CN112208518A - Automatic parking path planning method - Google Patents
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Abstract
The invention relates to the technical field of parking, and provides an automatic parking path planning method, which comprises the steps of collecting first environment information of a current parking space, using the current parking space as a planning base point of a parking path according to the first environment information, and establishing a parking coordinate system; whether the parking space meets the parking condition can be quickly determined according to the area division and the position datamation of the parking coordinate system; calculating the target parking position on the adjacent parking space according to a preset distance threshold value, and acquiring the optimal parking area of the vehicle, thereby fundamentally avoiding the risks of vehicle scraping and collision when the vehicle is parked in a garage; when the current parking space is unavailable, the parking path entering the adjacent parking space is re-planned according to the current position of the vehicle, so that the parking efficiency of the driver can be improved.
Description
Technical Field
The invention relates to the technical field of parking, in particular to an automatic parking path planning method.
Background
An automatic parking system means a system which can automatically park in a position without manual intervention. In the prior art, an automatic parking system transmits acquired image data and distance data of surrounding objects from a vehicle body to a central processing unit through a data line for analysis and processing, so as to obtain a current position, a target position and surrounding environment parameters of the vehicle, and makes an automatic parking strategy (planning a parking path and driving operation) according to the parameters, and converts the automatic parking strategy into an electric signal to be output to a vehicle strategy control system, and the vehicle strategy control system is controlled to perform related operations according to instructions, such as control on the driving angle, direction and power support of the vehicle.
The existing vehicle-mounted parking auxiliary system can only identify the obstacle information of the current parking space, for example, the information of the distance from the obstacle to the vehicle body is provided; however, when an obstacle appears on the parking path, the parking path cannot be automatically planned again, but the driver needs to drive the vehicle out of the current parking space, enter the lane and actively select the parking space, and then the parking path can be planned again, so that the time and the labor are consumed, and the parking efficiency is low.
Disclosure of Invention
The invention provides an automatic parking path planning method, which solves the technical problem that the prior art cannot automatically plan an optimal parking path when an obstacle is on a parking space, namely the prior art has low efficiency.
In order to solve the technical problems, the invention provides an automatic parking path planning method, which comprises the following steps:
s1, collecting first environment information of the current parking space, and establishing a parking coordinate system;
s2, judging whether the current parking space meets parking conditions or not according to the first environment information, and if not, acquiring second environment information of an adjacent parking space;
and S3, when the adjacent parking space meets the parking condition, calculating the target parking position on the adjacent parking space according to a preset distance threshold value, and replanning the parking path by combining the current position of the vehicle.
The basic scheme collects first environment information of a current parking space, and establishes a parking coordinate system by taking the current parking space as a planning base point of a parking path according to the first environment information; whether the parking space meets the parking condition can be quickly determined according to the area division and the position datamation of the parking coordinate system; calculating the target parking position on the adjacent parking space according to a preset distance threshold value, and acquiring the optimal parking area of the vehicle, thereby fundamentally avoiding the risks of vehicle scraping and collision when the vehicle is parked in a garage; when the current parking space is unavailable, the parking path entering the adjacent parking space is re-planned according to the current position of the vehicle, so that the parking efficiency of the driver can be improved.
In further embodiments, the step S1 includes the steps of:
s11, when a reversing signal of the vehicle is detected, collecting first environment information of the current parking space, and identifying a parking space line corresponding to the current parking space;
and S12, establishing a parking coordinate system by taking a vertex on the parking space line as an origin, establishing a horizontal axis in a direction parallel to the width of the current parking space and establishing a vertical axis in a direction parallel to the length of the current parking space.
According to the scheme, a reversing signal of the vehicle is collected to be used as a starting signal for planning a parking path, and environmental information is captured at the first time when the vehicle is reversed and stored; and establishing a parking coordinate system by combining the actual environment, and reflecting the current environment more truly.
In further embodiments, the step S2 includes the steps of:
s21, judging whether an obstacle exists in the current parking space according to the first environment information;
s22, when the obstacle is judged not to meet the available condition, determining that the current parking space does not meet the parking condition;
and S23, controlling the vehicle to reach the first preset position, and acquiring second environment information of the adjacent parking spaces.
