CN115848359B - Parking space self-adaptive parking path planning method, vehicle and storage medium - Google Patents
Parking space self-adaptive parking path planning method, vehicle and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of parking space planning, and discloses a parking space self-adaptive parking path planning method, a vehicle and a storage medium, wherein the method comprises the following steps: correcting according to the angular point coordinates of the parking space; planning a first parking path according to the coordinates of the starting position coordinate point and the parking point of the vehicle; planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path ending coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the third parking path end point coordinates; determining a whole vehicle parking path according to the four-section parking path; and (5) parking the vehicle into a parking space according to the whole vehicle parking path. And correcting the parking space by acquiring relevant vehicle body parameters, and planning a parking route by detecting an obstacle area in real time through a radar, so that the parking space recognition and detection precision during parking is improved.
Description
Technical Field
The invention relates to the technical field of camera calibration, in particular to a parking space self-adaptive parking path planning method, a vehicle and a storage medium.
Background
With the development of new energy automobiles, the electrified era has come, a computing core with higher calculation power and various sensors are commonly mounted on personal passenger cars, and meanwhile, the improvement of resident income and the awareness of environmental protection are enhanced, and the sales of the new energy automobiles are also improved. However, the negative effect caused by the phenomenon is that traffic environment is crowded, urban parking space resources are short, parking space is narrow, and the like. In such an environment, limited to a narrow environment and a visual blind area of a driver, traffic jam and scratch accidents are easily caused, and thus Automatic Parking (APA) has become a research hotspot in the field of automatic driving/assisted driving. The most commonly used automatic parking methods at present are: an automatic parking method based on ultrasonic radar and an automatic parking method based on pure vision. The method has some defects that for ultrasonic radar parking, the method is limited by the problem of distance detection precision of the ultrasonic radar, and the coordinates of obstacle points detected by the ultrasonic radar are offset to a certain extent due to system communication delay in the vehicle moving process, so that the generated obstacle track line graph is not obvious from the interruption characteristics, a complex algorithm is required to process data for use, the occurrence frequency of parking space omission or false detection phenomenon is very high, in addition, the direction information of the parking points calculated based on the starting point and the ending point of the interruption interval of the obstacle track line is inaccurate, and the final parking posture of the vehicle is always not parallel to the side line of the parking space as a result. For pure vision parking, a simple parking space recognition model cannot detect an obstacle area, so that if a parking space is not limited manually, a planned path can easily enable a target vehicle to pass over a facing parking space, or if an obstacle suddenly appears, the path cannot be planned again, and collision is caused.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a parking space self-adaptive parking path planning method, a vehicle and a storage medium, and aims to solve the problem that in the prior art, the existing automatic path planning of a vehicle has low parking space identification and detection precision, so that collision is easy to occur in the parking process.
In order to achieve the above purpose, the invention provides a parking space self-adaptive parking path planning method, which comprises the following steps:
acquiring a coordinate point of a starting position of a vehicle and acquiring a parking space angular point coordinate;
correcting according to the parking space angular point coordinates to obtain parking point coordinates;
planning a first parking path according to the coordinate point of the starting position of the vehicle and the coordinate of the parking point, and obtaining the coordinate of the end point of the first parking path;
planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters, and obtaining second parking path end point coordinates;
acquiring radar parameters, planning a third parking path according to the radar parameters, a vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring a third parking path end point coordinate;
Determining a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate;
determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
and (3) parking the vehicle into a parking space according to the whole vehicle parking path.
Optionally, the acquiring the coordinate point of the starting position of the vehicle and acquiring the coordinate of the corner point of the parking space include:
creating a docking path world coordinate system;
acquiring time synchronous images according to a fish-eye lens of a vehicle body, and splicing the time synchronous images to acquire a ring view;
processing the look-around map through a parking space recognition model to obtain a parking space angular point position;
and determining the position coordinates of the corner points of the parking space according to the world coordinate system of the parking path.
Optionally, the parking space corner coordinates include: the first corner point coordinate, the second corner point coordinate, the third corner point coordinate and the fourth corner point coordinate;
correcting according to the parking space angular point coordinates to obtain parking point coordinates, wherein the correcting comprises the following steps:
determining the average length, the average width and the center coordinates of the parking space according to the first corner coordinates, the second corner coordinates, the third corner coordinates and the fourth corner coordinates;
Determining a parking space deflection angle according to the first angular point coordinates and the second angular point coordinates;
determining the position and the pose of the parking space center according to the parking space center coordinates and the parking space deflection angle;
determining corrected parking space angular point coordinates according to the parking space central pose, the average parking space length and the average parking space width;
acquiring the front suspension length, the rear suspension length and the wheelbase of the vehicle body;
and determining the coordinates of the parking points according to the front suspension length of the vehicle body, the rear suspension length of the vehicle body, the wheelbase of the vehicle body and the corrected coordinates of the parking point points.
Optionally, the planning the first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and obtaining the first parking path end point coordinate includes:
establishing a first relative coordinate system with the coordinates of the docking points as an origin;
determining a first parking path end point according to the first relative coordinate system;
and converting the first parking path end point to an original coordinate system to obtain a first parking path end point coordinate.
Optionally, the first body parameter includes: vehicle body endpoint coordinates, vehicle body width;
the step of planning a second parking path according to the relative vehicle body direction of the parking point coordinate, the parking space angular point coordinate, the first parking path end point coordinate and the first vehicle body parameter to obtain a second parking path end point coordinate comprises the following steps:
Establishing a second relative coordinate system taking the endpoint coordinate of the first parking path as an origin;
converting the parking space angular point coordinates into a second relative coordinate system;
determining intersection point, central angle and radius parameters according to the parking space angular point coordinates and the vehicle body endpoint coordinates;
determining a parameter equation of a circle according to the width of the vehicle body, the first parking path end point coordinate, the radius parameter and the intersection point;
determining the end point of the second parking path according to the parameter equation of the central angle and the circle;
and converting the second parking path end point to an original coordinate system to obtain a second parking path end point coordinate.
