CN112339747A

CN112339747A - Automatic parking track generation method and device, electronic equipment and storage medium

Info

Publication number: CN112339747A
Application number: CN202011193683.9A
Authority: CN
Inventors: 李飞
Original assignee: Shanghai OFilm Smart Car Technology Co Ltd
Current assignee: Shanghai OFilm Smart Car Technology Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-02-09

Abstract

The embodiment of the application provides a method and a device for generating an automatic parking track, electronic equipment and a storage medium. The method comprises the following steps: acquiring current pose information of the vehicle; determining a current parking planning stage of the vehicle according to the pose information; acquiring a reference geometric element corresponding to the parking planning stage; and generating a parking track according to the reference geometric elements, and controlling the vehicle to run according to the parking track. The method, the device, the electronic equipment and the storage medium for generating the automatic parking track can reduce the calculation amount of generating the parking track, the generated parking track is more flexible, and the performability of the parking track is improved.

Description

Automatic parking track generation method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of automatic driving, in particular to a method and a device for generating an automatic parking track, an electronic device and a storage medium.

Background

In recent years, with the continuous development and application of automatic driving technology, the comfort and rationality of automatic driving become crucial. Aiming at the automatic parking process of automatic driving, a parking path can be planned for the vehicle according to the parking space scene of the vehicle, and the vehicle follows the planned parking path to finish the automatic parking action. The existing parking path is usually calculated by adopting a mode of a gyroid and the like, and the problems of complex calculation and poor execution performance exist.

Disclosure of Invention

The embodiment of the application discloses a method and a device for generating an automatic parking track, an electronic device and a storage medium, which can reduce the calculation amount of the generated parking track, and the generated parking track is more flexible, so that the performability of the parking track is improved.

The embodiment of the application discloses a method for generating an automatic parking track, which comprises the following steps: acquiring current pose information of the vehicle; determining a current parking planning stage of the vehicle according to the pose information; acquiring a reference geometric element corresponding to the parking planning stage; and generating a parking track according to the reference geometric elements, and controlling the vehicle to run according to the parking track.

In the embodiment of the application, the current parking planning stage of the vehicle is determined according to the current pose information of the vehicle, the reference geometric elements corresponding to the parking planning stage can be obtained, the parking tracks are generated according to the reference geometric elements, the vehicle is controlled to run according to the parking tracks, the parking tracks corresponding to the parking planning stages are generated based on the reference geometric elements corresponding to different parking planning stages, the calculation amount of the generated parking tracks can be reduced, the parking tracks generated by the reference geometric elements such as the reference lines and the reference circles have continuous curvatures, the generated parking tracks are more flexible, the driving habits are met, and the performability of the parking tracks is improved.

In one embodiment, after the controlling the vehicle to travel according to the parking trajectory, the method further includes: when the pose information of the vehicle meets the arrival condition corresponding to the parking track, determining that the vehicle enters the next parking planning stage; and taking the next parking planning stage as the current parking planning stage of the vehicle, and continuing to execute the reference geometric elements corresponding to the parking planning stage until the vehicle finishes the parking operation when the pose information of the vehicle meets the target pose condition.

In the implementation of the application, the parking tracks corresponding to the parking planning stages can be generated based on the reference geometric elements corresponding to the different parking planning stages, the calculation amount for generating the parking tracks can be reduced, and the track generation efficiency is improved.

In one embodiment, the parking planning stage includes an initial stage, where the reference geometric element corresponding to the initial stage includes a reference straight line and a first reference circle, the reference straight line is tangent to the first reference circle, and the reference straight line is parallel to a coordinate axis of a first direction of a world coordinate system; generating a parking track according to the reference geometric element, and controlling the vehicle to run according to the parking track, wherein the method comprises the following steps: generating a first track according to the reference straight line, and controlling the vehicle to run according to the first track, wherein the first track is a straight-ahead track along the reference straight line; and when the position of the vehicle reaches a first tangent point of the first reference circle and the reference straight line, determining that the pose information of the vehicle meets the reaching condition corresponding to the first track.

In the implementation of the application, the vehicle can be controlled to run forwards along the reference straight line, so that the body of the vehicle is parallel to the coordinate axis of the world coordinate system in the first direction, and the trajectory planning can be conveniently carried out in other subsequent parking planning stages.

In one embodiment, the parking planning stage further includes an adjustment stage, where the reference geometric element corresponding to the adjustment stage includes the first reference circle and a second reference circle, and the first reference circle is tangent to the second reference circle; generating a parking track according to the reference geometric element, and controlling the vehicle to run according to the parking track, wherein the method comprises the following steps: generating a second track according to the first reference circle, and controlling the vehicle to run according to the second track, wherein the second track is a curve advancing track which takes the first tangent point as a starting point and follows the first reference circle; and when the position of the vehicle reaches a second tangent point of the first reference circle and the second reference circle, determining that the pose information of the vehicle meets the reaching condition corresponding to the second track.

In the implementation of the application, the vehicle can be controlled to run along the first reference circle, so that the vehicle can reach a proper position where the vehicle can be parked into the target parking space in a backing mode, the generated track curvature is continuous, and the automatic parking process is more in line with driving habits.

In one embodiment, the parking planning stage further includes a warehousing stage, where the reference geometric elements corresponding to the warehousing stage include the second reference circle and a target position line, the target position line is a central line perpendicular to a short side of a target parking space, and the second reference circle is tangent to the target position line; generating a parking track according to the reference geometric element, and controlling the vehicle to run according to the parking track, wherein the method comprises the following steps: generating a third track according to the second reference circle and the target position line, and controlling the vehicle to run according to the third track, wherein the third track comprises a first sub track and a second sub track, the first sub track is a curve backing track which takes the second tangent point as a starting point and follows the second reference circle, and the second sub track is a straight backing track which takes the second reference circle and the third tangent point of the target position line as starting points and follows the target position line; and when the distance from the rear axle center of the vehicle to the target position line is smaller than a first distance threshold value and the included angle between the vehicle body of the vehicle and the target position line is smaller than a first angle threshold value, determining that the pose information of the vehicle meets the arrival condition corresponding to the third track.

In the embodiment of the application, the vehicle can be controlled to back up along the second reference circle and the target position line, so that the tail of the vehicle can accurately enter the target parking space, and the vehicle can be prevented from colliding with surrounding obstacles in the process of backing up.

In one embodiment, the radius of the second reference circle is the minimum turning radius of the rear axle center of the vehicle, a first distance from the center of the second reference circle to the first obstacle is greater than the minimum turning radius of the outer side of the head of the vehicle, and a second distance from the center of the second reference circle to the second obstacle is less than the difference between the minimum turning radius of the rear axle center and the half width of the vehicle body; the first obstacle is an obstacle close to the outer side of the vehicle when the vehicle turns, and the second obstacle is an obstacle close to the inner side of the vehicle when the vehicle turns.

In the embodiment of the application, the vehicle can be ensured not to collide with obstacles on two sides of the target parking space when running along the second reference circle, and the safety in the automatic parking process is improved.

In one embodiment, the parking planning stage comprises a garage kneading stage, wherein a reference geometric element corresponding to the garage kneading stage comprises a target position line, and the target position line is a central line perpendicular to a short side of a target parking space; generating a parking track according to the reference geometric element, and controlling the vehicle to run according to the parking track, wherein the method comprises the following steps: generating a fourth track according to the target position line, and adjusting the position and the posture of the vehicle based on the fourth track; when the pose information of the vehicle meets the target pose condition, determining that the vehicle completes the parking operation, wherein the method comprises the following steps: and when the distance from the center of the adjusted rear axle of the vehicle to the target position line is smaller than a second distance threshold value, and the included angle between the adjusted vehicle body and the target position line is smaller than a second angle threshold value, determining that the vehicle finishes parking operation.

In the embodiment of the application, the position and the posture of the vehicle in the target parking space can be adjusted based on the target position line, so that the vehicle can be accurately parked in the target parking space, and the accuracy and the parking efficiency of automatic parking are improved.

