Parking path planning method and device of vehicle, vehicle with parking path planning device and medium
By constructing a parking environment map, planning sub-paths, and combining in-situ turning technology, the problem of fully automatic parking in narrow parking spaces has been solved, enabling vehicles to park smoothly in complex scenarios and improving ease of use.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING AUTOMOBILE RES GENERAL INST
- Filing Date
- 2026-01-26
- Publication Date
- 2026-04-24
AI Technical Summary
In existing technologies, the fully automatic parking function has the problem of vehicles being unable to park due to the narrowness of the side parking space, which limits the use of vehicles in complex parking scenarios.
By constructing a parking environment map and combining vehicle size parameters to determine collision risks, the first sub-parking path is planned. Then, using a four-motor distributed drive and stationary steering strategy, the wheel rotation is controlled to complete the parking action, achieving parking in narrow spaces through two separate paths.
It solves the problem of fully automatic parking in narrow parking spaces, improves the ease of use of the vehicle in complex parking scenarios, and provides convenience for drivers.
Smart Images
Figure CN121912948A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a parking path planning method, apparatus, vehicle, and medium for a vehicle. Background Technology
[0002] As a new type of electric vehicle, distributed drive vehicles have unique power and transmission systems. Compared to centralized drive models, the torque of each drive wheel can be controlled independently, bringing significant advantages to vehicle chassis dynamics control. Fully automatic parking path planning relies on vehicle dynamics to achieve trajectory control, and the handling characteristics of distributed drive greatly expand the vehicle's operability. When combined with fully automatic parking functionality, it can effectively expand the application scenarios of this function.
[0003] In related technologies, parking paths are planned based on the method of stitching together HybridA* and RS (Reeds-Shepp) curves. The Hybrid A* algorithm is a graph search algorithm that performs heuristic search in a continuous coordinate system. The planned path takes into account the vehicle's kinematic constraints, that is, it satisfies the vehicle's maximum curvature constraint. The RS curve can stitch together multiple arcs and straight lines into a path and supports reverse motion planning.
[0004] However, the functionality of related technologies is limited by the influence of the external environment. When the target parking space is a narrow parallel parking space, the above methods often identify it as unsuitable for parking, resulting in the problem that the fully automatic parking function cannot park due to the narrowness of the parallel parking space. This problem urgently needs to be solved. Summary of the Invention
[0005] This application provides a parking path planning method, device, vehicle, and medium for vehicles, to solve the problem of parking inability caused by excessively narrow side parking spaces in the existing fully automatic parking function, improve the use of vehicles in complex parking scenarios, and provide convenience for drivers.
[0006] To achieve the above objectives, the first aspect of this application proposes a vehicle parking path planning method, comprising the following steps: Construct a parking environment map of the current vehicle's location; Based on the parking environment map, the parking space to be parked and the current parking path are determined, and based on the size parameters of the current vehicle, it is determined whether there is a collision when the current vehicle parks according to the current parking path; If a collision occurs when the current vehicle is parked according to the current parking path, the center of gravity position of the current vehicle and the first reference point in the parking space are determined, and a first sub-parking path is determined from the current parking path based on the center of gravity position and the first reference point. According to the first sub-parking path, the current vehicle is controlled to perform the first parking action. After the first parking action is completed, based on the preset in-situ steering strategy, the four motors are controlled to drive the corresponding wheels to rotate until the second parking action is completed, and the current vehicle is determined to have completed parking.
[0007] According to one embodiment of this application, after the current vehicle has completed parking, the method further includes: Determine if a docking request has been received; If the parking request is received, then based on the included angle, control the four motors to drive the corresponding wheels to rotate, so that the four wheels of the current vehicle return to the position when the first parking action was completed; Control the current vehicle to park out of the parking space according to the first sub-parking path.
[0008] According to one embodiment of this application, after controlling the current vehicle to perform a first parking action according to the first sub-parking path, the method further includes: Determine whether the position of the centroid overlaps with the first reference point; If the centroid position overlaps with the first reference point, then the first parking action is determined to be completed.
[0009] According to one embodiment of this application, controlling the rotation of the corresponding wheels driven by the four motors based on a preset in-situ steering strategy includes: Calculate the angle between the parking space to be parked and the current vehicle; The four motors are controlled to drive the corresponding wheels to rotate, so that the vehicle rotates around the center of gravity through the included angle.
