CN114296452B - Automatic parking path planning method, equipment and computer readable storage medium - Google Patents
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Abstract
The invention discloses an automatic parking path planning method, equipment and a computer storage medium, wherein the method comprises the following steps: obtaining plane environment information of a place where a path to be planned is located, and determining a first planning route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space; optimizing a turning road section in a first planned route according to the steering capacity of the vehicle, so that the optimized turning road section meets curvature continuity; the storage sequence of each route element in the optimized first planning route is adjusted according to the running direction of the vehicle, and a second planning route for automatic parking of the vehicle is obtained; the path planning method and the device have simple constraint in the path planning process, can effectively improve the path planning speed and reduce the path planning difficulty.
Description
Technical Field
The present invention relates to the field of automatic parking technologies, and in particular, to an automatic parking path planning method, apparatus, and computer readable storage medium.
Background
With the rapid development of technology, the intelligent requirements of automobiles are also increasing. Due to market demands and technical development, the application of automatic parking technology is more and more popular, but the current automatic parking technology has a plurality of problems. AVP (automatic VALET PARKING) can effectively reduce scraping caused by misoperation of a driver, can improve the utilization efficiency of a parking lot, and solves the problems that the driver is difficult to find a parking place, and the like. However, due to the complex parking lot structure, the number of parking spaces is large, and the road is narrow, the problem that the path planning in the AVP system is difficult is caused, the path planning speed is low, and the use of the automatic parking function of the vehicle is affected.
Disclosure of Invention
The embodiment of the invention provides an automatic parking path planning method, automatic parking path planning equipment and a computer readable storage medium, which can effectively improve path planning speed and reduce path planning difficulty.
In a first aspect, an embodiment of the present invention provides a method for planning an automatic parking path, including:
Obtaining plane environment information of a place where a path to be planned is located, and determining a first planning route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space;
Optimizing a turning section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning section meets curvature continuity;
And adjusting the storage sequence of each route element in the optimized first planning route according to the traveling direction of the vehicle to obtain a second planning route for automatic parking of the vehicle.
As an improvement of the above solution, before optimizing the turning section in the first planned route according to the steering capability of the vehicle so that the optimized turning section satisfies the curvature continuity, the method further includes:
and carrying out road center constraint on the first planning route, so that the constrained first planning route is positioned on the central line of the road.
As an improvement of the above solution, the determining the first planned route based on the planar environment information includes:
and calling CAD (computer aided design) to draw the first route plan by taking the current position of the vehicle as a starting point and the selected idle target parking space as an end point based on the plane environment information.
As an improvement of the above solution, the optimizing the turning section in the first planned route according to the steering capability of the vehicle, so that the optimized turning section satisfies curvature continuity, includes:
Setting a reverse arc angle on a turning road section of the first planning route, so that adjacent straight road sections in the first planning route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum turning radius of the vehicle;
Replacing the arc in the first planning route with a transition curve; the curvature between the adjacent straight line sections in the first planned route and the transition curve is continuous, and the curvature radius of the transition curve is larger than the minimum turning radius of the vehicle.
As an improvement of the above-mentioned scheme, the transition curve is a B-spline curve or a combination of a B-spline curve and the circular arc.
As an improvement of the above solution, the first planned route is stored in a CAD format file;
And adjusting the storage sequence of each route element in the optimized first planned route according to the running direction of the vehicle to obtain a second planned route for automatic parking of the vehicle, wherein the method comprises the following steps:
converting the optimized first planning route into a DXF format, and storing the optimized first planning route into a plurality of route elements according to the graph type; the route elements comprise straight line section elements, transition curve elements and reference arc elements;
Respectively carrying out interpolation processing on the route elements;
And adjusting the storage sequence of each point of the route element after interpolation to obtain the second planning route.
As an improvement of the above solution, the adjusting the storage sequence of each point of the route element after the interpolation to obtain the second planned route includes:
taking the starting point of the first planned route as a current detection point, and adding all route elements in the first planned route into a work queue;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the currently found endpoint is the starting point of the corresponding route element;
If not, reversing all points of the route element corresponding to the currently found endpoint;
If yes or after all points of the route elements corresponding to the currently found end point are reversed, taking the end point of the route elements corresponding to the currently found end point as the next detection point, and moving the route elements corresponding to the currently found end point to a result queue until all the route elements in the planned route are moved to the result queue;
And sequentially connecting the route elements in the result queue according to a storage sequence to obtain the second planning route.
