Parallel parking space parking path planning method, device, equipment, medium and product

Abstract

The invention discloses a parallel parking space parking path planning method, device and equipment, a medium and a product, and relates to the technical field of automatic driving. The method comprises the following steps: determining a third track and a garage rubbing starting point according to own vehicle information, a target position and parking space information of a target vehicle; determining a first track of the target vehicle according to the vehicle information of the target vehicle; the first track comprises a linear driving track; determining a reversing starting point of a second track and the second track according to the third track, the rolling garage starting point and the linear driving track; and according to a vehicle driving sequence, splicing the first track, the second track and the third track to obtain a parking planning path. According to the technical scheme, the accuracy of automatic parking can be improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, equipment, medium, and product for planning parallel parking space entry paths. Background Technology

[0002] Autonomous vehicles, also known as wheeled mobile robots, are a type of intelligent car that primarily relies on an onboard computer system to achieve driverless operation. Automatic parking systems are a crucial function of autonomous driving. Cars equipped with automatic parking can automatically identify parking spaces and park themselves without human intervention, thanks to onboard sensors, processors, and control systems. Automatic parking systems greatly simplify the parking process, especially in extremely narrow spaces or for novice drivers, offering a more intelligent and convenient experience. The automatic parking process generally includes the following steps: First, surround-view cameras around the vehicle identify the parking space and surrounding obstacles. Then, the path planning system determines the target location and generates a planned path based on the parking space location and surrounding obstacles. Finally, the control module calculates control parameters based on the relative position of the vehicle and the path and sends them to the onboard controller to complete the tracking process until the vehicle is fully parked in the target space.

[0003] Maintaining a safe distance from vehicles in front and behind, and a safe distance between the vehicle body and the adjacent wall or tires and the adjacent curb, are important evaluation indicators for parallel parking. In actual parking, the right side may be a wall or a low obstacle such as a curb. With low obstacles, the rear overhang of the vehicle can encroach on the curb, as long as a safe distance is maintained from the tires. However, current algorithms do not consider curb obstacles, which can lead to collisions with the curb or prevent parking in narrow parallel spaces. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, medium, and product for planning parallel parking entry paths, so as to achieve parking entry planning paths with high safety and good applicability, and improve the accuracy of parallel parking entry.

[0005] According to one aspect of the present invention, a method for planning parallel parking space entry paths is provided, the method comprising:

[0006] Based on the target vehicle's own information, target location, and parking space information, determine the third trajectory and the starting point of the rubbing-in-the-garage maneuver;

[0007] Based on the vehicle information of the target vehicle, a first trajectory of the target vehicle is determined; the first trajectory includes a straight-line driving trajectory.

[0008] Based on the third trajectory, the starting point of the rubbing motion, and the straight-line driving trajectory, determine the reversing starting point of the second trajectory and the second trajectory;

[0009] According to the vehicle driving sequence, the first trajectory, the second trajectory, and the third trajectory are spliced ​​together to obtain the parking planning path.

[0010] According to another aspect of the present invention, a parallel parking space entry path planning device is provided, the device comprising:

[0011] The third trajectory determination module is used to determine the third trajectory and the starting point of the rubbing into the parking space based on the target vehicle's own information, target location, and parking space information.

[0012] The first trajectory determination module is used to determine the first trajectory of the target vehicle based on the vehicle information of the target vehicle; the first trajectory includes a straight-line driving trajectory.

[0013] The second trajectory determination module is used to determine the reversing starting point of the second trajectory and the second trajectory based on the third trajectory, the rubbing starting point, and the straight driving trajectory;

[0014] The parking path determination module is used to stitch together the first trajectory, the second trajectory, and the third trajectory according to the vehicle driving sequence to obtain the parking planning path.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the parallel parking space entry path planning method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the parallel parking path planning method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the parallel parking space entry path planning method according to any embodiment of the present invention.

