CN116513168A

CN116513168A - Path planning method and device, electronic equipment and storage medium

Info

Publication number: CN116513168A
Application number: CN202310799968.4A
Authority: CN
Inventors: 周才; 伊海霞; 罗经纬; 黄经伟
Original assignee: GAC Aion New Energy Automobile Co Ltd
Current assignee: GAC Aion New Energy Automobile Co Ltd
Priority date: 2023-07-03
Filing date: 2023-07-03
Publication date: 2023-08-01
Anticipated expiration: 2043-07-03
Also published as: CN116513168B

Abstract

The embodiment of the application provides a path planning method, a path planning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring parking space information, vehicle position information, obstacle position information and a target positioning point; according to obstacle position information, parking stall information and vehicle position information, confirm that the parking stall right side under the current position keeps away the barrier and berths the circle to confirm first locating point, second locating point, third locating point, fourth locating point and fifth locating point respectively, and then confirm the route of traveling of vehicle, this application embodiment is through obtaining the parking stall right side obstacle coordinate, sets for the parking stall right side and keeps away the barrier and berths the circle, has avoided vehicle right side obstacle from the path planning design, has ensured that the vehicle berths the route safe and effective, has improved the vehicle and has berthed the success rate, through obtaining parking stall left side obstacle coordinate, make full use of parking stall left side space, reducible occupation to the road surface space.

Description

Path planning method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a path planning method, a path planning device, an electronic device, and a storage medium.

Background

The existing automatic parking system is mainly applied to standard and barrier-free parking spaces, a sufficient parking space is provided by default in the parking space planning process, fig. 1 is a schematic diagram of a path planning method in the prior art, for a scene of a barrier on the right side of a target parking space, the planned parking path is closer to the barrier on the right side, a scratch risk is provided, an effective barrier-avoiding parking path cannot be planned, fig. 1 comprises a straight line end C0C1 and a straight line segment C3C4, an arc line segment C1C2 and an arc line end C2C4, in the path planning process, a road surface is occupied by a vehicle in a more road surface space and is not suitable for a common parking space when the vehicle is positioned at the C4 positioning point, and the risk of traffic safety accidents is increased when the vehicle is opened.

Disclosure of Invention

Some embodiments of the present application provide a path planning method, apparatus, electronic device, and storage medium, by which parking space information, vehicle position information, obstacle position information, and target positioning points are obtained through the technical solution of the embodiments of the present application; determining a parking space right obstacle avoidance parking circle at the current position according to the obstacle position information, the parking space information and the vehicle position information; determining a first positioning point based on the obstacle avoidance parking circle on the right side of the parking space; under the condition that the tail part of the vehicle is not contacted with the left obstacle of the vehicle, determining a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point; determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space; according to the first positioning point, the second positioning point and the third positioning point, a fourth positioning point and a fifth positioning point are respectively determined; according to the first locating point, the second locating point, the third locating point, the fourth locating point, the fifth locating point and the target locating point, a driving path of a vehicle is determined.

In a first aspect, some embodiments of the present application provide a path planning method, including:

acquiring parking space information, vehicle position information, obstacle position information and a target positioning point;

determining that the right side of the parking space in the current position is obstacle-avoiding and parking into a circle according to the obstacle position information and the vehicle position information;

determining a first positioning point based on the obstacle avoidance parking circle on the right side of the parking space;

under the condition that the tail part of the vehicle is not contacted with the left obstacle of the vehicle, determining a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point;

determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space;

according to the first positioning point, the second positioning point and the third positioning point, a fourth positioning point and a fifth positioning point are respectively determined;

and determining a running path of the vehicle according to the first positioning point, the second positioning point, the third positioning point, the fourth positioning point, the fifth positioning point and the target positioning point.

According to some embodiments of the method, the right obstacle coordinates of the parking space are obtained, the right obstacle avoidance parking circle is set, the right obstacle of the vehicle is avoided from the path planning design, the safe and effective parking path of the vehicle is ensured, the parking success rate of the vehicle is improved, the left obstacle coordinates of the parking space are obtained, the left space of the parking space is fully utilized, the space occupation of the C4 point in the Y direction can be relatively reduced, and the occupation of the road surface space can be reduced.

Optionally, the determining, according to the obstacle position information and the vehicle position information, that the right side of the parking space in the current position is obstacle-avoidance and berthed into a circle includes:

and acquiring the ordinate of the center point of the rear axle in the vehicle position information and the coordinate information of the obstacle, and constructing a parking space right obstacle avoidance parking circle at the current position.