As an improvement of the above solution, the points of the transition curve in the first planned route are stored in a CAD format file in a counterclockwise direction.
In a second aspect, an embodiment of the present invention provides an automatic parking path planning apparatus, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the automatic parking path planning method according to any one of the first aspects when executing the computer program.
In a third aspect, an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, where an apparatus in which the computer readable storage medium is located executes the automatic parking path planning method according to any one of the first aspects when the computer program runs.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: based on the current position of the vehicle and the target parking space, primarily determining a rough first planning route from the current position to the target parking space; then, turning road section curvature constraint is carried out on the first planned route, and the first planned route is optimized; finally, the storage sequence of each route element in the optimized first planning route is adjusted to obtain a second planning route for automatic parking of the vehicle; the path planning method and the device have simple constraint in the path planning process, can effectively improve the path planning speed and reduce the path planning difficulty.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed 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 invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an automatic parking path planning method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a first planned route prior to curvature optimization provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a first planned route after center constraint provided by an embodiment of the present invention;
FIG. 4 is a schematic view of a first planned route after curvature optimization provided by an embodiment of the present invention;
FIG. 5 is a schematic illustration of route elements of an optimized first planned route provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a route element storage order adjustment procedure according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an automatic parking path planning apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a schematic flow chart of an automatic parking path planning method according to an embodiment of the present invention, where the automatic parking path planning method specifically includes:
s11: obtaining plane environment information of a place where a path to be planned is located, and determining a first planning route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space;
Further, the determining a first planned route based on the planar environmental information includes:
and calling CAD (computer aided design) to draw the first route plan by taking the current position of the vehicle as a starting point and the selected idle target parking space as an end point based on the plane environment information.
Taking a parking garage scene as an example, a plane environment diagram of a parking lot is pre-led or drawn in a CAD system, a selected idle target parking space is taken as an end point by taking the current position of the vehicle as a starting point, and a first planning route is roughly drawn manually, as shown in FIG. 2.
S12: optimizing a turning section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning section meets curvature continuity;
The steering capacity of the vehicle is determined according to its minimum turning radius.
Further, the optimizing the turning section in the first planned route according to the steering capability of the vehicle, so that the optimized turning section meets the curvature continuity, includes:
Setting a reverse arc angle on a turning road section of the first planning route, so that adjacent straight road sections in the first planning route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum turning radius of the vehicle;
Replacing the arc in the first planning route with a transition curve; the curvature between the adjacent straight line sections in the first planned route and the transition curve is continuous, and the curvature radius of the transition curve is larger than the minimum turning radius of the vehicle.
Further, the transition curve is a B-spline curve or a combination of a B-spline curve and the circular arc.
Because the roughly drawn first planned route is a right-angle corner, and the vehicle cannot turn according to the right-angle corner, in the embodiment of the invention, curvature constraint is required to be carried out on the turning road section of the first planned route so as to ensure that the curvature of the first planned route is continuous, so that the vehicle can safely travel according to the first planned route; the specific curvature constraint comprises two stages, wherein the first stage is to set a rounding angle for a turning road section of the first planned route based on the minimum turning radius of the vehicle, and the rounding radius is larger than the minimum turning radius of the vehicle; the second stage is to continuously adjust the curvature of the arc connected with the straight line section in the first planning route, for example, a B-spline curve is used to replace the arc in the planning route, or a B-spline curve is inserted between the straight line section and the arc connected with the straight line section, so as to obtain a transition curve continuous with the curvature of the straight line section, and ensure that the vehicle can travel along the optimized first planning route, as shown in fig. 4. In particular, it may be determined whether the transition curve is continuous with the curvature of the connected straight line element by examining the maximum curvature circle and the curvature comb of the transition curve.