[0010] According to one embodiment of this application, the included angle for: ; in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
[0011] According to the vehicle parking path planning method proposed in this application, a parking environment map is constructed to determine the parking space and the current path. The vehicle size is then used to determine if there is a collision risk. If so, the vehicle's center of gravity and a first reference point within the parking space are determined, and a first sub-path is planned. Subsequently, the first parking action is executed according to the sub-path. After completion, a stationary steering strategy is used to control the rotation of the four wheels to complete the second parking action, and finally, parking is deemed complete. This solves the problem of fully automatic parking functions in related technologies being unable to park in narrow parallel parking spaces, improving the vehicle's usability in complex parking scenarios and providing convenience for drivers.
[0012] To achieve the above objectives, a second aspect of this application provides a vehicle parking path planning device, comprising: The module builds a parking environment map of the current vehicle's location; The judgment module determines the parking space and the current parking path based on the parking environment map, and determines whether there is a collision when the current vehicle parks according to the current parking path based on the size parameters of the current vehicle. The determination module determines the centroid position of the current vehicle and the first reference point within the parking space if a collision occurs while the current vehicle is parking according to the current parking path. It then determines the first sub-parking path based on the centroid position and the first reference point from the current parking path. The control module controls the current vehicle to perform a first parking action according to the first sub-parking path. After the first parking action is completed, the module controls the four motors to drive the corresponding wheels to rotate based on a preset in-situ steering strategy until the second parking action is completed, and then determines that the current vehicle has completed parking.
[0013] According to one embodiment of this application, the control module is further configured to: Determine if a docking request has been received; If the parking request is received, then based on the included angle, control the four motors to drive the corresponding wheels to rotate, so that the four wheels of the current vehicle return to the position when the first parking action was completed; Control the current vehicle to park out of the parking space according to the first sub-parking path.
[0014] According to one embodiment of this application, the control module is further configured to: Determine whether the position of the centroid overlaps with the first reference point; If the centroid position overlaps with the first reference point, then the first parking action is determined to be completed.
[0015] According to one embodiment of this application, the control module is specifically used for: Calculate the angle between the parking space to be parked and the current vehicle; The four motors are controlled to drive the corresponding wheels to rotate, so that the vehicle rotates around the center of gravity through the included angle.
[0016] According to one embodiment of this application, the included angle for: ; in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
[0017] The vehicle parking path planning device proposed in this application constructs a parking environment map, thereby determining the parking space and the current path, and assessing the presence of collision risk based on vehicle dimensions. If a collision risk exists, the device determines the vehicle's center of gravity and a first reference point within the parking space, and then plans a first sub-path. Subsequently, the first parking action is executed according to the sub-path. After completion, a second parking action is completed by controlling the rotation of the four wheels through a stationary steering strategy, and finally, parking is deemed complete. This solves the problem of fully automatic parking functions in related technologies being unable to park in narrow side parking spaces, improving vehicle usability in complex parking scenarios and providing convenience for drivers.
[0018] To achieve the above objectives, a third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking path planning method for the vehicle as described in the above embodiments.
[0019] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle parking path planning method as described in the above embodiments.
[0020] To achieve the above objectives, a fifth aspect of this application provides a computer program product, which, when executed by a processor, implements the vehicle parking path planning method as described in the above embodiments.
[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0022] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a vehicle parking path planning method according to an embodiment of this application; Figure 2 This is a structural diagram of a four-motor distributed drive vehicle according to an embodiment of this application; Figure 3 This is a schematic diagram showing the angle between two intermediate parking spaces according to an embodiment of this application; Figure 4 This is a schematic diagram of a parking space provided according to an embodiment of this application; Figure 5This is a block diagram of a vehicle parking path planning device provided according to an embodiment of this application; Figure 6 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation
[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0024] The parking path planning method, apparatus, vehicle and medium of the present application, according to embodiments of the present application, will be described below with reference to the accompanying drawings. First, the parking path planning method of the present application, according to embodiments of the present application, will be described with reference to the accompanying drawings.
[0025] Figure 1 This is a flowchart of a vehicle parking path planning method according to an embodiment of this application.
