CN114296452A - Automatic parking path planning method, apparatus and computer-readable storage medium - Google Patents
Automatic parking path planning method, apparatus and computer-readable storage medium Download PDFInfo
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Abstract
The invention discloses an automatic parking path planning method, equipment and a computer storage medium, wherein the method comprises the following steps: obtaining plane environment information of a place where a path to be planned is located, and determining a first planned route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space; optimizing the turning road section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning road section meets the requirement of continuous curvature; adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for automatic parking of the vehicle; the embodiment of the invention has simple constraint in the path planning process, and can effectively improve the path planning speed and reduce the path planning difficulty.
Description
Technical Field
The present invention relates to the field of automatic parking technologies, and in particular, to a method and an apparatus for planning an automatic parking path, and a computer-readable storage medium.
Background
With the rapid development of science and technology, the intelligent demand of automobiles is also higher and higher. The automatic parking technology is more and more commonly applied due to market demand and technical development, but the current automatic parking technology has many problems. AVP (automated parking park) can effectively reduce the scraping that causes because driver misoperation, can improve the parking area utilization efficiency, solves driver and looks for the parking stall difficult scheduling problem. However, the parking lot has a complex structure, a large number of parking spaces and a narrow road, which causes the problems of difficult path planning and slow path planning speed in the AVP system, and affects the use of the automatic parking function of the vehicle.
Disclosure of Invention
The embodiment of the invention provides an automatic parking path planning method, automatic parking path planning equipment and a computer readable storage medium, which can effectively improve the path planning speed and reduce the path planning difficulty.
In a first aspect, an embodiment of the present invention provides an automatic parking path planning method, which includes:
obtaining plane environment information of a place where a path to be planned is located, and determining a first planned route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space;
optimizing the turning road section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning road section meets the requirement of continuous curvature;
and adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for the automatic parking of the vehicle.
As an improvement of the above solution, before optimizing the turning section in the first planned route according to the steering capability of the vehicle so that the optimized turning section satisfies the continuous curvature, the method further includes:
and carrying out road center constraint on the first planned route, so that the constrained first planned route is positioned on the central line of the road.
As an improvement of the above, the determining a first planned route based on the plane environment information includes: and calling a CAD (computer aided design) to draw the first route plan by taking the current position of the vehicle as a starting point and the selected idle target parking space as a terminal point based on the plane environment information.
As an improvement of the above solution, the optimizing the turning section in the first planned route according to the steering capability of the vehicle so that the optimized turning section satisfies curvature continuity includes:
performing reverse arc angle setting on the turning road section of the first planned route, so that adjacent straight road sections in the first planned route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum complete turning radius of the vehicle;
replacing arcs in the first planned route with transition curves; and the curvatures of the adjacent straight line sections in the first planned route and the transition curve are continuous, and the curvature radius of the transition curve is larger than the minimum complete turning radius of the vehicle.
As an improvement of the above scheme, the transition curve is a B-spline curve or a combination of the B-spline curve and the arc.
As an improvement of the above solution, the first planned route is stored in a CAD format file;
then, the adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for automatic parking of the vehicle includes:
converting the optimized first planned route into a DXF format and storing the first planned route as a plurality of route elements according to the graph type; wherein the route elements comprise straight line section elements, transition curve elements and reference arc elements;
respectively carrying out interpolation processing on the route elements;
and adjusting the storage sequence of each point of the route elements after interpolation to obtain the second planned route.
As an improvement of the above scheme, the adjusting the storage sequence of each point of the route element after interpolation to obtain the second planned route includes:
adding all route elements in the first planned route to a work queue with a starting point of the first planned route as a current detection point;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the end point found currently is the starting point of the corresponding route element;
if not, reversing all points of the route element corresponding to the currently found end point;
if so, or after reversing all points of the route element corresponding to the currently found end point is completed, taking the end point of the route element corresponding to the currently found end point as a next detection point, and moving the route element corresponding to the currently found end point to a result queue until all route elements in the planned route move to the result queue;
and sequentially connecting the route elements in the result queue according to a storage sequence to obtain the second planned route.
As an improvement of the above solution, the points of the transition curve in the first planned route are stored in a CAD format file in a counter-clockwise direction.
