CN115848359A - Parking space self-adaptive parking route planning method, vehicle and storage medium - Google Patents
Parking space self-adaptive parking route planning method, vehicle and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of parking space planning, and discloses a parking space self-adaptive parking path planning method, a vehicle and a storage medium, wherein the method comprises the following steps: correcting according to the angular point coordinates of the parking places; planning a first parking path according to the coordinates of the initial position coordinate point and the parking point coordinate of the vehicle; planning a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path terminal point coordinate and the first vehicle body parameter; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path end point coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the coordinates of the third parking path end point; determining a parking path of the whole vehicle according to the four parking paths; and parking the vehicle into the parking space according to the whole vehicle parking path. The parking spaces are corrected by obtaining relevant vehicle body parameters, and the obstacle area is detected in real time through the radar to plan a parking route, so that the parking space identification and detection precision during parking is improved.
Description
Technical Field
The invention relates to the technical field of camera calibration, in particular to a parking space self-adaptive parking path planning method, a vehicle and a storage medium.
Background
With the development of new energy vehicles, the electrification era has come, computing cores with higher computing power and various sensors are generally mounted on personal passenger cars, and meanwhile, the income of residents is increased, the awareness of environmental protection is enhanced, and the sales volume of new energy vehicles is increased. However, the negative effects caused by the phenomenon are the problems of traffic environment congestion, urban parking space resource shortage, narrow parking space and the like. In such an environment, the vehicle is limited by a narrow environment and a visual blind area of a driver, and accidents such as traffic jam and scratch are easily caused, so that Automatic Parking (APA) becomes a research hotspot in the field of automatic driving/assistant driving. The most common automatic parking methods at present are: an automatic parking method based on an ultrasonic radar and an automatic parking method based on pure vision. The method has some defects, parking of the ultrasonic radar is limited by the distance detection precision problem of the ultrasonic radar, and the system communication delay can cause the coordinates of the obstacle points detected by the ultrasonic radar to generate certain deviation in the moving process of the vehicle, so that the generated obstacle track line graph is continuous and has unobvious interruption characteristics, the generated obstacle track line graph is used after being processed by a complex algorithm, the occurrence frequency of parking space omission or false detection is very high, in addition, the direction information of the parking point calculated based on the starting point and the end point of the interruption interval of the obstacle track line is inaccurate, and the final parking posture of the vehicle is often not parallel to the parking space line as a result. For pure visual parking, a simple parking space recognition model cannot detect an obstacle region, so that if the parking space is not manually limited, a planned path can easily enable a target vehicle to cross an opposite parking space, or the path cannot be planned again under the condition that an obstacle suddenly appears, and collision is caused.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a parking space self-adaptive parking route planning method, a vehicle and a storage medium, and aims to solve the problem that in the prior art, the automatic route planning of the vehicle is low in parking space identification and detection precision, so that collision is easy to occur in the parking process.
In order to achieve the above object, the present invention provides a method for planning a parking lot adaptive parking route, comprising the steps of:
acquiring a coordinate point of a starting position of a vehicle, and acquiring a coordinate of a corner point of a parking space;
correcting according to the parking space corner coordinates to obtain parking point coordinates;
planning a first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and acquiring a first parking path end point coordinate;
planning a second parking path according to the direction of the parking point coordinate relative to the vehicle body, the parking point corner coordinate, the first parking path end point coordinate and the first vehicle body parameter, and acquiring a second parking path end point coordinate;
obtaining a radar parameter, planning a third parking path according to the radar parameter, a vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and obtaining a third parking path end point coordinate;
determining a fourth parking path according to the coordinate point of the starting position of the vehicle and the coordinate of the end point of the third parking path;
determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
and parking the vehicle into the parking space according to the whole vehicle parking path.
Optionally, the obtaining a coordinate point of a starting position of the vehicle and obtaining coordinates of a corner point of the parking space includes:
creating a parking path world coordinate system;
acquiring a time synchronization image according to a fish-eye lens of a vehicle body, and splicing the time synchronization image to acquire an annular view;
processing the ring view through a parking space identification model to obtain the angular point position of the parking space;
and determining the position coordinates of the parking place angular points according to the parking path world coordinate system.
Optionally, the parking space corner coordinates include: a first corner point coordinate, a second corner point coordinate, a third corner point coordinate and a fourth corner point coordinate;
the correcting according to the parking space angular point coordinate to acquire a parking point coordinate comprises the following steps:
determining the average length of the parking space, the average width of the parking space and the central coordinate of the parking space according to the first angular point coordinate, the second angular point coordinate, the third angular point coordinate and the fourth angular point coordinate;
determining a parking space deflection angle according to the first angular point coordinate and the second angular point coordinate;
determining the parking space center position and pose according to the parking space center coordinates and the parking space deflection angle;
determining corrected parking space angular point coordinates according to the parking space center pose, the average parking space length and the average parking space width;
acquiring the front overhang length, the rear overhang length and the wheelbase of the vehicle body;
and determining a parking point coordinate according to the front overhang length of the vehicle body, the rear overhang length of the vehicle body, the wheelbase of the vehicle body and the corrected parking spot angular point coordinate.
Optionally, the planning a first parking path according to the vehicle start position coordinate point and the parking point coordinate, and acquiring a first parking path end point coordinate includes:
establishing a first relative coordinate system with the coordinate of the docking point as an original point;
determining a first parking path end point according to the first relative coordinate system;
and converting the first parking path end point into an original coordinate system to obtain a first parking path end point coordinate.
Optionally, the first vehicle body parameter comprises: the coordinate of the end point of the vehicle body and the width of the vehicle body;
the planning a second parking path and acquiring a second parking path end coordinate according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path end coordinate and the first vehicle body parameter comprises the following steps:
establishing a second relative coordinate system with the first parking path terminal point coordinate as an origin;
converting the parking space angular point coordinates into a second relative coordinate system;
determining parameters of an intersection point, a central angle and a radius according to the parking space corner coordinates and the vehicle body endpoint coordinates;
determining a parameter equation of a circle according to the width of the vehicle body, the coordinates of the end point of the first parking path, the radius parameter and the intersection point;
determining the end point of a second parking path according to the central angle and the parameter equation of the circle;
and converting the second parking path end point into an original coordinate system to obtain a second parking path end point coordinate.