According to the method and the device for parking the vehicle, the parking space right obstacle avoidance parking circle under the current position is constructed by acquiring the ordinate of the center point of the rear axle of the vehicle and the coordinate information of the obstacle, so that the parking space right obstacle coordinate is acquired, the parking space right obstacle avoidance parking circle is set, the vehicle right obstacle is avoided from the path planning design, the safety and the effectiveness of the vehicle parking path are ensured, and the vehicle parking success rate is improved.

Optionally, the determining the first positioning point based on the right obstacle avoidance parking circle includes:

acquiring the steering radius of an inner circle corresponding to a right rear wheel of the vehicle, wherein an obstacle is positioned on the inner circle;

acquiring the circle center of a circle which is put into the right obstacle avoidance of the parking space;

determining the distance of a first positioning point on an X axis according to the circle center of the obstacle avoidance parking circle on the right side of the parking space;

and determining coordinate information of the first positioning point according to the distance of the first positioning point on the X axis.

According to the method and the device, the circle center of the obstacle avoidance parking circle on the right side of the parking space and the steering radius of the inner circle corresponding to the right rear wheel of the vehicle are obtained through establishing the obstacle avoidance parking circle on the right side of the parking space, the distance of the first locating point on the X axis is determined, and the coordinate information of the first locating point is determined according to the distance of the first locating point on the X axis.

Optionally, the determining the second positioning point according to the position information of the left obstacle of the parking space and the first positioning point in the case that the tail of the vehicle is not contacted with the left obstacle of the vehicle includes:

acquiring left obstacle position information under the condition that the tail of the vehicle is not contacted with left obstacle of the vehicle;

determining the angle limit of the vehicle at the second positioning point according to the left obstacle position information;

according to the first circle center corresponding to the circular arcs of the first locating point and the second locating point;

determining the limit position angle of a second positioning point according to the limit borrowing point on the left side of the parking space and the first circle center;

and determining the second positioning point according to the limiting position angle of the second positioning point and the first circle center.

According to some embodiments of the application, the parking space left space is fully utilized by acquiring the parking space left obstacle coordinates, a certain safety distance can be set for ensuring that the tail of the vehicle does not collide with the vehicle left obstacle in the actual parking process, and the second positioning point is determined according to the limit position angle of the second positioning point and the first circle center.

Optionally, the determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space includes:

determining a left obstacle avoidance parking circle according to the left obstacle coordinates of the parking space and the central line of the parking space;

acquiring the steering radius of an inscribed circle of a left rear wheel of a vehicle, wherein a left obstacle of a parking space is positioned on the inscribed circle of the left rear wheel of the vehicle;

calculating the distance from the left obstacle point of the parking space to the central line of the parking space according to the left obstacle coordinate of the parking space;

determining a second circle center of the left obstacle avoidance parking circle according to the distance from the left obstacle point to the central line of the parking space, the radius of the inner circle and the radius of the left obstacle avoidance parking circle;

determining the coordinates of a tangential point of a left obstacle avoidance parking circle and a central line of the parking space;

and determining the coordinate information of the third positioning point according to the coordinate of the tangential point and the offset distance of the central point of the parking space in the direction of the entrance of the parking space.

According to some embodiments of the application, constructing a parking space left obstacle avoidance and parking circle according to parking space left obstacle coordinates and a parking space central line, and determining a tangential point coordinate of the parking space left obstacle avoidance and parking circle and the parking space central line; and determining the coordinate information of the third positioning point according to the coordinate of the tangential point and the offset distance of the central point of the parking space in the direction of the entrance of the parking space, thereby improving the accuracy of calculation.

Optionally, the determining a fourth positioning point and a fifth positioning point according to the first positioning point, the second positioning point and the third positioning point respectively includes:

determining a fourth circle center according to the first locating point, the second locating point and the third locating point;

and determining the coordinate information of the fourth positioning point and the coordinate information of the fifth positioning point according to the first circle center, the second circle center and the fourth circle center.

According to some embodiments of the method, the space occupation of the fourth positioning point, namely the C4 point, in the Y direction can be relatively reduced by determining a plurality of circle centers and calculating the fourth positioning point and the fifth positioning point according to the circle centers, and the occupation of the road surface space can be reduced.

Optionally, the method further comprises:

performing collision detection on a travel path of the vehicle;

and judging whether the outline of the vehicle path collides with other obstacles according to the comparison result of the maximum Y-direction distance of the vehicle path and the Y-direction distance limiting range.