[0021] The technical solution of this invention determines a third trajectory and a parking space starting point based on the target vehicle's own information, target location, and parking space information; determines a first trajectory for the target vehicle based on its own information; the first trajectory includes a straight-line driving trajectory; and determines a second trajectory's reversing starting point and a second trajectory based on the third trajectory, the parking space starting point, and the straight-line driving trajectory. The first, second, and third trajectories are then spliced ​​together according to the vehicle's driving sequence to obtain the parking planning path. This technical solution improves the safety and accuracy of parallel parking.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a parallel parking space entry path planning method provided by an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of key dimensions of a vehicle according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of parking space dimensions provided according to an embodiment of the present invention;

[0027] Figure 4 This is a diagram illustrating the parallel parking trajectory solution process according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the minimum parking space required for a single parking maneuver according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of a collision between a vehicle's rear bumper and rear boundary, provided according to an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of a collision between a vehicle's front bumper and its front boundary, provided according to an embodiment of the present invention.

[0031] Figure 8 This is a schematic diagram of a collision between the rear bumper of a vehicle and the right boundary according to an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of a collision between the right rear wheel of a vehicle and the right boundary, provided by an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the coordinates of key corner points of a vehicle when it is at a target position, according to an embodiment of the present invention.

[0034] Figure 11 This is a schematic diagram of a vehicle undergoing iterative motion according to an embodiment of the present invention;

[0035] Figure 12 This is a schematic diagram of a parking space folding mechanism provided according to an embodiment of the present invention;

[0036] Figure 13 This is a schematic diagram of a first trajectory solution provided by an embodiment of the present invention;

[0037] Figure 14 This is a schematic diagram of a second trajectory solving method provided by an embodiment of the present invention;

[0038] Figure 15 This is a schematic diagram of trajectory splicing provided according to an embodiment of the present invention;

[0039] Figure 16 This is a schematic diagram of a parallel parking space entry path planning device according to an embodiment of the present invention;

[0040] Figure 17 This is a schematic diagram of the structure of an electronic device that implements the parallel parking space entry path planning method of this invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] Furthermore, it should be noted that the collection, storage, use, processing, transmission, provision, and disclosure of vehicle data and parking space data of the target vehicle involved in the technical solution of the present invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0044] Figure 1 This is a flowchart of a parallel parking space entry path planning method according to an embodiment of the present invention. This embodiment is applicable to situations where vehicles automatically park. The method can be executed by a parallel parking space entry path planning device, which can be implemented in hardware and / or software. This device can be configured in an electronic device that carries the parallel parking space entry path planning function, such as in a vehicle. Figure 1 As shown, the method includes:

[0045] S110. Based on the target vehicle's self-vehicle information, target location, and parking space information, determine the third trajectory and the starting point of the rubbing-in-the-garage exercise.

[0046] S120. Based on the vehicle information of the target vehicle, determine the first trajectory of the target vehicle; the first trajectory includes a straight-line driving trajectory.

[0047] S130. Based on the third trajectory, the starting point of the rubbing-in-the-garage, and the straight-line driving trajectory, determine the starting point of the reversing of the second trajectory and the second trajectory.

[0048] S140. According to the vehicle driving sequence, the first trajectory, the second trajectory, and the third trajectory are spliced ​​together to obtain the parking planning path.

[0049] The target vehicle refers to the vehicle requiring automatic parking. Vehicle information refers to the target vehicle's information, including but not limited to the rear axle center, vehicle length, vehicle width, length from rear axle to rear bumper, length from rear axle to front bumper, tire diameter, and minimum turning radius. The minimum turning radius refers to the distance from the steering center to the rear axle center when the vehicle is turning at its maximum steering wheel angle. For example, such as... Figure 2 The diagram shown defines the key dimensions of the vehicle and its information. The yellow circle indicates the center of the rear axle. Length: vehicle length, Width: vehicle width, LR: length from rear axle to rear bumper, LF: length from rear axle to front bumper, DT: tire diameter, and Min_Turn_R: minimum turning radius of the vehicle.

[0050] The target location refers to the position of the vehicle within the parking space. Parking space information refers to relevant information about the parking space; for example, such as... Figure 3 The diagram shows the parking space dimensions. The purple circle represents the target position of the vehicle, which is the center of the rear axle after the car is parked in the space. The green circle represents the upper right corner of the parking space. Using this point as the origin of the coordinate system, the X-axis points to the right, and the Y-axis points upwards. Therefore, the target position coordinates are (Tar_X, Tar_Y). The length of the parking space along the X-axis is denoted as Slot_L, and the width along the Y-axis is denoted as Slot_W. The position of the car in the parking space coordinate system is (Veh_X, Veh_Y), and the angle is Veh_Theta.

