Parking path planning method and apparatus, electronic device, and medium

Abstract

The present application relates to the technical field of parking, and provides a parking path planning method and apparatus, an electronic device, and a medium. The method comprises: acquiring a position of a parking object and area information of a parking area, wherein the area information comprises the orientation and the size of the parking area; and planning a parking path on the basis of the position of the parking object and the area information, wherein a starting point of the parking path is the position of the parking object, an ending point of the parking path is located in the parking area, the parking path comprises a first clothoid curve, a first curve and a second clothoid curve which are sequentially connected, the curvature radius at an ending point of the first clothoid curve, the curvature radius of the first curve, and the curvature radius at a starting point of the second clothoid curve are the same, and rotation angles of a steering wheel of a first parking object at a starting point of the first clothoid curve and an ending point of the second clothoid curve are zero. The present application can realize the objective of path planning, and can avoid the problem of pivot steering during parking.

Description

Parking route planning methods, devices, electronic equipment and media

[0001] This application claims priority to Chinese Patent Application No. 202410488346.4, filed on April 22, 2024, entitled "Parking Path Planning Method, Apparatus, Electronic Device and Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of parking technology, and in particular to a parking path planning method, device, electronic device and medium. Background Technology

[0003] Fully automated parking systems are an effective means of assisting drivers with limited experience or skills to complete parking operations safely, accurately, and quickly in complex parking environments. Parking path planning is a core element of fully automated parking systems. Therefore, it is necessary to provide a parking path planning method. Summary of the Invention

[0004] This application provides a parking path planning method, device, electronic device, and medium that can achieve the purpose of path planning and avoid the problem of turning in place during parking.

[0005] In a first aspect, embodiments of this application provide a parking path planning method, comprising: acquiring the location of a parking object and area information of a parking area, the area information including the orientation and size of the parking area; planning a parking path based on the location of the parking object and the area information, wherein the starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area; wherein the parking path includes a first spiral, a first curve, and a second spiral connected in sequence; the radius of curvature at the end point of the first spiral, the radius of curvature of the first curve, and the radius of curvature at the starting point of the second spiral are the same; the steering wheel rotation position of the first parking object at the starting point of the first spiral and the ending point of the second spiral are both at zero position.

[0006] In this embodiment, a parking path can be planned based on the location of the parking object and the area information of the parking area to achieve the purpose of parking path planning. Furthermore, the planned parking path includes curves and spirals at both ends of the curves, ensuring that during the parking process, there are no significant changes in curvature at the same point, eliminating the need for on-the-spot steering adjustments. This makes the parking process continuous and uninterrupted, thereby improving the user's parking experience.

[0007] Optionally, the parking path includes a first parking entry path, the end point of which is the end point of the parking path; the parking path planning method further includes: planning a parking entry area based on the minimum turning radius and width of the first parking object and area information; and executing the steps of planning the parking path based on the parking entry area and the path planning strategy; wherein, the path planning strategy is used to plan a parking entry path whose starting point is within the parking entry area.

[0008] Based on vehicle dynamics constraints such as minimum turning radius, and parking path design theory based on parking object width and area information, a parking area can be planned. This allows a path planning strategy to plan a parking path from a location point in the parking area to the parking area, supporting the parking object to travel along the parking path to complete parking.

[0009] Optionally, the first parking path includes a first spiral, a first curve, and a second spiral.

[0010] Parking paths can include at least parking entry paths. By planning parking entry paths with spirals at both ends of the curve, the problem of needing to adjust the steering wheel on the spot when the parking object moves along the parking entry path can be avoided.

[0011] Optionally, if the parking object is located within the parking area, the parking path is the first parking path.

[0012] Given the non-fixed location of the parking object, if the parking object is within the parking area, the planned parking path is the same as the planned parking route. The parking object can achieve the purpose of short-distance parking by driving along the parking path.

[0013] Optionally, if the location of the parking object is not within the parking area, the parking path may also include a parking guidance path connected to the first parking path; the starting point of the parking guidance path is the location of the parking object.

[0014] Given the non-fixed location of parking objects, if the object is not within the designated parking area, a parking guidance path needs to be planned to direct the vehicle to the parking area. This, in turn, involves planning a parking entry path from the endpoint of the guidance path to the parking area. Thus, the parking path comprises connected guidance and entry paths, allowing the vehicle to travel along both paths sequentially to achieve long-distance parking.

[0015] Optionally, if the extension line of the parking object's location along the road does not intersect with the parking area, the parking guidance path includes a third spiral, a second curve, and a fourth spiral connected in sequence; the radius of curvature at the end of the third spiral, the radius of curvature of the second curve, and the radius of curvature at the beginning of the fourth spiral are the same; the steering wheel rotation position of the first parking object at the beginning of the third spiral and the end of the fourth spiral are both zero.

[0016] When the extension line of the parking object's location along the road does not intersect the parking area, the parking object cannot enter the parking area if it travels straight. In this case, to plan a parking path, the parking guidance path includes a curve to guide the parking object into the parking area. By planning a parking guidance path with spirals at both ends of the curve, the problem of needing to adjust the steering wheel on the spot during the parking guidance process can be avoided, as the parking object travels along the parking guidance path without significant changes in curvature at the same location point.

[0017] Optionally, planning the parking area includes: planning an initial parking area based on the minimum turning radius and width of the first parking object and area information; obtaining the parking area based on the initial parking area; wherein the initial parking area and the parking area differ by a first length in the road extension direction, and the first length is a length threshold of the spiral curve in the road extension direction.

[0018] The initial parking area can be planned based on vehicle dynamics constraints such as minimum turning radius, and parking path design theory based on the width and area information of the parking object. Since the parking path includes the two ends of the curve's spirals, and the size of the spirals has a maximum limit, the initial parking area can be translated according to the length threshold of the spirals in the road extension direction to obtain the final parking area. This supports the path planning strategy that can plan a parking path starting within the parking area and including the two ends of the curve's spirals.

[0019] Optionally, the initial parking area includes: a curved boundary; the curved boundary causes the first parking object to come into contact with a corner of the parking area during its journey along the first path, and the first path is a path obtained by planning the parking path using a combination of geometric curves.

[0020] By using the parking entry point in the extreme parking condition where the parking object contacts the corner of the parking area as the initial curved boundary of the parking area, the path planning strategy can plan a parking entry path that does not involve the parking object colliding with the parking area.

[0021] Optionally, the initial parking area includes a first straight boundary; the extension direction of the first straight boundary is consistent with the extension direction of the road; the distance between the first straight boundary and the parking area is obtained based on the perceived distance of the parking area by the first parking object.

[0022] By designing the straight-line boundary of the initial parking area based on the perceived distance of the parking object to the parking area, the path planning strategy can be supported in planning the parking entry path, avoiding the problem that the path planning strategy cannot plan the parking entry path because the parking object is too far away from the parking area and cannot perceive the parking area.

[0023] Secondly, embodiments of this application provide a parking path planning device, comprising: an acquisition module for acquiring the location of a parking object and area information of a parking area, the area information including the orientation and dimensions of the parking area; and a planning module for planning a parking path based on the location of the parking object and the area information, wherein the starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area; wherein the parking path includes a first spiral line, a first curve, and a second spiral line connected in sequence; the radius of curvature at the end point of the first spiral line, the radius of curvature of the first curve, and the radius of curvature at the starting point of the second spiral line are the same; the steering wheel rotation position of the first parking object at the starting point of the first spiral line and the ending point of the second spiral line is both zero.

[0024] Thirdly, embodiments of this application provide an electronic chip, including: a processor for executing computer program instructions stored in a memory, wherein when the computer program instructions are executed by the processor, the electronic chip is triggered to perform the method as described in any of the first aspects.

[0025] Fourthly, embodiments of this application provide an electronic device including at least one processor and a memory coupled together. The memory is used to store computer program instructions, and the processor is used to execute the computer program instructions. When the computer program instructions are executed by the processor, the electronic device is triggered to perform a method as described in any of the first aspects.

[0026] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method as described in any of the first aspects.