Optionally, the first vehicle body parameter comprises: the length of a front overhang of the vehicle, the width of the vehicle, the length of a rear overhang of the vehicle, the wheelbase of the vehicle and the maximum rotation angle of a front wheel;
the planning a third parking path according to the radar parameter, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring a third parking path end point coordinate includes:
obtaining radar updated obstacle point information and obtaining obstacle point coordinates;
determining a path track according to the second parking path terminal point coordinate, the vehicle front overhang length, the vehicle width, the vehicle rear overhang length, the vehicle wheelbase and the maximum corner of the front wheel;
judging whether the coordinates of the obstacle points fall on a path track or not;
if the obstacle point coordinates do not fall on the path track, acquiring third parking path end point coordinates according to a normal flow;
and if the obstacle point coordinate falls on the path track, determining the position coordinate of the central point of the rear axle of the vehicle according to the rear overhang length of the vehicle, the wheel base of the vehicle and the maximum corner of the front wheel, and determining the terminal point coordinate of a third parking path according to the position coordinate of the central point of the rear axle of the vehicle and the initial position coordinate point of the vehicle.
Optionally, the obtaining of the coordinates of the end point of the third parking path according to the normal flow includes:
acquiring the coordinates of the terminal point of a to-be-determined third parking path according to the coordinate point of the initial position of the vehicle, the maximum rotation angle of the front wheel and the wheel base of the vehicle;
judging whether the y value of the coordinate of the end point of the path to be determined for the third parking is smaller than or equal to the y value of the coordinate point of the starting position of the vehicle, if so, setting the coordinate of the end point of the path to be determined for the third parking as the coordinate of the end point of the path to be determined for the third parking;
and if the y value of the final point coordinate of the to-be-determined third parking path is larger than or equal to the y value of the coordinate point of the vehicle starting position, determining the front wheel steering angle to obtain the final point coordinate of the third parking path.
In addition, to achieve the above object, the present invention further provides an apparatus for planning a parking space adaptive parking path, including:
the acquisition module is used for acquiring coordinate points of the initial position of the vehicle and acquiring the coordinates of angular points of the parking space;
the planning module is used for correcting according to the parking space angular point coordinates to acquire parking point coordinates;
the planning module is further used for planning a first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and acquiring a first parking path end point coordinate;
the planning module is further used for planning a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking space corner point coordinate, the first parking path end point coordinate and the first vehicle body parameter, and acquiring a second parking path end point coordinate;
the planning module is further used for obtaining radar parameters, planning a third parking path according to the radar parameters, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and obtaining a third parking path end point coordinate;
the planning module is further used for determining a fourth parking path according to the coordinate point of the vehicle starting position and the coordinate of the third parking path end point;
the control module is used for determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
and the control module is also used for parking the vehicle into the parking space according to the whole vehicle parking path.
In addition, to achieve the above object, the present invention further provides a vehicle with a vehicle-space adaptive parking path plan, which is configured to implement the method for vehicle-space adaptive parking path plan as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having stored thereon a program for performing an adaptive parking path planning, which when executed by a processor, implements the method for performing the adaptive parking path planning as described above.
The application relates to the technical field of parking space planning, and discloses a parking space self-adaptive parking path planning method, a vehicle and a storage medium, wherein the method comprises the following steps: correcting according to the angular point coordinates of the parking places; planning a first parking path according to the coordinates of the initial position coordinate point and the parking point coordinate of the vehicle; planning a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path terminal point coordinate and the first vehicle body parameter; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path end point coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the coordinates of the third parking path end point; determining a parking path of the whole vehicle according to the four parking paths; and parking the vehicle into the parking space according to the whole vehicle parking path. By obtaining the relevant vehicle body parameters, the parking space is corrected, and the obstacle area is detected by the radar in real time to plan the parking route, so that the parking space identification and detection precision during parking is improved.
Drawings
Fig. 1 is a schematic structural diagram of an on-board adaptive parking route planning apparatus of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic view of a parking space corner point according to an embodiment of the method for planning a parking space adaptive parking route of the present invention;
FIG. 3 is a schematic view of a first parking path world coordinate system according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 4 is a schematic diagram of a first relative coordinate system of a first parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
FIG. 5 is a schematic view of a second parking path world coordinate system according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 6 is a schematic diagram of a second relative coordinate system of a second parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 7 is a schematic view of an obstacle detection world coordinate system according to an embodiment of the method for planning a parking space adaptive parking route of the present invention;
FIG. 8 is a schematic view of a world coordinate system of a third parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
FIG. 9 is a schematic diagram of a third relative coordinate system of a third parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 10 is a schematic diagram illustrating a normal path planning of a third parking path according to an embodiment of the parking space adaptive parking path planning method of the present invention;
fig. 11 is a first type schematic diagram of a fourth parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 12 is a second type of schematic diagram of a fourth parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
fig. 13 is a third schematic diagram of a fourth parking path according to an embodiment of the method for planning a parking space adaptive parking path of the present invention;
FIG. 14 is a flowchart illustrating an overall parking process according to an embodiment of the method for planning the parking space adaptive parking route of the present invention;
fig. 15 is a functional block diagram of a first embodiment of the parking space adaptive parking route planning apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a first embodiment of a method for planning a parking space adaptive parking route according to the present invention.
In a first embodiment, the method for planning the parking space adaptive parking route comprises the following steps:
and S10, acquiring a coordinate point of the initial position of the vehicle and acquiring the coordinates of the corner point of the parking space.
It should be noted that the execution subject of this embodiment is a vehicle path planning control device, which refers to a device for implementing functions of vehicle body parameter acquisition, obstacle avoidance, segment path planning, parking control, and the like, and may also be other devices having the same or similar functions, which is not limited in this embodiment. In this embodiment, a vehicle route planning control apparatus is taken as an example for explanation.