Optionally, the first body parameter includes: the front suspension length, the width and the rear suspension length of the vehicle, and the maximum rotation angle of the wheelbase and the front wheels of the vehicle;
the step of planning a third parking path according to the radar parameter, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter to obtain a third parking path end point coordinate includes:
acquiring radar updated obstacle point information and acquiring obstacle point coordinates;
determining a path track according to the second parking path end point coordinates, the vehicle front suspension length, the vehicle width, the vehicle rear suspension length, the vehicle wheelbase and the front wheel maximum rotation angle;
Judging whether the coordinates of the obstacle points fall on a path track or not;
if the obstacle point coordinates do not fall on the path track, acquiring third parking path end point coordinates according to a normal flow;
and if the obstacle point coordinates fall on the path track, determining the position coordinates of a central point of a rear axle of the vehicle according to the rear suspension length of the vehicle and the maximum rotation angle of the front wheel, and determining the end point coordinates of a third parking path according to the position coordinates of the central point of the rear axle of the vehicle and the initial position coordinate point of the vehicle.
Optionally, the acquiring the third parking path endpoint coordinate according to the normal procedure includes:
acquiring an end point coordinate of a third to-be-determined parking path according to a vehicle initial position coordinate point, the maximum rotation angle of the front wheels and the vehicle wheelbase;
judging whether the y value of the to-be-determined third parking path end point coordinate is smaller than or equal to the y value of the vehicle starting position coordinate point, if yes, setting the to-be-determined third parking path end point coordinate as the to-be-determined third parking path end point coordinate;
and if the y value of the to-be-determined third parking path end point coordinate is greater than or equal to the y value of the vehicle starting position coordinate point, determining the front wheel steering angle to acquire the third parking path end point coordinate.
In addition, in order to achieve the above purpose, the present invention further provides a device for parking space adaptive parking path planning, where the device for parking space adaptive parking path planning includes:
the acquisition module is used for acquiring a coordinate point of a starting position of the vehicle and acquiring a parking space angular point coordinate;
the planning module is used for correcting according to the parking space angular point coordinates to obtain parking point coordinates;
the planning module is further used for planning a first parking path according to the coordinate point of the starting position of the vehicle and the coordinate of the parking point, and obtaining the coordinate of the end point of the first parking path;
the planning module is further used for planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters, and obtaining second parking path end point coordinates;
the planning module is further used for acquiring radar parameters, planning a third parking path according to the radar parameters, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring a third parking path end point coordinate;
the planning module is further used for determining a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate;
The control module is used for determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
and the control module is also used for parking the vehicle into a parking space according to the whole vehicle parking path.
In addition, in order to achieve the above purpose, the invention also provides a vehicle for parking space self-adaptive parking path planning, wherein the vehicle for parking space self-adaptive parking path planning is configured to achieve the method for parking space self-adaptive parking path planning.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where a program for parking space adaptive parking path planning is stored, and the method for parking space adaptive parking path planning is implemented when the program for parking space adaptive parking path planning is executed by a processor.
The application relates to the technical field of parking space planning, and discloses a parking space self-adaptive parking path planning method, a vehicle and a storage medium, wherein the method comprises the following steps: correcting according to the angular point coordinates of the parking space; planning a first parking path according to the coordinates of the starting position coordinate point and the parking point of the vehicle; planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path ending coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the third parking path end point coordinates; determining a whole vehicle parking path according to the four-section parking path; and (5) parking the vehicle into a parking space according to the whole vehicle parking path. And correcting the parking space by acquiring relevant vehicle body parameters, and planning a parking route by detecting an obstacle area in real time through a radar, so that the parking space recognition and detection precision during parking is improved.
Drawings
FIG. 1 is a schematic structural diagram of a parking space adaptive parking path planning device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a parking space corner point according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 3 is a schematic view of a first parking path world coordinate system according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 4 is a schematic diagram of a first relative coordinate system of a first parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 5 is a schematic diagram of a world coordinate system of a second parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 6 is a schematic diagram of a second relative coordinate system of a second parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 7 is a diagram of a world coordinate system for detecting an obstacle according to an embodiment of the adaptive parking space path planning method of the present invention;
FIG. 8 is a schematic view of a third parking path world coordinate system according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 9 is a schematic diagram of a third relative coordinate system of a third parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 10 is a schematic diagram illustrating a normal path planning of a third parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 11 is a schematic diagram of a first type of path planning for a fourth parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 12 is a schematic diagram of a second type of path planning for a fourth parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 13 is a third type of schematic diagram of a path planning of a fourth parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
FIG. 14 is a flowchart of an overall parking process according to an embodiment of the adaptive parking space path planning method of the present invention;
fig. 15 is a schematic functional block diagram of a first embodiment of the parking space adaptive parking path planning apparatus according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a first embodiment of a parking space adaptive parking path planning method according to the present invention.
In a first embodiment, the parking space adaptive parking path planning method includes the following steps:
and S10, acquiring a coordinate point of a starting position of the vehicle and acquiring a coordinate of a parking space angular point.
It should be noted that, the execution body of the embodiment is a vehicle path planning control device, which refers to a device for implementing functions such as acquiring vehicle body parameters, avoiding obstacles, planning a segmented path, controlling parking, and the like, and may also be other devices with the same or similar functions, which is not limited in this embodiment. In the present embodiment, a vehicle path planning control apparatus is described as an example.
It is understood that the vehicle start position coordinate point refers to the coordinates of the vehicle start position determined in the world coordinate system established before the vehicle to be parked is determined to park in the parking space. The parking space corner coordinates refer to four corner coordinates of the parking space shape determined in the established world coordinate system.