Further, points of the transition curve in the first planned route are stored in a CAD format file in a counterclockwise direction.
S13: and adjusting the storage sequence of each route element in the optimized first planning route according to the traveling direction of the vehicle to obtain a second planning route for automatic parking of the vehicle.
Further, the first planned route is stored in a CAD format file;
and adjusting the storage sequence of each route element in the optimized first planned route according to the running direction of the vehicle to obtain a second planned route for automatic parking of the vehicle, wherein the method comprises the following steps:
Converting the first planned route into a DXF format and storing the first planned route as a plurality of route elements according to a graph type; the route elements comprise straight line section elements, transition curve elements and reference arc elements;
Respectively carrying out interpolation processing on the route elements;
And adjusting the storage sequence of each point of the route element after interpolation to obtain the second planning route.
In the embodiment of the present invention, since the points of the transition curve in the first planned route are stored counterclockwise in the CAD file, at this time, the storage order of the route elements of the first planned route needs to be adjusted according to the traveling direction of the vehicle, that is, the direction from the start point to the end point of the first planned route. The route elements refer to road sections with different graphic types in the first planned route, such as straight line road section elements and transition curve elements shown in fig. 5, or arc elements added for adding reference elements, and the like. The first planning route of the CAD file format is exported to be a DXF file format, and the DXF file format is a plain text format composed of ASCII codes, so that the method has the advantage of easiness in processing, and then the second planning route is obtained by adjusting the points of each route element according to the storage sequence of the travelling direction of the vehicle.
After the first planning route of automatic parking is planned preliminarily, only curvature continuous constraint is needed, and then the storage sequence of each route element in the route is adjusted, so that the second planning route is guaranteed to be consistent with the vehicle travelling direction, the constraint in the whole path planning process is simple, the path planning speed can be effectively improved, and the path planning difficulty can be reduced. The planned track does not conform to the driving habit of the human driver and the like.
In an optional embodiment, before the optimizing the turning section in the first planned route according to the steering capability of the vehicle so that the optimized turning section meets the curvature continuity, the method further includes:
and carrying out road center constraint on the first planning route, so that the constrained first planning route is positioned on the central line of the road.
Wherein the plane environment information further includes: road boundaries. Based on the road boundaries of the location, the distance from the planned route to the road boundaries may be preset in the CAD such that the distance from the first planned route to the road boundaries on both sides is equal, i.e. the first planned route is located on the road centerline, as shown in fig. 3. Wherein, the distance from the first planned route to the road boundaries at two sides can be set to be larger than a set distance threshold value; the distance threshold is obtained according to the vehicle width and the road width of the vehicle, so that the vehicle is ensured to keep a certain safety distance from the road boundary when traveling according to the first planned route, and collision with surrounding obstacles (such as a wall surface, vehicles parked in other parking spaces and the like) is avoided.
In an optional embodiment, the adjusting the storage order of the points of the route element after the interpolation to obtain the second planned route includes:
taking the starting point of the first planned route as a current detection point, and adding all route elements in the first planned route into a work queue;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the currently found endpoint is the starting point of the corresponding route element;
If not, reversing all points of the route element corresponding to the currently found endpoint;
If yes or after all points of the route elements corresponding to the currently found end point are reversed, taking the end point of the route elements corresponding to the currently found end point as the next detection point, and moving the route elements corresponding to the currently found end point to a result queue until all the route elements in the planned route are moved to the result queue;
And sequentially connecting the route elements in the result queue according to a storage sequence to obtain the second planning route.
Illustratively, the derived DXF file format stores different road segments of the first planned route as different route elements by graphic type, for example:
transition curve element SPLINE: a control point;
Reference ARC element ARC: center, radius, start angle, end angle (only used to provide reference for subsequent interpolation and storage sequence adjustment links);
LINE section element LINE: starting point and ending point;
taking ARC as an example, file storage examples are given as follows:
as shown in fig. 6, step 1: setting the starting point of the first planning route as a current detection point, and adding all route elements into a work queue;
Step 2: traversing route elements in all the work queues, checking the distance between the start point and the current detection point for the start point and the end point of each route element, and stopping when the point corresponding to the minimum distance is found;
Step 3: judging whether the currently found point is the starting point of the corresponding route element;
Step 4: if not, reversing all points of the route element corresponding to the currently found point;
Step 5: if yes, or after all points of the route element corresponding to the point found at present are reversed, taking the end point of the route element corresponding to the point found at present as the next detection point, and moving the route element corresponding to the point found at present to a result queue;
step 6: judging whether all route elements move to the result queue; if yes, ending, otherwise, returning to the step 1.