In one embodiment, the parking trajectory includes at least two trajectory points, and the controlling the vehicle to travel according to the parking trajectory includes: determining a current track point of the vehicle on the parking track according to the current position point of the vehicle, and obtaining a track distance between the current track point and a next track point on the parking track; determining the current front wheel corner according to the track distance; controlling the vehicle to travel a preset distance to reach a next position point according to the current front wheel steering angle; and calculating the pose information of the vehicle at the next position point according to the pose information of the vehicle at the current position point and the track distance.

In the embodiment of the application, the position and pose information of the vehicle can be tracked in real time by adopting a forward-looking window pure tracking algorithm, the driving of a parking track generated by vehicle control can be accurately controlled, the vehicle can be accurately parked in a target parking space, and the accuracy and the sensitivity in the automatic parking process are improved.

In one embodiment, the determining the current front wheel turning angle according to the track distance includes: calculating the turning radius of the vehicle according to the current position point and the next track point; and determining a target front wheel deflection angle of the vehicle according to the turning radius and the track distance, and determining the target front wheel deflection angle as a current front wheel corner.

In the embodiment of the application, the current front wheel rotation angle of the vehicle can be accurately calculated, so that the vehicle can accurately run according to the planned parking track, and the accuracy in the automatic parking running process is improved.

The embodiment of the application discloses an automatic parking track generation device, including: the pose acquisition module is used for acquiring the current pose information of the vehicle; the stage determining module is used for determining a parking planning stage where the vehicle is located at present according to the pose information; the reference acquisition module is used for acquiring a reference geometric element corresponding to the parking planning stage; and the track generation module is used for generating a parking track according to the reference geometric element and controlling the vehicle to run according to the parking track.

The embodiment of the application discloses an electronic device, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is enabled to realize the method.

The embodiment of the application discloses a vehicle-mounted terminal, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is enabled to realize the method.

An embodiment of the application discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method as described above.

The automatic parking trajectory generation device, the electronic device, the vehicle-mounted terminal and the storage medium disclosed by the embodiment of the application can generate the parking trajectories corresponding to the parking planning stages based on the reference geometric elements corresponding to different parking planning stages, can reduce the calculation amount for generating the parking trajectories, and the parking trajectories generated by using the reference geometric elements such as the reference lines, the reference circles and the like have continuous curvatures, so that the generated parking trajectories are more flexible, conform to the daily driving habits, and improve the performability of the parking trajectories.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a diagram illustrating an exemplary embodiment of a method for generating an automatic parking trajectory;

FIG. 2 is a flow diagram of a method for generating an automatic parking trajectory according to one embodiment;

FIG. 3 is a schematic illustration of attitude information of a vehicle in one embodiment;

FIG. 4 is a flowchart of a method for generating an automatic parking trajectory in another embodiment;

FIG. 5A is a schematic illustration of a reference line in one embodiment;

FIG. 5B is a schematic illustration of a minimum turn radius in one embodiment;

FIG. 5C is a schematic illustration of a vehicle following a first trajectory in one embodiment;

FIG. 5D is a diagram of a second track in one embodiment;

FIG. 5E is a diagram illustrating the determination of a second reference circle in one embodiment;

FIG. 5F is a diagram of a third trace in one embodiment;

FIG. 6 is a flow diagram for controlling a vehicle to follow a parking trajectory according to one embodiment;

FIG. 7 is a schematic diagram of determining pose information for a vehicle in one embodiment;

FIG. 8 is a schematic diagram illustrating trajectory planning in a skewed slot scenario, according to an embodiment;

fig. 9 is a block diagram of an automatic parking trajectory generation apparatus in one embodiment;

FIG. 10 is a block diagram showing the structure of an electronic apparatus according to an embodiment.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the examples and figures of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first trajectory may be referred to as a second trajectory, and similarly, a second trajectory may be referred to as a first trajectory, without departing from the scope of the present application. Both the first trajectory and the second trajectory are parking trajectories, but they are not the same parking trajectory.

Fig. 1 is an application scenario diagram of a method for generating an automatic parking trajectory in an embodiment. As shown in fig. 1, the method for generating an automatic parking trajectory in the embodiment of the present application may be applied to an automatic parking scene. After the vehicle 100 drives into the parking lot, the parking garages which can be parked around can be inquired, and when the target parking space 200 which can be parked is found, the vehicle can be automatically parked into the target parking space 200 according to the planned parking path. The vehicle-mounted terminal on the vehicle 100 can acquire the pose information of the vehicle 100 in real time, determine the current parking planning stage of the vehicle 100 according to the pose information, and generate the parking trajectory corresponding to the current parking planning stage. The vehicle-mounted terminal on the vehicle 100 may control the vehicle 100 to travel according to the generated parking trajectory until the vehicle 100 is parked in the target parking space 200.

As shown in fig. 2, in an embodiment, a method for generating an automatic parking trajectory is provided, which is applicable to electronic devices such as a vehicle-mounted terminal, a vehicle-mounted control device (e.g., a mobile phone, a tablet, a smart wearable device, etc. that establish a communication connection with the vehicle-mounted terminal), and the embodiment of the present application does not limit this. The method for generating the automatic parking trajectory may include the steps of:

and step 210, acquiring the current pose information of the vehicle.

The position and orientation information of the vehicle may include position information and attitude information of the vehicle, where the position information may include, but is not limited to, longitude and latitude position information, indoor position information, and the like, the longitude and latitude position information of the vehicle may be acquired through a GPS (Global Positioning System), LBS (Location Based Services, and the like), and the indoor position information may be acquired through a WiFi (Wireless Fidelity ) Based indoor Positioning technology, a radio frequency tag Based indoor Positioning technology, and the like. The attitude information of the vehicle may include, but is not limited to, a vehicle heading angle, a vehicle centroid slip angle, a vehicle yaw angle, and the like, wherein the vehicle heading angle refers to an angle between a vehicle centroid speed and an abscissa axis in a ground coordinate system, the vehicle centroid slip angle refers to an angle between the vehicle centroid speed and a vehicle head direction in the ground coordinate system, and the vehicle yaw angle is a difference between the vehicle heading angle and the vehicle centroid slip angle.

FIG. 3 is a schematic diagram of attitude information of a vehicle in one embodiment. As shown in FIG. 3, x-o-y is the global ground coordinateWherein v represents the speed of the center of mass of the vehicle, theta is the heading angle of the vehicle, delta is the yaw angle of the center of mass of the vehicle,

is the vehicle yaw angle.

In other embodiments, the vehicle posture information may include, but is not limited to, a turning angle on the outer side of the front wheel, a turning angle on the inner side of the front wheel, a turning angle of the rear axle of the vehicle, a turning angle on the outer side of the rear wheel of the vehicle, a turning angle on the inner side of the rear wheel, and the like. The attitude information of the vehicle may be obtained by one or more devices of an IMU (Inertial measurement unit), an acceleration sensor, a camera, a detection radar, and the like, but is not limited thereto.

Taking a camera and an acceleration sensor as an example, a vehicle may acquire an ambient image through the camera disposed on a vehicle body, and select a reference point based on the ambient image to establish a global ground coordinate system (which may be understood as a world coordinate system). The method comprises the steps of measuring and calculating speed data such as the lateral acceleration of a vehicle, the deflection angle speed of wheels and the like through an acceleration sensor, estimating the mass center speed of the vehicle according to the speed data, and determining the attitude information of the vehicle by utilizing the mass center speed of the vehicle and the established ground coordinate system. It should be noted that, the manner of measuring the attitude information of the vehicle may be various, and is not limited to the above-described manner, and the specific manner of acquiring the attitude information is not limited in the embodiment of the present application.

In some embodiments, the electronic device may control the vehicle to enter an auto park state upon detecting that the vehicle needs to be parked. Alternatively, the position information of the vehicle may be acquired in real time, and when it is detected that the vehicle enters a parking area (e.g., a parking lot, a roadside parking area, etc.) according to the position information of the vehicle, it may be determined that the vehicle needs to be parked. Optionally, an environment image around the vehicle may be acquired in real time through a camera on the vehicle, and when a parking space around the vehicle is identified according to the environment image and the running speed of the vehicle is reduced, it may be determined that the vehicle needs to park. After the vehicle enters the automatic parking state, the pose information of the vehicle can be collected in real time, and the current parking planning stage of the vehicle is determined according to the pose information.