Further, step S10 includes: creating a docking path world coordinate system; acquiring time synchronous images according to a fish-eye lens of a vehicle body, and splicing the time synchronous images to acquire a ring view; processing the look-around map through a parking space recognition model to obtain a parking space angular point position; and determining the position coordinates of the corner points of the parking space according to the world coordinate system of the parking path.
It should be noted that, the world coordinate system of the parking path refers to that the world coordinate system is required to be used as a reference coordinate system to determine the parking path in the subsequent path planning process. The time synchronization image refers to a parking space scene image obtained at the current time. The ring view refers to the image to which the time-synchronized image is stitched after being acquired. The parking space recognition model refers to a convolutional neural network model for performing angular point coordinate recognition, and is used for inputting an image acquired by a fisheye lens into the model and performing depth recognition to obtain parking space angular point coordinates mapped to a world coordinate system.
In a specific implementation, as shown in fig. 2, fig. 2 is a schematic diagram of a parking space corner point of an embodiment of a parking space adaptive parking path planning method of the present invention, after a vertical parking program is started, a world coordinate system o_w of a parking path is determined, then four images img_1, img_2, img_3, img_4 obtained through four fisheye lenses on the front, rear, left and right sides of a vehicle body after time synchronization are acquired, a ring view is formed after the four images are spliced, and the generated ring view is processed by a parking space recognition model to obtain four corner point position coordinates of a parking space recognized by a plurality of columns; after the target parking space is selected, coordinates A (x, y), B (x, y), C (x, y) and D (x, y) of four corner points of the target parking space in a world coordinate system are determined.
And step S20, correcting according to the parking space angular point coordinates to obtain parking point coordinates.
The parking point coordinates refer to final position coordinates of the vehicle after parking in the parking space. Correcting according to the angular point coordinates of the parking space means that the corrected parking space center which is finally needed to be parked in is determined through the four angular point coordinates.
It should be understood that the correction of the parking space angular point coordinates is to determine the final parking vehicle, accurately park the vehicle in the parking space, and improve the detection accuracy of the parking space. In this embodiment, reverse route planning is performed by taking the final point of berthing as a starting point, and forward berthing is performed by reverse planning route.
Further, step S10 includes: correcting according to the parking space angular point coordinates to obtain parking point coordinates, wherein the correcting comprises the following steps: determining the average length, the average width and the center coordinates of the parking space according to the first corner coordinates, the second corner coordinates, the third corner coordinates and the fourth corner coordinates; determining a parking space deflection angle according to the first angular point coordinates and the second angular point coordinates; determining the position and the pose of the parking space center according to the parking space center coordinates and the parking space deflection angle; determining corrected parking space angular point coordinates according to the parking space central pose, the average parking space length and the average parking space width; acquiring the front suspension length, the rear suspension length and the wheelbase of the vehicle body; and determining the coordinates of the parking points according to the front suspension length of the vehicle body, the rear suspension length of the vehicle body, the wheelbase of the vehicle body and the corrected coordinates of the parking point points.
It should be noted that, the average length of the parking space refers to the average length of the long side obtained according to the corner point of the parking space, the average width of the parking space refers to the average length of the short side obtained according to the corner point of the parking space, the central coordinate of the parking space refers to the central coordinate of the parking space obtained through the calculation of the corner point coordinate, and the deflection angle of the parking space refers to the correct angle of the parking space to be corrected. The wheelbase refers to the distance between the front axle and the rear axle of the vehicle, the front overhang length refers to the distance from the forefront end of the vehicle to the front axle, and the rear overhang length refers to the distance from the rearmost end of the vehicle to the rear axle.
In specific implementation, the central pose of the parking space needs to be obtained through the corner points, and then corrected coordinates of the corner points of the parking space are obtained according to the central pose, for example: firstly, four parking space corner coordinates A, B, C and D are obtained, and four side lengths of the identified parking space are calculated according to the coordinates A, B, C and D, wherein the four side lengths are dist_AB, dist_BC, dist_CD and dist_DA. Calculating the average value of the two short sides, namely the average width avg_dist_width of the parking space, and the average value of the two long sides, namely the average length avg_dist_length of the parking space; calculating a parking space deflection angle according to the coordinates A and B, and calculating a parking space center coordinate SC (x, y) according to the coordinates A, B, C and D; based on SC and angle, the parking space center pose SCP (x, y, angle) is obtained. Based on SCP, avg_dist_width, avg_dist_length, corrected parking space corner coordinates A, B, C and D are calculated. After the corrected parking space angular point coordinates are obtained, the parking point coordinates G (x, y, theta) of the parking space are calculated through the front suspension length, the rear suspension length and the wheelbase of the vehicle body.
And step S30, planning a first parking path according to the coordinate point of the starting position of the vehicle and the coordinate of the parking point, and obtaining the coordinate of the end point of the first parking path.
The vehicle start position coordinate point refers to a coordinate of the vehicle being parked outside the parking space.
It should be understood that the first parking path refers to a first-segment parking path planned from the above-described resultant coordinates of the entry point. The first parking path is also required to be spliced with the second parking path, the third parking path and the fourth parking path to form a whole vehicle path so as to carry out whole vehicle parking.
Further, step S30 includes: establishing a first relative coordinate system with the coordinates of the docking points as an origin; determining a first parking path end point according to the first relative coordinate system; and converting the first parking path end point to an original coordinate system to obtain a first parking path end point coordinate.
It should be noted that, the first relative coordinate system refers to a transformed coordinate system using the coordinates of the entry point as the origin, and is different from the origin of the world coordinate system, and is set up to obtain the end point of the first parking path, so as to more clearly plan the first parking path.