The parking condition is that no obstacle exists in the parking space or the obstacle in the parking space meets the available condition;
the available condition is that the height of the obstacle is lower than a preset height threshold value or is out of a preset range; the preset range is a parking space middle area, wherein the distances between the preset range and the left side, the distance between the preset range and the right side and the distance between the preset range and the rear side of the parking space line are larger than or equal to the preset distance threshold.
The scheme judges whether the barrier exists or not and whether the height and the area information of the barrier meet the available conditions or not in sequence, can accurately determine the availability of the current parking space, effectively parks the vehicle when the barrier does not influence the parking of the vehicle, and further saves program operation resources.
In further embodiments, the step S3 includes the steps of:
s31, when the adjacent parking space meets the parking condition according to the second environment information, calculating a target parking position on the adjacent parking space according to a preset distance threshold;
and S32, planning to obtain a corresponding parking path by respectively taking the first preset position and the target parking position as a starting point and an end point.
According to the scheme, the target parking positions of the adjacent parking spaces are calculated according to the preset distance threshold, the optimal vehicle parking position can be directly determined, the first preset position and the target parking position are respectively used as the starting point and the terminal point, and the optimal parking path with the shortest distance and the shortest time can be obtained through planning.
In further embodiments, the step S32 includes the steps of:
s321, controlling the vehicle to advance to a second preset position, wherein a rear shaft of the vehicle at the second preset position is superposed with an X shaft;
s322, when the adjacent parking space is the left parking space, controlling the vehicle to rotate rightwards by a first preset angle by taking the right rear wheel as a fixed point; when the adjacent parking space is the right parking space, controlling the vehicle to rotate leftwards by a first preset angle by taking a left rear wheel as a fixed point;
s323, controlling the vehicle to linearly run to a third preset position, wherein fixed point wheels of the vehicle on the third preset position are intersected with a Y axis;
s324, controlling the vehicle to rotate at a second preset angle until the fixed-point wheel and the obstacle of the current parking space are located at the same horizontal position;
and S325, controlling the vehicle to back up linearly by taking the target parking position as a terminal point.
According to the scheme, the position where a rear shaft of a vehicle which moves forwards linearly and coincides with an X shaft is set as a second preset position, a second reference base point is established, different steering fixed points are divided by selecting a left rear wheel or a right rear wheel according to different adjacent parking places, a first preset angle is directionally rotated, after the vehicle linearly runs to a junction of the parking places, the vehicle is aligned back by taking a longitudinal coordinate of an obstacle as a reference, and finally the vehicle is parked to the target parking position by backing the vehicle linearly; the scheme has simple parking operation and short parking path distance, thereby shortening the parking time.
In a further embodiment, the step of calculating the second preset angle comprises:
a. acquiring a second coordinate of the fixed point wheel at the third preset position according to the first coordinate of the fixed point wheel at the second preset position and the first preset angle;
b. calculating a first positioning coordinate of a central point of a rear axle of the vehicle according to the second coordinate;
c. acquiring a second positioning coordinate of the center point of the rear axle according to the longitudinal coordinate of the obstacle and the preset distance threshold;
d. and respectively taking the first positioning coordinate and the second positioning coordinate as a starting point and an end point of the second preset angle, and calculating corresponding angle values by combining with a minimum turning radius.
In a further embodiment, in said step d, said angle value is calculated as follows:
wherein θ is the second preset angle, (x)H，yH)、(xK，yK) The first positioning coordinate and the second positioning coordinate are respectively the central point of the rear axle, RminIs the minimum turning radius of the vehicle.
According to the scheme, the first positioning coordinate and the second positioning coordinate are sequentially calculated according to the coordinate information of the vehicle at the second preset position by combining the first preset angle, the longitudinal coordinate of the obstacle and the preset distance threshold, and the minimum turning radius R of the vehicle in the lowest stable vehicle speed steering driving is consideredminThe return angle of the vehicle at the second predetermined position (i.e. the second predetermined angle) is calculated in a targeted mannerDegree).
In further embodiments, the target parking location is: and the distance between one side of the vehicle and the rear axle thereof and the vehicle line is the preset distance threshold.
