CN116605211B

CN116605211B - Parking path planning method and device, electronic equipment and storage medium

Info

Publication number: CN116605211B
Application number: CN202310885582.5A
Authority: CN
Inventors: 伊海霞; 高天一; 黄经伟; 张楚
Original assignee: GAC Aion New Energy Automobile Co Ltd
Current assignee: GAC Aion New Energy Automobile Co Ltd
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2023-09-26
Anticipated expiration: 2043-07-19
Also published as: CN116605211A

Abstract

The embodiment of the application provides a parking path planning method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a yaw angle of the vehicle; generating a second ingress path; judging whether the vehicle collides with an obstacle on the second parking path; if not, generating a parking path according to the second parking path; if yes, generating an obstacle avoidance path according to the yaw angle, generating a first parking path, and generating a parking path according to the obstacle avoidance path and the first parking path; by implementing the embodiment, the parking path can be generated when the obstacle exists on the road of the horizontal parking space, and the vehicle is ensured to normally drive into the parking space.

Description

Parking path planning method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of automatic driving, in particular to a parking path planning method, a device, electronic equipment and a storage medium.

Background

The technical scheme of the horizontal parking space parking obstacle avoidance path of the mainstream in the current market is designed aiming at the left and right side edge barriers in the horizontal parking space and the lower edge barrier in the parking space; however, in actual parking conditions, obstacles at the road boundary of the horizontal parking space often obstruct the parking space of the vehicle, and a parking path planning method aiming at the situation is not available in the prior art.

Disclosure of Invention

The embodiment of the application aims to provide a planning method for a parking path, which can generate the parking path when an obstacle exists on a horizontal parking space road and ensure that a vehicle normally enters a parking space.

In a first aspect, an embodiment of the present application provides a parking path planning method, including:

acquiring a yaw angle of the vehicle;

generating a second ingress path;

judging whether the vehicle collides with an obstacle on the second parking path;

if not, generating a parking path according to the second parking path;

if yes, generating an obstacle avoidance path according to the yaw angle, generating a first parking path, and generating a parking path according to the obstacle avoidance path and the first parking path;

the obstacle avoidance path includes: a first obstacle avoidance path and a second obstacle avoidance path; the generating the obstacle avoidance path according to the yaw angle comprises the following steps: if the yaw angle is in a first angle range, generating the first obstacle avoidance path; if the yaw angle is in a second angle range, generating the first obstacle avoidance path, and generating a second obstacle avoidance path according to the first obstacle avoidance path;

the generating a parking path according to the obstacle avoidance path and the first parking path includes: if the yaw angle is in a first angle range, generating a parking path according to the first obstacle avoidance path and the first parking path; if the yaw angle is in a second angle range, generating a parking path according to the second obstacle avoidance path and the first parking path;

The generating a first ingress path includes: generating an eighth gyratory wire, a fourth circular arc line, a ninth gyratory wire, a second straight line section and a tenth gyratory wire, and splicing the eighth gyratory wire, the fourth circular arc line, the ninth gyratory wire, the second straight line section and the tenth gyratory wire to obtain a first initial parking path; adjusting parameters of the first initial parking path until the first initial parking path meets a first preset condition to obtain the first parking path;

the generating a second ingress path comprises: generating a fifth gyratory line, a third circular arc line, a sixth gyratory line, a first straight line segment and a seventh gyratory line, and splicing the fifth gyratory line, the third circular arc line, the sixth gyratory line, the first straight line segment and the seventh gyratory line to obtain a second initial parking path; adjusting parameters of the second initial parking path until the second initial parking path meets a second preset condition to obtain the second parking path;

the obstacle comprises: the first obstacle is opposite to the parking space, and the judging whether the vehicle collides with the obstacle on the second parking path comprises the following steps: acquiring a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on the second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction;

The generating the first obstacle avoidance path includes: generating a first gyratory wire, a first circular arc line, a second gyratory wire, a third gyratory wire, a second circular arc line and a fourth gyratory wire, and splicing the first gyratory wire, the first circular arc line, the second gyratory wire, the third gyratory wire, the second circular arc line and the fourth gyratory wire to obtain the first obstacle avoidance path;

determining a first central angle of a first arc line of the first obstacle avoidance path and a first central angle of a second arc line of the first obstacle avoidance path through the following formula:

；

wherein ,is the first central angle of the first arc line of the first obstacle avoidance path, +.>Is the first central angle of the second arc line of the first obstacle avoidance path, +.>For the distance between the first obstacle avoidance path end point and the parking start point in the second direction, +.>For the minimum turning radius of the vehicle, +.>、/>、/>、/>Is an intermediate parameter->For the gyrate yaw angle +.>Maximum value of limit rotation angle of equivalent center point of front axle, +.>Is the front axle equivalent center point speed, +.>Is the equivalent rotation angle rotation speed of the front axle, < >>For the wheelbase of the vehicle>For a second coordinate of the parking start in a second direction, +.>Is a first coordinate of the parking start point in a first direction.