In a specific implementation, as shown in fig. 3, fig. 3 is a schematic view of a world coordinate system of a first parking path according to the present invention, where S is a determined coordinate of a starting point of a vehicle, and the first parking planning path is a path from G to G1. As shown in fig. 4, fig. 4 is a schematic diagram of a first relative coordinate system of a first parking path according to the present invention, where G is converted from a world coordinate system o_w to a first relative coordinate system o_g with G as an origin; the path growth direction is the positive direction of the x axis of the O_g coordinate system, the growth length interval is [0,0.2], the G1 coordinate under the O_g coordinate system is determined by taking meters as a unit, then the G1 coordinate is converted into the O_w coordinate system, and then the first planning path of the world coordinate system O_w is obtained.
And S40, planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters, and obtaining second parking path end point coordinates.
It should be noted that, the parking point coordinate is relative to the vehicle body direction, and the steering angle is the parking point coordinate relative to the vehicle body direction, when the second parking path is planned, a maximum steering angle of the front wheel needs to be obtained. The first body parameter refers to the body endpoint coordinates and body width
It should be understood that the second parking path refers to a second-stage parking path planned from the above-described resultant first parking path end point coordinates as a starting point.
Further, step S40 includes: establishing a second relative coordinate system taking the endpoint coordinate of the first parking path as an origin; converting the parking space angular point coordinates into a second relative coordinate system; determining intersection point, central angle and radius parameters according to the parking space angular point coordinates and the vehicle body endpoint coordinates; determining a parameter equation of a circle according to the width of the vehicle body, the first parking path end point coordinate, the radius parameter and the intersection point; determining the end point of the second parking path according to the parameter equation of the central angle and the circle; and converting the second parking path end point to an original coordinate system to obtain a second parking path end point coordinate.
The second relative coordinate system is a second relative coordinate system established with the end point of the first parking path as the origin. In a specific implementation, as shown in fig. 5, fig. 5 is a schematic view of a world coordinate system of a second parking path according to the present invention, and the first parking planning path is a path from G1 to G2. As shown in fig. 6, fig. 6 is a schematic diagram of a second relative coordinate system of a second parking path according to the present invention, where G1 is converted from a world coordinate system o_w to a relative coordinate system o_g1 with G1 as an origin; simultaneously, the parking space corner B is also converted into O_g1; in O_g1, a body endpoint RS (x, y) at the same y-axis as G1 is calculated; establishing a linear equation F_rs_b perpendicular to the two points and passing through the central point of the connection line of the two points based on RS and B; calculating an intersection point coordinate CP (x, y) of the two straight lines based on a y-axis equation y=0 of the straight line equations f_rs_b and o_g1; based on RS, B, the CP establishes a parameter equation F_rs_c2 of a circle passing through the RS, B and having a circle center of the CP; based on F_rs_c2, obtaining the radius R_rs_c2 of a circle, and obtaining a central angle t_rs_b corresponding to ARC_rs_b of an ARC clamped by RS and B; by the parameters of the vehicle body: half of the width of the vehicle body, G1, R_rs_c2, and CP (x, y) establish a parameter equation F_g1_c2 of a circle passing through G1 and having a center of the circle CP; by t_rs_b, a point G2 (x, y) on the circle f_g1_c2 is obtained, the G2 coordinate is converted into the o_w coordinate system, and the Path2 is obtained using the G2 as the end point coordinate of the second parking Path.
And S50, acquiring radar parameters, planning a third parking path according to the radar parameters, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring the third parking path end point coordinate.
The radar parameter refers to coordinates of an obstacle region obtained when the vehicle detects an obstacle through the radar device.
It should be understood that the third parking path refers to a third-stage parking path planned from the above-described resultant second parking path end point coordinates as a starting point. When planning a third section of parking path, because the vehicles in the path completely depart from the parking space, the obstacle information on the periphery of the parking space needs to be detected so as to prevent accidents such as collision and scratch when the vehicles are parked.
Further, step S50 includes: acquiring radar updated obstacle point information and acquiring obstacle point coordinates; determining a path track according to the second parking path end point coordinates, the vehicle front suspension length, the vehicle width, the vehicle rear suspension length, the vehicle wheelbase and the front wheel maximum rotation angle; judging whether the coordinates of the obstacle points fall on a path track or not; if the obstacle point coordinates do not fall on the path track, acquiring third parking path end point coordinates according to a normal flow; and if the obstacle point coordinates fall on the path track, determining the position coordinates of a central point of a rear axle of the vehicle according to the rear suspension length of the vehicle and the maximum rotation angle of the front wheel, and determining the end point coordinates of a third parking path according to the position coordinates of the central point of the rear axle of the vehicle and the initial position coordinate point of the vehicle.
It should be understood that it is necessary to detect in real time whether an obstacle region exists on the parking path when planning the third parking path, and to adaptively adjust the planned route of the third parking path if the obstacle region exists, so that the normal parking path calculation G3 needs to be path-planned in another manner than in the case where an obstacle exists.