In a further embodiment, the acquisition device for acquiring the first environmental information and the second environmental information comprises a distance measurement component and an image acquisition component; the ranging component comprises a millimeter wave radar; the image acquisition assembly comprises a camera.
According to the scheme, an image acquisition component is arranged to acquire an environment image on a parking space, and a parking coordinate system is generated after image processing; the distance measuring assembly is arranged on the rear side of the vehicle, so that the height of the obstacle in the parking space and the distance between the obstacle and the vehicle can be accurately detected, and the obstacle can be further accurately positioned by combining a parking coordinate system.
Drawings
Fig. 1 is a flowchart illustrating a parking route automatic planning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of detection of a millimeter wave radar provided by an embodiment of the present invention;
FIG. 3 is a schematic vehicle dimension view provided by an embodiment of the present invention;
FIG. 4 is a schematic representation of a parking coordinate system provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of the turning path of the vehicle from step S321 to step S322 according to the embodiment of the present invention;
fig. 6 is a schematic diagram of the straight-line driving route of the vehicle in step S323 provided by the embodiment of the invention;
FIG. 7 is a schematic diagram of the route of the vehicle entering the adjacent parking space in step S324 according to the embodiment of the present invention;
fig. 8 is a schematic view of the final parking of the vehicle according to the embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
As shown in fig. 1, the parking path automatic planning method provided in the embodiment of the present invention includes steps S1 to S3:
s1, collecting first environment information of the current parking space, and establishing a parking coordinate system, wherein the method comprises the following steps of S11-S12:
s11, when a reversing signal of the vehicle is detected, collecting first environment information of the current parking space, and identifying a parking space line corresponding to the current parking space;
and S12, establishing a parking coordinate system by taking a vertex on the parking space line as an origin, establishing a transverse axis in a direction parallel to the width of the current parking space and establishing a longitudinal axis in a direction parallel to the length of the current parking space.
The environment information (the first environment information and the second environment information) at least comprises parking space line information and obstacle information of corresponding parking spaces.
Referring to fig. 3 and 4, in this embodiment, according to the adjacent parking space as the left parking space, the left vertex of the current parking space is preset as the origin O, the X axis is established in the extending direction of the front-end transverse parking space line, and the Y axis is established in the extending direction of the left longitudinal parking space line. Meanwhile, the length of the preset parking space is L, the width of the preset parking space is W, the axle distance between the front wheel and the rear wheel of the vehicle is L1, the wheel distance is W1, the front overhang length is L2, and the rear overhang length is L3; the preset distance threshold is d1, the distance between the vehicle and the longitudinal vehicle line is d2, and the transverse distance between the wheel and the edge of the vehicle body is d 3; s1、S2Respectively representing the obstacles on the current parking space and the left parking space.
The method comprises the steps of collecting a reversing signal of a vehicle as a starting signal for planning a parking path, and capturing environmental information at the first time when the vehicle is backed and stored; the method includes the steps that a parking space line of a current parking space is divided, a transverse axis is established in the direction parallel to the width of the current parking space, a longitudinal axis is established in the direction parallel to the length of the current parking space, a parking coordinate system is established by combining an actual environment, and the current environment is reflected more truly.
S2, judging whether the current parking space meets the parking condition according to the first environment information, if not, acquiring second environment information of an adjacent parking space, and the method comprises the following steps of S21-S23:
s21, judging whether an obstacle exists in the current parking space according to the first environment information;
s22, when judging that the obstacle does not meet the available condition, determining that the current parking space does not meet the parking condition;
and S23, controlling the vehicle to reach the first preset position, and acquiring second environment information of the adjacent parking spaces.
The parking condition is that no obstacle exists in the parking space or the obstacle on the parking space meets the available condition;
the available condition is that the height of the obstacle is lower than a preset height threshold value or outside a preset range; the preset range is a parking space middle area, wherein the distances between the parking space middle area and the left side, the right side and the rear side of the parking space line are all larger than or equal to a preset distance threshold d 1.