[0027] In a sixth aspect, embodiments of this application provide a computer program product, which includes a computer program that, when run on a computer, causes the computer to perform the method as described in any of the first aspects.

[0028] The technical effects of the aforementioned aspects can be referenced from each other, and will not be elaborated further here. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0030] Figure 1 is a flowchart illustrating a parking path planning method provided in an embodiment of this application;

[0031] Figure 2 is a schematic diagram of the initial parking area in a vertical parking scenario provided by an embodiment of this application;

[0032] Figure 3 is a schematic diagram of a parking path obtained by combining geometric curves according to an embodiment of this application;

[0033] Figure 4 is a schematic diagram of a parking area in a vertical parking scenario provided by an embodiment of this application and a parking path planned using a combination of arc-straight line-spiral line.

[0034] Figure 5 is a schematic diagram of a parking path in a vertical parking space scenario provided by an embodiment of this application;

[0035] Figure 6 is a schematic diagram of the initial parking area and the parking path obtained by combining geometric curves in a horizontal parking scenario provided by an embodiment of this application.

[0036] Figure 7 is a schematic diagram of a parking area in a horizontal parking space scenario provided by an embodiment of this application and a parking path planned using a combination of arc-straight-rotary lines.

[0037] Figure 8 is a schematic diagram of a parking path in a horizontal parking space scenario provided by an embodiment of this application;

[0038] Figure 9 is a schematic diagram of a parking path obtained by using a combination of geometric curves in a horizontal parking space scenario provided by an embodiment of this application;

[0039] Figure 10 is a schematic diagram of a parking path planning method using a combination of arc-straight line-spiral line in a horizontal parking space parking scenario provided by an embodiment of this application;

[0040] Figure 11 is a schematic diagram of a parking path including a parking guidance path and a parking entry path in a horizontal parking space scenario provided by an embodiment of this application.

[0041] Figure 12 is a schematic diagram of a vehicle control system provided in an embodiment of this application;

[0042] Figure 13 is a block diagram of a parking path planning device provided in an embodiment of this application;

[0043] Figure 14 is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0044] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0045] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0046] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0047] It should be understood that the term "at least one" as used in this document refers to one or more, and "more than one" refers to two or more. The term "and / or" as used in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. A and B can be singular or plural. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0048] It should be understood that although the terms "first," "second," etc., may be used to describe the set thresholds in the embodiments of this application, these set thresholds should not be limited to these terms. These terms are only used to distinguish the set thresholds from each other. For example, without departing from the scope of the embodiments of this application, the first set threshold may also be referred to as the second set threshold, and similarly, the second set threshold may also be referred to as the first set threshold.

[0049] The parking path planning method provided in this application can be applied to parking scenarios for various types of parking objects.

[0050] In one embodiment, the parking object can be a vehicle, such as a front-wheel steering car or a four-wheel steering car. In other embodiments, the parking object can also be a logistics delivery vehicle, or a wheeled robot such as a cleaning robot or a mining robot. Below, using a vehicle as an example, the technical implementation of the parking path planning method provided in this application embodiment will be described.

[0051] As shown in Figure 1, this application embodiment provides a parking path planning method, which may include the following steps 101 to 102:

[0052] Step 101: Obtain the location of the parking object and the area information of the parking area, including the orientation and size of the parking area.

[0053] In one embodiment of this application, the parking object location can be the location of the center of the rear axle of the vehicle.

[0054] In one embodiment, the parking area can be a perpendicular parking area, that is, a parking area whose length direction is not consistent with or perpendicular to the road extension direction. In this case, the vehicle is in a perpendicular parking scenario. In a perpendicular parking scenario, the vehicle needs to be parked in a parking space perpendicular to the road traffic direction.

[0055] In another embodiment, the parking area can be a horizontal parking area, that is, a parking area whose length direction is consistent with or parallel to the road extension direction. In this case, the vehicle is in a horizontal parking (or lateral parking) scenario. In a horizontal parking scenario, the vehicle needs to be parked in a parking space parallel to the road traffic direction.

[0056] For example, a vehicle can determine whether the parking area to be parked is a perpendicular parking area or a horizontal parking area based on an image of the parking area.

[0057] To plan a parking path, it is first necessary to obtain the vehicle's location and the area information of the parking area, such as the direction (perpendicular / horizontal parking space), location, and size (such as width) of the parking area. Then, a combination of arc-straight-boom lines can be used to plan the parking path based on the obtained vehicle location and area information.

[0058] Step 102: Plan a parking path based on the location of the parking object and the area information. The starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area. The parking path includes a first spiral, a first curve, and a second spiral connected sequentially. The radius of curvature at the end of the first spiral, the radius of curvature of the first curve, and the radius of curvature at the starting point of the second spiral are the same. The steering wheel rotation position of the first parking object is zero at both the starting point of the first spiral and the ending point of the second spiral.

[0059] The planned parking path can include a first spiral, a first curve, and a second spiral connected sequentially. The radius of curvature of the first spiral changes from infinity (when the steering wheel is in the zero position, i.e., straight) to a set radius of curvature (when the steering wheel is not in the zero position, such as when the steering wheel is fully turned left or right). The radius of curvature of the first curve is the set radius of curvature, and the radius of curvature of the second spiral changes from the set radius to infinity. This ensures that there are no abrupt changes in curvature at any point on the first curve or either spiral, thus eliminating the need for stationary turning (i.e., stopping at a certain position to adjust the steering wheel angle) and guaranteeing the continuity of the parking process.

[0060] In one embodiment, the set curvature radius can be the vehicle's minimum turning radius to support the vehicle in parking within the smallest possible area.

[0061] In one embodiment, the parking path may include not only a first spiral, a first curve, and a second spiral connected in sequence, but also at least one other curve and spirals at both ends of each other curve, so as to support the absence of turning in place during the entire parking process.

[0062] Referring to Figures 4 and 5, if the vehicle's current position is at point G1 and the parking termination position is at point G4, the parking path can include the sequentially connected spiral line P1a, curve ab, and spiral line bP2*, as well as the sequentially connected spiral line P2c, curve cd, and spiral line dP3. The parking path "G1-P1-ab-P2*-P2-cd-P3-G4" can be obtained from the path "G1-P1-H1-H2-P2*-P2-H2-H3-P3-G4". The length, radius of curvature, and angle of curve H1H2 are consistent with the length, radius of curvature, and angle of curve ab, respectively, and the length, radius of curvature, and angle of curve H2H3 are consistent with the length, radius of curvature, and angle of curve cd, respectively.

[0063] Referring to Figure 5, the vertical parking path shown in Figure 5 can be a series of connected lines: straight line G1P1, spiral line P1a, curve ab, spiral line bP2*, straight line P2*P2, spiral line P2c, curve cd, spiral line dP3, and straight line P3G4. The different angles of curves ab and cd result in different lengths for spiral lines bP2* and P2c. Therefore, straight line P2*P2 is used to transition between spiral lines bP2* and P2c.

[0064] In one embodiment, the longer the curve is and the larger the angle of the curve, the longer the spirals at both ends of the curve are.

[0065] For example, referring to Figures 7 and 8, if the vehicle's current position is at point G1 and the parking termination position is at point P4, then the parking path can include the sequentially connected spiral line P1e, curve ef, and spiral line fP2, as well as the sequentially connected spiral line P3g, curve gh, and spiral line hP4. Specifically, the parking path "G1-P1-ef-P2-P3-gh-P4" can be obtained from the path "G1-P1-H1-H2-P2-P3-H3-H4-P4". The length, radius of curvature, and angle of curve H1H2 are consistent with the length, radius of curvature, and angle of curve ef, respectively, and the length, radius of curvature, and angle of curve H3H4 are consistent with the length, radius of curvature, and angle of curve gh, respectively.

[0066] Referring to Figure 8, the horizontal parking path shown in Figure 8 can be a straight line G1P1, a spiral line P1e, a curve ef, a spiral line fP2, a straight line P2P3, a spiral line P3g, a curve gh, and a spiral line hP4 connected in sequence.