In a specific implementation, as shown in fig. 7, fig. 7 is a schematic diagram of a world coordinate system for detecting an obstacle according to the present invention; wherein, according to the obstacle point coordinates obs_1 (x, y) detected by the radar, obs_2 (x, y),. After expansion, obs_n (x, y) is mapped to an o_w coordinate system to form an obstacle point or region. As shown in fig. 8, fig. 8 is a schematic diagram of a third parking path planning of the present invention, wherein the paths G2 to G3 are the third parking paths to be planned according to the present invention, and the parameter equation f_flc_circle of the circle passing through the left front corner FLC of the vehicle body contour needs to be established first; based on the F_flc_circle, a series of obstacle coordinate points OBS_i (x, y), i E [0, n ], judging whether OBS_a is on a track formed by the F_flc_circle, if not, calculating G3 according to a normal flow; if so, setting the coordinates of the OBS_a as the coordinates of the FLC, and calculating the central coordinate point pose G_obs_a (x, y, theta) of the rear axle center of the vehicle based on the FLC; converting A, B, OBS_i into an O_g_obs_a coordinate system taking G_obs_a as an origin; as shown in fig. 9, fig. 9 is a schematic view of a third relative coordinate system of a third parking path according to the present invention, and vehicle body parameters: the length of the rear suspension of the vehicle body is established under an O_g_obs coordinate system, and a straight line two-point equation F_rl_rrc passing through a left corner point RLC of the vehicle tail and a right corner point RRC of the vehicle tail is established; under the o_g_obs coordinate system, passing cg_obs_left is based on passing vehicle body parameters: the vehicle wheelbase L_wb, the maximum rotation angle ɸ _max of the front wheels, the calculated minimum steering radius R_min and the parameter equation F_cg_obs_left of a circle are established; solving an intersection R_CROSS based on F_rl_rrc and F_cg_obs_left; then solving a circle center angle theta_r_cross corresponding to the arc_r_cross_cg_obs_left; solving R_a based on A and CG_obs_left under an O_cg_obs_left coordinate system; based on R_a, R_min, and ARC_r_cross_cg_obs_left, G_obs_b can be obtained, wherein the point is the position of the central point of the rear axle of the vehicle when the tail of the vehicle is about to collide with the obstacle obs_b, and G_obs_b is projected to the world coordinate system O_w; based on S, left-hand rotation center coordinate point, cg_obs_left, g_obs_a (x, y), G3 is calculated such that G3 direction is parallel to S direction; based on the right-direction rotation circle center coordinate point cg_obs_b (x, y), G3 is calculated such that the G3 direction is parallel to the s direction. And repeating the obstacle avoidance logic until the proper G3 is calculated, and taking the G3 as the endpoint coordinate of the second parking Path to obtain Path3.
Further, in step S50, if the coordinates of the obstacle point do not fall on the path track, the coordinates of the third parking path endpoint are obtained according to the normal procedure, including: acquiring an end point coordinate of a third to-be-determined parking path according to a vehicle initial position coordinate point, the maximum rotation angle of the front wheels and the vehicle wheelbase; judging whether the y value of the to-be-determined third parking path end point coordinate is smaller than or equal to the y value of the vehicle starting position coordinate point, if yes, setting the to-be-determined third parking path end point coordinate as a third parking path end point coordinate; and if the y value of the to-be-determined third parking path end point coordinate is larger than the y value of the vehicle starting position coordinate point, determining the front wheel steering angle to acquire the third parking path end point coordinate.
The y value of the third parking path end point coordinate refers to the y value of the G3 point in the world coordinate system. The y-value of the vehicle start coordinate refers to the y-value of the vehicle S-point coordinate.
It should be understood that, before the end point coordinates of the third parking path are acquired, it should be confirmed whether the end point coordinate y value of the pending third parking path is greater than the vehicle start coordinate point y value, because if the end point coordinate y value of the third parking path is greater than the vehicle start coordinate point y value, the steering angle of the vehicle is incorrect, which is liable to cause trouble in planning the fourth path. It is therefore necessary to confirm the end point coordinate y value of the third parking path.
In a specific implementation, as shown in fig. 10, fig. 10 is a schematic diagram of a normal path planning of the third parking path according to the present invention, where ARC arc_ ɸ _max with the end point parallel to the S direction is planned under the o_w coordinate system, and the end point coordinate is g3_ ɸ _max (x, y, theta); comparing the y coordinate values of the G3_ ɸ _max and the S, and if the y value of the G3_ ɸ _max is smaller than or equal to the y value of the S, setting the third-section parking path end point G3 as the G3_ ɸ _max; if the y value of G3_ ɸ _max is greater than the y value of S, a suitable front wheel steering angle ɸ _g3 needs to be determined; establishing a linear point oblique equation F_g2 in the G2 direction and passing through the G2, establishing a linear point oblique equation F_s_line in the S direction and passing through the S, and solving an intersection point CSG2 (x, y) by using the F_g2 and the F_s_line; calculating G3 by using CSG2, G2, F_s_line and ɸ _g3, and obtaining Path3 by taking G3 as the endpoint coordinate of the second parking Path. Path3 here differs from the Path3 planning described above in this embodiment in that the Path3 obtained in this way is obtained in unobstructed areas.
And step S60, determining a fourth parking path according to the coordinate point of the vehicle starting position and the coordinate of the third parking path end point.
It should be understood that the fourth parking path refers to a fourth-segment parking path planned from the above-described resultant third parking path end point coordinates as a starting point.
Further, step S60 includes: judging whether the y value of the third parking path end point coordinate is smaller than the y value of the vehicle start coordinate, if the y value of the third parking path end point coordinate is smaller than the y value of the vehicle start coordinate, establishing a first parameter equation passing through the vehicle start coordinate, establishing a second parameter equation passing through the third parking path end point coordinate, and determining a fourth parking path according to the first parameter equation and the second parameter equation; if the y value of the end point coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path; and if the y value of the third parking path end point coordinate is larger than the y value of the vehicle start coordinate, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the third parking path end point coordinate, the middle path point and the vehicle start position coordinate point.
It should be understood that when planning the fourth path, the path needs to be classified into three cases, that is, cases when the y value of the third parking path end point coordinate is equal to, smaller than, or larger than the y value of the vehicle start coordinate, respectively, because the planned path is different in different situations in which the vehicle steering angle is different.