In the implementation process, an obstacle avoidance path is generated according to the yaw angle, the obstacle is avoided through the obstacle avoidance path, and finally the vehicle completely enters the parking space through the first parking path. Based on the embodiment, the parking path can be generated when the horizontal parking space road has the obstacle, so that the vehicle can be guaranteed to normally drive into the parking space, and meanwhile, the planned parking path has shorter path length and fewer forward and backward movement times of the vehicle on the premise that the vehicle can avoid the obstacle smoothly, so that the driving comfort is guaranteed.

Further, before the generating the second parking path, the method further includes:

if the yaw angle is not 0 degrees, generating an adjustment path so that the yaw angle of the vehicle at the end point of the adjustment path is 0 degrees;

the adjustment path includes: a circular arc line and a convolution line;

and if the yaw angle is larger than 0 degree, acquiring a fourth central angle of the arc line through the following formula:

；

and if the yaw angle is smaller than 0 degree, acquiring a fifth central angle of the arc line through the following formula:

；

wherein ,for yaw angle>Is the absolute value of the yaw angle, +.>Is the fourth central angle of the circular arc line, +.>Is the fifth central angle of the arc line.

Further, the generating a parking path according to the second parking path includes: if the yaw angle is not 0 degrees, generating a parking path according to the adjustment path and the second parking path, and if the yaw angle is 0 degrees, generating a parking path according to the second parking path;

the generating the parking path according to the first obstacle avoidance path and the first parking path includes: if the yaw angle is not 0 degrees, generating a parking path according to the adjustment path, the first obstacle avoidance path and the first parking path, and if the yaw angle is 0 degrees, generating the parking path according to the first obstacle avoidance path and the first parking path;

The generating the parking path according to the second obstacle avoidance path and the first parking path includes: and if the yaw angle is not 0 degrees, generating the parking path according to the adjustment path, the second obstacle avoidance path and the first parking path, and if the yaw angle is 0 degrees, generating the parking path according to the second obstacle avoidance path and the first parking path.

Further, the obstacle avoidance path includes: the generating a second obstacle avoidance path according to the first obstacle avoidance path includes:

re-splicing the multi-segment sub obstacle avoidance paths of the first obstacle avoidance path according to the yaw angle to generate an initial second obstacle avoidance path;

adjusting parameters of the initial second obstacle avoidance path according to the yaw angle to obtain an adjusted initial second obstacle avoidance path;

and generating the second obstacle avoidance path according to the adjusted initial second obstacle avoidance path.

In the implementation process, if the yaw angle is in the second angle range, a second obstacle avoidance path is generated according to the obstacle avoidance path, so that repeated application of the obstacle avoidance path is realized, the program module corresponding to the method is smaller in scale, and the related method is simple and easy to implement and can be applied to vehicle terminals.

Further, the re-splicing the multi-segment sub obstacle avoidance paths of the first obstacle avoidance path according to the yaw angle to generate an initial second obstacle avoidance path, including:

if the absolute value of the yaw angle is smaller than or equal to the sum of the first central angle of the first circular arc of the first obstacle avoidance path and the yaw angle of the convolution line, sequentially splicing the first circular arc, the second convolution line, the third convolution line, the second circular arc and the fourth convolution line of the first obstacle avoidance path to obtain the initial second obstacle avoidance path;

and if the absolute value of the yaw angle is larger than the sum of the first central angle of the first circular arc line of the first obstacle avoidance path and the yaw angle of the convolution line, sequentially splicing the second convolution line, the third convolution line, the second circular arc line and the fourth convolution line of the first obstacle avoidance path to obtain the initial second obstacle avoidance path.

