electronic device further includes: at least one input device 603 and at least one output device 604.

[0110] The above-mentioned memory 601, processor 602, input device 603, and output device 604 are connected through a bus 605.

[0111] Among them, the input device 603 can specifically be a camera, a touch panel, a physical button, or a mouse, etc. The output device 604 can specifically be a display screen.

[0112] The memory 601 can be a high-speed random access memory (RAM), or a non-volatile memory, such as a disk memory. The memory 601 is used to store a set of executable program codes, and the processor 602 is coupled to the memory 601.

[0113] Furthermore, the embodiment of the present application also provides a computer-readable storage medium. This computer-readable storage medium can be set in the electronic device in the above-mentioned various embodiments. This computer-readable storage medium can be the memory 601 in the foregoing embodiments. A computer program is stored on this computer-readable storage medium. When the program is executed by the processor 602, it implements the parking path planning method described in the foregoing method embodiments.

[0114] Furthermore, this computer-readable storage medium can also be various media such as a USB flash drive, a mobile hard disk, a read-only memory 601 (ROM), a RAM, a magnetic disk, or an optical disc, etc., that can store program codes.

[0115] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there can be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or modules can be in electrical, mechanical, or other forms.

[0116] The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, they can be located in one place, or they can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, in each embodiment of the present invention, each functional module can be integrated into a processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module.

[0118] If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0119] It should be noted that, for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all essential to the present invention.

[0120] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] In summary, although the present invention has been disclosed above with preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those of ordinary skill in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention is subject to the scope defined by the claims.

Claims

1. A parking path planning method, characterized in that, The method includes: Receiving a parking instruction, and determining the current position of the target vehicle in a preset map and the effective area of the target parking space; Judging whether the target parking space is a narrow parking space, and in the case of determining it is a narrow parking space, taking the current position as the initial position to obtain the first target pose when the target vehicle successfully parks in the target parking space; Based on the first target pose, determining a trajectory set when the target vehicle can successfully drive out of the target parking space; According to the trajectory set, planning a first target parking trajectory corresponding to the target vehicle.

2. The parking path planning method according to claim 1, wherein: After determining the trajectory set when the target vehicle can successfully drive out of the target parking space, the method further includes: Recording a second target pose when the target vehicle successfully drives out of the target parking space; According to the initial pose corresponding to the current position and the second target pose, determining a second target parking trajectory corresponding to the target vehicle.

3. The parking path planning method according to claim 2, wherein: After the step of determining the second target parking trajectory corresponding to the target vehicle, the method further includes: Fusing the first target parking trajectory and the second target parking trajectory to obtain a parking path of the target vehicle from the initial pose to the first target pose.

4. The parking path planning method according to claim 1, wherein: The step of determining the effective area of the target parking space includes: Obtaining information of the target parking space and information of obstacles corresponding to the target parking space; Judging whether there are obstacles within the range of the target parking space according to the information of the target parking space and the obstacle information; If there are no obstacles, the range of the target parking space is the effective area; If there are obstacles, the parking space range after removing the parking space occupied by the obstacles is the effective area.

5. The parking path planning method according to claim 1, wherein: The step of obtaining the first target pose includes: Geometrically graphing the shape of the target vehicle, and the geometric graph after geometric graphing completely covers the target vehicle; Placing the geometric graph in the effective area, and recording the pose of the geometric graph at this time to obtain the first target pose.

6. The parking path planning method according to claim 5, wherein: The step of geometrically graphing the shape of the target vehicle includes: According to the shape of the target vehicle, geometrically graphing the outlines of the four directions of the target vehicle into quadrilaterals; Cutting off each corner of the quadrilateral to obtain a geometrically graphed octagon.

7. The parking path planning method according to claim 6, wherein: The step of cutting off each corner of the quadrilateral includes: Obtaining the bumper parameter information of the target vehicle, and using the radii of the left and right side contours of the bumper in the vehicle bumper parameter information to make circles, and each corner of the quadrilateral corresponds to a circle, and the two sides corresponding to the corner of the quadrilateral are tangent to the circle corresponding to the corner, and the tangent points are the first tangent point and the second tangent point respectively; Tangents are made on the angular side of the quadrilateral corresponding to each circle, and the tangents intersect the two adjacent sides of the quadrilateral at a first intersection point and a second intersection point respectively, and the tangent point of the tangent and the circle is the third tangent point; The angle of the corresponding quadrilateral is cut off by using the tangent or the first intersection point and the second intersection point to obtain a geometrically shaped octagon.

8. The parking path planning method according to claim 7, characterized in that The included angle between the line connecting the center of the circle to the first tangent point and the line connecting to the second tangent point is 90°; The distance from the third tangent point to the first intersection point is equal to the distance from the first intersection point to the first tangent point, and is equal to the difference between the radius and the distance from the first intersection point to the corresponding angular vertex, and is equal to a first preset value; Or / and, the distance from the third tangent point to the second intersection point is equal to the distance from the second intersection point to the second tangent point, and is equal to the difference between the radius and the distance from the second intersection point to the corresponding angular vertex, and is equal to a second preset value; Or / and, the sum of the square value of the first preset value and the square value of the second preset value is equal to the square value of the sum of the distance from the first intersection point to the third tangent point and the distance from the third tangent point to the second intersection point, and is equal to the square value of the difference between twice the radius and the first preset value and the second preset value; Or / and, the difference between twice the radius squared value and twice the product value of the radius and the second preset value, the quotient of this difference and the difference between twice the radius value and the second preset value, and this quotient is equal to the first preset value; Wherein, the second preset value is less than the radius.

9. The parking path planning method according to claim 1, characterized in that The step of determining the trajectory set when the target vehicle can successfully drive out of the target parking space based on the first target pose includes: Step A: Calculate the first collision point between the target vehicle and the edge of the effective area when the target vehicle drives out of the target parking space at a first predetermined angle from the current pose, and record the driving path and the vehicle pose; wherein, when the target vehicle drives out of the target parking space for the first time, the current pose is the first target pose; Step B: Based on the vehicle pose at the first collision point, calculate the second collision point between the vehicle and the edge of the effective area when the vehicle drives into the parking space at a second predetermined angle, and record the driving-in path and the vehicle pose, and update the current pose to the vehicle pose at the second collision point; Loop through Step A - Step B until there is no collision point between the vehicle and the edge of the effective area when the vehicle drives out of the parking space, and record the driving-out vehicle pose; Generate the trajectory set from all the driving-out paths and driving-in paths obtained in Step A - Step C in the recorded order.

10. The parking path planning method according to claim 1, characterized in that During the process of calculating the first target parking trajectory, the method further includes: Select a predetermined point of the target vehicle as a trajectory point, and during the process of calculating the first target parking trajectory, record the moving trajectory of the trajectory point as the first target parking trajectory.

11. A parking path planning system, characterized in that, Including: An environment perception module, configured to determine an effective area of a target parking space; A positioning module, configured to determine a current position of a target vehicle in a preset map; A decision-making and planning module, configured to determine whether the target parking space is a narrow parking space, and in a case where it is determined to be a narrow parking space, obtain a first target pose when the target vehicle successfully parks in the target parking space with the current position as an initial position; based on the first target pose, determine a trajectory set when the target vehicle can successfully drive out of the target parking space; according to the trajectory set, plan a first target parking trajectory corresponding to the target vehicle; A motion control module, configured to control the vehicle to park through the first target parking trajectory generated by the decision-making and planning module.

12. A vehicle, characterized in that, It includes the parking path planning system according to claim 11.

13. An electronic device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 10 is implemented.

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