Some embodiments of the present application provide for collision detection of a planned path, such as whether the maximum Y-distance requirement of its path plan exceeds the Y-distance limit, and whether the vehicle path profile interferes with other obstacles.

In a second aspect, some embodiments of the present application provide a path planning apparatus, including:

the acquisition module is used for acquiring parking space information, vehicle position information, barrier position information and target positioning points;

the first determining module is used for determining that the right side of the parking space in the current position is obstacle-avoidance and berthed into a circle according to the obstacle position information, the parking space information and the vehicle position information;

the second determining module is used for determining a first positioning point based on the fact that the right side of the parking space is obstacle-avoidance and is put into a circle;

the third determining module is used for determining a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point under the condition that the tail of the vehicle is in non-contact with the left obstacle of the vehicle;

the fourth determining module is used for determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space;

a fifth determining module, configured to determine a fourth positioning point and a fifth positioning point according to the first positioning point, the second positioning point, and the third positioning point, respectively;

and the planning module is used for determining a running path of the vehicle according to the first positioning point, the second positioning point, the third positioning point, the fourth positioning point, the fifth positioning point and the target positioning point.

Optionally, the first determining module is configured to:

Optionally, the second determining module is configured to:

Optionally, the third determining module is configured to:

Optionally, the fourth determining module is configured to:

Optionally, the fifth determining module is configured to:

Optionally, the planning module is configured to:

performing collision detection on a travel path of the vehicle;

In a third aspect, some embodiments of the present application provide an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, may implement a path planning method according to any of the embodiments of the first aspect.

In a fourth aspect, some embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a path planning method according to any of the embodiments of the first aspect.

In a fifth aspect, some embodiments of the present application provide a computer program product, the computer program product comprising a computer program, wherein the computer program, when executed by a processor, is capable of implementing a path planning method according to any one of the embodiments of the first aspect.

Drawings

In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings that are required to be used in some embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort to a person having ordinary skill in the art.

FIG. 1 is a schematic diagram of a path planning method in the prior art;

fig. 2 is a flow chart of a path planning method according to an embodiment of the present application;

fig. 3 is a schematic diagram of a path planning method according to an embodiment of the present application;

fig. 4 is a flow chart of another path planning method according to an embodiment of the present application;

FIG. 5 is a right side obstacle avoidance park-in circle schematic diagram provided in an embodiment of the present application;

FIG. 6 is a schematic view of a C2 point extreme position provided in an embodiment of the present application;

FIG. 7 is a schematic view of a left side obstacle avoidance park-in circle provided in an embodiment of the present application;

fig. 8 is a geometric relationship diagram of obstacle avoidance and parking paths on the right side of a diagonal parking space provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;

fig. 10 is a schematic diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in some embodiments of the present application will be described below with reference to the drawings in some embodiments of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

The existing automatic parking system is mainly applied to standard and barrier-free parking spaces, and has abundant parking spaces by default in the parking space planning process, fig. 1 is a schematic diagram of a path planning method in the prior art, for a scene of a barrier on the right side of a target parking space, a planned parking path is closer to the barrier on the right side, a scratch risk is provided, an effective barrier-avoidance parking path cannot be planned, fig. 1 comprises a straight line end C0C1 and a straight line segment C3C4, an arc line segment C1C2 and an arc line end C2C4, in the path planning process, from a C1 positioning point to a C2 positioning point and from the C2 positioning point to the C4 positioning point, in the process, although the path planning process can avoid the barrier on the right side, when the path planning process is in the C4 positioning point, the vehicle occupies more road surface space, is not applicable to the scene of a common parking space, and the open road occupies too much road surface space, so that the risk of traffic safety accidents is increased. Acquiring parking space information, vehicle position information, obstacle position information and a target positioning point; determining a parking space right obstacle avoidance parking circle at the current position according to the obstacle position information, the parking space information and the vehicle position information; determining a first positioning point based on the obstacle avoidance parking circle on the right side of the parking space; under the condition that the tail part of the vehicle is not contacted with the left obstacle of the vehicle, determining a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point; determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space; according to the first positioning point, the second positioning point and the third positioning point, a fourth positioning point and a fifth positioning point are respectively determined; according to the first locating point, the second locating point, the third locating point, the fourth locating point, the fifth locating point and the target locating point, a driving path of a vehicle is determined.