Because the route is planned based on the CAD system and the storage process of the route is possibly unordered, the embodiment of the invention constructs the final second planned route by adjusting the sequence of the route elements, and ensures that the second planned route is consistent with the travelling direction of the vehicle.
In an optional embodiment, the interpolating the route elements includes:
interpolation processing is carried out on the transition curve elements, and the specific process is as follows:
1. acquiring the number n of transition curve element control points and the curvature k;
2. The node vector is set to u=zeros (1, n+k+1); wherein zeros (n, m) represent an n row m column all zero matrix;
3、u(1:k)＝0；
4、u(n+2，n+k+1)＝1；
5. u (k+1, n+1) = linspace (0, 1, n-k+1); where a= linspace (b 1,b2, n) denotes that n points are generated, and the pitch of the points is (b 2-xb1)/(n-1);
6. B spline construction is carried out by using node vectors and control points, and expressions x (t), y (t), x '(t), y' (t), x '(t), y' (t) of any t epsilon [0,1] interval curve and derivatives thereof can be obtained;
7. For any parameter t, its heading angle φ is atan2 (y '(t), x' (t));
8. for any parameter t, its curvature k is:
and the arbitrary parameter t is interpolation of transition curve elements.
Interpolation processing is carried out on the reference arc elements, and the specific process is as follows:
1. Any i e [0,1] interval, θ (i) = Lerp (θs, θe, i), where θs is the start angle and θe is the end angle;
2、x(θ)＝x0+r·cos(θ)；
3. y (θ) =y 0 +r·sin (θ); wherein, (x 0,y0) is the start coordinate;
4、φ(θ)＝θ+π/2；
5. k (θ) =1/r; wherein r is the radius of the arc.
And the arbitrary parameter i is interpolation of the reference arc element.
Interpolation processing is carried out on the straight line road section elements, and the specific process is as follows:
Any j epsilon [0,1] interval, starting point (x s,ys) and end point (x e,ye);
1、x(j)＝Lerp(xs,xe，t)；
2、y(j)＝Lerp(ys,ye，t)；
3、φ(j)＝atan2(ye-ys,xe-xs)；
4、k(θ)＝0；
Where p=atan2 (Y, X) represents the four-quadrant arctangent (tan-1) back to Y and X, which must be a real number; lerp (p, b, j) =p+j (q-p).
And the arbitrary parameter j is interpolation of the linear road section elements.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: based on the current position of the vehicle and the target parking space, primarily determining a rough route plan from the current position to the target parking space; then, continuously constraining the curvature of the turning road section of the first planned route, and optimizing the first planned route; finally, the storage sequence of each route element in the optimized first planning route is adjusted to obtain a second planning route for automatic parking of the vehicle; the path planning method and the device have simple constraint in the path planning process, can effectively improve the path planning speed and reduce the path planning difficulty.
Example two
Referring to fig. 7, a schematic diagram of an automatic parking path planning apparatus according to a first embodiment of the present invention is provided. As shown in fig. 5, the automatic parking path planning apparatus includes: at least one processor 11, such as a CPU, at least one network interface 14 or other user interface 13, a memory 15, at least one communication bus 12, the communication bus 12 being for enabling connected communication between these components. The user interface 13 may optionally include a USB interface, as well as other standard interfaces, wired interfaces. The network interface 14 may optionally include a Wi-Fi interface, as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (NVM), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, the memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof:
An operating system 151 containing various system programs for implementing various basic services and handling hardware-based tasks;
Program 152.
Specifically, the processor 11 is configured to invoke the program 152 stored in the memory 15 to execute the automatic parking path planning method described in the above embodiment, for example, steps S11-S14 shown in fig. 1.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in the automated parking path planning apparatus.