And step 220, determining the current parking planning stage of the vehicle according to the pose information.

The whole process from entering the automatic parking state to accurately parking the vehicle into the target parking space can be divided into a plurality of parking planning stages, and different parking planning stages reflect different processes of automatically parking the vehicle into the target parking space. In the embodiment of the application, the parking planning stage may include an initial stage, an adjustment stage, a warehousing stage, a warehouse kneading stage, and the like, and the four stages may reflect that the vehicle is automatically parked into the target parking space from outside the target parking space in a forward parking manner, where the forward parking refers to a manner in which the vehicle is parked into the parking space in a rear-back manner.

The initial stage refers to a stage that the vehicle enters an automatic parking state, is outside a target parking space and needs to be adjusted to a proper position to facilitate warehousing of the vehicle. The adjusting stage refers to a stage in which the vehicle is outside the target parking space, and the relative position and posture between the vehicle and the target parking space need to be adjusted, so that the vehicle can reach a proper position where the vehicle can be parked in the target parking space by backing. The warehousing stage refers to a stage that the vehicle backs to enable the tail of the vehicle to enter a target parking space. The step of kneading the garage refers to that the head of the vehicle enters the target parking space, and the vehicle can be accurately parked in the target parking space by adjusting the position and the posture of the vehicle in the target parking space.

In some embodiments, each parking planning stage may correspond to a different stage state, and when the current pose information of the vehicle satisfies the stage state of any one parking planning stage, the parking planning stage satisfying the stage state may be used as the parking planning stage in which the vehicle is currently located. Exemplarily, the pose information of the vehicle can be obtained, and if the current position information of the vehicle is far away from the target parking space, the vehicle can be determined to be in the initial stage; if the current position information of the vehicle is outside the target parking space but is close to the target parking space, the current adjustment state of the vehicle can be determined; if the pose information of the vehicle meets the condition that the vehicle can enter the target parking space through reversing operation, the vehicle can be determined to be in a warehousing stage; after the tail of the vehicle enters the target parking space, the vehicle can be determined to be in the kneading stage. It should be noted that, the determination of the automatic parking stage in which the vehicle is currently located is not limited to the above-mentioned manner, and may be performed in other manners, which is not limited herein.

And step 230, acquiring a reference geometric element corresponding to the parking planning stage.

Different parking tracks can be respectively generated for each different parking planning stage, each parking planning stage can respectively correspond to different reference geometric elements, and the reference geometric elements can be used for assisting in determining the parking tracks, so that a vehicle can finish the corresponding parking planning stage when running according to the parking tracks. Alternatively, the reference geometric element may comprise one or more of a reference line, a reference circle, a reference point, etc., wherein the reference line may comprise a reference straight line, a reference curve, etc. In some embodiments, a camera, a radar sensor, or other detection device may be disposed on the body of the vehicle, and the scene environment around the vehicle may be detected by the detection device, which may include, but is not limited to, detecting obstacles around the vehicle (e.g., pillars of a parking lot, walls, a parked vehicle beside, etc.), the relative position and posture of the vehicle and the target parking space, and the like. The reference geometric elements can be drawn based on the detected surrounding scene environment and the established world coordinate system, the origin of the world coordinate system is not limited in the embodiment of the application, and only an object fixed in the world is selected as the global origin of coordinates.

And 240, generating a parking track according to the reference geometric elements, and controlling the vehicle to run according to the parking track.

When a vehicle enters a new parking planning stage, a parking track can be generated according to the reference geometric elements corresponding to the entered parking planning stage, the vehicle can reach the position designated by the corresponding parking planning stage after running according to the parking track, and the vehicle enters the next parking planning stage until the automatic parking operation is completed. The corresponding parking tracks can be generated according to the reference lines and/or reference circles corresponding to the parking planning stages, so that the parking tracks corresponding to the parking planning stages are guaranteed to be tracks with continuous curvature.

In some embodiments, after the vehicle is controlled to run according to the parking trajectory corresponding to the current parking planning stage, the pose information of the vehicle can be continuously collected in real time, and whether the pose information of the vehicle meets the reaching condition corresponding to the parking trajectory of the current parking planning stage or not is judged. Each parking planning stage can correspond to different arrival conditions, and if the arrival conditions corresponding to the current parking planning stage are met, the parking trajectory of the vehicle in the current parking planning stage can be shown to be completed.

And if the next parking planning stage exists, determining that the vehicle enters the next parking planning stage when the vehicle is determined to meet the arrival condition corresponding to the current parking planning stage. The next parking planning stage can be used as the current parking planning stage of the vehicle, the reference geometric elements of the current parking planning stage are continuously acquired, and the corresponding parking track is generated until the vehicle can finish the parking operation when the pose information of the vehicle meets the target pose condition.

Alternatively, the target pose condition may be an accurate parking pose set according to the target parking space, for example, the target pose condition may be that the distance between the rear wheel of the vehicle and the stopper of the target parking space is smaller than a first threshold, the distances between the left and right sides of the vehicle and the left and right long vehicle lines of the target parking space are respectively smaller than a second threshold, and the like, but is not limited thereto. The target pose condition may be used as an arrival condition of the last parking planning stage (such as the aforementioned library kneading stage), and when the vehicle meets the target pose condition, the parking trajectory of the vehicle in the last parking planning stage is determined, so that the vehicle is determined to complete the parking operation.

As shown in fig. 4, in an embodiment, another method for generating an automatic parking trajectory is provided, which is applicable to the electronic device, and the method may include the following steps:

and 402, acquiring the current pose information of the vehicle.

And step 404, determining the current parking planning stage of the vehicle according to the pose information.

The descriptions of steps 402-404 can refer to the descriptions of steps 210-220 in the above embodiments, and are not repeated herein.

After the electronic device obtains the current pose information of the vehicle, it may determine whether the vehicle is currently in an initial stage, an adjustment stage, a warehousing stage, or a warehouse-rolling stage according to the current pose information of the vehicle, and if the vehicle is currently in the initial stage, step 406 may be executed, if the vehicle is currently in the adjustment stage, step 412 may be executed, if the vehicle is currently in the warehousing stage, step 418 may be executed, and if the vehicle is currently in the warehouse-rolling stage, step 424 may be executed. The four parking planning stages can be an initial stage, an adjustment stage, a warehousing stage and a warehouse kneading stage in sequence according to the sequence in the process of parking, when the vehicle enters an automatic parking state, the vehicle enters the initial stage, the parking tracks corresponding to the initial stage, the adjustment stage, the warehousing stage and the warehouse kneading stage are executed in sequence, and when the vehicle meets the reaching condition corresponding to the warehouse kneading stage, the parking operation can be determined to be completed.

Step 406, if the vehicle is in the initial stage, acquiring a reference geometric element corresponding to the initial stage, where the reference geometric element includes a reference straight line and a first reference circle.

The reference straight line may be a straight line parallel to a coordinate axis of a first direction of the world coordinate system, wherein the first direction may be a horizontal axis direction in the world coordinate system, and the horizontal axis direction may be a direction parallel or substantially parallel to the vehicle advancing direction. When the vehicle enters the initial stage, the lane lines on both sides of the current driving lane may be detected by a radar sensor, a camera, and the like, and the reference straight line may be determined according to the lane lines on both sides. As an embodiment, the reference straight line may be a middle line parallel to the lane lines on both sides, and the reference straight line is located at a middle position of the lane lines on both sides.