As shown in fig. 2, an embodiment of the present application provides a path planning method, which includes:

s201, parking space information, vehicle position information, obstacle position information and target positioning points are acquired;

specifically, through high definition digtal camera, gather the parking stall information, the parking stall information includes four summit coordinates of parking stall at least, and this parking stall information is used for calculating to be listed as parking stall angle and parking stall width, and control terminal receives the parking stall information that high definition digtal camera sent, still need acquire initial vehicle position information, barrier position information and the interior target setpoint of parking stall.

S202, determining that the right side of a parking space in the current position is obstacle-avoiding and parking into a circle according to the position information of the obstacle and the position information of the vehicle;

specifically, the control terminal establishes a coordinate system with the right-side vertex of the parking space: the vertex on the right side of the parking space is a coordinate origin, the right side of the parking space is in the positive direction of an X axis, the X axis is vertical, and the direction to the outer side of the parking space is in the positive direction of a Y axis; in order to enable a vehicle to have smaller turning radius, the more flexible the vehicle is when being parked automatically, five sections of arc sections determined by the embodiment of the application all adopt equal parking radius R, and according to the right obstacle coordinates of a parking space and vehicle position information, namely initial position coordinate information, namely the ordinate of a center point of a rear axle, the right obstacle avoidance parking circle of the parking space at the current position is constructed.

S203, determining a first positioning point based on the fact that the right side of the parking space is in a circle;

specifically, the radius of the parking space right obstacle avoidance parking circle calculated by the terminal equipment is R, the upper side of the parking space right obstacle avoidance parking circle is tangent to a straight line corresponding to the ordinate of the center point of the rear axle, the radius of an inscribed circle at the grounding point of the right rear wheel of the vehicle is obtained, and the obstacle on the right side of the vehicle is located on the inside circle. Based on the established coordinate system, the distance between the center of the obstacle avoidance parking circle on the right side of the parking space and the X axis is obtained, and in order to ensure that the right rear side of the vehicle does not collide with the vertex on the right side of the parking space in the parking process of the vehicle, the value of the first positioning point should be smaller than the distance between the center of the circle and the X axis.

S204, under the condition that the tail of the vehicle is in non-contact with the left obstacle of the vehicle, determining a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point;

specifically, after the control terminal obtains a first locating point, when the vehicle is located at the limit position of the arc end, the tail of the vehicle is in contact with a left obstacle of the vehicle, if the tail of the vehicle is not in contact with the left obstacle, the position information of the left obstacle is obtained, then the limit angle of the vehicle at the second locating point is determined according to the left limit borrowing point of the parking stall, after the first locating point is determined, the circle center corresponding to the arc formed by the first locating point and the second locating point is calculated, and the second locating point is calculated according to the left limit borrowing point of the parking stall and the circle center coordinate.

S205, determining a third positioning point according to the position information of the left obstacle of the parking space and the central line of the parking space;

specifically, after the control terminal obtains the first positioning point and the second positioning point, constructing a parking space left obstacle avoidance parking circle according to a parking space left obstacle coordinate and a parking space center line, wherein θ is a parking space center line angle, the radius of the circle is R, the circle is tangent to the parking space center line, the radius of an inscribed circle at the grounding point of the left rear wheel of the wheel is obtained, and the parking space left obstacle is positioned on the inside circle. The distance from the left obstacle point of the parking space to the central line of the parking space can be calculated due to the fact that the left obstacle coordinates of the parking space are determined, and then the radius of the vehicle inner side circle and the radius of the vehicle rear axle left obstacle avoidance parking circle are combined, so that the center Ob2 coordinates of the vehicle left obstacle avoidance parking circle can be calculated, the coordinates of the tangent point between the left obstacle parking circle and the central line of the parking space can be determined, and the third positioning point is calculated according to the coordinates of the tangent point.

S206, respectively determining a fourth positioning point and a fifth positioning point according to the first positioning point, the second positioning point and the third positioning point;

specifically, after the first positioning point coordinate, the second positioning point coordinate and the third positioning point coordinate are obtained by calculation, the control terminal calculates the circle center coordinate corresponding to each arc segment respectively, and according to each point coordinate and each circle center coordinate, the fourth positioning point and the fifth positioning point are calculated geometrically.

S207, determining a running path of the vehicle according to the first positioning point, the second positioning point, the third positioning point, the fourth positioning point, the fifth positioning point and the target positioning point.