[0026] like Figure 1 As shown, the parking path planning method for this vehicle includes the following steps: In step S101, a parking environment map of the current vehicle location is constructed.
[0027] The current vehicle location refers to the actual spatial position of the vehicle at the current moment. The parking environment map is a digital map that is detected and constructed in real time by sensors on the vehicle (such as cameras, radar, and ultrasonic sensors) to present parking-related environmental information around the vehicle.
[0028] Specifically, when a vehicle drives past a parking space, sensors (such as radar, cameras, and ultrasonic sensors) detect the specific conditions of the surrounding parking spaces and then integrate the various parking-related information detected to form a parking environment map.
[0029] In step S102, based on the parking environment map, the parking space to be parked and the current parking path are determined, and based on the size parameters of the current vehicle, it is determined whether there will be a collision when the current vehicle parks according to the current parking path.
[0030] Here, "waiting parking space" refers to a target parking space identified by the system based on a constructed parking environment map, which is available for the current vehicle to park. "Current parking path" refers to the specific driving route planned by the system from the vehicle's current location to the waiting parking space, based on the constructed parking environment map and the identified waiting parking spaces. "Current vehicle size parameters" refers to specific data describing the physical size and structural characteristics of the current vehicle; these are inherent attribute parameters of the vehicle itself.
[0031] Specifically, based on the constructed parking environment map, the system filters out parking spaces that meet certain conditions (such as being vacant or having dimensions suitable for the current vehicle). Combining these with the current vehicle's size parameters (such as vehicle length, width, wheelbase, and minimum turning radius), the system determines one or more reference points within the parking space (such as the vehicle's center of gravity, or the center points of the right front and right rear wheels). Based on the final positions of the front and rear right wheels, the system determines whether the vehicle has completed parking: parking is considered complete when the center points of the right front and right rear wheels coincide with these two reference points.
[0032] It should be noted that the embodiments of this application can use traditional parking control methods to plan the specific driving route from the vehicle's current position to the parking space, i.e., the current parking path. Based on the current vehicle's size parameters, it is determined whether the vehicle will collide with obstacles in front of or behind the parking space while traveling along the planned path.
[0033] In step S103, if a collision occurs when the current vehicle parks according to the current parking path, the center of gravity position of the current vehicle and the first reference point within the parking space are determined, and the first sub-parking path is determined from the current parking path based on the center of gravity position and the first reference point.
[0034] Here, the vehicle's center of gravity refers to the location of the vehicle's center of gravity, which is the equilibrium point when the vehicle's mass is evenly distributed. The first reference point within the parking space is an intermediate transitional target point set near or within the parking space during parking path planning to avoid potential collisions from directly parking into the space. Preferably, the first reference point corresponds to the vehicle's center of gravity position after parking in the parking space without a collision. The first sub-parking path refers to the first independent path from the current vehicle position to the first reference point.
[0035] Specifically, when it is determined that a collision is possible if the vehicle parks along the current parking path, the parking path needs to be divided into two segments. The first segment is from the vehicle's current position to the middle parking space, and the second segment is from the middle parking space to the parking space. The middle parking space must meet two conditions: the vehicle will not collide with surrounding obstacles during its journey from the current position to the middle parking space; and the stationary turn performed during the adjustment from the middle parking space to the parking space will not result in a collision with surrounding obstacles. A first reference point is determined based on the middle parking space. Then, based on the vehicle's center of gravity and the first reference point within the parking space, a first sub-parking path is determined from the current parking path.
[0036] In step S104, the current vehicle is controlled to perform the first parking action according to the first sub-parking path. After the first parking action is completed, the four motors are controlled to drive the corresponding wheels to rotate based on the preset in-situ steering strategy until the second parking action is completed, and the current vehicle is determined to have completed parking.
[0037] Optionally, in some embodiments, based on a preset in-situ steering strategy, the four motors drive the corresponding wheels to rotate, including: calculating the angle between the parking space and the current vehicle; and controlling the four motors to drive the corresponding wheels to rotate, so that the vehicle rotates around the center of gravity through the angle.