It is understood that the vehicle starting position coordinate point refers to the coordinate of the vehicle starting position determined in the world coordinate system established before the vehicle to be parked determines the parking space. The parking space angular point coordinates refer to four angular point coordinates of a parking space shape determined in the established world coordinate system.
Further, step S10 includes: creating a parking path world coordinate system; acquiring a time synchronization image according to a fish-eye lens of a vehicle body, and splicing the time synchronization image to acquire an annular view; processing the ring view through a parking space identification model to obtain the angular point position of the parking space; and determining the position coordinates of the parking place angular points according to the parking path world coordinate system.
It should be noted that, the parking path world coordinate system refers to that the parking path needs to be determined by taking the world coordinate system as a reference coordinate system in the subsequent path planning process. The time synchronization image refers to a parking space scene image obtained at the current time. The ring view refers to an image to which the time-synchronized images are stitched after being acquired. The parking space identification model is a convolutional neural network model for carrying out angular point coordinate identification, and is used for inputting an image acquired by a fisheye lens into the model and carrying out depth identification to obtain parking space angular point coordinates mapped in a world coordinate system.
In a specific implementation, as shown in fig. 2, fig. 2 is a schematic view of a parking space corner point according to an embodiment of the method for planning a parking space adaptive parking path of the present invention, after a vertical parking program is started, a world coordinate system O _ w of the parking path is determined, then time-synchronized images Img _1, img _2, img _3, and Img _4acquired through four fish-eye lenses at the front, rear, left, and right of a vehicle body are spliced to form a ring view, and the generated ring view is processed by a parking space identification model to obtain coordinates of four corner positions of a row of identified parking spaces; after the target parking space is selected, the coordinates A (x, y), B (x, y), C (x, y) and D (x, y) of the four corner points of the target parking space in the world coordinate system are determined.
And S20, correcting according to the parking space corner coordinates to acquire parking point coordinates.
It should be noted that the parking point coordinate refers to a final position coordinate of the vehicle after parking in the parking space. The correction according to the parking space angular point coordinates refers to that the corrected parking space center which needs to be parked finally is determined through the four angular point coordinates.
It should be understood that the correction of the coordinates of the parking space corner points is to determine that the vehicle is finally parked, so that the vehicle is precisely parked in the parking space, and the detection accuracy of the parking space is improved. In this embodiment, the reverse route is planned by using the final parking point as a starting point, and forward parking is performed by using the reverse planned route.
Further, step S10 includes: the correcting according to the parking space angular point coordinate to acquire a parking point coordinate comprises the following steps: determining the average length of the parking space, the average width of the parking space and the central coordinate of the parking space according to the first angular point coordinate, the second angular point coordinate, the third angular point coordinate and the fourth angular point coordinate; determining a parking space deflection angle according to the first angular point coordinate and the second angular point coordinate; determining the parking space center pose according to the parking space center coordinates and the parking space deflection angle; determining corrected parking space angular point coordinates according to the parking space center pose, the average parking space length and the average parking space width; acquiring the front overhang length, the rear overhang length and the wheelbase of the vehicle body; and determining a parking point coordinate according to the front overhang length of the vehicle body, the rear overhang length of the vehicle body, the wheelbase of the vehicle body and the corrected parking spot angular point coordinate.
It should be noted that the average parking space length refers to an average length obtained from a long side according to a parking space angular point, the average parking space width refers to an average length obtained from a short side according to a parking space angular point, the center parking space coordinate refers to a center parking space coordinate obtained through calculation of angular point coordinates, and the deflection angle of the parking space refers to a correct angle of the parking space which needs to be corrected. The vehicle body wheelbase refers to the distance between the axes of the front axle and the rear axle of the vehicle, the vehicle body front overhang length refers to the distance from the foremost end of the vehicle to the axis of the front axle, and the vehicle body rear overhang length refers to the distance from the rearmost end of the vehicle to the axis of the rear axle.
In the specific implementation, the parking space center pose needs to be obtained through the angle point, and then the corrected parking space angle point coordinates are obtained according to the center pose, for example: firstly, coordinates A, B, C and D of four parking space corner points are obtained, and four side lengths, dist _ AB, dist _ BC, dist _ CD and dist _ DA of the identified parking spaces are calculated according to the coordinates A, B, C and D. Calculating the average value of the two short sides, namely the average width avg _ dist _ width of the parking space, and the average value of the two long sides, namely the average length avg _ dist _ length of the parking space; calculating a parking space deflection angle according to the coordinates A and B, and calculating a parking space center coordinate SC (x, y) according to the coordinates A, B, C and D; and obtaining a parking space center pose SCP (x, y, angle) based on the SC and angle. And calculating coordinates A, B, C and D of the corrected parking space angle point based on the SCP, avg _ dist _ width and avg _ dist _ length. And after the corrected parking space angular point coordinates are obtained, calculating parking point coordinates G (x, y, theta) of the parking space according to the front overhang length, the rear overhang length and the wheelbase of the vehicle body.
And S30, planning a first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and acquiring a first parking path end point coordinate.
It should be noted that the vehicle start position coordinate point refers to a coordinate at which the vehicle is parked outside the parking space.
It should be understood that the first parking path refers to a first parking path that is planned with the obtained parking point coordinates as a starting point. The first parking path is spliced with the second parking path, the third parking path and the fourth parking path to form a whole vehicle path, so that the whole vehicle can be parked.
Further, step S30 includes: establishing a first relative coordinate system with the coordinate of the docking point as an original point; determining a first parking path end point according to the first relative coordinate system; and converting the first parking path end point into an original coordinate system to obtain a first parking path end point coordinate.
It should be noted that the first relative coordinate system refers to a transformation coordinate system with the origin of the parking point coordinate as an origin, and is different from the origin of the world coordinate system, and the first relative coordinate system is established to obtain the end point of the first parking path, so that the first parking path is planned more clearly.