In a second aspect, an embodiment of the present invention provides an automatic parking path planning apparatus, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements the automatic parking path planning method according to any one of the first aspects.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where, when the computer program runs, an apparatus in which the computer-readable storage medium is located executes the automatic parking path planning method according to any one of the first aspect.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: preliminarily determining a rough first planned route from the current position to the target parking space based on the current position of the vehicle and the target parking space; then, carrying out curvature constraint on the turning road section on the first planned route, and optimizing the first planned route; finally, adjusting the storage sequence of each route element in the optimized first planned route to obtain a second planned route for automatic parking of the vehicle; the embodiment of the invention has simple constraint in the path planning process, and can effectively improve the path planning speed and reduce the path planning difficulty.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an automatic parking path planning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first planned route before curvature optimization is provided according to an embodiment of the invention;
fig. 3 is a schematic diagram of a first planned route after a central constraint according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a first planned route after curvature optimization according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of route elements of an optimized first planned route according to an embodiment of the invention;
FIG. 6 is a flow chart illustrating a storage order adjustment of route elements according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an automatic parking path planning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a schematic flow chart of an automatic parking path planning method according to an embodiment of the present invention, where the automatic parking path planning method specifically includes:
s11: obtaining plane environment information of a place where a path to be planned is located, and determining a first planned route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space;
further, the determining a first planned route based on the planar environment information includes:
and calling a CAD (computer aided design) to draw the first route plan by taking the current position of the vehicle as a starting point and the selected idle target parking space as a terminal point based on the plane environment information.
Illustratively, taking a parking garage scene as an example, a plane environment diagram of a parking lot is pre-imported or drawn in a CAD system, and a first planned route is roughly drawn manually with the current position of the vehicle as a starting point and the selected free target parking space as an ending point, as shown in fig. 2.
S12: optimizing the turning road section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning road section meets the requirement of continuous curvature;
the steering ability of the vehicle is determined according to its minimum turn-over radius.
Further, the optimizing the turning section in the first planned route according to the steering capacity of the vehicle so that the optimized turning section satisfies curvature continuity includes:
performing reverse arc angle setting on the turning road section of the first planned route, so that adjacent straight road sections in the first planned route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum complete turning radius of the vehicle;
replacing arcs in the first planned route with transition curves; and the curvatures of the adjacent straight line sections in the first planned route and the transition curve are continuous, and the curvature radius of the transition curve is larger than the minimum complete turning radius of the vehicle.
Further, the transition curve is a B-spline curve or a combination of a B-spline curve and the arc.
Because the roughly drawn first planned route is a right-angle corner and the vehicle cannot turn according to the right-angle corner, in the embodiment of the invention, curvature constraint is required to be carried out on a turning road section of the first planned route so as to ensure that the curvature of the first planned route is continuous, so that the vehicle can safely travel according to the first planned route; the specific curvature constraint comprises two stages, wherein in the first stage, a radius of a fillet is set on a turning road section of the first planned route based on the minimum turning radius of a vehicle, and the radius of the fillet is larger than the minimum turning radius of the vehicle; the second stage is to perform curvature continuous adjustment on the straight line segment in the first planned route and the circular arc connected with the straight line segment, for example, a B-spline curve is used to replace the circular arc in the planned route, or a B-spline curve is inserted between the straight line segment and the circular arc connected with the straight line segment, so as to obtain a transition curve continuous with the curvature of the straight line segment, and ensure that the vehicle can travel along the optimized first planned route, as shown in fig. 4. Specifically, whether the transition curve is continuous with the curvature of the connected straight line element can be determined by checking the maximum curvature circle and the curvature comb of the transition curve.
Further, points of the transition curve in the first planned route are stored in a CAD format file in a counter-clockwise direction.
S13: and adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for the automatic parking of the vehicle.
Further, the first planned route is stored in a CAD format file;
then, the adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for automatic parking of the vehicle includes:
converting the first planned route into a DXF format and storing as a plurality of route elements according to a graphic type; wherein the route elements comprise straight line section elements, transition curve elements and reference arc elements;
respectively carrying out interpolation processing on the route elements;
and adjusting the storage sequence of each point of the route elements after interpolation to obtain the second planned route.