As another embodiment, the reference straight line may be determined according to a lane line close to the target parking space, a vehicle width, and a position of a center of a rear axle of the vehicle. A first coordinate value of the center of the rear axle of the vehicle axle in a second direction (i.e., the direction of the longitudinal axis) in the world coordinate system may be acquired, and a second coordinate value of the lane line near the target parking space in the second direction in the world coordinate system may be acquired, wherein the center of the rear axle of the vehicle may be understood as the center between two rear wheels of the vehicle. And calculating a safe driving distance according to the absolute value of the second coordinate value, the half width of the vehicle body and the reserved distance, wherein the safe driving distance can be used for representing the safe distance between the vehicle and the lane line close to the target parking space when the vehicle drives on the reference straight line. The safe driving distance may be a sum of an absolute value of the second coordinate value and a half width and a reserved distance of the vehicle body. The absolute value of the first coordinate value may be compared with the safe driving distance, and a coordinate value of the reference straight line in the second direction in the world coordinate system may be determined according to the comparison result.

In one specific embodiment, if the absolute value of the first coordinate value is greater than the safe driving distance, the coordinate value of the reference straight line in the second direction in the world coordinate system is determined as the first coordinate value. If the safe driving distance is greater than the absolute value of the first coordinate value and the first coordinate value is a positive value, the coordinate value of the reference straight line in the second direction in the world coordinate system is determined as the safe driving distance.

Taking the first coordinate value and the second coordinate value both being positive values as an example, the calculation formula of the coordinate value of the reference straight line in the second direction in the world coordinate system can be shown as formula (1):

wherein LineY represents a coordinate value of the reference straight line in a second direction in the world coordinate system, carp_yA first coordinate value, L, representing the axle rear axle center in a second direction in the world coordinate system₁y represents a second coordinate value of the lane line close to the target parking space in the second direction in the world coordinate system, truck width is the width of the vehicle body, a is the reserved distance, and the reserved distance can be set according to actual requirements, such as 1 meter, 1.5 meters, and the like, but is not limited thereto. FIG. 5A is a schematic illustration of a reference line in one embodiment. As shown in FIG. 5A, L₁And L₂Two lane lines of the current driving lane of the vehicle 100, wherein L₁Is a lane line approaching the target space 200. X-O-Y is a world coordinate system, the horizontal axis is an X coordinate axis, and the vertical axis is a Y coordinate axis. A first coordinate value carp on the Y-axis of the rear axle center point p of the vehicle 100 may be acquired_yAnd L is₁Second coordinate value L on Y-axis₁y. If it is

Greater than carp_yThen, the coordinates of the reference straight Line on the Y axis can be determined as

If carp_yIs greater than

It is determined that the coordinate of the reference straight Line on the Y axis is carp_y。

And step 408, generating a first track according to the reference straight line, and controlling the vehicle to run according to the first track.

After the reference straight line is determined, a first trajectory may be generated based on the reference straight line, and the first trajectory may be a straight-ahead trajectory along the reference straight line. The vehicle can be controlled to run forwards along the reference straight line, so that the body of the vehicle is parallel to the coordinate axis of the world coordinate system in the first direction, and the trajectory planning can be conveniently carried out in other subsequent parking planning stages. Taking fig. 5A as an example, after the reference straight Line is determined, the vehicle 100 may travel forward along the reference straight Line, and the front axle center and the rear axle center of the vehicle 100 may be maintained on the reference straight Line during travel such that the body of the vehicle 100 is parallel to the X-axis.

And step 410, when the position of the vehicle reaches a first tangent point of the first reference circle and the reference straight line, determining that the pose information of the vehicle meets the reaching condition corresponding to the first track.

The first reference circle may be tangent to the reference straight line, and the arrival condition corresponding to the first trajectory may be set such that the position of the vehicle arrives at a first tangent point of the first reference circle and the reference straight line, where the arrival of the position of the vehicle at the first tangent point may refer to the arrival of the rear axle center of the vehicle at the first tangent point. In some embodiments, the radius of the first reference circle may be a minimum turning radius of a center of a rear axle of the vehicle, and the minimum turning radius of the center of the rear axle of the vehicle may refer to a radius of a trajectory circle that the center of the rear axle rolls over on the support plane when the vehicle turns to run at a minimum stable vehicle speed when the steering wheel is turned to an extreme position. FIG. 5B is a schematic illustration of a minimum turn radius in one embodiment. As shown in fig. 5B, the locus circle 510 is a locus circle which rolls on the supporting plane when the steering wheel rotates to the extreme position, and the distance R from the center O' of the locus circle to the rear axle center p is the minimum turning radius of the rear axle center p of the vehicle.

In some embodiments, based on ackerman steering principles, the minimum turning radius R at the center of the rear axle of the vehicle can be calculated by equation (2):

wherein L is the vehicle wheelbase, i.e., the distance between the vehicle front axle center and the rear axle center, θ_maxThe maximum steering angle of the front wheels of the vehicle. FIG. 5C is a schematic diagram illustrating a vehicle traveling along a first trajectory according to one embodiment. As shown in fig. 5C, the first reference circle O1 is aligned with the reference circleThe straight Line is tangent, and the tangent point is P1, when the vehicle 100 is in the initial stage, a first trajectory may be generated based on the reference straight Line, and the vehicle 100 may go straight ahead along the reference straight Line based on the first trajectory until the rear axle center of the vehicle 100 reaches the tangent point P1, and then it is determined that the vehicle 100 completes the first trajectory, and the next parking planning stage (i.e., the adjustment stage) is entered.

In step 412, if the vehicle is in the adjustment stage, a reference geometric element corresponding to the adjustment stage is obtained, where the reference geometric element includes a first reference circle and a second reference circle.

When the vehicle enters the adjustment phase from the initial phase (i.e., the position of the vehicle reaches the first tangent point), a second reference circle may be acquired, which may be tangent to the first reference circle, and which may be tangent to the target position line. The target position line may be determined based on the target parking space, and the target position line may be a center line perpendicular to a short side of the target parking space. In some embodiments, an image including the target parking space may be acquired by a camera disposed on the vehicle body, a parking space line of the target parking space is identified, a short side of the target parking space is determined, and a target position line is determined based on the short side.

In some embodiments, the radius of the second reference circle may be a minimum turning radius of the center of the rear axle of the vehicle. The second reference circle is mainly used for assisting the vehicle not to collide with obstacles in the parking process so as to ensure that the vehicle can be accurately parked in the target parking space, wherein the obstacles mainly refer to the obstacles on two sides of the target parking space, such as other vehicles parked on two sides of the target parking space, pillars arranged on two sides of the target parking space, walls on two sides of the target parking space, and the like. The vehicle needs to be ensured not to collide with obstacles at the tail and the inner side of the vehicle in the process of backing and warehousing.

The first reference circle is tangent to the second reference circle and tangent to the reference straight line, so that the first reference circle can be determined according to the second reference circle and the reference straight line.

And 414, generating a second track according to the first reference circle, and controlling the vehicle to run according to the second track.

After the first reference circle is determined, a second trajectory may be generated from the first reference circle, and the second trajectory may be a trajectory that advances along a curve of the first reference circle with the first tangent point as a starting point. After the position of the vehicle reaches the first tangent point, the vehicle can start to run according to the second track, and the vehicle can be controlled to turn and run forwards along the curve of the first reference circle from the first tangent point so as to ensure that the center of the rear shaft of the vehicle is always on the first reference circle.

And step 416, when the position of the vehicle reaches a second tangent point of the first reference circle and the second reference circle, determining that the pose information of the vehicle meets the reaching condition corresponding to the second track.

The arrival condition corresponding to the second trajectory may be set such that the position of the vehicle reaches a second tangent point of the first reference circle and the second reference circle, where the arrival of the position of the vehicle at the second tangent point may mean that the center of the rear axle of the vehicle reaches the second tangent point. FIG. 5D is a diagram illustrating a second track, in accordance with an embodiment. As shown in fig. 5D, the first reference circle O1 is tangent to the reference straight Line at a tangent point P1, the first reference circle O1 is tangent to the second reference circle O2 at a tangent point P2, and the second reference circle may be tangent to the target position Line L' of the target parking space 200. When the position of the vehicle reaches the point P1, it may be determined that the adjustment phase is entered, and then a second trajectory 530 (a bold key head in the drawing) from the point P1 to the point P2 may be generated according to the first reference circle O1. The vehicle may travel forward along the second trajectory 530 until the center of the rear axle of the vehicle reaches the tangent point P2, and then the vehicle is determined to complete the second trajectory and enter the next parking planning phase (i.e., the garage phase).