In a specific implementation, as shown in fig. 3, fig. 3 is a schematic view of a world coordinate system of a first parking path according to the present invention, where S is a determined coordinate of a starting point of a vehicle, and the first parking planned path is a path from G to G1. As shown in fig. 4, fig. 4 is a schematic diagram of a first relative coordinate system of a first parking path according to the present invention, which transforms G from a world coordinate system O _ w to a first relative coordinate system O _ G with G as an origin; the path growth direction is the positive direction of the x axis of the O _ G coordinate system, the growth length interval is [0,0.2], the G1 coordinate under the O _ G coordinate system is determined by taking meters as a unit, the G1 coordinate is converted into the O _ w coordinate system, and then the first planned path of the world coordinate system O _ w is obtained.
And S40, planning a second parking path according to the direction of the parking point coordinate relative to the vehicle body, the parking point corner coordinate, the first parking path end point coordinate and the first vehicle body parameter, and acquiring a second parking path end point coordinate.
It should be noted that the parking point coordinate is relative to the vehicle body direction, which means that a maximum rotation angle of a front wheel needs to be obtained during the second parking path planning, and the steering angle is the parking point coordinate relative to the vehicle body direction. The first vehicle body parameter refers to the coordinates of the end point of the vehicle body and the width of the vehicle body
It should be understood that the second parking path refers to a second parking path that is planned starting from the obtained coordinates of the end point of the first parking path.
Further, step S40 includes: establishing a second relative coordinate system with the first parking path terminal point coordinate as an origin; converting the coordinates of the parking space angular points into a second relative coordinate system; determining parameters of an intersection point, a central angle and a radius according to the parking space angular point coordinates and the vehicle body endpoint coordinates; determining a parameter equation of a circle according to the width of the vehicle body, the coordinates of the end point of the first parking path, the radius parameter and the intersection point; determining the end point of a second parking path according to the central angle and the parameter equation of the circle; and converting the second parking path end point into an original coordinate system to obtain a second parking path end point coordinate.
It should be noted that the second relative coordinate system refers to a second relative coordinate system that is established with the first parking path end point as the origin. In an implementation, as shown in fig. 5, fig. 5 is a schematic diagram of a world coordinate system of a second parking path according to the present invention, and the first parking planned path is a path from G1 to G2. As shown in fig. 6, fig. 6 is a schematic diagram of a second relative coordinate system of the second parking path according to the present invention, which converts G1 from the world coordinate system O _ w to a relative coordinate system O _ G1 with G1 as the origin; meanwhile, the parking space angular point B is also converted into O _ g1; in O _ G1, calculating a body end point RS (x, y) on the same y axis as G1; establishing a straight line equation F _ RS _ B which is perpendicular to the two points and passes through the central point of the connecting line of the two points based on the RS and the B; calculating the intersection coordinates CP (x, y) of the two straight lines based on the equation F _ rs _ b of the straight line and the y-axis equation y = 0 of O _ g1; based on RS and B, the CP establishes a parameter equation F _ RS _ c2 of a circle which passes through the RS and B and has the center of the circle as the CP; based on F _ RS _ c2, obtaining the radius R _ RS _ c2 of the circle, and obtaining the central angle t _ RS _ B corresponding to the ARC _ RS _ B of the ARC clamped by RS and B; through vehicle body parameters: half of the width of the vehicle body, G1, R _ rs _ c2 and CP (x, y) establish a parameter equation F _ G1_ c2 of a circle which passes through G1 and has a center of the CP; through t _ rs _ b, a point G2 (x, y) on the circle F _ G1_ c2 is obtained, the G2 coordinate is converted into an O _ w coordinate system, and Path2 is obtained by taking G2 as the end point coordinate of the second parking Path.
And S50, acquiring a radar parameter, planning a third parking path according to the radar parameter, the coordinate point of the initial position of the vehicle, the coordinate of the end point of the second parking path and the first vehicle body parameter, and acquiring the coordinate of the end point of the third parking path.
The radar parameter refers to the obstacle area coordinates obtained when the vehicle passes through the radar device and detects an obstacle.
It should be understood that the third parking path refers to a third parking path that is planned starting from the obtained coordinates of the end point of the second parking path. When the third parking path is planned, because the vehicle in the path completely breaks away from the parking space range, the information of obstacles around the parking space needs to be detected so as to prevent accidents such as collision, scratch and the like when the vehicle is parked.
Further, step S50 includes: obtaining radar updated obstacle point information and obtaining obstacle point coordinates; determining a path track according to the second parking path terminal coordinate, the vehicle front overhang length, the vehicle width, the vehicle rear overhang length, the vehicle wheelbase and the maximum corner of the front wheel; judging whether the coordinates of the obstacle points fall on a path track or not; if the coordinates of the obstacle points do not fall on the path track, acquiring coordinates of a third parking path end point according to a normal flow; and if the coordinates of the obstacle points fall on the path track, determining the coordinates of the position of the central point of the rear axle of the vehicle according to the rear overhang length of the vehicle, the wheel base of the vehicle and the maximum rotation angle of the front wheel, and determining the coordinates of the terminal point of the third parking path according to the coordinates of the position of the central point of the rear axle of the vehicle and the coordinates of the initial position of the vehicle.
It should be understood that, when planning the third parking path, it is necessary to detect whether an obstacle area exists on the parking path in real time, and if an obstacle area exists, it is necessary to adaptively adjust the planned route of the third parking path, so that the normal parking path calculation G3 and the path planning in the case of an obstacle exist in another way.