The automatic parking path planning equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The automated parking path planning apparatus may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the schematic illustration is merely an example of an automated parking path planning apparatus and does not constitute a limitation of an automated parking path planning apparatus, and may include more or fewer components than illustrated, or may combine certain components, or different components.
The Processor 11 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 11 is a control center of the automatic parking path planning apparatus, and connects the various parts of the entire automatic parking path planning apparatus using various interfaces and lines.
The memory 15 may be used to store the computer program and/or module, and the processor 11 may implement various functions of the automatic parking path planning apparatus by running or executing the computer program and/or module stored in the memory, and invoking data stored in the memory. The memory 15 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, memory 15 may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the integrated modules/units of the automated parking path planning apparatus may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that, the implementation principle and the technical effect of the automatic parking path planning apparatus according to the embodiment of the present invention are the same as those of the automatic parking path planning method according to the first embodiment, and will not be described in detail herein.
Example III
An embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, where when the computer program runs, the computer readable storage medium is controlled to execute the automatic parking path planning method according to any one of the embodiments.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that many modifications and variations may be made without departing from the spirit of the invention, and it is intended that such modifications and variations be considered as a departure from the scope of the invention.
Claims (7)
1. An automatic parking path planning method, comprising:
obtaining plane environment information of a place where a path to be planned is located, and determining a first planning route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space, and the corner in the first planning route is a right-angle corner;
The road center constraint is carried out on the first planning route, so that the constrained first planning route is located on the center line of the road, and the first planning route is stored in a CAD format file;
optimizing a turning section in the first planned route according to the steering capability of the vehicle so that the optimized turning section meets curvature continuity, wherein the method for optimizing according to the steering capability of the vehicle comprises the following steps:
Setting a reverse arc angle on a turning road section of the first planning route, so that adjacent straight road sections in the first planning route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum turning radius of the vehicle;
Replacing the arc in the first planning route with a transition curve; the curvature between the adjacent straight line sections in the first planning route and the transition curve is continuous, and the curvature radius of the transition curve is larger than the minimum turning radius of the vehicle;
converting the optimized first planning route into a DXF format, and storing the optimized first planning route into a plurality of route elements according to the graph type; the route elements comprise straight line section elements, transition curve elements and reference arc elements;
Respectively carrying out interpolation processing on the route elements;
And adjusting the storage sequence of each point of the route element after interpolation to obtain a second planning route.
2. The automatic parking path planning method according to claim 1, wherein the determining a first planned route based on the planar environment information includes:
and calling CAD based on the plane environment information, taking the current position of the vehicle as a starting point, taking the selected idle target parking space as an end point, and drawing a first route planning.
3. The automatic parking path planning method according to claim 1, wherein the transition curve is a B-spline curve or a combination of a B-spline curve and the circular arc.
4. The automatic parking path planning method according to claim 3, wherein the adjusting the storage order of the points of the route element after the interpolation to obtain the second planned route includes:
taking the starting point of the first planned route as a current detection point, and adding all route elements in the first planned route into a work queue;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the currently found endpoint is the starting point of the corresponding route element;
If not, reversing all points of the route element corresponding to the currently found endpoint;
If yes or after all points of the route elements corresponding to the currently found end point are reversed, taking the end point of the route elements corresponding to the currently found end point as the next detection point, and moving the route elements corresponding to the currently found end point to a result queue until all the route elements in the planned route are moved to the result queue;
and sequentially connecting the route elements in the result queue according to the storage sequence to obtain a second planning route.
5. The automated parking path planning method of claim 1, wherein points of the transition curve in the first planned route are stored in a CAD format file in a counterclockwise direction.
6. An automatic parking path planning apparatus comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the automatic parking path planning method according to any one of claims 1 to 5 when executing the computer program.
7. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium performs the automatic parking path planning method according to any one of claims 1 to 5 on a device in which the computer program is located when the computer program is run.
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| CN202111540181.3A CN114296452B (en) | 2021-12-16 | 2021-12-16 | Automatic parking path planning method, equipment and computer readable storage medium |
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