Step 418, if the vehicle is in the warehousing stage, acquiring a reference geometric element corresponding to the warehousing stage, where the reference geometric element includes a second reference circle and a target position line.

When the vehicle is in the warehousing stage, the vehicle can be assisted to drive into the target parking space in a backing mode through the second reference circle and the target position line. In order to ensure that the vehicle can normally and accurately drive into the target parking space, the vehicle does not collide with obstacles on the left side and the right side of the target parking space.

In some embodiments, in order that the vehicle does not collide with the obstacle at the rear of the vehicle or at the outer side of the vehicle during a backward turn, a first distance from the center of the second reference circle to the first obstacle may be greater than a minimum turning radius of the outer side of the head of the vehicle. The first obstacle is an obstacle that is close to the outside of the vehicle when the vehicle turns. The minimum turning radius of the outside of the head of the vehicle refers to a radius of a trajectory circle that the outside of the head of the vehicle rolls on the support plane when the vehicle turns to run at the lowest stable vehicle speed when the steering wheel is turned to the extreme position.

As shown in FIG. 5B, the locus circle 520 is a locus circle that rolls on the support plane when the outer side of the head of the vehicle is turned to the extreme position, and the distance R from the center O' to the outer side of the head of the vehicle is the center_fI.e. the minimum turning radius of the outside of the head of the vehicle. In some embodiments, the minimum turning radius R of the outside of the head of the vehicle_fThe calculation formula (2) can be represented by the formula (3):

wherein R is the minimum turning radius of the center of the rear axle of the vehicle, carwidth is the width of the body of the vehicle, and L is₁The distance from the center of the rear axle of the vehicle to the front bumper of the vehicle.

In order to prevent the inner side of the vehicle from colliding with the obstacle during backward turning of the vehicle, a second distance from the center of the second reference circle to the second obstacle may be smaller than a difference between a minimum turning radius of the center of the rear axle of the vehicle and a half width of the vehicle body. The second obstacle is an obstacle that approaches the inside of the vehicle when the vehicle turns.

Alternatively, if the vehicle front wheel is turned in the left direction of the vehicle body, the vehicle outer side may be the vehicle body right side and the vehicle inner side may be the vehicle body left side, and if the vehicle front wheel is turned in the right direction of the vehicle body, the vehicle outer side may be the vehicle body left side and the vehicle inner side may be the vehicle body right side. For example, taking fig. 5B as an example, the vehicle turning in fig. 5B is the vehicle front wheel turning in the vehicle left direction, and the vehicle inner side may refer to the vehicle body left side (the side near the center O') and the vehicle outer side may refer to the vehicle body right side (the side near the locus circle 520).

Further, a first distance from the center of the second reference circle to the first obstacle may be a sum of a minimum turning radius of the outside of the head of the vehicle and a preset safe distance value, and a second distance from the center of the second reference circle to the second obstacle may be a difference between the minimum turning radius of the center of the rear axle of the vehicle and a target sum, which is a sum of a half width of the vehicle body and the preset safe distance value. Alternatively, the first distance and the second distance may be represented by equation (4):

d₁＝R_f+safedis

wherein d is₁Representing a first distance, d, from the center of the second reference circle to the first obstacle₂Indicating a second distance from the center of the second reference circle to the second obstacle, safedis is a preset safe distance value, such as 30 cm, 43 cm, etc., but is not limited thereto.

In some embodiments, the first obstacle and the second obstacle on both sides of the target parking space may be detected by a detection device such as a radar sensor or a camera on the vehicle. A first auxiliary circle may be determined according to the position information of the second obstacle and a target position line, wherein the target position line may be tangent to the first auxiliary circle, the radius of the first auxiliary circle may be a minimum turning radius of the center of the rear axle of the vehicle, and a distance from the center of the first auxiliary circle to the second obstacle may be a difference between the minimum turning radius of the center of the rear axle of the vehicle and the target sum, that is, d in the above equation (4)₂. If the vehicle is parked into the target parking space along the first auxiliary circle, the second barrier can be avoided.

A second auxiliary circle can be determined according to the position information of the first obstacle and a target position line, wherein the target position line can be tangent to the second auxiliary circle, and the radius of the second auxiliary circle can also be the center of the rear axle of the vehicleThe distance from the center of the second auxiliary circle to the second obstacle may be the sum of the minimum turning radius of the outside of the head of the vehicle and a preset safe distance value, i.e., d in the above equation (4)₁. If the vehicle is parked into the target parking space along the second auxiliary circle, the first barrier can be avoided.

The second reference circle may be determined based on the first auxiliary circle and the second auxiliary circle. The absolute value of the coordinate of the center of the first auxiliary circle in the second direction of the world coordinate system (i.e., the longitudinal axis) may be compared with the absolute value of the coordinate of the center of the second auxiliary circle in the second direction, and the coordinate value of the center of the second auxiliary circle in the second direction having a larger absolute value of the coordinate is used as the coordinate value of the center of the second reference circle in the second direction, and the coordinate value of the center of the second auxiliary circle in the first direction of the world coordinate system is used as the coordinate value of the center of the second reference circle in the first direction, so as to determine the position of the center of the second reference circle, and then the minimum turning radius of the center of the rear axis of the vehicle is used as the radius, so that the second reference circle may be obtained. Therefore, the vehicle can be ensured not to collide with the first obstacle and the second obstacle when running along the second reference circle.

The determination process of the second reference circle is exemplarily described with reference to fig. 5E. FIG. 5E is a diagram illustrating the determination of a second reference circle, according to one embodiment. As shown in fig. 5E, after the target parking space 200 and the first obstacle a and the second obstacle B on both sides of the target parking space 200 are detected, the target position line L ' of the target parking space 200 may be determined, and the first auxiliary circle O2 ' may be determined according to the target position line L ' and the position information of the second obstacle B. Wherein the target position line L ' is tangent to the first auxiliary circle O2 ', and the distance from the center of the first auxiliary circle O2 ' to point B is d in the above formula (4)₂. The vehicle is parked in the target parking space 200 along the first auxiliary circle O2' without collision with point B. The second position circle O2 ″ may be determined according to the target position line L 'and the position information of the first obstacle a, wherein the target position line L' is tangent to the second position circle O2 ″ and the distance from the center of the second position circle O2 ″ to the point a is d in the above equation (4)₁. The vehicle is parked in the target parking space 200 along the second auxiliary circle O2 "without collision with the point a. First, theThe radii of the first auxiliary circle O2' and the second auxiliary circle O2 "are the minimum turning radius R of the vehicle rear axle center. In fig. 5E, the absolute value of the coordinate of the center of the second auxiliary circle O2 "on the Y axis is greater than that of the center of the first auxiliary circle O2', and therefore, the center of the second reference circle is the center of the second auxiliary circle O2", and the radius thereof is also the minimum turning radius R of the center of the rear axle of the vehicle, that is, the second auxiliary circle O2 "can be directly used as the second reference circle.

And step 420, generating a third track according to the second reference circle and the target position line, and controlling the vehicle to run according to the third track.

After the second reference circle is determined, a third track can be generated according to the second reference circle and the target position line, and the third track can comprise a first sub track and a second sub track, wherein the first sub track can be a backing track along a curve of the second reference circle by taking the second tangent point as a starting point, and the second sub track is a straight backing track along the target position line by taking the third tangent point of the second reference circle and the target position line as a starting point. After the position of the vehicle reaches the second tangent point, the vehicle can be controlled to drive in reverse along the curve of the second reference circle to a third tangent point of the second reference circle and the target position line from the first sub-track to the second tangent point according to the first sub-track, and then drive in reverse along the target position line from the third tangent point according to the second sub-track.