In a specific implementation, as shown in fig. 7, fig. 7 is a schematic view of a world coordinate system for obstacle detection according to the present invention; the method comprises the steps that according to obstacle point coordinates OBS _1 (x, y), OBS _2 (x, y) and OBS _ n (x, y) detected by radar, the obstacle point coordinates are mapped to an O _ w coordinate system after being expanded, and an obstacle point or an area is formed. As shown in fig. 8, fig. 8 is a schematic diagram of a third parking path planning of the present invention, wherein a path from G2 to G3 is a third parking path to be planned in the present invention, and first a parameter equation F _ FLC _ circle of a circle passing through a corner FLC in the front left of a vehicle body contour needs to be established; judging whether the OBS _ a is on a track formed by the F _ flc _ circle or not based on the F _ flc _ circle and a series of obstacle coordinate points OBS _ i (x, y), wherein i belongs to [0, n ], and if not, calculating G3 according to a normal flow; if yes, setting the coordinates of the OBS _ a as the coordinates of the FLC, and calculating the central coordinate point pose G _ OBS _ a (x, y, theta) of the rear axle of the vehicle at the moment based on the FLC; converting A, B and OBS _ i to an O _ G _ OBS _ a coordinate system with G _ OBS _ a as an origin; as shown in fig. 9, fig. 9 is a schematic diagram of a third relative coordinate system of a third parking path according to the present invention, wherein the vehicle body parameters: establishing a linear two-point equation F _ RLC _ RRC of a tail left corner point RLC and a tail right corner point RRC of the vehicle body under an O _ g _ obs coordinate system; under an O _ g _ obs coordinate system, through CG _ obs _ left, based on through vehicle body parameters: the vehicle wheel base L _ wb, the maximum rotation angle ɸ _ max of the front wheel, the calculated minimum steering radius R _ min and a parameter equation F _ cg _ obs _ left of a circle are established; solving an intersection point R _ CROSS based on the F _ rlc _ rrc and the F _ cg _ obs _ left; then, the circle center angle theta _ r _ cross corresponding to the ARC _ r _ cross _ cg _ obs _ left is solved; solving R _ a based on A, CG _ obs _ left under an O _ CG _ obs _ left coordinate system; g _ OBS _ b can be obtained based on R _ a, R _ min and ARC _ R _ cross _ cg _ OBS _ left, and the point is the position of the central point of the rear axle of the vehicle when the tail of the vehicle is about to collide with an obstacle OBS _ b, and the G _ OBS _ b is projected under a world coordinate system O _ w; calculating G3 based on the S, the left rotation circle center coordinate point, CG _ obs _ left and G _ obs _ a (x, y), so that the G3 direction is parallel to the S direction; based on the right-hand rotation center coordinate point CG _ obs _ b (x, y), G3 is calculated such that the G3 direction is parallel to the s direction. And repeating the obstacle avoidance logic until a proper G3 is calculated, and taking the G3 as the end point coordinate of the second parking Path to obtain Path3.
Further, in step S50, if the coordinates of the obstacle point do not fall on the path trajectory, acquiring coordinates of an end point of a third parking path according to a normal flow, including: acquiring coordinates of an end point of a to-be-determined third parking path according to a coordinate point of the initial position of the vehicle, the maximum corner of the front wheel and the wheel base of the vehicle; judging whether the y value of the destination coordinate of the to-be-determined third parking path is less than or equal to the y value of the coordinate point of the vehicle starting position or not, if so, setting the destination coordinate of the to-be-determined third parking path as the destination coordinate of the third parking path; and if the y value of the final point coordinate of the to-be-determined third parking path is larger than the y value of the coordinate point of the vehicle starting position, determining the front wheel steering angle to obtain the final point coordinate of the third parking path.
The y value of the third parking route end point coordinate is the y value of the G3 point in the world coordinate system. The y value of the vehicle start coordinate refers to the y value of the vehicle S point coordinate.
It should be understood that before the end coordinate of the third parking path is obtained, it should be determined whether the end coordinate y value of the pending third parking path is greater than the vehicle start coordinate y value, because if the end coordinate y value of the third parking path is greater than the vehicle start coordinate y value, the steering angle of the vehicle is incorrect, which is likely to cause trouble in planning the fourth path. It is therefore necessary to confirm the end point coordinate y value of the third parking path.
In a specific implementation, as shown in fig. 10, fig. 10 is a schematic diagram of a normal path planning of a third parking path according to the present invention, and an ARC _ ɸ _ max with an end point parallel to the S direction is planned in an O _ w coordinate system, where the end point coordinate is G3_ ɸ _ max (x, y, theta); comparing the y coordinate values of G3_ ɸ _ max and S, and if the y value of G3_ ɸ _ max is less than or equal to the y value of S, setting the third-stage parking path end point G3 to be G3_ ɸ _ max; if the y value of G3_ ɸ _ max is greater than the y value of S, an appropriate front wheel steering angle ɸ _ G3 needs to be determined; establishing a G2-direction straight line point oblique square process F _ G2 passing through G2, establishing an S-direction straight line point oblique square process F _ S _ line passing through S, and solving an intersection point CSG2 (x, y) by using the F _ G2 and the F _ S _ line; and G3 is calculated by using CSG2, G2, F _ s _ line and ɸ _ G3, and Path3 is obtained by taking G3 as the end point coordinate of the second parking Path. The Path3 here is different from the Path3 planning method described above in this embodiment, because the Path3 obtained in this way is obtained in an unobstructed area.
And step S60, determining a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate.
It should be understood that the fourth parking path refers to a fourth parking path that is planned starting from the obtained coordinates of the end point of the third parking path.
Further, step S60 includes: judging whether the y value of the end point coordinate of the third parking path is smaller than the y value of the initial coordinate of the vehicle or not, if so, establishing a first parameter equation passing through the initial coordinate of the vehicle, establishing a second parameter equation passing through the end point coordinate of the third parking path, and determining a fourth parking path according to the first parameter equation and the second parameter equation; if the y value of the terminal coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path; and if the y value of the end point coordinate of the third parking path is larger than the y value of the initial position coordinate of the vehicle, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the end point coordinate of the third parking path, the middle path point and the initial position coordinate point of the vehicle.
It should be understood that when planning the fourth path segment, the path segment needs to be classified into three cases, respectively, when the y value of the end coordinate of the third parking path is equal to, smaller than, and larger than the y value of the start coordinate of the vehicle, because the planned path segment differs in different cases when the steering angle of the vehicle differs.