In a specific implementation, as shown in fig. 11, fig. 11 is a schematic diagram of a path planning first class of a fourth parking path according to the present invention, where the y value of the end point coordinate of the third parking path is equal to the y value of the start coordinate of the vehicle. In this case, the y value of G3 approaches the y value of S, and a straight Path4 from G3 to S is planned. As shown in fig. 12, fig. 12 is a schematic diagram of a second class of path planning of a fourth parking path according to the present invention, where the y value of the end coordinate of the third parking path is greater than the y value of the start coordinate of the vehicle, a bicycle model under the conditions of S and ɸ _max is needed to obtain a radius r_s_ ɸ _max of a circle passing through the S point, and a circle center coordinate CS (x, y) of the circle is calculated, a straight line point oblique equation f_cs passing through the CS is established by using the theta value of S and CS, and meanwhile, a parameter equation f_g3 of the circle with the center CG3 and the center passing through the G3G point is established; using the condition that the Euclidean distance between a point CS_X (X, y) on F_cs and CG3 is 2R_ ɸ _max to obtain CS_X; CS to CS_X, this value can be regarded as the amount of shift from S to S1, thus calculating S1, planning a Path of ARC curve ARC_g3_s1 from G3 to S1, and then planning a straight Path from S1 to S, resulting in Path4, where Path4 refers to the Path from G3 to S1 to S. As shown in fig. 13, fig. 13 is a schematic diagram of a third type of path planning of a fourth parking path according to the present invention, where the y value of the end point coordinate of the third parking path is smaller than the y value of the start coordinate of the vehicle, a parameter equation f_s_circle of a circle passing through the S point is established, the center point coordinate CS (h, k) thereof, and the radius r_s_circle is defined by a straight line equation passing through the S point and the vehicle body parameter: the maximum front wheel rotation angle ɸ _max is determined; establishing a parameter equation F_g3_circle of a circle passing through the G3 point, wherein the center point coordinate CG3 (a, b) of the parameter equation is R_g3_circle; according to S and G3, calculating a distance value Length and a Height of an x-axis and a y-axis of the two points under a world coordinate system O_w; based on Length, height, R_s_circle, in combination with the right triangle property formula: the sum of squares of the two sides is equal to the square of the hypotenuse, i.e.: length2+ (R_s_circle-Height) ≡2= (R_s_circle+R_g3_circle) ≡2), R_g3_circle can be calculated; and planning a curve Path from G3 to S through S, CS, R_s_circle, G3, CG3 and R_g3_circle to obtain Path4.
It should be noted that in the second case of path planning, the bicycle model refers to a kinematic model describing the current state of the vehicle through four state quantities, but in this embodiment, the same steering angles of the left and right tires of the vehicle are combined into one steering angle ɸ _max based on the bicycle model under the conditions of S and ɸ _max, and four tire coordinates are combined into the vehicle starting coordinates S (x, y), so that the description of the motion of the vehicle is more accurate through the simplified bicycle model, and the effect of tracking control of the vehicle is improved.
And step S70, determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path.
It should be understood that the path planned in this embodiment is not established alone, and four paths need to be planned in combination to obtain a parking path of the whole vehicle to park the vehicle. As shown in fig. 14, fig. 14 is a flow chart of the overall parking of the present invention, after the parking space corner points are identified, they are corrected, a world coordinate system, that is, a local space map, is created, then, four-section route planning is performed, and radar implementation is required to detect obstacles when the third-section route planning is performed, so as to adopt a cyclic obstacle avoidance strategy. After the path planning is finished, the path merging and splicing are needed to be carried out, a whole vehicle path is obtained, the whole vehicle path is used as a parking path, and when the vehicle is reversely parked, the coordinates of the starting point and the ending point of the path are reversely planned.
And S80, parking the vehicle into a parking space according to the whole vehicle parking path.
It should be understood that the whole vehicle parking path obtained after the four-section path is spliced can be used as a parking path for parking and can also be used as a parking path for parking.
According to the embodiment, correction is carried out according to the angular point coordinates of the parking space; planning a first parking path according to the coordinates of the starting position coordinate point and the parking point of the vehicle; planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path ending coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the third parking path end point coordinates; determining a whole vehicle parking path according to the four-section parking path; and (5) parking the vehicle into a parking space according to the whole vehicle parking path. And correcting the parking space by acquiring relevant vehicle body parameters, and planning a parking route by detecting an obstacle area in real time through a radar, so that the parking space recognition and detection precision during parking is improved.
In addition, the embodiment of the invention also provides a vehicle which realizes the steps of the parking space self-adaptive parking path planning method.
The vehicle adopts all the technical schemes of all the embodiments, so that the vehicle has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted herein.
In addition, the embodiment of the invention also provides a storage medium, wherein a parking space self-adaptive parking path planning program is stored on the storage medium, and the parking space self-adaptive parking path planning program realizes the steps of the parking space self-adaptive parking path planning method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
In addition, referring to fig. 15, an embodiment of the present invention further provides a parking space adaptive parking path planning apparatus, where the parking space adaptive parking path planning apparatus includes:
the acquisition module 10 is used for acquiring a coordinate point of a starting position of the vehicle and acquiring a parking space angular point coordinate;
the planning module 20 is used for correcting according to the parking space angular point coordinates to obtain parking point coordinates;
the planning module 20 is further configured to plan a first parking path according to the coordinate point of the vehicle starting position and the coordinate of the parking point, and obtain the coordinate of the end point of the first parking path;
The planning module 20 is further configured to plan a second parking path according to the relative vehicle body direction of the parking point coordinate, the parking space angular point coordinate, the first parking path endpoint coordinate, and the first vehicle body parameter, and obtain a second parking path endpoint coordinate;
the planning module 20 is further configured to obtain radar parameters, plan a third parking path according to the radar parameters, the vehicle starting position coordinate point, the second parking path end point coordinate, and the first vehicle body parameter, and obtain a third parking path end point coordinate;
the planning module 20 is further configured to determine a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate;
the parking module 30 is configured to determine a vehicle parking path according to the first parking path, the second parking path, the third parking path, and the fourth parking path;
the parking module 30 is further configured to park the vehicle into a parking space according to the entire vehicle parking path.