[0051] The parking path planning of this invention is divided into three parts. The first part starts from the vehicle's current position, adjusts to be parallel to the parking space, and then drives in a straight line to a certain position. This position is recorded as the reversing starting point, and this trajectory is recorded as the first trajectory. The second part starts from the reversing starting point and reverses into the parking space. This process requires two arcs to be joined together, driving to a key position within the parking space. This position is recorded as the rubbing starting point, and this trajectory is recorded as the second trajectory. The third part starts from the rubbing starting point within the parking space, and, depending on the size of the parking space, undergoes a certain number of rubbing processes to reach the target position. This trajectory is recorded as the third trajectory. Connecting the first, second, and third trajectories in sequence yields the complete parking planning path.

[0052] First, the calculation process is described: The above process describes several key steps in parking path planning, among which two points are unknown: the reversing starting point and the rubbing starting point. Therefore, the key to solving this problem lies in finding these two points. This invention designs a reverse-order solution scheme, making the most of existing conditions to simplify the solution process and accelerate computational efficiency. First, using a reverse-engineering method, the vehicle starts from the target point and rubs within the parking space, considering collisions with the edge of the parking space, until the vehicle can safely exit without collision with the planned coordinate origin (the upper right corner of the parking space). This safe exit point is the rubbing starting point. The process path of the vehicle rubbing out of the parking space is calculated. Then, the trajectory is reversed, resulting in the third trajectory. As previously mentioned, the latter half of the first trajectory travels along a straight line parallel to the parking space X. The rubbing starting point of the third trajectory also has a known arc. Therefore, by solving for the tangent circle between the straight line and the arc, the reversing starting point of the second trajectory can be obtained. The calculation process is as follows: Figure 4 As shown.

[0053] An optional approach involves determining the third trajectory and the starting point for parking maneuvering based on the target vehicle's own information, target location, and parking space information. This includes: determining the distance from the outermost front corner of the vehicle to the turning center based on the minimum turning radius, vehicle length, and the length from the rear axle to the front bumper in the vehicle's own information; determining the critical value of the target location's horizontal coordinate based on the distance from the outermost front corner of the vehicle to the turning center, the minimum turning radius, and the absolute value of the target location's vertical coordinate; if the absolute value of the target location's horizontal coordinate is greater than or equal to the absolute value of the critical value, then the target vehicle is determined to park in the current parking space in one step, and the parking planning path is determined to be a circular trajectory; if the absolute value of the target location's horizontal coordinate is less than the absolute value of the critical value, then the target vehicle cannot park in the parking space in one step, and the vehicle's parking maneuvering process is iterated to determine the starting point for parking maneuvering and the third trajectory.

[0054] Specifically, if the vehicle can park in one go, then the front right corner of the vehicle and the planned coordinate origin will not collide. Figure 5 As shown, the absolute value of Tar_X can be used to measure whether berthing can be done in one go. Figure 5 The absolute value of Tar_X is the critical value. When the vehicle is set to turn with the minimum turning radius Min_Turn_R, the distance Min_Turn_FOR from the outer front corner of the vehicle to the steering center can be determined based on the following formula, according to the minimum turning radius, vehicle length, and length from the rear axle to the front bumper in the vehicle information. Based on the distance from the outermost vehicle's front corner to the steering center, the minimum turning radius, and the absolute value of the target position's vertical coordinate, determine the critical value of the target position's horizontal coordinate, Tar_X_Thre.

[0055]

[0056] If the absolute value of Tar_X is greater than or equal to the absolute value of Tar_X_Thre, the vehicle can park in the current parking space in one step. This means the vehicle does not need to maneuver within the parking space. The final step of the planned trajectory is a circular trajectory with the turning center coordinates at (Tar_X, Tar_Y + Min_Turn_R) and a turning radius of Min_Turn_R. If the absolute value of Tar_X is less than the absolute value of Tar_X_Thre, the vehicle cannot park in the parking space in one step and needs to maneuver within the parking space until the front right corner of the vehicle can move out of the parking space without colliding with the origin.