Specifically, the terminal equipment acquires the coordinates of the target positioning points in advance, and then determines the driving path of the vehicle according to the calculated first positioning point, the calculated second positioning point, the calculated third positioning point, the calculated fourth positioning point and the calculated fifth positioning point, so that an effective obstacle avoidance parking path can be planned in real time, safe and rapid parking into a target parking space is realized, and the market competitiveness of the product vehicle is remarkably improved.

Fig. 3 is a schematic diagram of a path planning method provided in the embodiment of the present application, as shown in fig. 3, where an obstacle with a relatively close distance is located on the right side of an inclined train, and a parking path is based on ackerman steering theory, and the overall running track of the whole train can be determined by planning and determining 7 key points passed by a central point of a rear axle, for example, the key points are C0, C1, C2, C4, C5, C6 and C3. Wherein C0C1 and C6C3 are straight line segments, C1C2, C2C4, C4C5 and C5C6 are arc segments with equal radius, each arc segment is tangent to each intersection point, C1 point is an initial turning point of a first arc segment, the turning point is selected to ensure any point on a C1C2 path segment, and a certain distance exists between the inner side of the vehicle and a right obstacle; the distance from the point C2 to the space on the left side of the parking space is smaller than a preset value, and the obstacle on the left side of the parking space is not collided, so that the occupation of the road space can be reduced; the C6 point is selected by ensuring that the left outline of the vehicle at any point on the C5C6 arc section is not contacted with the left obstacle of the parking space, and the C4 point and the C5 point can be obtained according to the geometric relationship; the point C0 is the starting point of the vehicle, and the point C3 is the ending point of the parking target.

The path planning method provided by the embodiment is further described in a further embodiment.

Optionally, determining, according to the obstacle position information and the vehicle position information, that the right obstacle avoidance parking circle is in the parking space at the current position includes:

Specifically, fig. 5 is a right side obstacle avoidance parking circle schematic diagram provided in the embodiment of the present application, as shown in fig. 5, in the embodiment of the present application, a control terminal obtains parking space information through a front end sensing module, for example, a high-definition camera, where the parking space information includes at least four vertex coordinates of a parking space, and is used for calculating a diagonal parking space angle and a parking space width; acquiring the initial position information C0 point coordinates of the vehicle, namely the coordinates of the center point of the rear axle and the vehicle angle;

in the embodiment of the application, a coordinate system is established by using the vertex on the right side of the parking space: the vertex on the right side of the parking space is a coordinate origin, the right side of the parking space is in the positive direction of an X axis, the X axis is vertical, and the direction to the outer side of the parking space is in the positive direction of a Y axis;

and the included angle between the central axis of the vehicle and the X axis of the parking space is perceived through the high-definition camera and the self-contained positioning equipment of the vehicle, so that the vehicle angle is obtained.

Acquiring the distance L_Road of a vehicle to a Road surface boundary; obstacle position information is acquired.

In order to enable a vehicle to have smaller turning radius, the more flexible the vehicle is in automatic parking, five sections of arc sections determined by the embodiment of the application all adopt equal parking radius R, R=rmin+Offset, wherein Rmin is the minimum turning radius of a rear axle center point corresponding to an Ackerman steering model, rmin is a fixed value and corresponds to turning a steering wheel of the vehicle to a left/right limit position, and the obtained minimum turning radius belongs to vehicle characteristics; the Offset is an empirical value of real vehicle calibration, and can be 0.8-1.2 m. And constructing a parking space right obstacle avoidance parking circle shown in fig. 5 according to the parking space right obstacle coordinates and the initial position C0 coordinates y_C0.

The radius of the circle is R, and the upper end of the circle is tangent to a Y=y_C0 straight line;

the radius of the inner circle is the equivalent steering radius R_inside at the grounding point of the right rear wheel of the vehicle, the obstacle on the right side of the vehicle is positioned on the inner circle, and the value of the obstacle avoidance circle center Ob1 in the X direction is C1_X_turn base.

As shown in fig. 5, taking the vehicle in a horizontal position as an example,

1) Knowing the coordinates of the center point of the rear axle of the vehicle, the Y-direction coordinates of the center ob1 can be calculated, i.e., ob1_y=y_c0-R, because the parking radius is known.

2) The coordinates of the obstacle point B1 are known, the distance from B1 to ob1 is the equivalent steering radius R_inside (known quantity) at the ground point of the right rear wheel of the vehicle, and the X-direction difference value from B1 point to ob1 point can be calculated by combining the Y-direction difference value from B1 point to ob1 point, so that the ob1 coordinates can be determined.