[0038] Alternatively, in some embodiments, the included angle for: ; in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
[0039] The preset stationary turning strategy refers to a control strategy whereby, after the vehicle reaches the middle parking space, it independently controls four motors to drive each of the four wheels, achieving stationary rotation or a very small radius turn. The second parking action refers to the final operation performed after the vehicle completes the first sub-parking path and reaches the middle parking space, namely, driving into the parking space.
[0040] Specifically, this application is mainly applied to four-motor distributed drive vehicle models, such as... Figure 2 As shown, Figure 2 This is a structural diagram of a four-motor distributed drive vehicle provided according to an embodiment of this application. Figure 2 Taking the X direction as the direction of the vehicle's front as an example, the left front wheel is directly driven by the TM1 motor, the right front wheel is directly driven by the TM2 motor, the left rear wheel is directly driven by the TM3 motor, and the right rear wheel is directly driven by the TM4 motor. The four drive motors can independently drive the wheels connected to them to rotate forward or backward.
[0041] Furthermore, after the vehicle completes the first parking maneuver using the first sub-parking path, the system invokes a preset in-situ steering strategy to control the four motors to drive the corresponding wheels to rotate, completing the second parking maneuver. Specifically, the preset in-situ steering strategy requires first determining the angle between the middle parking space and the parking space itself based on obstacles on one side of the parking space, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of the angle between two intermediate parking spaces according to an embodiment of this application, showing the included angle. for: ; in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
[0042] It should be noted that the vehicle's adjustable range in the Y direction of the absolute coordinate system is... This can be identified through vehicle sensors (such as cameras). The included angle can then be obtained. Then, using the stationary steering technique, driving forces in different directions are applied to the wheels on the left and right sides of the center of gravity, enabling the vehicle to rotate around the center of gravity. Complete the second parking action and determine that the current vehicle has completed parking.
[0043] Therefore, the controller in this application needs to receive signals from sensors (such as radar and cameras) to identify the parking space, and then determine whether to set an intermediate parking space based on the distance between the parking space and the obstacles in front and behind it. When the distance between the obstacles in front and behind the parking space is relatively short, an intermediate parking space is calculated. In the parking path, the first target path from the current parking space to the intermediate parking space adopts a traditional parking path planning algorithm. After the vehicle reaches the intermediate parking space, it uses a stationary steering technique to drive the left and right wheels to rotate in different directions, causing the vehicle to yaw in the Z direction, adjusting the vehicle's posture to the target parking space, and completing the parking. The parking path planning method for a four-motor distributed drive vehicle combines traditional path planning algorithms and stationary steering techniques to plan two parking paths, enabling the vehicle to complete fully automatic parking in narrow target parking spaces. This improves the vehicle's usability in complex parking scenarios and solves the problem of fully automatic parking functions being unable to park in parallel parking garages due to their narrowness in related technologies. This enhances the vehicle's usability in complex parking scenarios and provides convenience for drivers.
[0044] Furthermore, once the vehicle has completed parking, if the driver needs to exit the parking area, the system will switch to the parking exit path planning state.
[0045] Optionally, in some embodiments, after the current vehicle completes parking, the method further includes: determining whether a parking exit request has been received; if a parking exit request has been received, controlling the four motors to drive the corresponding wheels to rotate based on the included angle, so that the four wheels of the current vehicle return to the position when the first parking action was completed; and controlling the current vehicle to exit the parking space according to the first sub-parking path.
[0046] Specifically, it determines whether the vehicle has received a parking request from the driver (such as activating the automatic parking function). If a parking request is detected, it is based on the included angle. By controlling four motors to drive the corresponding wheels to rotate, the four wheels of the vehicle are precisely restored to the position when the first parking action is completed. Then, the vehicle is driven along the reverse trajectory of the first sub-parking path to complete the lateral parking maneuver.
[0047] like Figure 4 As shown, Figure 4 This is a schematic diagram of a parking space exit provided according to an embodiment of this application. The method for exiting a parking space is similar to that for entering a parking space. First, the vehicle's position is adjusted to the middle parking space using a stationary turning technique. Then, the vehicle is driven to the parking space using traditional path planning to complete the exit.
[0048] This effectively improves the smoothness and operational reliability of parking in complex parking environments.
[0049] Furthermore, to ensure that the target vehicle can safely adjust its position by performing a stationary turning function after parking in the middle parking position, this embodiment of the application requires position verification to confirm the accuracy of the action after the vehicle completes the first parking action along the first sub-parking path.