[0057] For example, the iterative process of the vehicle navigating the parking space involves determining the starting point of the navigation, including: for each navigation step, determining the movement angle and key collision points; performing collision detection based on the movement angle, key collision points, and vehicle information until the vehicle removes the parking space without collision with the planned coordinate origin, at which point the navigation iteration stops; and determining the starting point and third trajectory based on the navigation information from the last navigation step. It should be noted that different collision scenarios correspond to different collision detection methods.

[0058] Specifically, the I-axis collision calculation process uses a fixed angle step size (Angle_Res) for iterative movement. The main idea is to move from a known position in a fixed direction with the minimum turning radius, calculate the new position using trigonometric functions, calculate the coordinates of key collision detection points, and perform collision detection with the boundary (see collision definition). Figure 6-9 If there is no collision, the iteration continues; if there is a collision, the previous iteration point is taken as the parking point. Note: When the vehicle moves within the parallel parking space, there are four types of collisions: Case 1: The front bumper of the vehicle collides with the front boundary; Case 2: The rear bumper of the vehicle collides with the rear boundary; Case 3: The rear bumper of the vehicle collides with a higher obstacle on the right (wall or other vehicle); Case 4: The right rear wheel of the vehicle collides with a lower obstacle within the parking space (curb, etc., lower than the height of the rear bumper of the vehicle).

[0059] II. Before iteration, it is necessary to calculate the current coordinates of the collision key points. These coordinates are used to calculate the coordinates of each key point after the vehicle moves. There are four key points in total. Based on the vehicle's geometry, their coordinates are as follows: Left rear corner point Plb (Tar_X-LR, Tar_Y+0.5*Width), denoted as (X_Plb_init, Y_Plb_init); Right rear corner point Prb (Tar_X-LR, Tar_Y-0.5*Width), denoted as (X_Prb_init, Y_Prb_init); Right front corner point Prf (Tar_X+LF, Tar_Y-0.5*Width), denoted as (X_Prf_init, Y_Prf_init); Right rear wheel edge Prbt (Tar_X-0.5*DT, Tar_Y-0.5*Width), denoted as (X_Prbt_init, Y_Prbt_init). Figure 10 As shown. Key points Plb, Prb, and Prbt are the collision points when the vehicle is moving backward. At this point, the steering center is on the right side of the vehicle. Therefore, when the vehicle turns with the minimum turning radius, the turning radii of these three points are:

[0060] Point Plb, its radius

[0061] Point Prb, its radius

[0062] Point Prbt, its radius

[0063] The key point Prf is the point of collision when the vehicle is moving forward. At this point, the steering center is on the left side of the vehicle. Therefore, when the vehicle turns with the minimum turning radius, the turning radius of point Prf is...

[0064]

[0065] III. First, iterate backwards from the target position. The collision scenarios to be detected during reversing are 2, 3, and 4. The starting point, steering center coordinates, and real-time coordinates of the rear axle center are as follows: Figure 11 As shown, let the number of iterations for the vehicle be i, and let the real-time coordinates of corner points Plb, Prb, and Prbt be (X_Plb_curr, Y_Plb_curr), (X_Prb_curr, Y_Prb_curr), and (X_Prbt_curr, Y_Prbt_curr), respectively. Based on the relationship between the current point's distance from the initial point and the current point's distance from the turning center point, the following relationships exist:

[0066]

[0067] In each pair of relationships above, there are only two unknowns. According to the quadratic equation, the unknowns can be solved, and the real-time coordinates of the corner points Plb, Prb, and Prbt for each iteration can be obtained (X_Plb_curr, Y_Plb_curr), (X_Prb_curr, Y_Prb_curr), and (X_Prbt_curr, Y_Prbt_curr).

[0068] IV. Rear Collision Detection. First, for point Plb, collision condition 2 occurs when its X-coordinate is less than the rear boundary coordinate. Collision condition 1 is derived: X_Plb_curr <= -Slot_L. Then, for points Prb or Prbt, the collision condition depends on whether the obstacle inside the parking space is high or low. If it's a high obstacle, the collision condition is Y_Prb_curr <= -Slot_W; if it's a low obstacle, the collision condition is Y_Prbt_curr <= -Slot_W. Based on the obstacle type, collision condition 2 is selected. If either collision condition 1 or 2 is satisfied, a collision will occur at this location. The position before the collision is taken as the extreme position for this rearward maneuver, and information such as the steering center and rear axle center point coordinates are recorded.