3) Other initial angles are not horizontal, and the ob1 point coordinates can be obtained through similar geometric relations.

Optionally, determining the first positioning point C1 based on the right obstacle avoidance parking circle includes:

acquiring the steering radius of an inner circle corresponding to the right rear wheel of the vehicle, wherein the obstacle is positioned on the inner circle;

determining the distance of the first positioning point on the X axis according to the circle center of the obstacle avoidance berthing circle on the right side of the parking space;

Specifically, in order to ensure that the right rear side of the vehicle does not collide with the top point of the right side of the parking space during the parking process of the vehicle, the value of the X-direction of the initial steering point C1 of the first section of circular arc of the vehicle should be smaller than C1_X_turn base, the calibration value of the deviation C1_offset_X1 is set, and the actual vehicle calibration experience value is generally more than 0.4 m.

C1_x=c1_x_turnbase-c1_offset_x1, which is confirmed by real vehicle calibration. The C1 point coordinates (x_c1, y_c1) and the travel distance dst_c0c1 of the straight line segment C0C1 can be determined.

Optionally, in a case that the vehicle tail is not in contact with the left obstacle of the vehicle, determining the second positioning point C2 according to the position information of the left obstacle of the parking space and the first positioning point includes:

determining an angle limit of the vehicle at the second positioning point according to the left obstacle position information;

determining the limit position angle of the second positioning point according to the limit borrowing point on the left side of the parking space and the first circle center;

and determining the second positioning point according to the limit position angle of the second positioning point and the first circle center.

Fig. 6 is a schematic diagram of a second positioning point C2 point extreme position provided in the embodiment of the present application, as shown in fig. 6, after determining a first positioning point C1 point, it is known that when the limit position of the arc segment C1C2 is that the vehicle is at the C2 point, the tail of the vehicle contacts with the left obstacle of the vehicle, if the left side of the parking space is free of obstacle, a left limit borrow point limit1 of the parking space is defined, and the specific value of the value is established by real vehicle calibration.

As shown in fig. 6, taking the limit borrowing point limit1 on the left side of the parking space as an example, solving the angle limit of the vehicle at the point C2, and after determining the point C1, determining the center O1 coordinate of the arc segment C1C2, namely, the first center coordinate. The included angle limit theta 2 between the straight line segment between the two points (the connecting line between limit1 and O1) and the X axis can be obtained through the coordinates of the limit1 and the O1 point. Based on the distance between limit1 and O1, in combination with the overhang distance, the illustrated LR 1 angle can be obtained, thereby determining the C2 point extreme limit angle. In order to ensure that the tail of the vehicle does not collide with the left obstacle of the vehicle in the actual parking process, a certain safety distance, such as 20cm, can be set, the limiting position angle of the C2 point is partially reduced, and the coordinate of the target C2 point and the running distance dst_C1C2 of the arc section C1C2 can be obtained by combining the coordinate of the O1 point.

Optionally, determining the third positioning point C6 according to the position information of the left obstacle of the parking space and the central line of the parking space includes:

acquiring the steering radius of an inscribed circle of a left rear wheel of the vehicle, wherein the left obstacle of the parking space is positioned on the inscribed circle of the left rear wheel of the vehicle;

and determining the coordinate information of the third locating point according to the coordinate of the tangential point and the offset distance of the central point of the parking space pointing to the entrance direction of the parking space.

Specifically, according to the coordinates of the left obstacle of the parking space and the central line of the parking space, a left obstacle avoidance parking circle of the parking space is constructed as shown in fig. 7, fig. 7 is a schematic diagram of the left obstacle avoidance parking circle provided in the embodiment of the present application, if there is no obstacle on the left side of the parking space, the limit borrow point limit1 on the left side of the vehicle is adopted as the position information of the left obstacle of the parking space, θ is the angle of the central line of the parking space, and the radius of the circle is R, which is tangent to the central line of the parking space. The radius of the inner circle is the equivalent steering radius R_inside at the grounding point of the left rear wheel of the vehicle, and the left obstacle of the parking space is positioned on the inner circle. The distance from the left obstacle point of the parking space to the central line of the parking space can be calculated due to the fact that the left obstacle coordinates of the parking space are determined, and then the radius R_inside of the vehicle and the radius R of the left obstacle avoidance parking circle of the rear axle of the vehicle are combined, so that the center Ob2 coordinates of the left obstacle avoidance parking circle of the vehicle, namely the second center coordinates, can be calculated, and the point coordinate of the tangent point C6_Xturn base between the left parking circle and the central line of the parking space can be determined. Considering that a certain deviation exists in actual running of a vehicle, a certain safety distance is required to be reserved, the C6 point is selected based on the fact that the C6-Xturn base point points to the outside of the vehicle along the central line of the vehicle, the central point of the vehicle points to the direction of the entrance of the vehicle along the central line of the vehicle, the C6-Offset dst is Offset by a certain distance, and then the coordinate of the C6 point, namely a third positioning point, can be calculated.