According to the embodiment, correction is carried out according to the angular point coordinates of the parking space; planning a first parking path according to the coordinates of the starting position coordinate point and the parking point of the vehicle; planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path ending coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the third parking path end point coordinates; determining a whole vehicle parking path according to the four-section parking path; and (5) parking the vehicle into a parking space according to the whole vehicle parking path. And correcting the parking space by acquiring relevant vehicle body parameters, and planning a parking route by detecting an obstacle area in real time through a radar, so that the parking space recognition and detection precision during parking is improved.
In this embodiment, the obtaining module 10 is further configured to create a world coordinate system of the docking path; acquiring time synchronous images according to a fish-eye lens of a vehicle body, and splicing the time synchronous images to acquire a ring view; processing the look-around map through a parking space recognition model to obtain a parking space angular point position; and determining the position coordinates of the corner points of the parking space according to the world coordinate system of the parking path.
In this embodiment, the planning module 20 is further configured to determine a parking space average length, a parking space average width, and a parking space center coordinate according to the first corner coordinate, the second corner coordinate, the third corner coordinate, and the fourth corner coordinate; determining a parking space deflection angle according to the first angular point coordinates and the second angular point coordinates; determining the position and the pose of the parking space center according to the parking space center coordinates and the parking space deflection angle; determining corrected parking space angular point coordinates according to the parking space central pose, the average parking space length and the average parking space width; acquiring the front suspension length, the rear suspension length and the wheelbase of the vehicle body; and determining the coordinates of the parking points according to the front suspension length of the vehicle body, the rear suspension length of the vehicle body, the wheelbase of the vehicle body and the corrected coordinates of the parking point points.
In this embodiment, the planning module 20 is further configured to establish a first relative coordinate system with the coordinates of the docking point as the origin; determining a first parking path end point according to the first relative coordinate system; and converting the first parking path end point to an original coordinate system to obtain a first parking path end point coordinate.
In this embodiment, the planning module 20 is further configured to establish a second relative coordinate system with the endpoint coordinate of the first parking path as the origin; converting the parking space angular point coordinates into a second relative coordinate system; determining intersection point, central angle and radius parameters according to the parking space angular point coordinates and the vehicle body endpoint coordinates; determining a parameter equation of a circle according to the width of the vehicle body, the first parking path end point coordinate, the radius parameter and the intersection point; determining the end point of the second parking path according to the parameter equation of the central angle and the circle; and converting the second parking path end point to an original coordinate system to obtain a second parking path end point coordinate.
In this embodiment, the planning module 20 is further configured to obtain radar updated obstacle point information and obtain obstacle point coordinates; determining a path track according to the second parking path end point coordinates, the vehicle front suspension length, the vehicle width, the vehicle rear suspension length, the vehicle wheelbase and the front wheel maximum rotation angle; judging whether the coordinates of the obstacle points fall on a path track or not; if the obstacle point coordinates do not fall on the path track, acquiring third parking path end point coordinates according to a normal flow; and if the obstacle point coordinates fall on the path track, determining the position coordinates of a central point of a rear axle of the vehicle according to the rear suspension length of the vehicle and the maximum rotation angle of the front wheel, and determining the end point coordinates of a third parking path according to the position coordinates of the central point of the rear axle of the vehicle and the initial position coordinate point of the vehicle.
In this embodiment, the planning module 20 is further configured to obtain coordinates of a final point of the third parking path to be determined according to the coordinate point of the starting position of the vehicle, the maximum rotation angle of the front wheel, and the wheelbase of the vehicle; judging whether the y value of the to-be-determined third parking path end point coordinate is smaller than or equal to the y value of the vehicle starting position coordinate point, if yes, setting the to-be-determined third parking path end point coordinate as a third parking path end point coordinate;
and if the y value of the to-be-determined third parking path end point coordinate is larger than the y value of the vehicle starting position coordinate point, determining the front wheel steering angle to acquire the third parking path end point coordinate.
In this embodiment, the planning module 20 is further configured to determine whether the y value of the third parking path endpoint coordinate is smaller than the y value of the vehicle start coordinate, if the y value of the third parking path endpoint coordinate is smaller than the y value of the vehicle start coordinate, establish a first parameter equation passing through the vehicle start coordinate, establish a second parameter equation passing through the third parking path endpoint coordinate, and determine a fourth parking path according to the first parameter equation and the second parameter equation; if the y value of the end point coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path; and if the y value of the third parking path end point coordinate is larger than the y value of the vehicle start coordinate, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the third parking path end point coordinate, the middle path point and the vehicle start position coordinate point.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details which are not described in detail in the embodiment can be referred to the parking space adaptive parking path planning method provided in any embodiment of the present invention, and are not described herein again.
Other embodiments of the parking space adaptive parking path planning device or the implementation method thereof can refer to the above method embodiments, and are not redundant here.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The parking space self-adaptive parking path planning method is characterized by comprising the following steps of:
acquiring a coordinate point of a starting position of a vehicle and acquiring a parking space angular point coordinate;
correcting according to the parking space angular point coordinates to obtain parking point coordinates;
planning a first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and obtaining a first parking path end point coordinate, wherein the first parking path is a first section of parking path planned by taking the parking point coordinate as a starting point, and the parking point coordinate is a final position coordinate of an automobile after parking into a parking space;
planning a second parking path according to the relative vehicle body direction of the parking point coordinates, the parking space angular point coordinates, the first parking path end point coordinates and the first vehicle body parameters, and obtaining second parking path end point coordinates;
acquiring radar parameters, planning a third parking path according to the radar parameters, a vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring a third parking path end point coordinate;
determining a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate;
Determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
according to the whole car parking path, parking the car into a parking space;
the determining a fourth parking path according to the vehicle starting position coordinate point and the third parking path ending point coordinate comprises the following steps:
judging whether the y value of the third parking path end point coordinate is smaller than the y value of the vehicle start coordinate, if the y value of the third parking path end point coordinate is smaller than the y value of the vehicle start coordinate, establishing a first parameter equation passing through the vehicle start coordinate, establishing a second parameter equation passing through the third parking path end point coordinate, and determining a fourth parking path according to the first parameter equation and the second parameter equation;
if the y value of the end point coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path;
and if the y value of the third parking path end point coordinate is larger than the y value of the vehicle start coordinate, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the third parking path end point coordinate, the middle path point and the vehicle start position coordinate point.