In the embodiment of the present invention, since the points of the transition curve in the first planned route are stored in the CAD file counterclockwise, at this time, the storage sequence of the route elements of the first planned route needs to be adjusted according to the traveling direction of the vehicle, i.e., the direction from the starting point to the end point of the first planned route. The route elements refer to road segments of different graphic types in the first planned route, such as straight line segment elements and transition curve elements shown in fig. 5, or arc elements added for adding reference elements. Exporting the first planned route in the CAD file format into the DXF file format, wherein the DXF file format is a plain text format consisting of ASCII codes and has the advantage of easy processing, and then adjusting the points of each route element according to the storage sequence of the traveling direction of the vehicle to obtain the second planned route.
After the first planned route of the automatic parking is preliminarily planned, curvature continuous constraint is only needed, then the storage sequence of each route element in the route is adjusted, the second planned route planning is ensured to be consistent with the vehicle traveling direction, the constraint is simple in the whole route planning process, the route planning speed can be effectively increased, and the route planning difficulty can be reduced. The planned track does not accord with the driving habit of the human driver and the like.
In an optional embodiment, before optimizing the turning section in the first planned route according to the steering capacity of the vehicle so that the optimized turning section satisfies the curvature continuity, the method further includes:
and carrying out road center constraint on the first planned route, so that the constrained first planned route is positioned on the central line of the road.
Wherein the plane environment information further includes: a road boundary. Based on the road boundaries of the location, the distances from the planned routes to the road boundaries may be preset in the CAD such that the distances from the first planned route to the road boundaries on both sides are equal, i.e. the first planned route is located on the road median, as shown in fig. 3. The distance from the first planned route to the road boundaries on the two sides can be set to be larger than a set distance threshold; the distance threshold is obtained according to the vehicle width and the road width of the vehicle, so that a certain safety distance is kept between the vehicle and the road boundary when the vehicle travels according to the first planned route, and collision between the vehicle and surrounding obstacles (such as wall surfaces and vehicles parked in other parking spaces) is avoided.
In an optional embodiment, the adjusting the storage sequence of the points of the interpolated route element to obtain the second planned route includes:
adding all route elements in the first planned route to a work queue with a starting point of the first planned route as a current detection point;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the end point found currently is the starting point of the corresponding route element;
if not, reversing all points of the route element corresponding to the currently found end point;
if so, or after reversing all points of the route element corresponding to the currently found end point is completed, taking the end point of the route element corresponding to the currently found end point as a next detection point, and moving the route element corresponding to the currently found end point to a result queue until all route elements in the planned route move to the result queue;
and sequentially connecting the route elements in the result queue according to a storage sequence to obtain the second planned route.
Illustratively, the exported DXF file format stores different segments of the first planned route as different route elements in graphical type, such as:
transition curve element SPLINE: a control point;
reference ARC element ARC: circle center, radius, starting angle and ending angle (only used for providing reference for subsequent interpolation and storage sequence adjustment links);
LINE segment element LINE: starting point and end point;
taking ARC as an example, a file storage example is given as follows:
ARC # Pattern type
5
210
330
16
100
AcDbEntity
8
Path # layer name
62
30
420
16292126
370
-3
100
AcDbCircle
10
66.76303500452# circle center x coordinate
20
153.997091606571# circle center y coordinate
30
0.0
40
Radius No. 7.0
100
AcDbArc
50
125.088088266287# arc starting Angle (deg)
51
179.042654569302# arc end Angle (deg)
0。
As shown in fig. 6, step 1: setting the starting point of the first planned route as a current detection point, and adding all route elements into a work queue;
step 2: traversing all route elements in the work queue, checking the distance between the start point and the end point of each route element and the current detection point, and stopping when finding the point corresponding to the minimum distance;
and step 3: judging whether the currently found point is the starting point of the corresponding route element;
and 4, step 4: if not, reversing all points of the route element corresponding to the currently found point;
and 5: if so or after reversing all points of the route element corresponding to the currently found point is completed, taking the end point of the route element corresponding to the currently found point as a next detection point, and moving the route element corresponding to the currently found point to a result queue;
step 6: judging whether all the route elements move to the result queue; if yes, ending, otherwise, returning to the step 1.