In this embodiment, whether the obstacle is within the preset range is determined by the following formula:
wherein (x)s，ys) As coordinates of the obstacle in the parking coordinate system XOY, d1To preset a distance threshold, d2The shortest distance from the vehicle to the longitudinal vehicle line (Y axis), W is the width of the current parking space, and L is the length of the current parking space.
When the coordinates of the obstacle satisfy the formula (1), the obstacle is within the preset range, and otherwise, the coordinates are opposite.
The embodiment sequentially judges whether the barrier exists or not and whether the height and the area information of the barrier meet the available conditions or not, can accurately determine the availability of the current parking space, effectively parks the vehicle when the barrier does not influence the parking of the vehicle, and further saves program running resources.
And S3, when the adjacent parking space meets the parking condition, calculating the target parking position of the adjacent parking space according to the preset distance threshold d1, and replanning the parking path by combining the current position of the vehicle.
In this embodiment, the target parking position is: the distance between one side of the vehicle and the rear axle of the vehicle and the parking space line is a preset distance threshold d 1.
In this embodiment, the step S3 specifically includes steps S31 to S32:
s31, when the adjacent parking spaces meet the parking conditions according to the second environment information, calculating target parking positions of the adjacent parking spaces according to a preset distance threshold d 1;
s32, planning and obtaining corresponding parking paths by taking the first preset position and the target parking position as a starting point and an end point respectively, and comprising the following steps of S321-S325:
s321, controlling the vehicle to advance to a second preset position, and enabling a rear shaft of the vehicle at the second preset position to coincide with the X shaft;
s322, when the adjacent parking space is the left parking space, controlling the vehicle to rotate rightwards by a first preset angle by taking the right rear wheel as a fixed point; when the adjacent parking space is the right parking space, controlling the vehicle to rotate leftwards by a first preset angle by taking the left rear wheel as a fixed point;
s323, controlling the vehicle to linearly run to a third preset position, wherein fixed-point wheels of the vehicle at the third preset position are intersected with the Y axis;
s324, controlling the vehicle to rotate at a second preset angle until the fixed-point wheels and the obstacle of the current parking space are located at the same horizontal position;
wherein the step of calculating the second preset angle comprises:
a. acquiring a second coordinate of the fixed point wheel at a third preset position according to the first coordinate of the fixed point wheel at the second preset position and the first preset angle;
b. calculating a first positioning coordinate of the central point of the rear axle of the vehicle according to the second coordinate;
c. acquiring a second positioning coordinate of the central point of the rear axle according to the longitudinal coordinate of the obstacle and a preset distance threshold d 1;
d. and respectively taking the first positioning coordinate and the second positioning coordinate as a starting point and an end point of a second preset angle, and calculating corresponding angle values by combining the minimum turning radius.
The angle value is calculated as follows:
wherein, theta is a second preset angle, (x)H，yH)、(xK，yK) Is a first positioning coordinate and a second positioning coordinate which are respectively the central point of the rear shaft, RminIs the minimum turning radius of the vehicle.
And S325, controlling the vehicle to linearly back by taking the target parking position as a terminal point.
In this embodiment:
and calculating the target parking position on the adjacent parking space according to the preset distance threshold d1, directly determining the optimal vehicle parking position, and planning to obtain the optimal parking path with the shortest distance and the shortest time by respectively taking the first preset position and the target parking position as a starting point and an end point.
Setting the position of a rear shaft of a vehicle which linearly advances to coincide with the X axis as a second preset position, establishing a second reference base point, selecting a left or right rear wheel to divide different steering fixed points according to different adjacent parking spaces, directionally rotating by a first preset angle, returning the vehicle to a right position by taking the ordinate of an obstacle as reference after the vehicle linearly travels to the junction of the parking spaces, and finally backing the vehicle linearly to park the vehicle at a target parking position; the scheme has simple parking operation and short parking path distance, thereby shortening the parking time.
According to the coordinate information of the vehicle at the second preset position, combining the first preset angle, the longitudinal coordinate of the obstacle and the preset distance threshold value d1, sequentially calculating to obtain a first positioning coordinate and a second positioning coordinate, and considering the minimum turning radius R of the vehicle in the lowest stable speed steering drivingminThe aligning angle of the vehicle at the second predetermined position (i.e., the second predetermined angle) is calculated in a targeted manner.