[0069] V, Calculation of some key point coordinates. For subsequent forward iteration calculations, it is necessary to calculate the coordinates of the right front corner point and the next turning center, denoted as (X_Prf_curr, Y_Prf_curr) and (TurnCenNext_X, TurnCenNext_Y) respectively, with the following formulas:

[0070]

[0071] Based on the equation, the coordinates of the two points above, namely the right front corner point and the center of the next turn, can be solved.

[0072] VI. The next step is to move forward iteratively. The collision scenario to be detected is case 1, which means we need to calculate the coordinates of Prf (X_Prf_next, Y_Prf_next). Using trigonometric functions, we have the following formula:

[0073]

[0074] Similarly, the required coordinates can be solved using the equations, followed by collision detection. The collision detection logic is as follows: When X_Prf_next>=0 occurs at the first location, if Y_Prf_next>0, it indicates no collision with the origin, and the circular trajectory information is recorded. This circle represents the actual connecting step for reversing into the parking space. Otherwise, it indicates that the vehicle will collide with the front boundary of the parking space and cannot move out of the parking space. The vehicle needs to be re-entered into the parking space, and the coordinates of the rear axle center point, left rear corner point, right rear corner point, and right rear wheel edge point at the position before the collision are recorded for use in the next re-entry calculation.

[0075] VII. The above process represents the parking space maneuver, which involves first moving backward to the limit position, then moving forward to try to exit the parking space and recording key position information. If the vehicle cannot exit the parking space, the process of moving backward and then forward is repeated to verify whether it can exit the parking space again. This process is iterated repeatedly until the vehicle can move out of the parking space without colliding with the origin of the coordinates.

[0076] VIII. The above process describes the calculation method for navigating within a parking space. The principle is to iterate the movement angle of each navigator, calculate the coordinates of key points, and perform collision detection. The formulas and principles have been clearly explained. Because it involves continuous experimentation, not all formulas can be fully described; simply extrapolate sequentially. This step can determine the key points of movement within the parking space and the trajectory information for the final step, i.e., the third trajectory.

[0077] Finally, through the above steps, key information such as the turning center coordinates and rear axle center termination point of the circular trajectory for rubbing into the parking space (if needed) can be obtained, and the trajectory can be pieced together; at the same time, the circular trajectory information corresponding to the step of the vehicle entering the parking space can be solved, which can be used to solve all the second trajectories and reversing points later. Figure 12 The image shows a single parking maneuver within the parking space; the red circle represents the parking trajectory information.

[0078] Another optional method is to determine the first trajectory of the target vehicle based on its own vehicle information, including: determining the current turning center based on the vehicle's current position, heading angle, and minimum turning radius; determining the parallel point based on the current turning center and minimum turning radius; adjusting the position of the vehicle's rear axle center to the parallel point, and determining the circle information and straight-line driving trajectory for adjusting the parallelism; connecting the circle information with the third trajectory; and splicing the circle information for adjusting the parallelism, the parallel point, and the straight-line information after parallelism to obtain the first trajectory.

[0079] First, it should be noted that the previous section has already introduced how to drive along the first trajectory. That is, first adjust the vehicle to be parallel to the X-axis (in reality, the initial angle between the vehicle and the X-axis can be positive or negative, only the steering center is slightly different, but the calculation principle is the same. This patent introduces the angle as positive), and then drive along the straight line after paralleling to the reversing point (the reversing point needs to be calculated in conjunction with the second trajectory).