In the implementation process, different combination modes of the multi-section obstacle avoidance paths are set for different conditions related to the yaw angle, so that an initial second obstacle avoidance path is generated, repeated application of the obstacle avoidance path is realized, the program module corresponding to the method is smaller in scale, and the related method is simple and easy to implement and can be applied to a vehicle terminal.

Further, the adjusting the parameter of the initial second obstacle avoidance path according to the yaw angle to obtain an adjusted initial second obstacle avoidance path includes:

if it isObtaining the second central angle of the first arc line of the adjusted initial second obstacle avoidance path and the third central angle of the second arc line of the adjusted initial second obstacle avoidance path through the following formula:

；

if it isObtaining a third central angle of the second arc line of the adjusted initial second obstacle avoidance path through the following formula:

；

wherein ,for the second central angle of the first circular arc of the adjusted initial second obstacle avoidance path, +.>And a third central angle of a second arc line of the adjusted initial second obstacle avoidance path in the adjusted initial second obstacle avoidance path.

In the implementation process, different parameter updating modes are set for different conditions related to the yaw angle, so that an adjusted initial second obstacle avoidance path is generated, repeated application of the obstacle avoidance path is realized, the scale of a program module corresponding to the method is smaller, and the related method is simple and easy to realize and can be applied to a vehicle terminal.

Further, the obstacle includes: a second obstacle, the generating the second obstacle avoidance path according to the adjusted initial second obstacle avoidance path includes:

Obtaining the distance between the nearest track point of a second preset point of the vehicle in a second direction and the second obstacle when the vehicle runs on the adjusted initial second obstacle avoidance path;

judging whether the vehicle collides with the second obstacle or not according to the distance between the nearest track point of the second preset point of the vehicle in the second direction and the second obstacle when the vehicle runs on the adjusted initial second obstacle avoidance path;

if yes, taking the first obstacle avoidance path as the second obstacle avoidance path;

if not, taking the adjusted initial second obstacle avoidance path as the second obstacle avoidance path.

Further, the obtaining the minimum distance between the second preset point of the vehicle and the second obstacle when the vehicle runs along the adjusted initial second obstacle avoidance path includes:

if it isObtaining the distance between the nearest track point of the second preset point of the vehicle in the second direction and the second obstacle when the vehicle runs along the adjusted initial second obstacle avoidance path through the following formula:

；

wherein ,and the distance between the nearest track point of the second preset point of the vehicle in the second direction and the second obstacle is the distance between the nearest track point of the second preset point of the vehicle in the second direction when the vehicle runs along the adjusted initial second obstacle avoidance path.

Further, the first preset point is a left front vertex of the vehicle;

obtaining a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on a fifth swing line through the following formula:

；

obtaining a second coordinate of a first preset point of the vehicle in the second direction when the vehicle runs on the third arc line through the following formula:

；

obtaining a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on the sixth turning line through the following formula:

；

wherein ：

；

in the above-mentioned formula(s),for the length of the rear overhang of the vehicle->For vehicle width>For the length of the vehicle,when the vehicle is driving on the fifth swing line, the rear part of the vehicleA second coordinate of the midpoint of the axis in a second direction; />A second coordinate of the first preset point of the vehicle in the second direction when the vehicle is running on the fifth swing line; />When the vehicle runs on the third arc line, the midpoint of the rear axle of the vehicle is at a second coordinate in a second direction; />For the second coordinates of the first preset point of the vehicle in the second direction when the vehicle is driving on the third arc,/- >For the second coordinate of the midpoint of the rear axle of the vehicle in the second direction when the vehicle is traveling on the sixth swing line, +.>For the second coordinate of the first preset point of the vehicle in the second direction when the vehicle is driving on the sixth swing line,/->For the time of the midpoint of the rear axle of the vehicle at the start of the fifth rotation line, +.>For the current time of the vehicle at the rear axle center on the fifth rotation line, +.>For the time of the rear axle center point of the vehicle at the end of the fifth spin line, +.>The time when the midpoint of the rear axle of the vehicle is at the start point of the third circular arc; />On a third circular arc for the midpoint of the rear axle of the vehicleCurrent time during driving, < >>For the time of the midpoint of the rear axle of the vehicle at the end of the third arc, +.>For the time of the midpoint of the rear axle of the vehicle at the start of the sixth spin, +.>For the current time of the vehicle at the rear axle center on the sixth spin line, +.>For the time of the rear axle center point of the vehicle at the end of the sixth spin line, +.>For the second coordinate of the first preset point of the vehicle in the second direction, at the end point of the fifth turning line, at the midpoint of the rear axle of the vehicle, +.>For the second coordinate of the rear axle center point of the vehicle in the second direction, at the end point of the third circular arc, the rear axle center point of the vehicle >Is the central angle of the third arc line, +.>、/>、/>Is an intermediate variable.