In a specific implementation, as shown in fig. 11, fig. 11 is a schematic diagram of a path planning of a fourth parking path according to the present invention, where a y value of an end coordinate of the third parking path is equal to a y value of a start coordinate of a vehicle. In this case, the y value of G3 approaches the y value of S, and a straight Path4 from G3 to S is planned. As shown in fig. 12, fig. 12 is a second schematic view of path planning for a fourth parking path according to the present invention, in which when the y value of the end point coordinate of the third parking path is greater than the y value of the start coordinate of the vehicle, it is necessary to obtain the radius R _ S _ ɸ _ max of the circle passing through the point S based on the single vehicle model under the conditions of S and ɸ _ max, calculate the coordinates CS (x, y) of the center of the circle, establish the oblique equation F _ CS of the straight line point passing through the CS using the theta value of S and CS, and at the same time, establish the parameter equation F _ G3 of the circle passing through the point G3G with the center of the circle being CG 3; obtaining CS _ X by using the condition that the Euclidean distance between a point CS _ X (X, y) on F _ CS and CG3 is 2R _ ɸ _ max; the translation amount from CS to CS _ X can be regarded as the translation amount from S to S1, so that S1 is calculated, an ARC curve ARC _ G3_ S1 Path from G3 to S1 is planned, then a straight Path from S1 to S is planned, and a Path4 is obtained, wherein the Path4 refers to a Path from G3 to S1 and then to S. As shown in fig. 13, fig. 13 is a third schematic diagram of path planning of a fourth parking path according to the present invention, in which when the y value of the end point coordinate of the third parking path is smaller than the y value of the start coordinate of the vehicle, a parameter equation F _ S _ circle of a circle passing through point S is established, and its center point coordinate CS (h, k) and radius R _ S _ circle are determined by a straight line equation passing through point S and a vehicle body parameter: determining a maximum front wheel rotation angle ɸ _ max; establishing a parameter equation F _ G3_ circle of a circle passing through a G3 point, wherein the center point coordinates CG3 (a, b) are in the radius of R _ G3_ circle; according to the S and the G3, calculating the distance values Length and Height of the x axis and the y axis of the two points under the world coordinate system O _ w; based on Length, height, R _ s _ circle, the right-angled triangle property formula is combined: the sum of the squares of the two sides is equal to the square of the hypotenuse, i.e.: length ^2+ (R _ s _ circle-Height) ^2 = (R _ s _ circle + R _ g3_ circle) ^2, and R _ g3_ circle can be calculated; a curve Path from G3 to S is planned through S, CS, R _ S _ circle, G3, CG3 and R _ G3_ circle, and Path4 is obtained.
It should be noted that in the second case of path planning, the single vehicle model refers to a kinematic model describing the current state of the vehicle by four state quantities, and in this embodiment, based on the single vehicle model under the condition of S and ɸ _ max, the same steering angles of the left and right tires of the vehicle are combined into one steering angle ɸ _ max, and the coordinates of the four tires are combined into the vehicle start coordinates S (x, y), so that the description of the vehicle movement is more accurate and the tracking control effect on the vehicle is improved by the simplified single vehicle model.
And step S70, determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path.
It should be understood that the planned path is not established independently, and four paths need to be merged and planned to obtain a parking path of the whole vehicle so as to park the vehicle. As shown in fig. 14, fig. 14 is an overall parking flowchart of the present invention, which is implemented by identifying the parking space corner points, correcting the parking space corner points, creating a world coordinate system, that is, a local space map, planning four routes, and planning a third route, where a radar is required to detect obstacles, so as to adopt a circular obstacle avoidance strategy. And after the path planning is finished, merging and splicing the paths to obtain a whole vehicle path, wherein the whole vehicle path is used as a parking path, and the coordinates of the starting point and the ending point of the path are reversely planned when the vehicle is reversely parked.
And S80, parking the vehicle into the parking space according to the whole vehicle parking path.
It should be understood that the vehicle parking path obtained after the four-segment path splicing can be used as a parking path for parking in and a parking path for parking out.
In the embodiment, the correction is carried out according to the coordinates of the corner points of the parking spaces; planning a first parking path according to the coordinates of the initial position coordinate point and the parking point coordinate of the vehicle; planning a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path terminal point coordinate and the first vehicle body parameter; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path end point coordinates and the first vehicle body parameters; determining a fourth parking path according to the vehicle starting position and the coordinates of the third parking path end point; determining a parking path of the whole vehicle according to the four parking paths; and parking the vehicle into the parking space according to the whole vehicle parking path. By obtaining the relevant vehicle body parameters, the parking space is corrected, and the obstacle area is detected by the radar in real time to plan the parking route, so that the parking space identification and detection precision during parking is improved.
In addition, the embodiment of the invention also provides a vehicle, and the vehicle realizes the steps of the parking space self-adaptive parking route planning method.
Since the vehicle adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Furthermore, an embodiment of the present invention further provides a storage medium having an parking space adaptive parking path planning program stored thereon, where the parking space adaptive parking path planning program implements the steps of the parking space adaptive parking path planning method as described above when executed by a processor.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 15, an embodiment of the present invention further provides an apparatus for planning an adaptive parking route, including:
the acquisition module 10 is configured to acquire coordinate points of an initial position of a vehicle and acquire coordinates of corner points of a parking space;
the planning module 20 is configured to correct the parking spot corner coordinates to obtain parking spot coordinates;
the planning module 20 is further configured to plan a first parking path according to the vehicle starting position coordinate point and the parking point coordinate, and obtain a first parking path end point coordinate;
the planning module 20 is further configured to plan a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path end point coordinate and the first vehicle body parameter, and obtain a second parking path end point coordinate;
the planning module 20 is further configured to obtain a radar parameter, plan a third parking path according to the radar parameter, a vehicle start position coordinate point, the second parking path end point coordinate, and the first vehicle body parameter, and obtain a third parking path end point coordinate;
the planning module 20 is further configured to determine a fourth parking path according to the vehicle starting position coordinate point and the third parking path end point coordinate;
the parking module 30 is configured to determine a parking path of the entire vehicle according to the first parking path, the second parking path, the third parking path, and the fourth parking path;
the parking module 30 is further configured to park the vehicle into the parking space according to the vehicle parking path.