[0067] The embodiments of this application can plan parking paths including spirals at both ends of the curve based on a combination of arc-straight line-spiral line combination, so that the curvature of the parking path is continuous and there is no problem of turning on the spot during parking.

[0068] The implementation method of planning parking paths using a combination of geometric curves results in a discontinuous curvature of the planned parking path, which leads to the problem of turning in place.

[0069] For example, referring to Figure 3, the vertical parking path planned based on the combination of geometric curves can be the path "G1-G2-G3-G4". When the vehicle reaches point G2, there is a problem of turning in place (switching from turning the steering wheel all the way to the left to turning the steering wheel all the way to the right), and when the vehicle reaches point G3, there is a problem of turning in place (switching from turning the steering wheel all the way to the right to straightening the steering wheel).

[0070] For example, referring to Figure 6, the horizontal parking path planned based on the combination of geometric curves can be the path "G1-G2-G3-G4". When the vehicle reaches point G2, there is a problem of turning in place (switching from turning the steering wheel all the way to the left to straightening the steering wheel), and when it reaches point G3, there is a problem of turning in place (switching from straightening the steering wheel to turning the steering wheel all the way to the left).

[0071] Referring to Figures 5 and 8, the parking path planned in this embodiment includes spirals at both ends of the curve, so that the parking path maintains continuous curvature to avoid the problem of turning in place during parking.

[0072] As can be seen, by planning a parking path including curves and spirals at both ends of the curves, the present application embodiment ensures that during the parking process, there is no problem of needing to adjust the steering wheel on the spot due to a large change in curvature at the same location point, thus making the parking process continuous and uninterrupted, thereby improving the user's parking experience.

[0073] When using the combination of arc-straight-boomerang to plan a parking path, the parking path can only be planned if the vehicle is located within a specific area. Otherwise, if the vehicle is not located within that specific area, the combination of arc-straight-boomerang cannot be used to plan a parking path starting from the vehicle's location.

[0074] If the vehicle is located within this specific area, a parking path can be planned. The starting point and ending point of the parking path are the vehicle's current position and the vehicle's final parking position, respectively. Thus, the parking path can be considered a parking route.

[0075] For example, referring to Figures 7 and 8, if the vehicle is located at point G1, and point G1 is within the area “C1-C2-C3-C4-C5-C1”, then the planned parking path can be the parking path “G1-P1-ef-P2-P3-gh-P4”.

[0076] If the vehicle's location is not within this specific area, a parking guidance path must be planned, followed by a parking entry path. Thus, the parking path can include a sequence connecting the parking guidance path and the parking entry path. The starting point of the parking guidance path is the vehicle's current location, and the ending point is the starting point of the parking entry path. The starting point of the parking entry path must be within this specific area, and the ending point is the vehicle's final parking position. In other words, the parking guidance path guides the vehicle to this specific area, and the parking entry path supports the vehicle's entry into the parking area from its location within this specific area.

[0077] For example, referring to Figures 10 and 11, if the vehicle is located at point G1, and point G1 is not within the area “C1-C2-C3-C4-C5-C1” shown in Figure 7, the planned parking path can include sequentially connecting the parking guidance path and the parking entry path. The parking guidance path “G1-AB-P2-P3-CD-P4-P5” can be obtained based on the path “G1-H1-H2-P2-P3-H3-H4-P4-P5”, and the parking entry path “P5-EF-P6-P7-GH-P1” can be obtained based on the path “P5-H5-H6-P6-P7-H7-G6-P1”.

[0078] The parking guidance path shown in Figure 11 includes two curves, with loops at both ends of each curve to ensure that the vehicle does not turn on the spot while traveling along the parking guidance path. The parking entry path shown in Figure 11 also includes two curves, with loops at both ends of each curve to ensure that the vehicle does not turn on the spot while traveling along the parking entry path.

[0079] Based on the above, in one embodiment of this application, the parking path includes a first parking entry path, and the endpoint of the first parking entry path is the endpoint of the parking path. Therefore, the parking path planning method further includes: planning a parking entry area based on the minimum turning radius and width of the first parking object and area information; and executing the step of planning a parking path based on the parking entry area and a path planning strategy; wherein the path planning strategy is used to plan a parking entry path whose starting point is within the parking entry area.

[0080] Feasibly, the path planning strategy can use a combination of circular arcs, straight lines, and spirals to plan a parking path starting within the parking area. Thus, in one embodiment of this application, the first parking path may include the aforementioned first spiral, first curve, and second spiral, thereby ensuring the curvature continuity of the parking path and avoiding the problem of the vehicle turning in place while traveling along the parking path.

[0081] Since the path planning strategy cannot plan a parking path starting from the vehicle's position if the vehicle's position is not within the parking area, we can first consider the vehicle's kinematic constraints, chassis actuator constraints, and collision constraints during the parking process to establish a feasible parking starting area, i.e., the parking area, and then determine whether the vehicle's position is within the parking area.

[0082] By using the vehicle's minimum turning radius as a kinematic constraint to plan the parking area, the parking area can be maximized, thereby improving the solution space of the path planning strategy.

[0083] By using vehicle width and parking area information as collision constraints, parking areas are planned to avoid planning parking paths that may lead to collisions.

[0084] By planning parking areas based on constraints from the vehicle chassis actuators, parking areas suitable for a combination of arc-straight-boom paths can be planned. This ensures that as long as the vehicle is within the parking area, the path planning strategy using the arc-straight-boom combination can plan a parking path including boom curves at both ends. The vehicle chassis actuator constraints can be determined using n... max Manifestation, n maxIt is represented as the length threshold of the spiral curve in the direction of road extension.

[0085] In one embodiment, for a curve with an angle of 180°, n max It can be the length of the spirals at both ends of the curve in the direction of road extension.

[0086] Thus, the embodiments of this application can plan a safe, efficient and comfortable parking path in real time while satisfying factors such as vehicle kinematic constraints, vehicle chassis actuator constraints and collision constraints.

[0087] Referring to Figure 4, the parking area in the vertical parking scenario shown in Figure 4 can be the area "C1-C2-C3-C4-C5-C1" shown in Figure 4. Referring to Figure 7, the parking area in the horizontal parking scenario shown in Figure 7 can be the area "C1-C2-C3-C4-C5-C1" shown in Figure 7.

[0088] In one embodiment of this application, planning a parking area includes: planning an initial parking area based on the minimum turning radius and width of a first parking object and area information; and obtaining a parking area based on the initial parking area; wherein the initial parking area and the parking area differ by a first length in the road extension direction, and the first length is a threshold length of the spiral curve in the road extension direction.

[0089] Since parking path planning based on a combination of circular arcs, straight lines, and spiral lines can be achieved by combining geometric curves and using spiral line design, the initial parking area can be planned based on the combination of geometric curves. Then, according to the threshold requirements of the spiral line, the initial parking area can be shifted along the road and wind direction to obtain the parking area.

[0090] Referring to Figures 2 and 3, if the vehicle is located within the initial parking area, a parking path with discontinuous curvature towards the perpendicular parking space can be planned using a combination of geometric curves. Conversely, if the vehicle is not located within the initial parking area, a parking path with discontinuous curvature towards the perpendicular parking space cannot be planned using a combination of geometric curves. Thus, the initial parking area "B1-B2-B3-B4-B5-B1" can be inferred based on the combination of geometric curves.

[0091] Referring to Figure 3, if the vehicle is located within the initial parking area “B1-B2-B3-B4-B5-B1” shown in Figure 3, a parking path with discontinuous curvature can be planned using a combination of geometric curves. Based on the spiral curve threshold requirement, by translating the initial parking area, the parking area “C1-C2-C3-C4-C5-C1” shown in Figure 4 can be obtained. This allows the vehicle to be located within the parking area shown in Figure 4, and a parking path with continuous curvature towards the perpendicular parking space can be planned using a combination of arcs, straight lines, and spiral curves.