In a second aspect, the present application provides a parking planning apparatus, including:

an acquisition module for acquiring a yaw angle of the vehicle;

the second parking path generation module is used for generating a second parking path;

the collision judging module is used for judging whether the vehicle collides with the obstacle on the second parking path;

the parking path generation module is used for generating a parking path according to the second parking path when the judgment result of the collision judgment module is negative;

the parking path generation module is further used for generating an obstacle avoidance path according to the yaw angle when the judgment result of the collision judgment module is yes, generating a first parking path, and generating a parking path according to the obstacle avoidance path and the first parking path;

the obstacle avoidance path includes: a first obstacle avoidance path and a second obstacle avoidance path; the parking path generation module is further used for generating the first obstacle avoidance path if the yaw angle is in a first angle range; the parking path generation module is further used for generating the first obstacle avoidance path if the yaw angle is in a second angle range, and generating a second obstacle avoidance path according to the first obstacle avoidance path;

The parking path generation module is further configured to generate the parking path according to the first obstacle avoidance path and the first parking path if the yaw angle is within a first angle range; if the yaw angle is in a second angle range, generating a parking path according to the second obstacle avoidance path and the first parking path;

the parking path generation module is further used for generating an eighth gyratory line, a fourth circular arc line, a ninth gyratory line, a second straight line segment and a tenth gyratory line, and splicing the eighth gyratory line, the fourth circular arc line, the ninth gyratory line, the second straight line segment and the tenth gyratory line to obtain a first initial parking path; adjusting parameters of the first initial parking path until the first initial parking path meets a first preset condition to obtain the first parking path;

the second parking path generation module is further configured to generate a fifth spiral line, a third circular arc line, a sixth spiral line, a first straight line segment and a seventh spiral line, and splice the fifth spiral line, the third circular arc line, the sixth spiral line, the first straight line segment and the seventh spiral line to obtain a second initial parking path; adjusting parameters of the second initial parking path until the second initial parking path meets a second preset condition to obtain the second parking path;

The obstacle comprises: the first obstacle, the collision judging module is further used for obtaining the second coordinates of the first preset point of the vehicle in the second direction when the vehicle runs on the second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction;

the parking path generation module is further used for generating a first gyratory wire, a first circular arc, a second gyratory wire, a third gyratory wire, a second circular arc and a fourth gyratory wire, and splicing the first gyratory wire, the first circular arc, the second gyratory wire, the third gyratory wire, the second circular arc and the fourth gyratory wire to obtain the first obstacle avoidance path;

the parking path generation module is further configured to determine a first central angle of a first arc of the first obstacle avoidance path and a first central angle of a second arc of the first obstacle avoidance path by the following formula:

；

wherein ,is the first central angle of the first arc line of the first obstacle avoidance path, +.>Is the first central angle of the second arc line of the first obstacle avoidance path, +.>For the distance between the first obstacle avoidance path end point and the parking start point in the second direction, +.>For the minimum turning radius of the vehicle, +. >、/>、/>、/>Is an intermediate parameter->For the gyrate yaw angle +.>Maximum value of limit rotation angle of equivalent center point of front axle, +.>Is the front axle equivalent center point speed, +.>Is the equivalent rotation angle rotation speed of the front axle, < >>For the wheelbase of the vehicle>For a second coordinate of the parking start in a second direction, +.>Is a first coordinate of the parking start point in a first direction.

In a third aspect, an electronic device provided in an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any of the first aspects when the computer program is executed.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored, which when executed on a computer, cause the computer to perform the method according to any one of the first aspects.

Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.

And can be implemented in accordance with the teachings of the specification, the following detailed description of the preferred embodiments of the application, taken in conjunction with the accompanying drawings.