The embodiment corrects according to the coordinates of the angular points of the parking spaces; planning a first parking path according to the coordinates of the initial position coordinate point and the parking point coordinate of the vehicle; planning a second parking path according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path terminal point coordinate and the first vehicle body parameter; planning a third parking path according to the radar parameters, the vehicle starting coordinates, the second parking path end point coordinates and the first vehicle body parameters; determining a fourth parking path according to the coordinates of the starting position of the vehicle and the ending point of the third parking path; determining a parking path of the whole vehicle according to the four parking paths; and parking the vehicle into the parking space according to the whole vehicle parking path. By obtaining the relevant vehicle body parameters, the parking space is corrected, and the obstacle area is detected by the radar in real time to plan the parking route, so that the parking space identification and detection precision during parking is improved.
In this embodiment, the obtaining module 10 is further configured to create a parking path world coordinate system; acquiring a time synchronization image according to a fish-eye lens of a vehicle body, and splicing the time synchronization image to acquire an annular view; processing the ring view through a parking space identification model to obtain the angular point position of the parking space; and determining the position coordinates of the parking place angular points according to the parking path world coordinate system.
In this embodiment, the planning module 20 is further configured to determine an average parking space length, an average parking space width, and a central parking space coordinate according to the first angular point coordinate, the second angular point coordinate, the third angular point coordinate, and the fourth angular point coordinate; determining a parking space deflection angle according to the first angular point coordinate and the second angular point coordinate; determining the parking space center pose according to the parking space center coordinates and the parking space deflection angle; determining corrected parking space angular point coordinates according to the parking space center pose, the average parking space length and the average parking space width; acquiring the front overhang length, the rear overhang length and the wheelbase of the vehicle body; and determining a parking point coordinate according to the front overhang length of the vehicle body, the rear overhang length of the vehicle body, the wheelbase of the vehicle body and the corrected parking space angular point coordinate.
In this embodiment, the planning module 20 is further configured to establish a first relative coordinate system with the docking point coordinate as an origin; determining a first parking path end point according to the first relative coordinate system; and converting the first parking path end point into an original coordinate system to obtain a first parking path end point coordinate.
In this embodiment, the planning module 20 is further configured to establish a second relative coordinate system with the first parking path endpoint coordinate as an origin; converting the coordinates of the parking space angular points into a second relative coordinate system; determining parameters of an intersection point, a central angle and a radius according to the parking space angular point coordinates and the vehicle body endpoint coordinates; determining a parameter equation of a circle according to the width of the vehicle body, the coordinates of the end point of the first parking path, the radius parameter and the intersection point; determining the end point of a second parking path according to the central angle and the parameter equation of the circle; and converting the second parking path end point into an original coordinate system to obtain a second parking path end point coordinate.
In this embodiment, the planning module 20 is further configured to obtain radar update obstacle point information and obtain an obstacle point coordinate; determining a path track according to the second parking path terminal point coordinate, the vehicle front overhang length, the vehicle width, the vehicle rear overhang length, the vehicle wheelbase and the maximum corner of the front wheel; judging whether the coordinates of the obstacle points fall on a path track or not; if the coordinates of the obstacle points do not fall on the path track, acquiring coordinates of a third parking path end point according to a normal flow; and if the coordinates of the obstacle points fall on the path track, determining the coordinates of the position of the central point of the rear axle of the vehicle according to the rear overhang length of the vehicle, the wheel base of the vehicle and the maximum rotation angle of the front wheel, and determining the coordinates of the terminal point of the third parking path according to the coordinates of the position of the central point of the rear axle of the vehicle and the coordinates of the initial position of the vehicle.
In this embodiment, the planning module 20 is further configured to obtain a coordinate of an end point of a to-be-determined third parking path according to a coordinate point of a starting position of the vehicle, the maximum rotation angle of the front wheel, and the vehicle wheel base; judging whether the y value of the destination coordinate of the to-be-determined third parking path is less than or equal to the y value of the coordinate point of the vehicle starting position or not, if so, setting the destination coordinate of the to-be-determined third parking path as the destination coordinate of the third parking path;
and if the y value of the final point coordinate of the to-be-determined third parking path is larger than the y value of the coordinate point of the vehicle starting position, determining the front wheel steering angle to obtain the final point coordinate of the third parking path.
In this embodiment, the planning module 20 is further configured to determine whether a y value of an end point coordinate of the third parking path is smaller than a y value of an initial coordinate of the vehicle, establish a first parameter equation passing through the initial coordinate of the vehicle, establish a second parameter equation passing through the end point coordinate of the third parking path, and determine a fourth parking path according to the first parameter equation and the second parameter equation; if the y value of the terminal coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path; and if the y value of the end point coordinate of the third parking path is larger than the y value of the initial coordinate of the vehicle, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the end point coordinate of the third parking path, the middle path point and the initial position coordinate point of the vehicle.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the method for planning the parking lot adaptive parking route provided by any embodiment of the present invention, and are not described herein again.
Other embodiments or methods of implementing the adaptive parking route planning apparatus of the present invention can be found in the above embodiments, and are not redundant.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another like element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, an all-in-one platform workstation, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for planning an on-board adaptive parking route, the method comprising:
acquiring a coordinate point of a starting position of a vehicle, and acquiring a coordinate of a corner point of a parking space;
correcting according to the parking spot angular point coordinates to obtain parking spot coordinates;
planning a first parking path according to the coordinate point of the vehicle starting position and the coordinate of the parking point, and acquiring a coordinate of a first parking path terminal point;
planning a second parking path according to the direction of the parking point coordinate relative to the vehicle body, the parking point corner coordinate, the first parking path end point coordinate and the first vehicle body parameter, and acquiring a second parking path end point coordinate;
obtaining a radar parameter, planning a third parking path according to the radar parameter, a vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and obtaining a third parking path end point coordinate;
determining a fourth parking path according to the coordinate point of the starting position of the vehicle and the coordinate of the end point of the third parking path;
determining a whole vehicle parking path according to the first parking path, the second parking path, the third parking path and the fourth parking path;
and parking the vehicle into the parking space according to the whole vehicle parking path.