Optionally, determining the fourth anchor point C4 and the fifth anchor point C5 according to the first anchor point, the second anchor point and the third anchor point, respectively, includes:

Fig. 8 is a geometric relationship diagram of obstacle avoidance and parking paths on the right side of a parking space with inclined columns, where O1, O2, O3 and O4 are circle center coordinates corresponding to arc segments C1C2, C2C4, C4C5 and C5C6 respectively. After the coordinates of the points C1, C2 and C6 are obtained based on the above embodiments, the coordinates of the centers O1, O2 and O4 can be obtained, and then the coordinates of the points C4 and C5 can be obtained by geometric relationships. And an arc segment C2C4 travel distance dst_C2C4, an arc segment C4C5 travel distance dst_C4C5, and an arc segment C5C6 travel distance dst_C5C6.

If the path section is an arc section, the path section is an arc section distance. If the straight line segment is the straight line segment distance. The distance calculated here is calculated as the travel distance when tracking is performed for the downstream node.

Optionally, the method further comprises:

collision detection is carried out on a running path of the vehicle;

Specifically, collision detection is performed on the planned path, such as whether the maximum Y-direction distance requirement of the path plan exceeds the Y-direction distance limit L_Road, and whether the vehicle path contour interferes with other obstacles;

and selecting a point relatively close to the opposite boundary of the road surface from the planned path, calculating, for example, taking a sampling point at intervals (for example, 5 cm) of a C1C2 path section, and calculating Y-direction coordinates Yi of left and right vertexes of the vehicle head. And then calculating the maximum value of the Y-direction distances of the vertexes corresponding to all the sampling points, thereby obtaining YmaX_C1C2. In addition, the C4 point is closer to the opposite boundary of the road surface, and the larger value YmaX_C4 of the Y-direction coordinates of the left and right vertexes of the corresponding headstock at the C4 point is obtained, so that the larger value in the YmaX_C1C2 and the YmaX_C4 is the Y-direction maximum distance required by the current path planning.

Fig. 4 is a flow chart of another path planning method according to an embodiment of the present application, as shown in fig. 4, where the path planning method includes:

1. acquiring parking space information, vehicle position information, drivable area information and obstacle position information;

2. Determining that the right side of the parking space in the current initial position is in a circle;

3. c1 point coordinates are determined;

4. c2 point coordinates are determined;

5. c6 point coordinates are determined;

6. calculating coordinates of a C4 point and a C5 point;

7. path inspection 1) full path collision detection passes; 2) The basic requirement of path quality;

8. whether a valid docking path is detected; if so, after the coordinates of the C6 point are determined, the C6C3 driving distance is determined according to the coordinates of the target point C3. The final planning path can be obtained from the key coordinate points; if not, ending.

According to the embodiment of the application, the right obstacle avoidance parking circle of the parking space is set based on the coordinates of the right obstacle of the parking space, so that the right obstacle of the vehicle is avoided from the aspect of path planning design, the safety and the effectiveness of the parking path of the vehicle are ensured, the parking success rate of the vehicle is improved, and the planned path is effective and has higher safety; based on the left obstacle coordinates of the parking space, the left space of the parking space is fully utilized, the occupied space for parking is small, the space occupation of C4 point in the Y direction can be relatively reduced, and the occupation of the road surface space can be reduced; real-time calculation is carried out by a geometric calculation mode based on obstacle and parking space information, a multilayer circulation nested circulation solving mode is not needed to be adopted online, and the calculation is fast and real-time is good

It should be noted that, in this embodiment, each of the possible embodiments may be implemented separately, or may be implemented in any combination without conflict, which is not limited to the implementation of the present application.

Another embodiment of the present application provides a path planning apparatus, configured to execute the path planning method provided in the foregoing embodiment.