2. The method of claim 1, wherein the acquiring the vehicle start position coordinate point and the parking space corner point coordinate comprises:
Creating a docking path world coordinate system;
acquiring time synchronous images according to a fish-eye lens of a vehicle body, and splicing the time synchronous images to acquire a ring view;
processing the look-around map through a parking space recognition model to obtain a parking space angular point position;
and determining the position coordinates of the corner points of the parking space according to the world coordinate system of the parking path.
3. The method of claim 1, wherein the parking spot corner coordinates comprise: the first corner point coordinate, the second corner point coordinate, the third corner point coordinate and the fourth corner point coordinate;
correcting according to the parking space angular point coordinates to obtain parking point coordinates, wherein the correcting comprises the following steps:
determining the average length, the average width and the center coordinates of the parking space according to the first corner coordinates, the second corner coordinates, the third corner coordinates and the fourth corner coordinates;
determining a parking space deflection angle according to the first angular point coordinates and the second angular point coordinates;
determining the position and the pose of the parking space center according to the parking space center coordinates and the parking space deflection angle;
determining corrected parking space angular point coordinates according to the parking space central pose, the average parking space length and the average parking space width;
acquiring the front suspension length, the rear suspension length and the wheelbase of the vehicle body;
And determining the coordinates of the parking points according to the front suspension length of the vehicle body, the rear suspension length of the vehicle body, the wheelbase of the vehicle body and the corrected coordinates of the parking point points.
4. The method of claim 1, wherein the planning a first parking path based on the vehicle start location coordinate point and the entry point coordinate, and obtaining first parking path end point coordinates, comprises:
establishing a first relative coordinate system with the coordinates of the docking points as an origin;
determining a first parking path end point according to the first relative coordinate system;
and converting the first parking path end point to an original coordinate system to obtain a first parking path end point coordinate.
5. The method of claim 1, wherein the first body parameter comprises: vehicle body endpoint coordinates, vehicle body width;
the step of planning a second parking path according to the relative vehicle body direction of the parking point coordinate, the parking space angular point coordinate, the first parking path end point coordinate and the first vehicle body parameter to obtain a second parking path end point coordinate comprises the following steps:
establishing a second relative coordinate system taking the endpoint coordinate of the first parking path as an origin;
converting the parking space angular point coordinates into a second relative coordinate system;
Determining intersection point, central angle and radius parameters according to the parking space angular point coordinates and the vehicle body endpoint coordinates;
determining a parameter equation of a circle according to the width of the vehicle body, the first parking path end point coordinate, the radius parameter and the intersection point;
determining the end point of the second parking path according to the parameter equation of the central angle and the circle;
and converting the second parking path end point to an original coordinate system to obtain a second parking path end point coordinate.
6. The method of claim 1, wherein the first body parameter comprises: the front suspension length, the width and the rear suspension length of the vehicle, and the maximum rotation angle of the wheelbase and the front wheels of the vehicle;
the step of planning a third parking path according to the radar parameter, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter to obtain a third parking path end point coordinate includes:
acquiring radar updated obstacle point information and acquiring obstacle point coordinates;
determining a path track according to the second parking path end point coordinates, the vehicle front suspension length, the vehicle width, the vehicle rear suspension length, the vehicle wheelbase and the front wheel maximum rotation angle;
Judging whether the coordinates of the obstacle points fall on a path track or not;
if the obstacle point coordinates do not fall on the path track, acquiring third parking path end point coordinates according to a normal flow;
and if the obstacle point coordinates fall on the path track, determining the position coordinates of a central point of a rear axle of the vehicle according to the rear suspension length of the vehicle and the maximum rotation angle of the front wheel, and determining the end point coordinates of a third parking path according to the position coordinates of the central point of the rear axle of the vehicle and the initial position coordinate point of the vehicle.
7. The method of claim 6, wherein the obtaining third parking path endpoint coordinates according to a normal procedure comprises:
acquiring an end point coordinate of a third to-be-determined parking path according to a vehicle initial position coordinate point, the maximum rotation angle of the front wheels and the vehicle wheelbase;
judging whether the y value of the to-be-determined third parking path end point coordinate is smaller than or equal to the y value of the vehicle starting position coordinate point, if yes, setting the to-be-determined third parking path end point coordinate as a third parking path end point coordinate;
and if the y value of the to-be-determined third parking path end point coordinate is larger than the y value of the vehicle starting position coordinate point, determining the front wheel steering angle to acquire the third parking path end point coordinate.
8. A vehicle, characterized in that the vehicle applies a parking space adaptive parking path planning method according to any one of claims 1 to 7.
9. A storage medium, wherein a program for parking stall adaptive parking path planning is stored on the storage medium, and the program for parking stall adaptive parking path planning, when executed by a processor, implements the steps of the method for parking stall adaptive parking path planning according to any one of claims 1 to 7.
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| CN111572536A (en) * | 2020-05-25 | 2020-08-25 | 安徽江淮汽车集团股份有限公司 | Multi-segment vertical parking path planning method and device |
| CN112078594B (en) * | 2020-08-31 | 2023-01-13 | 纵目科技（上海）股份有限公司 | Curvature continuous parking path planning device and method for intelligent parking system |
| CN114889586A (en) * | 2022-05-26 | 2022-08-12 | 北京新能源汽车股份有限公司 | Parking path planning method and system |
| CN115027453A (en) * | 2022-06-09 | 2022-09-09 | 安徽域驰智能科技有限公司 | Head-first-out vertical parking-out path planning method |
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