[0092] Referring to Figure 6, if the vehicle is located within the initial parking area, a parking path with discontinuous curvature towards a horizontal parking space can be planned using a combination of geometric curves. Conversely, if the vehicle is not located within the initial parking area, a parking path with discontinuous curvature towards a horizontal parking space cannot be planned using a combination of geometric curves. Thus, the initial parking area "B1-B2-B3-B4-B5-B1" can be inferred based on the combination of geometric curves.

[0093] Referring to Figure 6, if the vehicle is located within the initial parking area “B1-B2-B3-B4-B5-B1” shown in Figure 6, a parking path with discontinuous curvature can be planned using a combination of geometric curves. Based on the spiral curve threshold requirement, by translating the initial parking area, the parking area “C1-C2-C3-C4-C5-C1” shown in Figure 7 can be obtained. This allows the vehicle to be parked in a horizontal parking space with continuous curvature using a combination of circular arcs, straight lines, and spiral curves if it is located within the parking area shown in Figure 7.

[0094] In one embodiment of this application, the initial parking area includes a curved boundary; the curved boundary causes the first parking object to come into contact with a corner of the parking area during its journey along the first path, and the first path is a path obtained by planning the parking entry path using a combination of geometric curves.

[0095] Referring to Figure 2, when the parking starting position of vehicle 202 is any point on curve B3B4, a parking path with discontinuous curvature can be planned using a combination of geometric curves. However, when vehicle 202 parks along this parking path to the position shown in Figure 2, vehicle 202 comes into contact with obstacle 201 in the parking area.

[0096] As shown in Figure 2, when the parking starting position of vehicle 202 is at point Q1, the curvature discontinuous parking path "Q1-Q2-Q3-Q4" is planned using a combination of geometric curves. However, during the parking process along the path "Q1-Q2-Q3-Q4", vehicle 202 comes into contact with obstacle 201.

[0097] Thus, curve B3B4 can be the boundary curve of the initial parking area shown in Figure 2. If the vehicle is located on the upper left side of curve B3B4, a parking path without collision problems can be planned using the geometric curve combination method. Conversely, if the vehicle is located on the lower right side of curve B3B4, a parking path without collision problems cannot be planned using the geometric curve combination method.

[0098] Based on the same implementation principle, referring to Figure 6, curve B2B3 can be the curve boundary of the initial parking area shown in Figure 6.

[0099] By defining the initial parking area, including the curved boundary, a parking path with discontinuous curvature but no collision problem can be planned using a combination of geometric curves. Thus, if the vehicle is located within the parking area obtained from the initial parking area, a parking path with continuous curvature and no collision problem can be planned using a combination of arcs, straight lines, and spirals.

[0100] Considering the limited perception distance of a vehicle over a parking area, if the vehicle is too far away, it cannot accurately perceive the parking area. Therefore, the straight-line boundary of the initial parking area can be defined based on the vehicle's perception distance. Thus, in one embodiment of this application, the initial parking area includes a first straight-line boundary; the extension direction of the first straight-line boundary is consistent with the road extension direction; the distance between the first straight-line boundary and the parking area is obtained based on the perception distance of the first parking object over the parking area.

[0101] In one embodiment, the sensing distance can be a distance threshold for the vehicle to sense using ultrasonic radar.

[0102] Referring to Figure 2, the straight line B1B2 shown in Figure 2 can be considered as the first straight line boundary of the initial parking area shown in Figure 2. If the vehicle is located below the straight line B1B2, a parking path can be planned using a combination of geometric curves. Conversely, if the vehicle is located above the straight line B1B2, a parking path cannot be planned using a combination of geometric curves.

[0103] Based on the same implementation principle, referring to Figure 6, the straight line B1B2 shown in Figure 6 can be the first straight line boundary of the initial parking area shown in Figure 6.

[0104] By defining the initial parking area, including the first straight line boundary, a parking path with discontinuous curvature can be planned using a combination of geometric curves. Thus, if the vehicle is located within the parking area obtained from the initial parking area, a parking path with continuous curvature can be planned using a combination of arcs, straight lines, and spirals.

[0105] After the parking area is planned, it can be determined whether the vehicle is located within the parking area, so that a parking guidance path can be planned as needed.

[0106] If the vehicle is located within the parking area, a path planning strategy can be used to plan a parking path starting from the vehicle's location. Thus, in one embodiment of this application, when the parking object is located within the parking area, the parking path is the first parking path.

[0107] Referring to Figures 4 and 5, if the vehicle is located within the parking area of ​​a perpendicular parking space, the planned parking path is the parking path itself, and no parking guidance path is required. Referring to Figures 7 and 8, if the vehicle is located within the parking area of ​​a horizontal parking space, the planned parking path is the parking path itself, and no parking guidance path is required.

[0108] This application's embodiment transforms the vehicle's kinematic constraints, chassis actuator constraints, and collision constraints during the parking process into a parking area, and plans a parking path with continuous curvature based on a combination of circular arcs, straight lines, and spirals. This achieves a decoupled design between the spatial planning of the parking path solution and the parking path planning, thus satisfying both the requirements for high success rate of parking path planning and low hardware computing resource overhead.

[0109] If the vehicle's location is not within the parking area, a parking guidance path can be planned first, ending within the parking area, to guide the vehicle to the parking area. Then, a path planning strategy is used to plan a parking path starting from the end of the parking guidance path. The parking path then sequentially connects the parking guidance path and the parking path. Thus, in one embodiment of this application, when the parking object's location is not within the parking area, the parking path also includes a parking guidance path connected to the first parking path; the starting point of the parking guidance path is the parking object's location.

[0110] Referring to Figure 11, if the vehicle is not located within the parking area of ​​a level parking space, the planned parking path includes a parking guidance path and a parking entry path. The starting point of the parking guidance path is the vehicle's location, point G1. The ending point of the parking guidance path is the same as the starting point of the parking entry path, point P5. The ending point of the parking entry path is the vehicle's parking end position, point P1.

[0111] This application embodiment plans a parking area and plans parking guidance paths accordingly. Under the premise of comprehensively considering factors such as vehicle kinematic constraints, vehicle chassis actuator constraints, and collision constraints, it maximizes the solution space of the parking path (the parking area is the feasible parking starting area, which serves as the solution space for the parking path). This avoids the situation where the parking path planning fails because the vehicle's current position is not within the parking area and a parking path cannot be planned based on the vehicle's current position.

[0112] The full-space search parking route planning method can plan at least one feasible parking route based on the vehicle's location and the parking area's regional information, and then select one of these routes as the final parking route. However, the full-space search method is difficult to meet the requirements of low hardware computing resource consumption, and the high computing resource consumption also means that the planned parking route cannot achieve seamless non-stop connection with the autonomous valet parking route.

[0113] The embodiments of this application decouple the planning of parking guidance paths and parking entry paths. When the initial parking position of a vehicle is outside the parking entry area, a parking guidance path can be planned to guide the vehicle into the parking entry area. This indirectly expands the solution space for parking entry paths and lays the foundation for seamless non-stop switching between autonomous valet parking systems and fully automatic parking systems.

[0114] Feasibly, the vehicle may include a fully automated parking system and an autonomous valet parking system. The autonomous valet parking system can plan an autonomous valet parking path for the vehicle to automatically park from the parking lot entrance into the parking area. The fully automated parking system can plan a parking path for the vehicle to automatically park from a location near the parking area. The parking path planning method shown in Figure 1 can be executed by the vehicle's fully automated parking system, and the planned parking path can seamlessly connect with the autonomous valet parking path without stopping, thus supporting a smooth transition from the autonomous valet parking system to the fully automated parking system.

[0115] A combination of circular arcs, straight lines, and spirals can be used to plan a parking guidance path with continuous curvature, ensuring that the vehicle does not have to turn in place while traveling along the parking guidance path. Thus, in one embodiment of this application, when the extension line of the parking object's location along the road does not intersect the parking area, the parking guidance path includes a third spiral, a second curve, and a fourth spiral connected in sequence; the radius of curvature at the end of the third spiral, the radius of curvature of the second curve, and the radius of curvature at the beginning of the fourth spiral are the same; the steering wheel rotation position of the first parking object is zero at both the beginning of the third spiral and the end of the fourth spiral.