Fig. 9 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application. The path planning device comprises an acquisition module 901, a first determination module 902, a second determination module 903, a third determination module 904, and a fourth determination module 905, wherein:

the acquisition module 901 is used for acquiring parking space information, vehicle position information, barrier position information and a target positioning point;

the first determining module 902 is configured to determine, according to the obstacle position information, the parking space information, and the vehicle position information, that the right side of the parking space in the current position is obstacle-avoidance and berthed into a circle;

the second determining module 903 is configured to determine a first positioning point based on the obstacle avoidance parking circle on the right side of the parking space;

the third determining module 904 is configured to determine, when the tail of the vehicle is not in contact with the left obstacle of the vehicle, a second positioning point according to the position information of the left obstacle of the parking space and the first positioning point;

The fourth determining module 905 is configured to determine a third positioning point according to the position information of the left obstacle in the parking space and the central line of the parking space;

the fifth determining module 906 is configured to determine a fourth positioning point and a fifth positioning point according to the first positioning point, the second positioning point, and the third positioning point, respectively;

planning module 907 is configured to determine a travel path of the vehicle based on the first anchor point, the second anchor point, the third anchor point, the fourth anchor point, the fifth anchor point, and the target anchor point.

The specific manner in which the individual modules perform the operations of the apparatus of this embodiment has been described in detail in connection with embodiments of the method and will not be described in detail herein.

According to some embodiments of the method, the right obstacle coordinates of the parking space are obtained, the right obstacle avoidance parking circle is set, the right obstacle of the vehicle is avoided from the path planning design, the safe and effective parking path of the vehicle is ensured, the parking success rate of the vehicle is improved, the left obstacle coordinates of the parking space are obtained, the left space of the parking space is fully utilized, the space occupation of the C4 point in the Y direction can be relatively reduced, and the occupation of the road surface space can be reduced. In another embodiment of the present application, the path planning device provided in the foregoing embodiment is further described in additional detail.

Optionally, the first determining module is configured to:

Optionally, the second determining module is configured to:

Optionally, the third determining module is configured to:

Optionally, the fourth determining module is configured to:

Optionally, the fifth determining module is configured to:

Optionally, the planning module is configured to:

performing collision detection on a travel path of the vehicle;

The present application further provides a computer readable storage medium, on which a computer program is stored, where the program when executed by a processor may implement operations of a method corresponding to any of the path planning methods provided in the foregoing embodiments.

The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program can realize the operation of the method corresponding to any embodiment in the path planning method provided by the embodiment when being executed by a processor.

As shown in fig. 10, some embodiments of the present application provide an electronic device 1000, the electronic device 1000 comprising: memory 1010, processor 1020, and a computer program stored on memory 1010 and executable on processor 1020, wherein processor 1020, when reading the program from memory 1010 and executing the program via bus 1030, may implement the method of any embodiment as comprised by the path planning method described above.

The processor 1020 may process digital signals and may include various computing structures. Such as a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements a combination of instruction sets. In some examples, the processor 1020 may be a microprocessor.

Memory 1010 may be used for storing instructions to be executed by processor 1020 or data related to execution of the instructions. Such instructions and/or data may include code to implement some or all of the functions of one or more modules described in embodiments of the present application. The processor 1020 of the disclosed embodiments may be configured to execute instructions in the memory 1010 to implement the methods shown above. Memory 1010 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memory known to those skilled in the art.

The above is only an example of the present application, and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.

Claims

1. A method of path planning, the method comprising:

determining a parking space right obstacle avoidance parking circle at the current position according to the obstacle position information, the parking space information and the vehicle position information;

2. The path planning method according to claim 1, wherein the determining the right obstacle avoidance circle of the parking space at the current position according to the obstacle position information and the vehicle position information includes:

3. The path planning method according to claim 2, wherein the determining the first positioning point based on the obstacle avoidance circle on the right side of the parking space includes:

4. A path planning method according to claim 3, wherein said determining a second positioning point based on the parking space left obstacle position information and the first positioning point in the case where the vehicle tail is not in contact with the vehicle left obstacle comprises:

5. The path planning method according to claim 4, wherein the determining a third positioning point according to the position information of the obstacle on the left side of the parking space and the center line of the parking space includes:

6. The path planning method of claim 5 wherein the determining a fourth anchor point and a fifth anchor point from the first anchor point, the second anchor point, and the third anchor point, respectively, comprises:

7. The path planning method of claim 1, wherein the method further comprises:

performing collision detection on a travel path of the vehicle;

8. A path planning apparatus, the apparatus comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor is operable to implement the path planning method of any one of claims 1-7 when the program is executed by the processor.

10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, characterized in that the program, when executed by a processor, implements the path planning method according to any one of claims 1-7.