In the present embodiment, referring to fig. 2, the collection for collecting the first environmental information and the second environmental informationThe device comprises a distance measurement component and an image acquisition component; the distance measurement component comprises a millimeter wave radar; the image acquisition assembly comprises a camera. Preferably, 3 millimeter wave radars (O) and at least 2 cameras are adopted for data acquisition, and 3 millimeter wave radars (O)10、O20、O30) Uniformly installed at the tail of the vehicle, and 2 cameras are respectively installed at the positions of the left outer rearview mirror and the right outer rearview mirror.
In the embodiment, the image acquisition component is arranged to acquire an environment image on the parking space, and a parking coordinate system is generated after image processing; the distance measuring assembly is arranged on the rear side of the vehicle, so that the height of the obstacle in the parking space and the distance between the obstacle and the vehicle can be accurately detected, and the obstacle can be further accurately positioned by combining a parking coordinate system.
In the embodiment of the present invention, referring to fig. 4 to 8, (A, B, C, H, K represents coordinates of center points of rear axles of vehicles at different parking positions, respectively), taking as an example that a left parking space is available, and a current parking space, that is, a right parking space is unavailable, a specific parking path planning process is as follows:
when a reversing signal of the vehicle is detected, driving a camera to acquire images, establishing a parking coordinate system XOY after data processing, driving a millimeter wave radar to detect an obstacle, and detecting the obstacle when the obstacle S is detected1When the height of the parking space meets the preset height preset value and the coordinate of the parking space meets the formula (1), the current parking space is unavailable.
Thus, a parking path to the left adjacent parking space is planned:
firstly, controlling the vehicle to run in a reverse mode until the vehicle reaches an obstacle S1When the distance from the vehicle is equal to a preset safety distance threshold value d1 (namely, the vehicle reaches a first preset position), the camera and the millimeter wave radar are controlled to detect the adjacent parking space, and the obstacle S existing in the right adjacent parking space is obtained2Resulting in the parking space being unavailable and only the left adjacent parking space being available.
And secondly, controlling the vehicle to linearly travel forward for a distance P1 until the rear axle of the vehicle is coincident with the X axis of the coordinate system, namely, the rear axle reaches a second preset position. Specifically, whether the rear wheel of the vehicle presses the parking space line at the front end of the current parking space (i.e., the left and right rear wheels of the vehicle coincide with point E, F, respectively, as shown in fig. 5) can be identified through the image captured by the camera, so as to determine whether the rear axis of the vehicle coincides with the X axis.
And thirdly, after the vehicle is driven to rotate rightwards at a fixed point by a first preset angle delta along a right rear wheel F (a first coordinate), controlling the steering wheel to return to the right, and linearly reversing for a driving distance P2 (along a straight line l1 or a straight line l2) until the rear right wheel is intersected with the Y axis of the coordinate system, namely reaching a third preset position. Wherein:
the first preset angle delta is 60 degrees, and specific numerical values can be set by self according to different vehicle types.
The abscissa of the first coordinate F is such that,
the second coordinate G has an ordinate of yG-OF tan α, wherein
The fourth step is to add O1And controlling the vehicle to rotate by a second preset angle for the circle center until the rear wheel on the right side and the obstacle of the current parking space are positioned at the same horizontal position, and controlling the steering wheel to return to the right position.
The first fixed point coordinate H of the center point of the rear axle of the vehicle is,
the second fixed point coordinate K of the center point of the rear axle of the vehicle is,
yK＝yS；
and substituting the coordinates of the first fixed point coordinate H and the second fixed point coordinate K into a formula (2) to obtain a second preset angle.
And fifthly, the vehicle is driven to a target parking position in a straight line reversing mode, namely the center point of the rear axle of the vehicle is coincided with the point D, and the backing-up storage is finished.
From the above, the coordinates of the target parking position D are,
yD＝-L+L3+d1(ii) a And the distance for the straight backing of the vehicle is dKD＝|yD-yS|。
Similarly, when detecting that the right adjacent parking space is available, the principle of the method is similar to the parking path planning algorithm of the left adjacent parking space, and therefore the method is not repeated.