Drawings

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

Fig. 1 is a schematic flow chart of a parking path planning method according to an embodiment of the present application;

FIG. 2 is a schematic view of a first portion of a parking path provided in an embodiment of the present application;

FIG. 3 is a schematic view of a second portion of a parking path provided in an embodiment of the present application;

FIG. 4 is a schematic view of a third portion of a parking path provided in an embodiment of the present application;

FIG. 5 is a schematic view of a fourth portion of a parking path provided in an embodiment of the present application;

FIG. 6 is a schematic view of a fifth portion of a parking path provided in an embodiment of the present application;

FIG. 7 is a schematic view of a sixth portion of a parking path provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a parking path planning apparatus according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

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

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

Example 1

Referring to fig. 1, an embodiment of the present application provides a parking path planning method, including:

s1: acquiring a yaw angle of the vehicle;

s2: generating a second ingress path;

s3: judging whether the vehicle collides with the obstacle on the second parking path, if not, executing S4, and if so, executing S5;

s4: generating a parking path according to the second parking path;

s5: generating an obstacle avoidance path according to the yaw angle, generating a first parking path, and generating a parking path according to the obstacle avoidance path and the first parking path;

the obstacle avoidance path includes: a first obstacle avoidance path and a second obstacle avoidance path; generating an obstacle avoidance path according to the yaw angle, comprising: if the yaw angle is in the first angle range, a first obstacle avoidance path is generated; if the yaw angle is in the second angle range, a first obstacle avoidance path is generated, and a second obstacle avoidance path is generated according to the first obstacle avoidance path;

Generating a parking path according to the obstacle avoidance path and the first parking path, including: if the yaw angle is in the first angle range, generating a parking path according to the first obstacle avoidance path and the first parking path; if the yaw angle is in the second angle range, generating a parking path according to the second obstacle avoidance path and the first parking path; it is understood that the start point of the first parking path is the end point of the first obstacle avoidance path or the end point of the second obstacle avoidance path.

In the embodiment of the application, the first angle range is greater than or equal to 0 degrees, and the second angle range is less than 0 degrees.

Referring to fig. 2 and 3, in an embodiment of the present application, line segment O ₁ and O₂ As a schematic view of the obstacle, the X axis of the coordinate axis is parallel to the straight line where the edge of the parking space is located, the origin of the coordinate axis is the right lower corner vertex of the parking space, the directions of the X axis and the Y axis are shown by the arrow in FIG. 2, the position of the rear axle of the vehicle at the beginning of parking is the initial parking starting point, and it can be understood that the line segment O ₁ and O₂ Is an abstract representation of an obstacle. O (O) ₁ As a first obstacle, O ₂ For the second obstacle, the first obstacle is far away from the parallel parking space and is opposite to the parallel parking space, the second obstacle is close to one side of the parallel parking space, and the first obstacle O ₁ And a second obstacle O ₂ Opposite to each other. In the embodiment of the application, the first direction is the X-axis direction, the second direction is the Y-axis direction, the first coordinate is the abscissa, and the second coordinate is the ordinate. In some embodiments, the yaw angle may be the angle between a line along which the central axis of the vehicle is located and the X-axis. The yaw angle of the vehicle in fig. 3 is 0 °, and referring to fig. 5, the yaw angle of the vehicle is greater than 0 °, and the yaw angle of the vehicle in fig. 6 is less than 0 °. All paths of the embodiment of the application are the midpoints of the rear axle of the vehicle The running track, that is, the control vehicle runs on the path of the embodiment of the present application, that is, the midpoint of the rear axle of the control vehicle moves along the path of the embodiment of the present application.

It will be appreciated that there are a variety of ways in which the orientation of the vehicle and the coordinate axes may be arranged.

In the embodiment of the application, the obstacle avoidance path is opposite to the component of the traveling direction of the parking path on the X axis.

Referring to fig. 2, a schematic diagram of a first parking path is shown, in which B is a start point of the first parking path and is also an end point of an obstacle avoidance path, and the obstacle avoidance path is the first obstacle avoidance path or the second obstacle avoidance path. Generating a first ingress path comprising: generating an eighth gyratory line L21, a fourth circular arc line L22, a ninth gyratory line L23, a second straight line segment L24 and a tenth gyratory line L25, and splicing the eighth gyratory line L21, the fourth circular arc line L22, the ninth gyratory line L23, the second straight line segment L24 and the tenth gyratory line L25 to obtain a first initial parking path; and adjusting parameters of the first initial parking path until the first initial parking path meets a first preset condition to obtain the first parking path.