And 422, when the distance from the center of the rear axle of the vehicle to the target position line is smaller than a first distance threshold value and the included angle between the vehicle body of the vehicle and the target position line is smaller than a first angle threshold value, determining that the pose information of the vehicle meets the arrival condition corresponding to the third trajectory.

The reaching condition corresponding to the third trajectory may be set such that a distance from a center of a rear axle of the vehicle to the target position line is smaller than a first distance threshold, and an included angle between a vehicle body of the vehicle and the target position line is smaller than a first angle threshold, wherein the included angle between the vehicle body of the vehicle and the target position line may be understood as an included angle between a pointing direction of a vehicle head and the target position line. When the pose information of the vehicle meets the arrival condition corresponding to the third trajectory, the vehicle can be shown to be successfully put in storage, and the storage stage is completed.

FIG. 5F is a diagram of a third trace in one embodiment. As shown in fig. 5F, the first reference circle O1 is tangent to the second reference circle O2 at a point P2, and the second reference circle O2 is tangent to the target position line L' at a point P3. When the position of the vehicle reaches the point P2, it is determined that the vehicle enters the storage stage, and a third trajectory may be generated according to the second reference circle O2 and the target position line L'. The third trajectory includes a first sub-trajectory 542 from a point P2 to a point P3, and a second sub-trajectory 544 that travels straight along the target position line L' from a point P3. The vehicle can back up from the point P2 to the target parking space 200 along the third track, and when the distance from the center of the rear axle of the vehicle to the target position line L 'is smaller than the first distance threshold and the included angle between the vehicle body and the target position line L' is smaller than the first angle threshold, it is determined that the vehicle completes the third track, and the next parking planning stage (i.e., the garage kneading stage) is entered.

And 424, if the vehicle is in the garage-kneading stage, acquiring a reference geometric element corresponding to the garage-kneading stage, wherein the reference geometric element comprises a target position line.

And 426, generating a fourth track according to the target position line, and adjusting the position and the posture of the vehicle based on the fourth track.

After the vehicle enters the garage-kneading stage, a fourth track can be generated according to the target position line of the target parking space, the vehicle can adjust the position and the posture of the vehicle based on the fourth track, the adjusting of the position of the vehicle can comprise the vehicle adjusting the position in the target parking space through forward or backward driving, the adjusting of the posture of the vehicle can comprise the vehicle adjusting the heading angle of the vehicle through controlling the front wheels to turn and the like.

And 428, when the distance from the center of the adjusted rear axle to the target position line of the vehicle is smaller than a second distance threshold value and the included angle between the adjusted vehicle body and the target position line is smaller than a second angle threshold value, determining that the vehicle finishes the parking operation.

The reaching condition corresponding to the fourth trajectory may be the target pose condition for determining that the vehicle completes the parking operation, and the reaching condition corresponding to the fourth trajectory may be set such that a distance from a center of a rear axle of the vehicle to the target position line is smaller than a second distance threshold, and an included angle between the vehicle body and the target position line is smaller than a second angle threshold. Optionally, the first distance threshold may be greater than the second distance threshold, and the first angle threshold may be greater than the second angle threshold. When the pose information of the vehicle meets the arrival condition corresponding to the fourth trajectory, the vehicle body is parallel or nearly parallel to the target position line, and the vehicle head is also positioned in the target parking space, so that the parking operation is finished.

It should be noted that, in the embodiment of the present application, the determination time of the reference geometric element corresponding to each parking planning stage is not necessarily in the corresponding parking planning stage, and when the corresponding condition for determining the reference geometric element is detected, the determination may be performed without waiting for entering the corresponding parking planning stage. For example, when the vehicle is in an initial stage, the target parking space and the obstacles on both sides of the target parking space are detected, the target position line and the second reference circle can be determined, and then the first reference circle and the like are determined by the second reference circle and the reference straight line.

In the embodiment of the application, the parking tracks corresponding to the parking planning stages are generated based on the reference geometric elements corresponding to the different parking planning stages, the calculation amount for generating the parking tracks can be reduced, the parking tracks generated by the reference geometric elements such as the reference lines and the reference circles have continuous curvatures, the generated parking tracks are more flexible, the daily driving habits are met, and the performability of the parking tracks is improved.

As shown in fig. 6, in an embodiment, in the method for generating an automatic parking trajectory provided in each of the above embodiments, the step of controlling the vehicle to travel according to the parking trajectory may include the steps of:

step 602, determining a current track point of the vehicle on the parking track according to the current position point of the vehicle, and obtaining a track distance between the current track point and a next track point on the parking track.

Each generated parking track can comprise at least two track points with continuous curvature, and the vehicle can drive according to the track points on the parking track. When the vehicle runs along the parking track at a certain speed, the center tangent point of the rear axle of the vehicle takes the direction parallel to the longitudinal body of the vehicle as the tangent line, the running direction of the vehicle is determined by controlling the rotation of the front vehicle of the vehicle, and the next position point after the vehicle runs in one step is determined. The current position point may refer to a position point where the center of the rear axle of the vehicle is located when the vehicle turns. If the current position point of the vehicle is not on the parking track, the current track point may refer to a mapping point of the center of the rear axle of the vehicle on the parking track, and if the current position point of the vehicle is on the parking track, the current track point may be the current position point. The next trajectory point may be a target point on the parking trajectory to which the vehicle needs to travel. The trajectory distance of the current trajectory point and the next trajectory point on the parking trajectory may refer to a distance that the vehicle needs to travel from the current trajectory point to the next trajectory point.

Fig. 7 is a schematic diagram of determining pose information of a vehicle in one embodiment. As shown in fig. 7, the current position point of the vehicle is Q0, Q0 is the current position point of the center of the rear axle of the vehicle, and the tangent v is a tangent parallel to the vehicle body. The mapping point of the center of the rear axle of the current vehicle on the parking track T is G0 point, the G0 point is the current track point, G1 is the next track point, and the track distance between G0 and G1 is LD. The vehicle needs to travel the distance LD along the parking trajectory T with the starting point G0, and then reaches the point G1. After the vehicle traveled the single step distance, the location point of the vehicle moved from Q0 to Q1. Alternatively, the LD may also refer to a forward looking distance of the vehicle.

And step 604, determining the current front wheel turning angle according to the track distance.

The current front wheel steering angle refers to an angle that the front wheels need to turn when the vehicle is traveling along the parking trajectory. The turning radius of the vehicle can be calculated according to the current position point and the next track point, optionally, a third auxiliary circle can be determined according to the current position point and the next track point, so that the third auxiliary circle can pass through the current position point and the next track point simultaneously, and the third auxiliary circle is tangent to the longitudinal body of the vehicle. After the center of the third auxiliary circle is determined, the radius of the third auxiliary circle (the distance from the center of the third auxiliary circle to the current position point) can be obtained, and the radius of the third auxiliary circle is the turning radius of the vehicle.

As shown in fig. 7, a third auxiliary circle O3 may be drawn according to the current position point Q0 and the next track point G1 of the vehicle, wherein the third auxiliary circle O3 passes through the current position point Q0 and the next track point G1, and the third auxiliary circle O3 is tangent to the tangent line v. The radius R1 of the third auxiliary circle O3 is the turning radius of the vehicle.

After the turning radius of the vehicle is calculated, the target front wheel deflection angle of the vehicle can be determined according to the turning radius and the track distance, and the target front wheel deflection angle can be understood as the deflection angle of the front wheel from the current position point to the next track point. As shown in FIG. 7, the included angle α between O3Q0 and O3G1_expNamely the target front vehicle deflection angle. Alternatively, the ratio of the track distance to the turning radius may be calculated first, and the target front wheel yaw angle may be obtained according to the ratio of the track distance to the turning radius. Based on Ackerman steering principle, the deflection angle alpha of the target front wheel_expCan satisfy formula (5):

wherein, LD is the track distance, and R1 is the turning radius. After the target forward turning angle is obtained, the target forward turning angle can be used as the current front wheel steering angle, and the vehicle is controlled to run according to the current front wheel steering angle. The turning angle deviation can be determined according to the target front wheel deflection angle, the turning angle deviation can be the difference value between the target front wheel deflection angle and the deflection angle of the front wheel when the vehicle is at the current position point, and the turning angle deviation can be controlled to be deflected before the vehicle is driven according to the target turning deflection angle on the basis of the deflection angle of the front wheel at the current position point.