[0116] Referring to Figures 10 and 11, since vehicle position G1 is not within the parking guidance area "C1-C2-C3-C4-C5-C1" shown in Figure 7, a parking guidance path needs to be planned. Because the extension line of vehicle position G1 along the road does not intersect with the parking area, meaning the parking guidance path is not a straight path, and a straight path cannot guide the vehicle to the parking area, a parking guidance path including curves and their two loops can be planned.

[0117] Referring to Figure 11, the parking guidance path “G1-AB-P2-P3-CD-P4-P5” can include two curves and spirals at both ends of each curve, namely spiral G1A, curve AB, spiral BP2, spiral P3C, curve CD, and spiral DP4.

[0118] Compared to the "G1-G2-G3" guide path planned based on the combination of geometric curves shown in Figure 9, which has a curvature discontinuity at point G2, resulting in a stationary turning problem (at point G2, it is necessary to switch from the right-hand full turn of the steering wheel to the left-hand full turn of the steering wheel), the parking guide path shown in Figure 11 has continuous curvature, thus avoiding the stationary turning problem during the corresponding parking process.

[0119] For example, when a vehicle travels along the parking guidance path shown in Figure 11, the steering wheel changes from a straight position at point G1 to a fully right-handed position at point A, then remains fully right-handed to point B. Next, the steering wheel changes from fully right-handed to a straight position at point P2, and remains straight at point P3. Then, from point P3, the steering wheel changes to a fully left-handed position at point C, and remains fully left-handed to point D. Finally, the steering wheel changes from fully left-handed to a straight position at point P4. Point P4 can be considered the starting point of the parking path.

[0120] Referring to Figure 11, the horizontal parking path shown in Figure 11 can be a series of interconnected loops: G1A, AB, BP2, P2P3, P3C, CD, DP4, P4P5, P5E, EF, FP6, P6P7, P7G, GH, and HP1.

[0121] The specific technical implementation of the parking path planning in the embodiments of this application will be described below with reference to the accompanying drawings.

[0122] Example 1: The vehicle is in a perpendicular parking scenario and is within the parking area.

[0123] In Example 1, the initial parking area for the perpendicular parking space can be planned first, and then the parking entry area for the perpendicular parking space can be planned accordingly. Since Example 1 determines that there is no need to plan a parking guidance path based on the vehicle position and the parking entry area, a combination of arc-straight-spiral curves can be used to plan a parking entry path with continuous curvature for parking in the perpendicular parking space. The parking entry path starts from the vehicle position and ends at the vehicle's parking end position. This parking entry path is the planned parking path.

[0124] 1.1 Initial parking area for planning perpendicular parking spaces

[0125] Referring to Figure 2, the vehicle kinematic constraints, chassis actuator constraints, and collision constraints during perpendicular parking can be transformed into a feasible perpendicular parking area. First, the initial parking area is planned based on the vehicle width, the orientation and dimensions of the parking area, etc.

[0126] As shown in Figure 2, a coordinate system OXY is established with the right front point O of the perpendicular parking space as the origin.

[0127] Considering the extreme condition shown in Figure 2, where the outer right edge of vehicle 202 intersects (or contacts, collides with) the left front point O of obstacle 201 on the right side of the parking space, the coordinates of the vehicle's vertical parking starting point B3 can be obtained as follows:

[0128] In the formula, h1 is half the difference between the perpendicular parking space width and the vehicle width; R min W represents the minimum turning radius at the midpoint of the rear axle of the car; W is the width of the car.

[0129] Based on point B3, the coordinates of point O2 are calculated as follows:

[0130] Calculate the coordinates of point O1 based on point O2. The constraints are:

[0131] Based on the coordinates of point O1 The boundary of the circular arc segment can be obtained. The corresponding parking starting point coordinates are:

[0132] Thus, the boundary of the circular arc segment is established. The equation is:

[0133] Circular arc boundary This refers to the curved boundary of the initial parking area. Based on the constraint of this curved boundary, the vehicle position cannot be located on the lower right side of the curved boundary. This is to support the use of a combination of arc, straight line, and spiral line to plan a parking path with continuous curvature and no collision between the vehicle and point O when the vehicle position is in the parking area.

[0134] By considering the effective measurement range of parking perception, the equation of the straight segment boundary B1B2 of the initial parking area can be obtained as follows:

[0135] By defining the straight line segment boundary B1B2 of the initial parking area, a parking path with continuous curvature can be planned using a combination of arcs, straight lines, and spirals when the vehicle is positioned within the parking area.

[0136] The equations for the initial straight segment boundary B2B3 of the parking area are:

[0137] By considering the effective measurement range of parking perception, the equation of the straight segment boundary B4B5 of the initial parking area can be obtained as follows:

[0138] By defining the straight segment boundary B4B5 of the initial parking area, a parking path with continuous curvature can be planned using a combination of arcs, straight lines, and spirals when the vehicle is positioned within the parking area.

[0139] The equation of the boundary line segment B1B5 can be:

[0140] In the formula, W p This refers to the width of the vertical parking space.

[0141] In summary, we can establish a system consisting of line segment B1B2, line segment B2B3, and circular arc segment B1B2. The initial perpendicular parking area is defined by straight line segments B4B5 and B1B5. If the vehicle is within the initial parking area, a parking path with discontinuous curvature can be planned using a combination of geometric curves. This allows for the planning of a continuous curvature parking path using a combination of circular arcs, straight lines, and spirals, once the parking area is obtained from the initial parking area.

[0142] 1.2 Planning the parking entry route for perpendicular parking spaces

[0143] As shown in Figure 3, based on the planned initial parking area, a perpendicular parking path with discontinuous curvature can be planned using a combination of geometric curves. Specifically, the coordinates of the parking starting point G1 are known to be... Given the coordinates of the parking target point (i.e., the parking end point) G4, Among them, L f L and L represent the front overhang and wheelbase of the car, respectively.

[0144] Based on point G1, the coordinates of point O3 are calculated as follows:

[0145] Calculate the arc The angle is:

[0146] As shown in Figure 3, point G2 lies on line O3O4, and point G2 is an arc. and arc The intersection point, and the length of the line O3O4 is 2R. min .

[0147] Calculate the arc The angle is: θ2=π / 2-θ1

[0148] The coordinates of point O4 are:

[0149] The coordinates of point G2 are:

[0150] The coordinates of point G3 are:

[0151] In summary, starting from parking point G1 in the initial parking area, the perpendicular parking path planned using a combination of geometric curves consists of circular arc segments. arc segment It is composed of straight line segments G3 and G4, but the curvature at points G2 and G3 is discontinuous, so there is a problem of turning in place at points G2 and G3.

[0152] To solve the problem of turning in place, referring to Figures 4 and 5, a combination of circular arcs, straight lines, and spirals can be used to plan a perpendicular parking path with continuous curvature. Specifically, the coordinates of the parking starting point G1 are known to be... And the coordinates of the known parking target point G4 are:

[0153] The coordinates of point H1 are calculated as follows:

[0154] In the formula, n max This is the threshold length of the spiral curve in the direction of road extension.

[0155] Based on point H1, the coordinates of point O5 are calculated as follows:

[0156] Calculate the arc The angle is:

[0157] Calculate the arc The angle is: θ4 = π / 2 - θ3

[0158] The coordinates of point O6 are:

[0159] The coordinates of point H2 are calculated as follows:

[0160] The coordinates of point H3 are:

[0161] Given an arc The smooth offset is arc The smooth offset is The coordinates of point P1 are:

[0162] Specifically, different arc angles result in different smoothing offsets. A larger arc angle results in a larger smoothing offset. Thus, the arc... spiral endpoint and arc The starting points of the spiral P2H2 are different. The line segment is used to achieve the transition between the two spirals.