Because the route is planned based on the CAD system, the storage process of the route may be disordered, and the final second planned route is constructed by adjusting the sequence of route elements, so that the second planned route is ensured to be consistent with the vehicle traveling direction.
In an alternative embodiment, the separately interpolating the route elements includes:
interpolation processing is carried out on the transition curve elements, and the specific process is as follows:
1. acquiring the number n and the curvature k of control points of transition curve elements;
2. the node vector is set to u-zeros (1, n + k + 1); wherein zeros (n, m) represents an n-row m-column all-zero matrix;
3、u(1:k)＝0；
4、u(n+2，n+k+1)＝1；
5. u (k +1, n +1) ═ link (0, 1, n-k + 1); wherein a ═ line space (b)1，b2N) denotes the generation of n dots spaced apart by a distance (b)2-xb1)/(n-1)；
6. B sample line construction is carried out by using the node vectors and the control points, and any t epsilon [0, 1] interval curve and an expression x (t), y (t), x '(t), y' (t), x '(t) and y' (t) of a derivative of the curve can be obtained;
7. for any parameter t, its heading angle φ is atan2(y '(t), x' (t));
8. for any parameter t, its curvature k is:
the arbitrary parameter t is the interpolation of the transition curve element.
The interpolation processing is carried out on the reference arc element, and the specific process is as follows:
1. any i belongs to a [0, 1] interval, and theta (i) is Lerp (theta s, theta e, i), wherein theta s is a starting angle, and theta e is an ending angle;
2、x(θ)＝x0+r·cos(θ)；
3、y(θ)＝y0+ r · sin (θ); wherein (x)0，y0) Is the initial coordinate;
4、φ(θ)＝θ+π/2；
5. k (θ) ═ 1/r; wherein r is the radius of the arc.
The arbitrary parameter i is the interpolation of the reference arc element.
Interpolation processing is carried out on the straight line section elements, and the specific process is as follows:
any j is an element [0, 1]]Interval with starting point of (x)s，ys) End point is (x)e，ye)；
1、x(j)＝Lerp(xs，xe，t)；
2、y(j)＝Lerp(ys，ye，t)；
3、φ(j)＝atan2(ye-ys，xe-xs)；
4、k(θ)＝0；
Where P ═ atan2(Y, X) denotes the quadrant arctangent (tan-1) returning Y and X, which must be a real number; lerp (p, b, j) ═ p + j (q-p).
The arbitrary parameter j is the interpolation of the linear section elements.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: preliminarily determining a rough route planning from the current position to the target parking space based on the current position of the vehicle and the target parking space; then, continuously constraining the curvature of the turning road section of the first planned route, and optimizing the first planned route; finally, adjusting the storage sequence of each route element in the optimized first planned route to obtain a second planned route for automatic parking of the vehicle; the embodiment of the invention has simple constraint in the path planning process, and can effectively improve the path planning speed and reduce the path planning difficulty.
Example two
Fig. 7 is a schematic diagram of an automatic parking path planning apparatus according to a first embodiment of the present invention. As shown in fig. 5, the automatic parking path planning apparatus includes: at least one processor 11, such as a CPU, at least one network interface 14 or other user interface 13, a memory 15, at least one communication bus 12, the communication bus 12 being used to enable connectivity communications between these components. The user interface 13 may optionally include a USB interface, and other standard interfaces, wired interfaces. The network interface 14 may optionally include a Wi-Fi interface as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
an operating system 151, which contains various system programs for implementing various basic services and for processing hardware-based tasks;
and (5) a procedure 152.
Specifically, the processor 11 is configured to call the program 152 stored in the memory 15 to execute the automatic parking path planning method according to the above-described embodiment, such as steps S11-S14 shown in fig. 1.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of instruction segments of a computer program capable of performing a specific function, and the instruction segments are used for describing the execution process of the computer program in the automatic parking path planning device.
The automatic parking path planning device can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The automatic parking path planning device may include, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the schematic diagrams are merely examples of an automated parking path planning apparatus and do not constitute a limitation of the automated parking path planning apparatus, and may include more or fewer components than those shown, or some components in combination, or different components.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, and the processor 11 is a control center of the automatic parking path planning apparatus and connects various parts of the entire automatic parking path planning apparatus by using various interfaces and lines.