And 606, controlling the vehicle to travel a preset distance to reach the next position point according to the current front wheel steering angle.

And 608, calculating the pose information of the vehicle at the next position point according to the pose information of the vehicle at the current position point and the track distance.

The preset distance may refer to a single-step travel distance of the vehicle. The position and pose information of the current position point can be obtained, the position and pose information of the current position point comprises a coordinate value of the current position point in a world coordinate system and an angle value, and the angle value can be an angle between a tangent line which is taken by taking the current position point as a tangent point and is parallel to a longitudinal vehicle body of the vehicle and a coordinate axis in a first direction or a second direction of the world coordinate system.

Taking fig. 7 as an example, the pose information of the current coordinate point Q0 of the vehicle is (X1, Y1, yaw1), where X1 is the coordinate of Q0 on the X-axis of the world coordinate coefficient X-O-Y, Y1 is the coordinate of Q0 on the Y-axis of the world coordinate coefficient X-O-Y, and yaw1 is the angle between the tangent v and the Y-axis.

The deflection angle from the current position point to the next position point can be calculated according to the track distance and the turning radius, and then the angle value of the next position point is obtained according to the deflection angle. The deflection angle can be a ratio of a track distance to a turning radius, and the calculation mode of the deflection angle can be as shown in formula (6):

where β is a yaw angle from the current position point to the next position point, i.e., a yaw angle β of Q0 to Q1 in fig. 7. The angle value of the next location point may be the sum of the angle value of the current location point and the deflection angle. After the angle value of the next position point is determined, the coordinate value of the next position point in the world coordinate system can be calculated according to the coordinate value of the current position point in the world coordinate system, and the coordinate value and the angle value of the next position point in the world coordinate system are used as the pose information of the next position point.

Taking fig. 7 as an example, the pose information of the current coordinate point Q0 of the vehicle is (x1, y1, yaw1), and the pose information of the next position point Q1 may be (x2, y2, yaw2), where yaw2 is yaw1+ β, x2 is x1+ R1 (sin (yaw2) -sin (yaw1)), and y2 is y1+ R1 is cos (yaw2) -cos (yaw 1)). By the calculation mode, the pose information of each position point in the running process of the vehicle from the next track point of the current track point can be tracked, so that the tracked vehicle pose information is more accurate.

In the automatic parking process of the vehicle, the pose information of the vehicle can be determined by adopting the above-mentioned mode, and the vehicle is controlled to run according to the track based on the generated parking track, so that the vehicle can be accurately parked in the target parking space.

It should be noted that the method for generating an automatic parking trajectory provided in the embodiment of the present application is applicable to both the vertical parking space parking scenes shown in fig. 5A to 5F and the oblique parking space parking scenes shown in fig. 8. As shown in fig. 8, a corresponding parking trajectory (a bolded and keyed indication path in fig. 8) can be generated based on each parking planning stage of the vehicle in the automatic parking process, so that the vehicle can be guaranteed to be accurately parked in an inclined parking space, and the method is suitable for various parking scenes and meets different requirements of users.

As shown in fig. 9, in an embodiment, an automatic parking trajectory generation apparatus 900 applicable to the electronic device may be provided, and the automatic parking trajectory generation apparatus 900 may include a pose acquisition module 910, a phase determination module 920, a reference acquisition module 930, and a trajectory generation module 940.

And a pose acquisition module 910, configured to acquire current pose information of the vehicle.

And a phase determining module 920, configured to determine, according to the pose information, a parking planning phase in which the vehicle is currently located.

And a reference obtaining module 930, configured to obtain a reference geometric element corresponding to the parking planning stage.

And a trajectory generating module 940, configured to generate a parking trajectory according to the reference geometric element, and control the vehicle to travel according to the parking trajectory.

In one embodiment, the phase determining module 920 is further configured to determine that the vehicle enters the next parking planning phase when the pose information of the vehicle meets the arrival condition corresponding to the parking trajectory, and continue to obtain the reference geometric element corresponding to the parking planning phase through the reference obtaining module 930.

In one embodiment, the automatic parking trajectory generation device 900 further includes a completion determination module.

And the completion determining module is used for determining that the vehicle completes parking operation when the pose information of the vehicle meets the target pose condition.

In one embodiment, the parking planning stage includes an initial stage, and the reference geometric element corresponding to the initial stage includes a reference straight line and a first reference circle, the reference straight line is tangent to the first reference circle, and the reference straight line is parallel to coordinate axes of a first direction of the world coordinate system.

The track generating module 940 is further configured to generate a first track according to the reference straight line, and control the vehicle to travel according to the first track, where the first track is a straight-ahead track along the reference straight line, and determine that the pose information of the vehicle satisfies an arrival condition corresponding to the first track when the position of the vehicle reaches a first tangent point of the first reference circle and the reference straight line.

In one embodiment, the parking planning stage further includes an adjustment stage, where the reference geometric element corresponding to the adjustment stage includes a first reference circle and a second reference circle, and the first reference circle is tangent to the second reference circle.

The track generating module 940 is further configured to generate a second track according to the first reference circle, and control the vehicle to travel according to the second track, where the second track is a track that advances along a curve of the first reference circle with the first tangent point as a starting point, and is used to determine that the pose information of the vehicle meets an arrival condition corresponding to the second track when the position of the vehicle reaches the second tangent point of the first reference circle and the second reference circle.

In one embodiment, the parking planning stage further includes a warehousing stage, the reference geometric elements corresponding to the warehousing stage include a second reference circle and a target position line, the target position line is a central line perpendicular to the short side of the target parking space, and the second reference circle is tangent to the target position line.

The trajectory generation module 940 is further configured to generate a third trajectory according to the second reference circle and the target position line, control the vehicle to travel according to the third trajectory, and determine that the pose information of the vehicle meets an arrival condition corresponding to the third trajectory when a distance between a center of a rear axle of the vehicle and the target position line is smaller than a first distance threshold and an included angle between a vehicle body of the vehicle and the target position line is smaller than a first angle threshold. The third track comprises a first sub track and a second sub track, the first sub track is a reversing track taking a second tangent point as a starting point and taking a curve of a second reference circle, and the second sub track is a reversing track taking a third tangent point of the second reference circle and a target position line as a starting point and taking a straight line of the target position line.

In one embodiment, the radius of the second reference circle is the minimum turning radius of the center of the rear axle of the vehicle, a first distance from the center of the second reference circle to the first obstacle is greater than the minimum turning radius of the outer side of the head of the vehicle, and a second distance from the center of the second reference circle to the second obstacle is less than the difference between the minimum turning radius of the center of the rear axle and the half width of the vehicle body; the first obstacle is an obstacle close to the outer side of the vehicle when the vehicle turns, and the second obstacle is an obstacle close to the inner side of the vehicle when the vehicle turns.

In one embodiment, the parking planning stage includes a garage kneading stage, and the reference geometric elements corresponding to the garage kneading stage include a target position line, and the target position line is a central line perpendicular to a short side of the target parking space.

The track generating module 940 is further configured to generate a fourth track according to the target position line, and adjust the position and the posture of the vehicle based on the fourth track.

And the completion determining module is also used for determining that the vehicle completes parking operation when the distance from the center of the adjusted rear axle to the target position line of the vehicle is smaller than a second distance threshold and the included angle between the adjusted vehicle body and the target position line is smaller than a second angle threshold.

In one embodiment, the trajectory generation module 940 includes a trajectory point acquisition unit, a corner determination unit, a driving unit, and a pose calculation unit.

And the track point acquisition unit is used for determining the current track point of the vehicle on the parking track according to the current position point of the vehicle and acquiring the track distance between the current track point and the next track point on the parking track.