[0163] Calculation points The coordinates are:

[0164] The coordinates of point P2 are:

[0165] The coordinates of point P3 are:

[0166] In summary, using the combination of arc-straight line-spiral curve, a path can be planned consisting of straight line segment G1P1, corresponding spiral line segment P1H1, and arc segment... The straight segment corresponding to the spiral straight segment The corresponding straight segment P2H2 and circular segment of the spiral curve The path formed by the straight segments H3P3 and P3G4 corresponding to the spiral curve can then be used to obtain the path consisting of the straight segment G1P1, the spiral curve P1a, and the circular arc segment. spiral straight segment spiral P2c, circular arc segment The perpendicular parking path consists of the spiral curve dP3 and the straight line segment P3G4. The curvature of the perpendicular parking path is continuous, and there is no problem of turning in place.

[0167] Referring to Figures 3 and 5, the vertical parking path shown in Figure 3, planned using a combination of geometric curves, has discontinuous curvature and a problem of turning on the spot, which makes the parking process discontinuous and affects the user's parking experience. In contrast, the vertical parking path shown in Figure 5, planned using a combination of arcs, straight lines, and spirals, has continuous curvature and does not have the problem of turning on the spot, thus improving the user's parking experience.

[0168] 1.3 Planning the parking area for perpendicular parking spaces

[0169] Since the parking path planned using the arc-straight-boomerang combination method contains a boom curve, to ensure a parking path with continuous curvature can be planned based on the parking starting point, a corresponding arc-straight-boomerang combination parking area can be planned based on the boom curve threshold requirement and the initial parking area of ​​the corresponding geometric curve combination method. The initial parking area and the parking area differ by n in the road extension direction. max .

[0170] Refer to Figure 4 to establish the boundary of the circular arc segment. The equation is:

[0171] The equations of the boundary line segment C1C2 are:

[0172] The equation of the boundary line segment C2C3 is:

[0173] The equations of the boundary line segment C4C5 are:

[0174] The equations of the boundary line segment C1C5 are:

[0175] In summary, it can be determined based on the line segment B1B2, line segment B2B3, and circular arc segment. The initial vertical parking area enclosed by straight segments B4B5 and B1B5 is planned to include straight segments C1C2, C2C3, and circular segments. The perpendicular parking area is enclosed by straight segments C4C5 and C1C5. Therefore, if the parking starting point is within this area, a perpendicular parking path with continuous curvature can be planned using a combination of arcs, straight lines, and spirals.

[0176] Example 2: The vehicle is in a horizontal parking scenario and is within the parking area.

[0177] In Example 2, the initial parking area for the horizontal parking space can be planned first, and then the parking entry area for the horizontal parking space can be planned accordingly. Since in Example 1, based on the vehicle position and the parking entry area, it can be determined that there is no need to plan a parking guidance path, a combination of arc-straight-spiral lines can be used to plan a parking entry path with continuous curvature for parking in the horizontal parking space. The parking entry path starts from the vehicle position and ends at the vehicle's parking position, and the parking entry path is the planned parking path.

[0178] Step 2.1 Plan the initial parking area for parallel parking spaces

[0179] Referring to Figure 6, the vehicle kinematic constraints, chassis actuator constraints, and collision constraints during parallel parking can be transformed into a feasible parallel parking starting area. First, the initial parking area is planned based on the vehicle width, the orientation and dimensions of the parking area, etc.

[0180] As shown in Figure 6, a coordinate system OXY is established with the right front point O of the horizontal parking space as the origin.

[0181] By considering the effective measurement range of parking perception, the equation of the straight segment boundary B1B2 of the initial parking area can be obtained as follows:

[0182] By defining the straight line segment boundary B1B2 of the initial parking area, a parking path with continuous curvature can be planned using a combination of arcs, straight lines, and spirals when the vehicle is positioned within the parking area.

[0183] Circular arc boundary The coordinates of the center point are The equation is:

[0184] Circular arc boundary The curve boundary of the initial parking area is defined by the constraints of this curve boundary. The vehicle position cannot be located on the lower right side of the curve boundary. This is to support the use of a combination of arc, straight line, and spiral curve to plan a parking path with continuous curvature and no collision between the vehicle and point O when the vehicle is in the parking area.

[0185] The equation of the boundary line segment B3B4 is:

[0186] In the formula,

[0187] By defining the initial parking area in a horizontal parking scenario as including the straight line segments B3 and B4, when the vehicle is within the initial parking area, a parking path including the straight line segments G2 and G3 can be planned using a combination of geometric curves (i.e., a horizontal parking trajectory with discontinuous curvature can be planned). The straight line segments G2 and G3 are used to transition between curves G1 and G2 and curves G3 and G4. Thus, if the vehicle is within the parking area obtained from the initial parking area, a horizontal parking trajectory with continuous curvature can be planned using a combination of arcs, straight lines, and spirals, improving the trajectory planning success rate.

[0188] The equation of the boundary line segment B4B5 is:

[0189] The equation of the boundary line segment B1B5 is:

[0190] In summary, a system can be established using straight line segment B1B2 and circular arc segment B1B2. The initial horizontal parking area is defined by straight segments B3B4, B4B5, and B1B5. If the vehicle is within this initial parking area, a parking path with discontinuous curvature can be planned using a combination of geometric curves. This allows for the planning of a continuous curvature parking path using a combination of circular arcs, straight lines, and spirals, once the parking area is determined from the initial area.

[0191] Step 2.2 Plan the parking path for horizontal parking spaces

[0192] As shown in Figure 6, based on the planned initial parking area, a horizontal parking path with discontinuous curvature can be planned using a combination of geometric curves. Specifically, the coordinates of the parking starting point G1 are known to be... The coordinates of parking target point G4 are: in,

[0193] Based on point G1, the coordinates of point O1 are calculated as follows:

[0194] Based on point G4, the coordinates of point O2 are calculated as follows:

[0195] Calculate the arc and arc The angle is:

[0196] The coordinates of point G2 are:

[0197] The coordinates of point G3 are:

[0198] In summary, starting from parking point G1 in the initial parking area, the horizontal parking path planned using a combination of geometric curves consists of circular arc segments. Straight line segment G2G3 and circular arc segment The system consists of points G2 and G3, but the curvature is discontinuous at these points, resulting in a problem of in-situ turning at G2 and G3.

[0199] To solve the problem of turning in place, referring to Figures 7 and 8, a combination of circular arcs, straight lines, and spirals can be used to plan a perpendicular parking path with continuous curvature. Specifically, the coordinates of the parking starting point G1 are known to be... Point H4 and point G4 have the same coordinates, that is: The coordinates of point H1 are calculated as follows:

[0200] The coordinates of point O3 are:

[0201] Calculate the arc and arc The angle is:

[0202] The coordinates of point H2 are calculated as follows:

[0203] The coordinates of point H3 are:

[0204] Given an arc and arc The smooth offset is n arc The coordinates of point P1 are calculated as follows:

[0205] The coordinates of point P2 are:

[0206] The coordinates of point P3 are:

[0207] The coordinates of point P4 are:

[0208] In summary, using the combination of arc-straight line-spiral curve, a path can be planned consisting of straight line segment G1P1, corresponding spiral line segment P1H1, and arc segment... The corresponding straight segments H2P2, P2P3, P3H3, and circular arc segments of the spiral curve. The path is formed by the straight line segment H4P4 of the corresponding spiral curve, and then, based on this path, a path can be obtained consisting of the straight line segment G1P1, the spiral curve P1e, and the circular arc segment. spiral line fP2, straight line segment P2P3, spiral line P3g, circular arc segment The horizontal parking path consists of the spiral curve hP4. The curvature of the horizontal parking path is continuous, and there is no problem of turning in place.

[0209] Referring to Figures 6 and 8, the horizontal parking path shown in Figure 6, planned using a combination of geometric curves, has discontinuous curvature and a problem of turning on the spot, which makes the parking process discontinuous and affects the user's parking experience. In contrast, the horizontal parking path shown in Figure 8, planned using a combination of arcs, straight lines, and spirals, has continuous curvature and does not have the problem of turning on the spot, thus improving the user's parking experience.