The method comprises the steps of collecting first environment information of a current parking space, using the current parking space as a planning base point of a parking path according to the first environment information, and establishing a parking coordinate system; whether the parking space meets the parking condition can be quickly determined according to the area division and the position datamation of the parking coordinate system; calculating a target parking position on an adjacent parking space according to a preset distance threshold d1, and acquiring an optimal parking area of a vehicle, thereby fundamentally avoiding the risks of vehicle scraping and collision when the vehicle is parked in a garage; when the current parking space is unavailable, the parking path entering the adjacent parking space is re-planned according to the current position of the vehicle, so that the parking efficiency of the driver can be improved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A parking path automatic planning method is characterized by comprising the following steps:
s1, collecting first environment information of the current parking space, and establishing a parking coordinate system;
s2, judging whether the current parking space meets parking conditions or not according to the first environment information, and if not, acquiring second environment information of an adjacent parking space;
and S3, when the adjacent parking space meets the parking condition, calculating the target parking position on the adjacent parking space according to a preset distance threshold value, and replanning the parking path by combining the current position of the vehicle.
2. A method for automatically planning a parking path according to claim 1, wherein said step S1 includes the steps of:
s11, when a reversing signal of the vehicle is detected, collecting first environment information of the current parking space, and identifying a parking space line corresponding to the current parking space;
and S12, establishing a parking coordinate system by taking a vertex on the parking space line as an origin, establishing a horizontal axis in a direction parallel to the width of the current parking space and establishing a vertical axis in a direction parallel to the length of the current parking space.
3. A method for automatically planning a parking path according to claim 2, wherein said step S2 includes the steps of:
s21, judging whether an obstacle exists in the current parking space according to the first environment information;
s22, when the obstacle is judged not to meet the available condition, determining that the current parking space does not meet the parking condition;
and S23, controlling the vehicle to reach the first preset position, and acquiring second environment information of the adjacent parking spaces.
4. A method for automatically planning a parking path according to claim 3, wherein said step S3 includes the steps of:
s31, when the adjacent parking space meets the parking condition according to the second environment information, calculating a target parking position on the adjacent parking space according to a preset distance threshold;
and S32, planning to obtain a corresponding parking path by respectively taking the first preset position and the target parking position as a starting point and an end point.
5. The automatic parking path planning method according to claim 4, wherein the step S32 includes the steps of:
s321, controlling the vehicle to advance to a second preset position, wherein a rear shaft of the vehicle at the second preset position is superposed with an X shaft;
s322, when the adjacent parking space is the left parking space, controlling the vehicle to rotate rightwards by a first preset angle by taking the right rear wheel as a fixed point; when the adjacent parking space is the right parking space, controlling the vehicle to rotate leftwards by a first preset angle by taking a left rear wheel as a fixed point;
s323, controlling the vehicle to linearly run to a third preset position, wherein fixed point wheels of the vehicle on the third preset position are intersected with a Y axis;
s324, controlling the vehicle to rotate at a second preset angle until the fixed-point wheel and the obstacle of the current parking space are located at the same horizontal position;
and S325, controlling the vehicle to back up linearly by taking the target parking position as a terminal point.
6. A method for automatically planning a parking path according to claim 5, wherein the step of calculating the second predetermined angle comprises:
a. acquiring a second coordinate of the fixed point wheel at the third preset position according to the first coordinate of the fixed point wheel at the second preset position and the first preset angle;
b. calculating a first positioning coordinate of a central point of a rear axle of the vehicle according to the second coordinate;
c. acquiring a second positioning coordinate of the center point of the rear axle according to the longitudinal coordinate of the obstacle and the preset distance threshold;
d. and respectively taking the first positioning coordinate and the second positioning coordinate as a starting point and an end point of the second preset angle, and calculating corresponding angle values by combining with a minimum turning radius.
7. A method for automatically planning a parking path according to claim 6 wherein in step d, the angle value is calculated as follows:
wherein θ is the second preset angle, (x)H，yH)、(xK，yK) The first positioning coordinate and the second positioning coordinate are respectively the central point of the rear axle, RminIs the minimum turning radius of the vehicle.