And the corner determining unit is used for determining the current front wheel corner according to the track distance.

In one embodiment, the steering angle determining unit is further configured to calculate a turning radius of the vehicle according to the current position point and the next track point, determine a target front wheel steering angle of the vehicle according to the turning radius and the track distance, and determine the target front wheel steering angle as the current front wheel steering angle.

And the driving unit is used for controlling the vehicle to drive a preset distance to reach the next position point according to the current front wheel steering angle.

And the pose calculation unit is used for calculating the pose information of the vehicle at the next position point according to the pose information of the vehicle at the current position point and the track distance.

FIG. 10 is a block diagram showing the structure of an electronic apparatus according to an embodiment. The electronic device may be an electronic device such as a vehicle-mounted terminal, a vehicle-mounted control device (e.g., a mobile phone, a flat panel, an intelligent wearable device, etc. that establishes a communication connection with the vehicle-mounted terminal). As shown in fig. 10, electronic device 1000 may include one or more of the following components: a processor 1010, a memory 1020 coupled to the processor 1010, wherein the memory 1020 may store one or more computer programs that may be configured to be executed by the one or more processors 1010 to implement the methods as described in the various embodiments above.

Processor 1010 may include one or more processing cores. The processor 1010 interfaces with various components throughout the electronic device 1000 using various interfaces and circuitry to perform various functions of the electronic device 1000 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1020 and invoking data stored in the memory 1020. Alternatively, the processor 1010 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 1010 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 1010, but may be implemented by a communication chip.

The Memory 1020 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 1020 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1020 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The stored data area may also store data created during use by the electronic device 1000, and the like.

It is understood that the electronic device 1000 may include more or less structural elements than those shown in the above structural block diagrams, for example, a power supply, an input key, a screen, a Wi-Fi (Wireless Fidelity) module, a bluetooth module, etc., and is not limited herein.

The embodiment of the application discloses a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to realize the method described in the embodiments.

Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the method as described in the embodiments above.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.

Any reference to memory, storage, database, or other medium as used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), and Direct Rambus DRAM (DRDRAM).

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.

In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present application, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, may be embodied in the form of a software product, stored in a memory, including several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of the embodiments of the present application.

The method, the apparatus, the electronic device and the storage medium for generating an automatic parking trajectory disclosed in the embodiments of the present application are described in detail above, and specific examples are applied herein to explain the principles and implementations of the present application, and the description of the embodiments above is only used to help understand the method and the core ideas of the present application. Meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A method for generating an automatic parking trajectory, comprising:

acquiring current pose information of the vehicle;

determining a current parking planning stage of the vehicle according to the pose information;

acquiring a reference geometric element corresponding to the parking planning stage;

and generating a parking track according to the reference geometric elements, and controlling the vehicle to run according to the parking track.

2. The method of claim 1, wherein after said controlling said vehicle to travel according to said parking trajectory, said method further comprises:

when the pose information of the vehicle meets the arrival condition corresponding to the parking track, determining that the vehicle enters the next parking planning stage;

and taking the next parking planning stage as the current parking planning stage of the vehicle, and continuing to execute the reference geometric elements corresponding to the parking planning stage until the vehicle finishes the parking operation when the pose information of the vehicle meets the target pose condition.

3. The method according to claim 2, wherein the parking planning phase comprises an initial phase, wherein the corresponding reference geometric elements of the initial phase comprise a reference straight line and a first reference circle, the reference straight line is tangent to the first reference circle, and the reference straight line is parallel to a coordinate axis of a first direction of a world coordinate system;

generating a parking track according to the reference geometric element, and controlling the vehicle to run according to the parking track, wherein the method comprises the following steps:

generating a first track according to the reference straight line, and controlling the vehicle to run according to the first track, wherein the first track is a straight-ahead track along the reference straight line;

and when the position of the vehicle reaches a first tangent point of the first reference circle and the reference straight line, determining that the pose information of the vehicle meets the reaching condition corresponding to the first track.

4. The method according to claim 3, wherein the parking planning phase further comprises an adjustment phase, wherein the reference geometric elements corresponding to the adjustment phase comprise the first reference circle and a second reference circle, and the first reference circle is tangent to the second reference circle;

generating a second track according to the first reference circle, and controlling the vehicle to run according to the second track, wherein the second track is a curve advancing track which takes the first tangent point as a starting point and follows the first reference circle;

and when the position of the vehicle reaches a second tangent point of the first reference circle and the second reference circle, determining that the pose information of the vehicle meets the reaching condition corresponding to the second track.

5. The method according to claim 4, wherein the parking planning stage further comprises a warehousing stage, the reference geometric elements corresponding to the warehousing stage comprise the second reference circle and a target position line, the target position line is a central line perpendicular to a short side of a target parking space, and the second reference circle is tangent to the target position line;

generating a third track according to the second reference circle and the target position line, and controlling the vehicle to run according to the third track, wherein the third track comprises a first sub track and a second sub track, the first sub track is a curve backing track which takes the second tangent point as a starting point and follows the second reference circle, and the second sub track is a straight backing track which takes the second reference circle and the third tangent point of the target position line as starting points and follows the target position line;

and when the distance from the rear axle center of the vehicle to the target position line is smaller than a first distance threshold value and the included angle between the vehicle body of the vehicle and the target position line is smaller than a first angle threshold value, determining that the pose information of the vehicle meets the arrival condition corresponding to the third track.

6. The method according to claim 4 or 5, wherein the radius of the second reference circle is a minimum turning radius of a rear axle center of the vehicle, a first distance from a center of the second reference circle to a first obstacle is larger than the minimum turning radius of an outer side of a head of the vehicle, and a second distance from the center of the second reference circle to a second obstacle is smaller than a difference between the minimum turning radius of the rear axle center and a half width of a vehicle body;

the first obstacle is an obstacle close to the outer side of the vehicle when the vehicle turns, and the second obstacle is an obstacle close to the inner side of the vehicle when the vehicle turns.

7. The method according to any one of claims 2 to 5, wherein the parking planning stage comprises a garage kneading stage, the reference geometric elements corresponding to the garage kneading stage comprise target position lines, and the target position lines are central lines perpendicular to short sides of target parking spaces;

generating a fourth track according to the target position line, and adjusting the position and the posture of the vehicle based on the fourth track;

when the pose information of the vehicle meets the target pose condition, determining that the vehicle completes the parking operation, wherein the method comprises the following steps:

and when the distance from the center of the adjusted rear axle of the vehicle to the target position line is smaller than a second distance threshold value, and the included angle between the adjusted vehicle body and the target position line is smaller than a second angle threshold value, determining that the vehicle finishes parking operation.

8. The method according to any one of claims 1-5, wherein the parking trajectory includes at least two trajectory points, and wherein said controlling the vehicle to travel according to the parking trajectory includes:

determining a current track point of the vehicle on the parking track according to the current position point of the vehicle, and obtaining a track distance between the current track point and a next track point on the parking track;

determining the current front wheel corner according to the track distance;

controlling the vehicle to travel a preset distance to reach a next position point according to the current front wheel steering angle;

and calculating the pose information of the vehicle at the next position point according to the pose information of the vehicle at the current position point and the track distance.

9. The method of claim 8, wherein said determining a current front wheel steering angle from said track distance comprises:

calculating the turning radius of the vehicle according to the current position point and the next track point;

and determining a target front wheel deflection angle of the vehicle according to the turning radius and the track distance, and determining the target front wheel deflection angle as a current front wheel corner.

10. An automatic parking trajectory generation device, comprising:

the pose acquisition module is used for acquiring the current pose information of the vehicle;

the stage determining module is used for determining a parking planning stage where the vehicle is located at present according to the pose information;

the reference acquisition module is used for acquiring a reference geometric element corresponding to the parking planning stage;

and the track generation module is used for generating a parking track according to the reference geometric element and controlling the vehicle to run according to the parking track.

11. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, causes the processor to carry out the method of any one of claims 1 to 9.

12. An in-vehicle terminal, characterized in that it comprises a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the method according to any one of claims 1 to 9.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 9.