[0080] I, combined Figure 13 Based on the following formula, the current turning center (TurnCenterPoint) is determined according to the vehicle's current position, heading angle, and minimum turning radius:

[0081]

[0082] II, Figure 13The ParallelPoint is the parallel point, and the line connecting this point and the steering center is perpendicular to the X-axis. The parallel point is determined based on the current steering center and the minimum turning radius, and its coordinates can be obtained using the following formula:

[0083]

[0084] III. Adjust the position of the rear axle center of the vehicle to a parallel point, and determine the circular information and straight driving trajectory for parallel adjustment; connect the circular information with the third trajectory; after the vehicle is adjusted to be parallel, drive along the straight line towards the positive X-axis, and reverse into the parking space after reaching a certain point. Therefore, the straight line equation corresponding to the straight driving trajectory is Y = ParaP_Y.

[0085] Finally, the information of the parallel circles obtained in the previous step, as well as the information of the parallel points, are recorded. The information of the parallel lines is then recorded for subsequent calculation of the reversing point. This allows us to piece together the complete first trajectory, which is to say, to piece together the information of the parallel circles, the parallel points, and the parallel lines to obtain the first trajectory.

[0086] Another optional method is to determine the reversing starting point and the second trajectory based on the third trajectory, the starting point of the parking maneuver, and the straight driving trajectory. This includes: determining the second turning center point corresponding to the second trajectory based on the reversing circle information in the third trajectory, the straight driving trajectory, and the minimum turning radius in the vehicle information; determining the reversing starting point of the second trajectory based on the second turning center point and the minimum turning radius; determining the circle tangency point based on the first and second turning center points in the reversing circle information; and determining the second trajectory based on the reversing starting point, the circle tangency point, and the second turning center point.

[0087] Specifically, given the equation of the straight line for the latter half of the first trajectory and the information of the circle connecting to the third trajectory in the rubbing phase, we can find the tangent circle between the straight line and the circle to determine the circular information at the beginning of the second trajectory. Figure 14 As shown. Figure 14 The yellow circle (center coordinates are represented as (Rev2TurnCenP_X, Rev2TurnCenP_Y), the specific values ​​of which were obtained during the calculation of the third trajectory) represents the reversing circle information connected to the parking space chuckling process. The known trajectories inside and outside the parking space are represented by green lines. The red circle represents position information. Since the red circle is perpendicular to the latter half of the straight line of trajectory one, its center Y coordinate is _Y = ParaP_Y - Min_Turn_R. At the same time, the red circle and the yellow circle are tangent, so the distance between the centers of the two circles is 2 * Min_Turn_R. The x-coordinate RevTurnCenP_X of the second turning center point ReverseTurnCenPoint corresponding to the second trajectory can be calculated.

[0088]

[0089] Wherein, Reverse2TurnCenPoint is the first turning center in the reversing circle information; its coordinates are as follows: Figure 14 (Rev2TurnCenP_X, Rev2TurnCenP_).

[0090] The coordinates of the reversing starting point ReversePoint are: RevP_X = RevTurnCenP_X, RevP_Y = RevTurnCenP_Y + Min_Turn_R.

[0091] The coordinates of the ReverseIntPoint, the point of tangency between the circles, are as follows:

[0092]

[0093] Finally, the trajectory can be pieced together simply by following the driving sequence and using key points and geometric information. Figure 15 The diagram shows the trajectory after the parts are spliced ​​together. The vehicle's driving sequence is as follows: first, it is adjusted to be parallel to its own vehicle, then it drives along a straight line to the reversing point, which is the part shown by the green line in the diagram. After that, it drives along the two spliced ​​arcs, as shown by the blue part in the diagram. Finally, it moves into the parking space, as shown by the purple part in the diagram.

[0094] The technical solution of this invention determines a third trajectory and a parking space starting point based on the target vehicle's own information, target location, and parking space information; determines a first trajectory for the target vehicle based on its own information; the first trajectory includes a straight-line driving trajectory; and determines a second trajectory's reversing starting point and a second trajectory based on the third trajectory, the parking space starting point, and the straight-line driving trajectory. The first, second, and third trajectories are then spliced ​​together according to the vehicle's driving sequence to obtain the parking planning path. This technical solution improves the safety and accuracy of parallel parking.