[0210] Step 2.3 Planning the parking area for horizontal parking spaces

[0211] Since the parking path planned using the arc-straight-boomerang combination method contains a boom curve, to ensure a parking path with continuous curvature can be planned based on the parking starting point, a corresponding arc-straight-boomerang combination parking area can be planned based on the boom curve threshold requirement and the initial parking area of ​​the corresponding geometric curve combination method. The initial parking area and the parking area differ by n in the road extension direction. max .

[0212] Referring to Figure 7, the equations for the boundary line segment C1C2 are established as follows:

[0213] Circular arc boundary The coordinates of the center point are The equation is:

[0214] The equations of the boundary line segment C3C4 are:

[0215] The equations of the boundary line segment C4C5 are:

[0216] The equations of the boundary line segment C1C5 are:

[0217] In summary, it can be determined based on the straight line segment B1B2 and the circular arc segment... The initial horizontal parking area enclosed by straight segments B3B4, B4B5, and B1B5 is then planned using straight segments C1C2 and circular segments. The horizontal parking area is enclosed by straight segments C3C4, C4C5, and C1C5. Therefore, if the parking starting point is within this area, a horizontal parking path with continuous curvature can be planned using a combination of circular arcs, straight lines, and spirals.

[0218] Example 3: The vehicle is in a horizontal parking scenario and is not within the parking area.

[0219] In Example 3, the initial parking area for the level parking space can be planned first, and then the parking entry area for the level parking space can be planned accordingly. Based on the vehicle position and the parking entry area, the parking guidance path that needs to be planned can be determined. A combination of arcs, straight lines, and spirals can be used to plan a continuously curvature parking guidance path, starting from the vehicle position and ending within the parking entry area. Then, based on the ending point of the parking guidance path, a continuously curvature parking entry path for parking in the level parking space is planned using the same combination of arcs, straight lines, and spirals. This parking entry path starts from the ending point of the parking guidance path and ends at the vehicle's parking position. The parking guidance path and the parking entry path together constitute the planned parking path.

[0220] When a vehicle's initial position is outside the parking area, a parking guidance path needs to be planned to guide the vehicle into the parking area. For details on the planning of the horizontal parking area in Example 3, please refer to the relevant technical description in Example 2; it will not be repeated here.

[0221] The following section explains the planning of parking guidance routes.

[0222] As shown in Figure 9, based on the planned initial parking area, a parking guidance path with discontinuous curvature can be planned using a combination of geometric curves. Specifically, the ordinate of point G1 is known to be... The coordinates of point G6 are Given the coordinates of point G3 are The coordinates of point O3 are:

[0223] By constraints Obtain an arc and arc The angle is:

[0224] The coordinates of point G2 are:

[0225] The coordinates of point O2 are:

[0226] The x-coordinate of point G1 is calculated as follows:

[0227] In summary, starting from parking point G1 outside the initial parking area, the horizontal parking guidance path planned using a combination of geometric curves consists of circular arc segments. and circular arc segment The system consists of points G1 and G2, but the curvature is discontinuous at these points, resulting in a problem of in-situ turning at G1 and G2.

[0228] To solve the problem of turning in place, referring to Figures 10 and 11, a combination of circular arcs, straight lines, and spirals can be used to plan a horizontal parking guidance path with continuous curvature. Specifically, the ordinate of point G1 is known to be... The coordinates of point G6 are Given the coordinates of point G3 are The ordinate of point H1 is The coordinates of point H5 are:

[0229] The coordinates of point H4 are:

[0230] The coordinates of point O6 are:

[0231] By constraints Obtain an arc and arc The angle is:

[0232] The coordinates of point H3 are:

[0233] The coordinates of point H2 are calculated as follows:

[0234] The x-coordinate of point O5 is calculated as follows:

[0235] The x-coordinate of point H1 is Calculate the arc and arc The smooth offset is:

[0236] The x-coordinate of point G1 is calculated as follows:

[0237] The coordinates of point P2 are:

[0238] The coordinates of point P3 are:

[0239] The coordinates of point P4 are:

[0240] In summary, using a combination of circular arcs, straight lines, and spirals, a path can be planned consisting of spirals G1H1 and circular arc segments. spiral segment H2P2, straight segment P2P3, spiral segment P3H3, circular segment The path formed by the spiral line H4P4 can then be used to obtain the path consisting of the spiral line G1H1 and the circular arc segment. spiral segment H2P2, straight segment P2P3, spiral segment P3H3, circular segment The horizontal parking guide path consists of the spiral curve H4P4. The curvature of the horizontal parking guide path is continuous, eliminating the problem of turning in place.

[0241] Referring to Figures 9 and 11, the horizontal parking guide path shown in Figure 9, planned using a combination of geometric curves, has discontinuous curvature and a problem of turning in place, which makes the parking process discontinuous and affects the user's parking experience. In contrast, the horizontal parking guide path shown in Figure 11, planned using a combination of arcs, straight lines, and spirals, has continuous curvature and does not have the problem of turning in place, thus improving the user's parking experience.

[0242] For the specific technical implementation of using the end point P4 of the horizontal parking guidance path as the starting point of the horizontal parking entry path and planning the parking entry path from point P4 to the horizontal parking area, please refer to the relevant technical description in Embodiment 2, which will not be repeated here.

[0243] Furthermore, Example 3 illustrates the implementation method for planning a horizontal parking guidance path in a horizontal parking scenario. Based on the same implementation principle, a vertical parking guidance path can also be planned in a vertical parking scenario. This example will not be described in detail here.

[0244] Referring to Figure 12, this application embodiment provides a control system, which may include a parking scene recognition module 1201, a feasible parking starting area planning module 1202, a parking guidance path planning module 1203, a parking adjustment path planning module 1204, a parking path curvature detection module 1205, a parking path collision detection module 1206, a parking speed constraint generation module 1207, a parking speed planning module 1208, a perception module 1209, a prediction module 1210, a positioning module 1211, and a control module 1212. The technical implementation of the control system will be described below using a vehicle as an example of parking.

[0245] The perception module 1209 may include onboard sensors, such as cameras and lidar, for perceiving information about the vehicle's environment.

[0246] The positioning module 1211 is used to obtain the vehicle's positioning information.

[0247] The parking scene recognition module 1201 is used to identify whether the parking area is a vertical parking area or a horizontal parking area based on the perception information of the perception module 1209 in a parking scene.

[0248] The feasible parking starting area planning module 1202 is used to plan the corresponding parking area based on the recognition results of the parking scene recognition module 1201.

[0249] The parking guidance path planning module 1203 is used to plan a parking guidance path based on perception and positioning information, using a combination of arcs, straight lines, and spirals, when the vehicle's current position is not within the parking area. The parking path includes both the initial parking guidance path and the parking entry path. The starting point of the parking guidance path is the vehicle's current position, and the ending point is within the parking area, guiding the vehicle from its current position to the parking area. If the vehicle's current position is within the parking area, no parking guidance path needs to be planned, and the parking path itself becomes the parking entry path.

[0250] For example, referring to Figure 11, if the vehicle is currently located at point G1 as shown in Figure 11, the parking guidance path planned by the parking guidance path planning module 1203 can be the parking guidance path "G1-AB-P2-P3-CD-P4-P5" shown in Figure 11.

[0251] The parking path planning module 1204 plans the parking path using a combination of arcs, straight lines, and spirals, based on perception and positioning information. If the vehicle's current position is not within the parking area, the starting point of the parking path is the ending point of the parking guidance path. If the vehicle's current position is within the parking area, the starting point of the parking path is the vehicle's current position.

[0252] For example, referring to Figure 11, if the vehicle is currently located at point G1 as shown in Figure 11, the parking path planned by the parking adjustment path planning module 1204 can be the parking path "P5-EF-P6-P7-GH-P1" shown in Figure 11.

[0253] For example, referring to Figure 5, if the vehicle's current position is at point G1 as shown in Figure 5, the parking path planned by the parking adjustment path planning module 1204 can be the parking path "G1-P1-ab-P2*-P2-cd-P3-G4" shown in Figure 5.