[0050] Optionally, in some embodiments, after controlling the current vehicle to perform the first parking action according to the first sub-parking path, the method further includes: determining whether the centroid position overlaps with the first reference point; if the centroid position overlaps with the first reference point, then determining that the first parking action has been completed.
[0051] Specifically, as the vehicle travels along the first sub-parking path and approaches the first reference point, it continuously monitors the real-time position of the vehicle's center of gravity. When it is determined that the center of gravity has accurately moved to the position of the first reference point (i.e., the two are completely aligned), the first parking maneuver is considered successfully completed.
[0052] It should be noted that, by selecting the second reference point of the middle parking space as the vehicle's center of gravity and using the "stationary turning" technique to complete the parking, other points can also be selected as the second reference point of the middle parking space based on the actual situation of the parking space. By optimizing the stationary turning technique, the vehicle can be turned around other center points. This will not be elaborated on in detail here.
[0053] This provides a stable starting reference for subsequent actions (such as turning in place) and reduces operational errors caused by positional deviations.
[0054] According to the vehicle parking path planning method proposed in this application, a parking environment map is constructed to determine the parking space and the current path. The vehicle size is then used to determine if there is a collision risk. If so, the vehicle's center of gravity and a first reference point within the parking space are determined, and a first sub-path is planned. Subsequently, the first parking action is executed according to the sub-path. After completion, a stationary steering strategy is used to control the rotation of the four wheels to complete the second parking action, and finally, parking is deemed complete. This solves the problem of fully automatic parking functions being unable to park in narrow side parking spaces in related technologies, improving the vehicle's usability in complex parking scenarios and providing convenience for drivers.
[0055] Next, the vehicle parking path planning device according to an embodiment of this application is described with reference to the accompanying drawings.
[0056] Figure 5 This is a block diagram of a vehicle parking path planning device according to an embodiment of this application.
[0057] like Figure 5 As shown, the parking path planning device 10 for the vehicle includes: a construction module 100, a judgment module 200, a determination module 300, and a control module 400.
[0058] Among them, module 100 constructs a parking environment map of the current vehicle's location.
[0059] The judgment module 200 determines the parking space and the current parking path based on the parking environment map, and determines whether there is a collision when the current vehicle parks according to the current parking path based on the size parameters of the current vehicle.
[0060] If a collision occurs when the current vehicle is parked according to the current parking path, the determination module 300 determines the center of gravity position of the current vehicle and the first reference point within the parking space, and determines the first sub-parking path from the current parking path based on the center of gravity position and the first reference point.
[0061] The control module 400 controls the current vehicle to perform the first parking action according to the first sub-parking path. After the first parking action is completed, it controls the four motors to drive the corresponding wheels to rotate based on the preset in-situ steering strategy until the second parking action is completed, and determines that the current vehicle has completed parking.
[0062] According to one embodiment of this application, the control module 400 is further configured to: Determine if a docking request has been received; If a parking request is received, the four motors are controlled to drive the corresponding wheels to rotate based on the included angle, so that the four wheels of the current vehicle return to the position when the first parking action was completed. Control the current vehicle to park out of the waiting parking space according to the first sub-parking path.
[0063] According to one embodiment of this application, the control module 400 is further configured to: Determine whether the position of the centroid overlaps with the first reference point; If the center of mass overlaps with the first reference point, the first parking action is considered complete.
[0064] According to one embodiment of this application, the control module 400 is specifically used for: Calculate the angle between the parking space to be parked and the current vehicle; The four motors are controlled to drive the corresponding wheels to rotate, so that the vehicle rotates around the center of gravity by an angle.
[0065] According to one embodiment of this application, the included angle for: ; in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
[0066] It should be noted that the foregoing explanation of the vehicle parking path planning method embodiment also applies to the vehicle parking path planning device of this embodiment, and will not be repeated here.