[0095] Figure 16 This is a schematic diagram of a parallel parking space entry path planning device according to an embodiment of the present invention. This embodiment is applicable to situations involving automatic vehicle parking, and the method can be executed by the parallel parking space entry path planning device. This device can be implemented in hardware and / or software and can be configured in an electronic device that carries the parallel parking space entry path planning function, such as in a vehicle. Figure 16 As shown, the device includes:

[0096] The third trajectory determination module 310 is used to determine the third trajectory and the starting point of the rubbing into the parking space based on the target vehicle's own information, target location and parking space information;

[0097] The first trajectory determination module 320 is used to determine the first trajectory of the target vehicle based on the vehicle information of the target vehicle; the first trajectory includes a straight-line driving trajectory.

[0098] The second trajectory determination module 330 is used to determine the reversing starting point and the second trajectory based on the third trajectory, the starting point of the rubbing-in-the-garage, and the straight-line driving trajectory.

[0099] The parking path determination module 340 is used to stitch together the first trajectory, the second trajectory, and the third trajectory according to the vehicle driving sequence to obtain the parking planning path.

[0100] The technical solution of this invention determines a third trajectory and a parking space starting point based on the target vehicle's own information, target location, and parking space information; determines a first trajectory for the target vehicle based on its own information; the first trajectory includes a straight-line driving trajectory; and determines a second trajectory's reversing starting point and a second trajectory based on the third trajectory, the parking space starting point, and the straight-line driving trajectory. The first, second, and third trajectories are then spliced ​​together according to the vehicle's driving sequence to obtain the parking planning path. This technical solution improves the safety and accuracy of parallel parking.

[0101] Optionally, the third trajectory determination module 310 is used for:

[0102] Based on the minimum turning radius, vehicle length, and distance from the rear axle to the front bumper in the vehicle information, determine the distance from the front corner of the outer vehicle to the steering center;

[0103] The critical value of the horizontal coordinate of the target position is determined based on the distance of the outer vehicle's front corner point from the steering center, the minimum turning radius, and the absolute value of the target position's vertical coordinate.

[0104] If the absolute value of the x-coordinate of the target location is greater than or equal to the absolute value of the critical value, then the target vehicle is determined to park in the current parking space in one step, and the parking planning path is determined to be a circular trajectory.

[0105] If the absolute value of the target position's x-coordinate is less than the absolute value of the critical value, it is determined that the target vehicle cannot park in the parking space in one step. The vehicle then iterates through the parking space rubbing process to determine the starting point and the third trajectory.

[0106] Optionally, the third trajectory determination module 310 is specifically used for:

[0107] For each kneading motion, determine the movement angle and key collision points for that kneading motion;

[0108] Based on the movement angle, key collision points, and vehicle information, collision detection is performed until the vehicle removes the parking space without colliding with the planned coordinate origin, at which point the sizing iteration stops.

[0109] Based on the kneading information from the last kneading process, determine the kneading starting point and the third trajectory.

[0110] Optionally, different collision scenarios require different collision detection methods.

[0111] Optionally, the first trajectory determination module 320 is used for:

[0112] Determine the current steering center based on the vehicle's current position, heading angle, and minimum turning radius;

[0113] Determine the parallel point based on the current steering center and minimum turning radius;

[0114] Adjust the position of the rear axle center of the vehicle to the parallel point, and determine the circular information and straight driving trajectory for parallel adjustment; connect the circular information with the third trajectory;

[0115] The first trajectory is obtained by splicing together the information of the parallel circles, parallel points, and parallel lines.

[0116] Optionally, the second trajectory determination module 330 is used for:

[0117] Based on the reversing circle information, straight driving trajectory, and minimum turning radius in the vehicle information in the third trajectory, determine the second turning center point corresponding to the second trajectory;

[0118] Determine the starting point for reversing the second trajectory based on the second steering center point and the minimum turning radius;

[0119] Determine the tangent point of the circle based on the first and second steering center points in the reversing circle information;

[0120] The second trajectory is determined based on the reversing starting point, the point of tangency of the circle, and the second steering center point.

[0121] The parallel parking space entry path planning device provided in this embodiment of the invention can execute the parallel parking space entry path planning method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0122] According to embodiments of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0123] Figure 17 This is a schematic diagram of the structure of an electronic device that implements the parallel parking space entry path planning method of this invention. Figure 17A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0124] like Figure 17 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0126] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as parallel parking space entry path planning methods.