[0254] For example, referring to Figure 8, if the vehicle's current position is at point G1 as shown in Figure 8, the parking path planning module 1204 can plan the parking path as shown in Figure 8: "G1-P1-ef-P2-P3-gh-P4".

[0255] The parking path curvature detection module 1205 is used to perform curvature detection after the parking path is planned and before parking begins, in order to verify whether the planned path is reasonable. Since the parking path planning has already taken into account the impact of parking collision risk factors (such as obstacles on both sides of the parking area) on the parking path planning, curvature detection can serve as a secondary verification effect to improve the feasibility of the parking path.

[0256] The parking path collision detection module 1206 is used to perform collision detection after the parking path is planned and before parking begins, in order to verify whether the planned path is reasonable. Since the parking path planning has already taken into account the impact of parking collision risk factors (such as obstacles on both sides of the parking area) on the parking path planning, collision detection can serve as a secondary verification effect to improve the feasibility of the parking path.

[0257] The prediction module 1210 is used to detect in real time whether there are dynamic obstacles (cars, bicycles, pedestrians) around the vehicle, and generate prediction information accordingly. For example, the prediction module 1210 can predict the driving trajectory and speed of other vehicles in the future based on the perception information of other nearby vehicles, and determine whether the vehicle is at risk of collision with other vehicles based on the prediction results.

[0258] The parking speed constraint generation module 1207 is used to constrain the parking speed based on the prediction information output by the prediction module 1210.

[0259] The parking speed planning module 1208 is used to plan the parking speed based on constraints. For example, if a pedestrian suddenly appears in front of the vehicle, the planned parking speed can enable the vehicle to brake suddenly, thus ensuring the safety of the parking process.

[0260] The control module 1212 is used to control the vehicle to follow the parking path and complete the parking operation based on the planned parking trajectory by controlling the vehicle steering mechanism to achieve lateral parking control and controlling the vehicle braking mechanism to achieve longitudinal parking control.

[0261] Referring to Figure 13, this application embodiment provides a parking path planning device 1300, which may include: an acquisition module 1301, used to acquire the location of the parking object and the area information of the parking area, the area information including the orientation and size of the parking area; and a planning module 1302, used to plan a parking path according to the location of the parking object and the area information, wherein the starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area; wherein the parking path includes a first spiral line, a first curve, and a second spiral line connected in sequence; the radius of curvature at the end point of the first spiral line, the radius of curvature of the first curve, and the radius of curvature at the starting point of the second spiral line are the same; the steering wheel rotation position of the first parking object at the starting point of the first spiral line and the ending point of the second spiral line is both zero.

[0262] One embodiment of this application provides an electronic chip, including: a processor for executing computer program instructions stored in a memory, wherein when the computer program instructions are executed by the processor, the electronic chip is triggered to execute the method described in any embodiment of this application.

[0263] One embodiment of this application provides an electronic device including at least one processor and a memory coupled together. The memory is used to store computer program instructions, and the processor is used to execute the computer program instructions. When the computer program instructions are executed by the processor, the electronic device is triggered to execute the method described in any embodiment of this application.

[0264] One embodiment of this application provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the methods described in any embodiment of this application.

[0265] One embodiment of this application provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to perform the methods described in any embodiment of this application.

[0266] Figure 14 is a schematic diagram of a computer device provided in one embodiment of this application. As shown in Figure 14, the computer device 20 of this embodiment includes a processor 21 and a memory 22. The memory 22 is used to store a computer program 23 that can run on the processor 21. When the computer program 23 is executed by the processor 21, it implements the steps in the method embodiment of this application. To avoid repetition, these steps are not described in detail here. Alternatively, when the computer program 23 is executed by the processor 21, it implements the functions of each model / unit in the device embodiment of this application. To avoid repetition, these functions are not described in detail here.

[0267] Computer device 20 includes, but is not limited to, processor 21 and memory 22. Those skilled in the art will understand that FIG14 is merely an example of computer device 20 and does not constitute a limitation on computer device 20. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, computer device may also include input / output devices, network access devices, buses, etc.

[0268] The processor 21 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0269] The memory 22 can be an internal storage unit of the computer device 20, such as a hard disk or RAM of the computer device 20. The memory 22 can also be an external storage device of the computer device 20, such as a plug-in hard disk, Smart Media (SM) card, Secure Digital (SD) card, or FlashCard equipped on the computer device 20. Furthermore, the memory 22 can include both internal and external storage units of the computer device 20. The memory 22 is used to store the computer program 23 and other programs and data required by the computer device. The memory 22 can also be used to temporarily store data that has been output or will be output.

[0270] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0271] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0272] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0273] An integrated unit implemented as a software functional unit can be stored in a computer-readable storage medium. This software functional unit, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0274] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0275] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0276] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments of this application can be implemented using electronic hardware, computer software, or a combination of electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0277] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the same or similar parts between the various embodiments of this application can be referred to mutually. For example, the specific working processes of the systems, devices, and units described in the embodiments of this application can be referred to the corresponding processes in the method embodiments of this application, and will not be repeated here.

[0278] The above description is merely a specific embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A parking path planning method, characterized in that, include: Obtain the location of the parking object and the area information of the parking area, wherein the area information includes the orientation and size of the parking area; A parking path is planned based on the location of the parking object and the area information. The starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area. The parking path includes a first spiral, a first curve, and a second spiral connected in sequence. The radius of curvature at the end of the first spiral, the radius of curvature of the first curve, and the radius of curvature at the beginning of the second spiral are the same; the steering wheel rotation position of the first parking object at the beginning of the first spiral and the end of the second spiral are both zero.

2. The method according to claim 1, characterized in that, The parking path includes a first parking entry path, the end point of which is the end point of the parking path. The method further includes: Based on the minimum turning radius and width of the first parking object, and the area information, plan the parking area; Based on the parking area and route planning strategy, execute the steps of planning the parking route; The path planning strategy is used to plan the parking path from the starting point within the parking area.

3. The method according to claim 2, characterized in that, The first parking path includes the first spiral, the first curve, and the second spiral.

4. The method according to claim 2 or 3, characterized in that, If the location of the parking object is not within the parking area, the parking path also includes a parking guidance path connected to the first parking path; The starting point of the parking guidance path is the location of the parking object.

5. The method according to claim 4, characterized in that, When the extension line of the parking object location along the road extension direction does not intersect the parking area, the parking guidance path includes a third spiral line, a second curve, and a fourth spiral line connected in sequence. The radius of curvature at the end of the third spiral, the radius of curvature of the second curve, and the radius of curvature at the beginning of the fourth spiral are the same; the steering wheel rotation position of the first parking object at the beginning of the third spiral and the end of the fourth spiral are both zero.

6. The method according to claim 3, characterized in that, The planned parking area includes: Based on the minimum turning radius and width of the first parking object, and the area information, plan the initial parking area; The parking area is obtained based on the initial parking area; The initial parking area and the parking entry area differ by a first length in the road extension direction, and the first length is a threshold length of the spiral line in the road extension direction.

7. The method according to claim 6, characterized in that, The initial parking area includes: a curved boundary; The curved boundary causes the first parking object to come into contact with a corner point of the parking area while traveling along the first path. The first path is a path obtained by planning the parking entry path using a combination of geometric curves.

8. A parking path planning device, characterized in that, include: The acquisition module is used to acquire the location of the parking object and the area information of the parking area, wherein the area information includes the orientation and size of the parking area; The planning module is used to plan a parking path based on the location of the parking object and the area information. The starting point of the parking path is the location of the parking object, and the ending point of the parking path is located in the parking area. The parking path includes a first spiral, a first curve, and a second spiral connected in sequence. The radius of curvature at the end of the first spiral, the radius of curvature of the first curve, and the radius of curvature at the starting point of the second spiral are the same. The steering wheel rotation position of the first parking object is zero at both the starting point of the first spiral and the ending point of the second spiral.

9. An electronic device, characterized in that, The electronic device includes at least one processor coupled to a memory for storing computer program instructions and for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1-7.

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