[0067] The vehicle parking path planning device proposed in this application constructs a parking environment map, thereby determining the parking space and the current path, and assessing the presence of collision risk based on vehicle dimensions. If a collision risk exists, the device determines the vehicle's center of gravity and a first reference point within the parking space, and then plans a first sub-path. Subsequently, the first parking action is executed according to the sub-path. After completion, a second parking action is completed by controlling the rotation of the four wheels through a stationary steering strategy, and finally, parking is deemed complete. This solves the problem of fully automatic parking functions in related technologies being unable to park in narrow side parking spaces, improving the vehicle's usability in complex parking scenarios and providing convenience for drivers.
[0068] Figure 6 This is a schematic diagram of a vehicle provided in an embodiment of the present invention. The vehicle may include: The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.
[0069] When the processor 602 executes the program, it implements the vehicle parking path planning method provided in the above embodiments.
[0070] Furthermore, the vehicle also includes: Communication interface 603 is used for communication between memory 601 and processor 602.
[0071] The memory 601 is used to store computer programs that can run on the processor 602.
[0072] The memory 601 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.
[0073] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0074] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.
[0075] Processor 602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.
[0076] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle parking path planning method.
[0077] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above-described vehicle parking path planning method embodiments.
[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0080] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A method for planning parking routes for vehicles, characterized in that, The vehicle's four wheels are each driven by a separate motor, and the method includes the following steps: Construct a parking environment map of the current vehicle's location; Based on the parking environment map, the parking space to be parked and the current parking path are determined, and based on the size parameters of the current vehicle, it is determined whether there is a collision when the current vehicle parks according to the current parking path; If a collision occurs when the current vehicle is parked according to the current parking path, the center of gravity position of the current vehicle and the first reference point in the parking space are determined, and a first sub-parking path is determined from the current parking path based on the center of gravity position and the first reference point. According to the first sub-parking path, the current vehicle is controlled to perform the first parking action. After the first parking action is completed, based on the preset in-situ steering strategy, the four motors are controlled to drive the corresponding wheels to rotate until the second parking action is completed, and the current vehicle is determined to have completed parking.
2. The method according to claim 1, characterized in that, After the current vehicle completes parking, the following is also included: Determine if a docking request has been received; If the parking request is received, then based on the included angle, control the four motors to drive the corresponding wheels to rotate, so that the four wheels of the current vehicle return to the position when the first parking action was completed; Control the current vehicle to park out of the parking space according to the first sub-parking path.
3. The method according to claim 1, characterized in that, After controlling the current vehicle to perform the first parking action according to the first sub-parking path, the method further includes: Determine whether the position of the centroid overlaps with the first reference point; If the centroid position overlaps with the first reference point, then the first parking action is determined to be completed.
4. The method according to claim 1, characterized in that, The method of controlling the four motors to drive the corresponding wheels to rotate based on a preset in-situ steering strategy includes: Calculate the angle between the parking space to be parked and the current vehicle; The four motors are controlled to drive the corresponding wheels to rotate, so that the vehicle rotates around the center of gravity through the included angle.
5. The method according to claim 4, characterized in that, The included angle for: ； in, This refers to the adjustable range of the vehicle in the Y direction of the absolute coordinate system. This refers to the length of the vehicle.
6. A parking path planning device for vehicles, characterized in that, include: The module builds a parking environment map of the current vehicle's location; The judgment module determines the parking space and the current parking path based on the parking environment map, and determines whether there is a collision when the current vehicle parks according to the current parking path based on the size parameters of the current vehicle. The determination module determines the centroid position of the current vehicle and the first reference point within the parking space if a collision occurs while the current vehicle is parking according to the current parking path. It then determines the first sub-parking path based on the centroid position and the first reference point from the current parking path. The control module controls the current vehicle to perform a first parking action according to the first sub-parking path. After the first parking action is completed, the module controls the four motors to drive the corresponding wheels to rotate based on a preset in-situ steering strategy until the second parking action is completed, and then determines that the current vehicle has completed parking.
7. The apparatus according to claim 6, characterized in that, The control module is also used for: Determine if a docking request has been received; If the parking request is received, then based on the included angle, control the four motors to drive the corresponding wheels to rotate, so that the four wheels of the current vehicle return to the position when the first parking action was completed; Control the current vehicle to park out of the parking space according to the first sub-parking path.
8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the parking path planning method for a vehicle as described in any one of claims 1-5.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the parking path planning method for vehicles as described in any one of claims 1-5.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle parking path planning method as described in any one of claims 1-5.