The memory 15 may be used to store the computer programs and/or modules, and the processor 11 implements various functions of the automatic parking path planning apparatus by operating or executing the computer programs and/or modules stored in the memory and calling up data stored in the memory. The memory 15 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 15 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The integrated module/unit of the automatic parking path planning device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that the automatic parking path planning apparatus according to the embodiment of the present invention has the same implementation principle and technical effect as the automatic parking path planning method according to the first embodiment, and will not be described in detail herein.
EXAMPLE III
The embodiment of the invention provides a computer-readable storage medium, which is characterized by comprising a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the automatic parking path planning method according to any one of the embodiments.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An automatic parking path planning method, comprising:
obtaining plane environment information of a place where a path to be planned is located, and determining a first planned route based on the plane environment information; the plane environment information comprises the current position of the vehicle and a target parking space;
optimizing the turning road section in the first planned route according to the steering capacity of the vehicle, so that the optimized turning road section meets the requirement of continuous curvature;
and adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for the automatic parking of the vehicle.
2. The automated parking path planning method according to claim 1, wherein before optimizing the turn section in the first planned route in accordance with the steering ability of the vehicle so that the optimized turn section satisfies the curvature continuity, further comprising:
and carrying out road center constraint on the first planned route, so that the constrained first planned route is positioned on the central line of the road.
3. The automated parking path planning method according to claim 1, wherein the determining a first planned route based on the planar environment information includes:
and calling a CAD (computer aided design) to draw the first route plan by taking the current position of the vehicle as a starting point and the selected idle target parking space as a terminal point based on the plane environment information.
4. The automated parking path planning method according to claim 1, wherein the optimizing the turn section in the first planned route according to the steering ability of the vehicle such that the optimized turn section satisfies curvature continuity includes:
performing reverse arc angle setting on the turning road section of the first planned route, so that adjacent straight road sections in the first planned route are connected through arcs; the radius of the circular arc between the adjacent straight line sections is larger than the minimum complete turning radius of the vehicle;
replacing arcs in the first planned route with transition curves; and the curvatures of the adjacent straight line sections in the first planned route and the transition curve are continuous, and the curvature radius of the transition curve is larger than the minimum complete turning radius of the vehicle.
5. The automatic parking path planning method according to claim 4, wherein the transition curve is a B-spline curve or a combination of a B-spline curve and the circular arc.
6. The automated parking path planning method according to claim 2, wherein the first planned route is stored in a CAD format file;
then, the adjusting the storage sequence of each route element in the optimized first planned route according to the vehicle traveling direction to obtain a second planned route for automatic parking of the vehicle includes:
converting the optimized first planned route into a DXF format and storing the first planned route as a plurality of route elements according to the graph type; wherein the route elements comprise straight line section elements, transition curve elements and reference arc elements;
respectively carrying out interpolation processing on the route elements;
and adjusting the storage sequence of each point of the route elements after interpolation to obtain the second planned route.
7. The automatic parking path planning method according to claim 6, wherein the adjusting the storage order of the points of the route elements after interpolation to obtain the second planned route includes:
adding all route elements in the first planned route to a work queue with a starting point of the first planned route as a current detection point;
traversing the route elements in the work queue, and checking the distance between the two end points of each route element and the current detection point until finding the end point corresponding to the minimum distance;
judging whether the end point found currently is the starting point of the corresponding route element;
if not, reversing all points of the route element corresponding to the currently found end point;
if so, or after reversing all points of the route element corresponding to the currently found end point is completed, taking the end point of the route element corresponding to the currently found end point as a next detection point, and moving the route element corresponding to the currently found end point to a result queue until all route elements in the planned route move to the result queue;
and sequentially connecting the route elements in the result queue according to a storage sequence to obtain the second planned route.
8. An automated parking path planning method according to claim 5, wherein the points of the transition curve in the first planned route are stored in a CAD format file in a counterclockwise direction.
9. An automatic parking path planning apparatus, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the automatic parking path planning method according to any one of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium executes an apparatus according to any one of claims 1 to 8.
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