2. The method of claim 1, wherein obtaining vehicle starting position coordinates and obtaining vehicle corner coordinates comprises:
creating a parking path world coordinate system;
acquiring a time synchronization image according to a fish-eye lens of a vehicle body, and splicing the time synchronization image to acquire an annular view;
processing the ring view through a parking space identification model to obtain the angular point position of the parking space;
and determining the position coordinates of the parking place angular points according to the parking path world coordinate system.
3. The method of claim 1, wherein the parking point coordinates comprise: a first corner point coordinate, a second corner point coordinate, a third corner point coordinate and a fourth corner point coordinate;
the correcting according to the parking space angular point coordinate to acquire a parking point coordinate comprises the following steps:
determining the average length of the parking space, the average width of the parking space and the central coordinate of the parking space according to the first angular point coordinate, the second angular point coordinate, the third angular point coordinate and the fourth angular point coordinate;
determining a parking space deflection angle according to the first angular point coordinate and the second angular point coordinate;
determining the parking space center pose according to the parking space center coordinates and the parking space deflection angle;
determining corrected parking space angular point coordinates according to the parking space center pose, the average parking space length and the average parking space width;
acquiring the front overhang length, the rear overhang length and the wheelbase of the vehicle body;
and determining a parking point coordinate according to the front overhang length of the vehicle body, the rear overhang length of the vehicle body, the wheelbase of the vehicle body and the corrected parking spot angular point coordinate.
4. The method of claim 1, wherein said planning a first parking path based on said vehicle start location coordinate point and said parking point coordinates and obtaining first parking path end point coordinates comprises:
establishing a first relative coordinate system with the coordinate of the docking point as an original point;
determining a first parking path end point according to the first relative coordinate system;
and converting the first parking path end point into an original coordinate system to obtain a first parking path end point coordinate.
5. The method of claim 1, wherein the first vehicle body parameter comprises: the coordinate of the end point of the vehicle body and the width of the vehicle body;
the planning a second parking path and acquiring a second parking path end coordinate according to the parking point coordinate relative to the vehicle body direction, the parking point corner coordinate, the first parking path end coordinate and the first vehicle body parameter comprises the following steps:
establishing a second relative coordinate system with the first parking path terminal point coordinate as an origin;
converting the parking space angular point coordinates into a second relative coordinate system;
determining parameters of an intersection point, a central angle and a radius according to the parking space angular point coordinates and the vehicle body endpoint coordinates;
determining a parameter equation of a circle according to the width of the vehicle body, the coordinates of the end point of the first parking path, the radius parameter and the intersection point;
determining the end point of a second parking path according to the central angle and the parameter equation of the circle;
and converting the second parking path end point into an original coordinate system to obtain a second parking path end point coordinate.
6. The method of claim 1, wherein the first vehicle body parameter comprises: the length of a front overhang of the vehicle, the width of the vehicle, the length of a rear overhang of the vehicle, the wheelbase of the vehicle and the maximum rotation angle of a front wheel;
the planning a third parking path according to the radar parameter, the vehicle starting position coordinate point, the second parking path end point coordinate and the first vehicle body parameter, and acquiring a third parking path end point coordinate includes:
obtaining radar updated obstacle point information and obtaining obstacle point coordinates;
determining a path track according to the second parking path terminal point coordinate, the vehicle front overhang length, the vehicle width, the vehicle rear overhang length, the vehicle wheelbase and the maximum corner of the front wheel;
judging whether the coordinates of the obstacle points fall on a path track or not;
if the coordinates of the obstacle points do not fall on the path track, acquiring coordinates of a third parking path end point according to a normal flow;
and if the coordinates of the obstacle points fall on the path track, determining the coordinates of the position of the central point of the rear axle of the vehicle according to the rear overhang length of the vehicle, the wheel base of the vehicle and the maximum rotation angle of the front wheel, and determining the coordinates of the terminal point of the third parking path according to the coordinates of the position of the central point of the rear axle of the vehicle and the coordinates of the initial position of the vehicle.
7. The method of claim 6, wherein said obtaining third parking path endpoint coordinates from a normal flow comprises:
acquiring the coordinates of the terminal point of a to-be-determined third parking path according to the coordinate point of the initial position of the vehicle, the maximum rotation angle of the front wheel and the wheel base of the vehicle;
judging whether the y value of the destination coordinate of the to-be-determined third parking path is less than or equal to the y value of the coordinate point of the vehicle starting position or not, if so, setting the destination coordinate of the to-be-determined third parking path as the destination coordinate of the third parking path;
and if the y value of the final point coordinate of the to-be-determined third parking path is larger than the y value of the coordinate point of the vehicle starting position, determining the front wheel steering angle to obtain the final point coordinate of the third parking path.
8. The method of claim 1 wherein said determining a fourth parking path based on said vehicle start location coordinate point and said third parking path endpoint coordinates comprises:
judging whether the y value of the end point coordinate of the third parking path is smaller than the y value of the initial coordinate of the vehicle or not, if so, establishing a first parameter equation passing through the initial coordinate of the vehicle, establishing a second parameter equation passing through the end point coordinate of the third parking path, and determining a fourth parking path according to the first parameter equation and the second parameter equation;
if the y value of the terminal coordinate of the third parking path is equal to the y value of the initial coordinate of the vehicle, directly determining a fourth parking path;
and if the y value of the end point coordinate of the third parking path is larger than the y value of the initial position coordinate of the vehicle, determining a middle path point according to the single vehicle model, and determining a fourth parking path according to the end point coordinate of the third parking path, the middle path point and the initial position coordinate point of the vehicle.
9. A vehicle characterized in that the vehicle employs the on-vehicle parking route planning method according to any one of claims 1 to 8.
10. A storage medium having stored thereon a program of an on-board adaptive parking path planning, which when executed by a processor implements the steps of the method of the on-board adaptive parking path planning of any of claims 1 to 8.
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| CN116605211A (en) * | 2023-07-19 | 2023-08-18 | 广汽埃安新能源汽车股份有限公司 | Parking path planning method and device, electronic equipment and storage medium |
| CN117657122A (en) * | 2024-01-19 | 2024-03-08 | 深圳市全景达科技有限公司 | Automatic parking identification method |
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