8. A method for automatic planning of a parking path according to claim 1, characterized in that:
the parking condition is that no obstacle exists in the parking space or the obstacle in the parking space meets the available condition;
the available condition is that the height of the obstacle is lower than a preset height threshold value or is out of a preset range; the preset range is a parking space middle area, wherein the distances between the preset range and the left side, the distance between the preset range and the right side and the distance between the preset range and the rear side of the parking space line are larger than or equal to the preset distance threshold.
9. A method for automatic planning of a parking path according to claim 1, wherein the target parking position is: and the distance between one side of the vehicle and the rear axle thereof and the vehicle line is the preset distance threshold.
10. A method for automatic planning of a parking path according to claim 1, characterized in that: the acquisition device for acquiring the first environmental information and the second environmental information comprises a distance measurement component and an image acquisition component; the ranging component comprises a millimeter wave radar; the image acquisition assembly comprises a camera.
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Cited By (11)
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| CN112937555A (en) * | 2021-03-08 | 2021-06-11 | 华南理工大学 | Parallel parking trajectory planning method based on vehicle kinematics model |
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| CN112937555A (en) * | 2021-03-08 | 2021-06-11 | 华南理工大学 | Parallel parking trajectory planning method based on vehicle kinematics model |
| CN113129632A (en) * | 2021-03-30 | 2021-07-16 | 中国联合网络通信集团有限公司 | Autonomous parking method, AVP platform and parking lot management system |
| CN113353064A (en) * | 2021-04-30 | 2021-09-07 | 惠州华阳通用电子有限公司 | Automatic parking and running control method |
| CN113353064B (en) * | 2021-04-30 | 2024-03-29 | 惠州华阳通用电子有限公司 | Automatic parking driving control method |
| CN113183952B (en) * | 2021-06-03 | 2022-05-27 | 上海电机学院 | Automatic parking method and system based on coordinate compensation |
| CN113183952A (en) * | 2021-06-03 | 2021-07-30 | 上海电机学院 | Automatic parking method and system based on coordinate compensation |
| CN113353068A (en) * | 2021-07-26 | 2021-09-07 | 广州小鹏自动驾驶科技有限公司 | Parking control method, device, vehicle and medium |
| CN113753029A (en) * | 2021-08-27 | 2021-12-07 | 惠州华阳通用智慧车载系统开发有限公司 | Automatic parking method and system based on optical flow method |
| CN113753029B (en) * | 2021-08-27 | 2023-11-17 | 惠州华阳通用智慧车载系统开发有限公司 | Automatic parking method and system based on optical flow method |
| CN113771839A (en) * | 2021-09-14 | 2021-12-10 | 武汉光庭信息技术股份有限公司 | Automatic parking decision planning method and system |
| CN113771839B (en) * | 2021-09-14 | 2023-10-10 | 武汉光庭信息技术股份有限公司 | Automatic parking decision planning method and system |
| CN114030463B (en) * | 2021-11-23 | 2024-05-14 | 上海汽车集团股份有限公司 | Path planning method and device for automatic parking system |
| CN114030463A (en) * | 2021-11-23 | 2022-02-11 | 上海汽车集团股份有限公司 | Path planning method and device of automatic parking system |
| CN114103934A (en) * | 2021-12-23 | 2022-03-01 | 岚图汽车科技有限公司 | Automatic parking path planning method, device and equipment and readable storage medium |
| CN114274952B (en) * | 2021-12-24 | 2023-09-22 | 重庆长安汽车股份有限公司 | Autonomous parking method and system for vertical parking space, storage medium and electronic equipment |
| CN114274952A (en) * | 2021-12-24 | 2022-04-05 | 重庆长安汽车股份有限公司 | Vertical parking space autonomous parking method and system, storage medium and electronic device |
| CN116612458A (en) * | 2023-05-30 | 2023-08-18 | 易飒(广州)智能科技有限公司 | Deep learning-based parking path determination method and system |
| CN116612458B (en) * | 2023-05-30 | 2024-06-04 | 易飒(广州)智能科技有限公司 | Deep learning-based parking path determination method and system |
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