In the embodiment of the application, the vehicle starts to run in the state that the steering wheel is aligned, the steering wheel is rotated at a constant speed along a fixed direction in the running process, and when the steering wheel is locked, the running track of the vehicle is the track of the gyratory line. The locus of the spin line is related to the front axle equivalent center point vehicle speed V and the front axle equivalent rotational angle rotational speed ω. The radius of the circular arc line is as follows: minimum turning radius of the vehicle.

In some embodiments, adjusting parameters of the first initial ingress path until the first initial ingress path meets a first preset condition comprises: and adjusting the central angle of the fourth circular arc line L22 so that the end point of the first parking path is positioned in the parking space.

It is understood that the first preset condition is that the end point of the first parking path is located in the parking space.

In some embodiments, the central angle of the fourth arc line may be initially set to a fixed value, and the central angle of the fourth arc line may be adjusted by a preset angle step, so that the end point of the second parking path is located in the parking space.

In some embodiments, the front axle equivalent center vehicle speed V and the front axle equivalent rotational angle rotational speed ω are fixed values set in advance, and are not adjustable.

Referring to fig. 3, a schematic diagram of a second docking path is shown. Generating a second ingress path comprising: generating a fifth gyratory line L1, a third circular arc line L2, a sixth gyratory line L3, a first straight line segment L4 and a seventh gyratory line L5, and splicing the fifth gyratory line L1, the third circular arc line L2, the sixth gyratory line L3, the first straight line segment L4 and the seventh gyratory line L5 to obtain a second initial parking path; and adjusting parameters of the second initial parking path until the second initial parking path meets a second preset condition to obtain a second parking path. It is understood that the start point of the second parking path is the initial parking start point.

In some embodiments, adjusting parameters of the second initial ingress path until the first initial ingress path meets a second preset condition comprises: and adjusting the central angle of the third circular arc line L2 so that the end point of the first parking path is positioned in the parking space.

It is understood that the second preset condition is that the end point of the second parking path is located in the parking space.

In some embodiments, the central angle of the third arc line L2 may be initially set to a fixed value, and the central angle of the third arc line may be adjusted by a preset angle step, so that the end point of the second parking path is located in the parking space.

Determining whether the vehicle collides with the obstacle on the second parking path includes: acquiring a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on a second parking path; and judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinates of the first preset point in the second direction.

Referring to fig. 4, for a schematic diagram of a first obstacle avoidance path, generating the first obstacle avoidance path includes: generating a first spiral line A1, a first circular arc line A2, a second spiral line A3, a third spiral line A4, a second circular arc line A5 and a fourth spiral line A6, and splicing the first spiral line A1, the first circular arc line A2, the second spiral line A3, the third spiral line A4, the second circular arc line A5 and the fourth spiral line A6 to obtain a first obstacle avoidance path.

Determining a first central angle of a first arc line of the first obstacle avoidance path and a first central angle of a second arc line of the first obstacle avoidance path by the following formula:

；

In some embodiments of the present invention, in some embodiments,may be a preset value.

In some embodiments of the present invention, in some embodiments,the distance between the farthest track point of the first preset point of the vehicle in the second direction and the first obstacle in the second direction is the distance between the farthest track point of the first preset point of the vehicle in the second parking path.

In some embodiments, determining whether the vehicle collides with the obstacle on the second docking path includes: acquiring a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on a second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction; the first preset point is the front left vertex FL of the vehicle.

In some embodiments, the second coordinate of the first preset point of the vehicle in the second direction when the vehicle is traveling on the fifth swing line is obtained by the following formula:

；

；/>

wherein ：

；

in the above-mentioned formula(s),for the length of the rear overhang of the vehicle->For vehicle width>For the length of the vehicle,a second coordinate of a midpoint of a rear axle of the vehicle in a second direction when the vehicle is traveling on the fifth swing line; />A second coordinate of the first preset point of the vehicle in the second direction when the vehicle is running on the fifth swing line; / >When the vehicle is running on the third arc line, the rear part of the vehicleA second coordinate of the midpoint of the axis in a second direction; />For the second coordinates of the first preset point of the vehicle in the second direction when the vehicle is driving on the third arc,/->For the second coordinate of the midpoint of the rear axle of the vehicle in the second direction when the vehicle is traveling on the sixth swing line, +.>For the second coordinate of the first preset point of the vehicle in the second direction when the vehicle is driving on the sixth swing line,/->For the time of the midpoint of the rear axle of the vehicle at the start of the fifth rotation line, +.>For the current time of the vehicle at the rear axle center on the fifth rotation line, +.>For the time of the rear axle center point of the vehicle at the end of the fifth spin line, +.>The time when the midpoint of the rear axle of the vehicle is at the start point of the third circular arc; />For the current time of the vehicle's rear axle center point when driving on the third circular arc, +.>For the time of the midpoint of the rear axle of the vehicle at the end of the third arc, +.>For the time of the midpoint of the rear axle of the vehicle at the start of the sixth spin, +.>For the current time of the vehicle at the rear axle center on the sixth spin line, +.>For the time of the rear axle center point of the vehicle at the end of the sixth spin line, +. >For the second coordinate of the first preset point of the vehicle in the second direction, at the end point of the fifth turning line, at the midpoint of the rear axle of the vehicle, +.>For the second coordinate of the rear axle center point of the vehicle in the second direction, at the end point of the third circular arc, the rear axle center point of the vehicle>Is the central angle of the third arc line, +.>For the wheelbase of the vehicle>、/>、/>Is an intermediate variable.

Based on the above formula, the distance I between the farthest track point of the first preset point of the vehicle in the second direction and the first obstacle in the second direction can be obtained according to the following formula _d1 ：

I _d1 =max{max{}，max{/>}，max{/>}}-Y _{First obstacle} The method comprises the steps of carrying out a first treatment on the surface of the Wherein max {The } is ∈>Maximum value of max {>The } is ∈>Maximum value of max {>Is } isMax { max { }>}，max{/>}，max{/>The } is max {>}，max{/>}，max{/>Maximum value in }, Y _{First obstacle} For the second coordinate of the obstacle in the second direction, I _d1 The distance between the farthest track point of the first preset point of the vehicle in the second direction and the first obstacle in the second direction is the distance between the farthest track point of the first preset point of the vehicle in the second parking path. If I _d1 >0, then determine that the vehicle is in parkCollision with the obstacle can occur when the vehicle enters the path; if I _d1 <=0, it is determined that the vehicle does not collide with the obstacle while being parked on the path. The furthest track point refers to the track point where the vehicle ordinate is greatest.

Before generating the second docking path, further comprising:

the adjustment path includes: a circular arc line and a convolution line;

referring to fig. 5, if the yaw angle is greater than 0 °, the adjustment path is formed by splicing the arc line B1 and the convolution line B2, and the fourth central angle of the arc line is obtained by the following formula:

；

referring to fig. 6, if the yaw angle is smaller than 0 °, the adjustment path is formed by splicing the arc line D1 and the convolution line D2, and the fifth central angle of the arc line is obtained by the following formula:

；

In the embodiment of the application, after the adjustment path is generated, the end point of the adjustment path is used as a new parking start point. In the formula of the embodiment of the application, if the adjustment path is generated, the formula is thatParking start point A (X) ₀ ，Y ₀ ) If no adjustment path has been generated for the new parking start point, the parking start point a (X ₀ ，Y ₀ ) Is an initial parking start point.

Further, after the adjustment path is generated, the parking path includes the adjustment path, and the parking path is generated according to the second parking path, including: if the yaw angle is not 0 degrees, a parking path is generated according to the adjustment path and the second parking path, and if the yaw angle is 0 degrees, a parking path is generated according to the second parking path;

Generating a parking path according to the first obstacle avoidance path and the first parking path, including: if the yaw angle is not 0 degrees, a parking path is generated according to the adjustment path, the first obstacle avoidance path and the first parking path, and if the yaw angle is 0 degrees, a parking path is generated according to the first obstacle avoidance path and the first parking path;

generating a parking path according to the second obstacle avoidance path and the first parking path, including: if the yaw angle is not 0 degrees, a parking path is generated according to the adjustment path, the second obstacle avoidance path and the first parking path, and if the yaw angle is 0 degrees, a parking path is generated according to the second obstacle avoidance path and the first parking path.