[0127] In some embodiments, the parallel parking path planning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the parallel parking path planning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the parallel parking path planning method by any other suitable means (e.g., by means of firmware).

[0128] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0132] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0133] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0134] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0135] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for planning parallel parking space entry paths, characterized in that, include: Based on the target vehicle's own information, target location, and parking space information, determine the third trajectory and the starting point of the rubbing-in-the-garage maneuver; Based on the vehicle information of the target vehicle, a first trajectory of the target vehicle is determined; the first trajectory includes a straight-line driving trajectory. Based on the third trajectory, the starting point of the rubbing motion, and the straight-line driving trajectory, determine the reversing starting point of the second trajectory and the second trajectory; According to the vehicle driving sequence, the first trajectory, the second trajectory, and the third trajectory are spliced ​​together to obtain the parking planning path.

2. The method according to claim 1, characterized in that, Based on the target vehicle's own information, target location, and parking space information, determine the third trajectory and the starting point of the parking maneuver, including: Based on the minimum turning radius, vehicle length, and distance from the rear axle to the front bumper in the vehicle information, determine the distance from the front corner of the outer vehicle to the steering center; The critical value of the target position's horizontal coordinate is determined based on the distance from the outer vehicle's front corner point to the steering center, the minimum turning radius, and the absolute value of the target position's vertical coordinate. If the absolute value of the x-coordinate of the target location is greater than or equal to the absolute value of the critical value, then the target vehicle is determined to park in the current parking space in one step, and the parking planning path is determined to be a circular trajectory. If the absolute value of the target position's x-coordinate is less than the absolute value of the critical value, it is determined that the target vehicle cannot park in the parking space in one step. The vehicle then iterates through the parking space rubbing process to determine the starting point and the third trajectory.

3. The method according to claim 2, characterized in that, The iterative self-rolling process determines the starting point of the roll-in, including: For each kneading motion, determine the movement angle and key collision points for that kneading motion; Based on the movement angle, the collision key points, and the vehicle information, collision detection is performed until the vehicle removes the parking space without colliding with the planned coordinate origin, at which point the rubbing iteration stops. Based on the kneading information from the last kneading process, determine the kneading starting point and the third trajectory.

4. The method according to claim 3, characterized in that, Different collision scenarios require different collision detection methods.

5. The method according to claim 1, characterized in that, Based on the vehicle information of the target vehicle, determine the first trajectory of the target vehicle, including: Determine the current steering center based on the vehicle's current position, heading angle, and minimum turning radius; Determine the parallel point based on the current steering center and minimum turning radius; The position of the rear axle center of the vehicle is adjusted to the parallel point, and the circular information and straight driving trajectory of the parallel adjustment are determined; the circular information is connected with the third trajectory; The first trajectory is obtained by splicing together the information of the parallel circles, parallel points, and parallel lines.

6. The method according to claim 1, characterized in that, Based on the third trajectory, the starting point of the rubbing-in-the-garage maneuver, and the straight-line driving trajectory, the reversing starting point and the second trajectory are determined, including: Based on the reversing circle information in the third trajectory, the straight driving trajectory, and the minimum turning radius in the vehicle information, determine the second turning center point corresponding to the second trajectory; Based on the second steering center point and the minimum turning radius, determine the reversing starting point of the second trajectory; Based on the first steering center point and the second steering center point in the reversing circle information, determine the circle tangency point; The second trajectory is determined based on the reversing starting point, the tangent point of the circle, and the second steering center point.

7. A parallel parking space entry path planning device, characterized in that, include: The third trajectory determination module is used to determine the third trajectory and the starting point of the rubbing into the parking space based on the target vehicle's own information, target location, and parking space information. The first trajectory determination module is used to determine the first trajectory of the target vehicle based on the vehicle information of the target vehicle; the first trajectory includes a straight-line driving trajectory. The second trajectory determination module is used to determine the reversing starting point of the second trajectory and the second trajectory based on the third trajectory, the rubbing starting point, and the straight driving trajectory; The parking path determination module is used to stitch together the first trajectory, the second trajectory, and the third trajectory according to the vehicle driving sequence to obtain the parking planning path.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the parallel parking path planning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the parallel parking path planning method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the parallel parking space entry path planning method according to any one of claims 1-6.

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