It is understood that when the yaw angle of the vehicle is 0 ° and the vehicle does not collide with the first obstacle when the vehicle travels on the second parking path, the parking path of the vehicle is the second parking path, and the start point of the second parking path is the initial parking start point; when the yaw angle of the vehicle is 0 DEG and the vehicle collides with a first obstacle when the vehicle runs on a second parking path, the parking path of the vehicle is formed by sequentially connecting a first obstacle avoidance path and a first parking path, the starting point of the first obstacle avoidance path is an initial parking starting point, and the starting point of the first parking path is an end point of the first obstacle avoidance path; when the yaw angle of the vehicle is larger than 0 DEG and the vehicle does not collide with the first obstacle when the vehicle runs on the second parking path, the parking path of the vehicle is formed by sequentially connecting an adjusting path and the second parking path, and the starting point of the adjusting path is an initial parking starting point; when the yaw angle of the vehicle is larger than 0 DEG and the vehicle collides with a first obstacle when the vehicle runs on a second parking path, the parking path of the vehicle is formed by sequentially connecting an adjusting path, a first obstacle avoidance path and a first parking path, the starting point of the adjusting path is an initial parking starting point, the starting point of the first obstacle avoidance path is an end point of the adjusting path, and the starting point of the first parking path is an end point of the first obstacle avoidance path; when the yaw angle of the vehicle is smaller than 0 degrees and the vehicle does not collide with the first obstacle when the vehicle runs on the second parking path, the parking path of the vehicle is formed by sequentially connecting an adjusting path and the second parking path, the starting point of the adjusting path is an initial parking starting point, and the starting point of the second parking path is an end point of the adjusting path; when the yaw angle of the vehicle is smaller than 0 degrees and the vehicle collides with the first obstacle when the vehicle runs on the two parking paths, the parking path of the vehicle is formed by sequentially connecting an adjusting path, a second obstacle avoidance path and the first parking path, the starting point of the adjusting path is an initial parking starting point, the starting point of the second obstacle avoidance path is an end point of the adjusting path, and the starting point of the first parking path is an end point of the first obstacle avoidance path.

In some implementations, generating a second obstacle avoidance path from the first obstacle avoidance path includes:

re-splicing a plurality of sub obstacle avoidance paths of the first obstacle avoidance path according to the yaw angle to generate an initial second obstacle avoidance path; adjusting parameters of the initial second obstacle avoidance path according to the yaw angle to obtain an adjusted initial second obstacle avoidance path; and generating a second obstacle avoidance path according to the adjusted initial second obstacle avoidance path.

Re-splicing the multi-segment sub obstacle avoidance paths of the first obstacle avoidance path according to the yaw angle to generate an initial second obstacle avoidance path, including:

if the absolute value of the yaw angle is smaller than or equal to the sum of the first central angle of the first circular arc line of the first obstacle avoidance path and the yaw angle of the convolution line, sequentially splicing the first circular arc line, the second convolution line, the third convolution line, the second circular arc line and the fourth convolution line of the first obstacle avoidance path to obtain an initial second obstacle avoidance path;

and if the absolute value of the yaw angle is larger than the sum of the first central angle of the first circular arc line of the first obstacle avoidance path and the yaw angle of the convolution line, sequentially splicing the second convolution line, the third convolution line, the second circular arc line and the fourth convolution line of the first obstacle avoidance path to obtain an initial second obstacle avoidance path.

Adjusting parameters of the initial second obstacle avoidance path according to the yaw angle to obtain an adjusted initial second obstacle avoidance path, including:

；

if it isObtaining a third central angle of a second arc line of the adjusted initial second obstacle avoidance path through the following formula:

；

wherein ,for the second central angle of the first arc line of the adjusted initial second obstacle avoidance path, +.>And a third central angle of a second arc line of the adjusted initial second obstacle avoidance path is the adjusted initial second obstacle avoidance path.

In some embodiments, the obstacle comprises: the second obstacle generates a second obstacle avoidance path according to the adjusted initial second obstacle avoidance path, including: obtaining the distance between the nearest track point of a second preset point of the vehicle in a second direction and a second obstacle when the vehicle runs along the adjusted initial second obstacle avoidance path; judging whether the vehicle collides with a second obstacle or not according to the distance between the nearest track point of a second preset point of the vehicle in a second direction and the second obstacle when the vehicle runs on the adjusted initial second obstacle avoidance path; if yes, taking the first obstacle avoidance path as a second obstacle avoidance path; if not, taking the adjusted initial second obstacle avoidance path as a second obstacle avoidance path.

In the implementation process, when the vehicle does not collide with the second edge obstacle on the adjusted initial second obstacle avoidance path, the adjusted initial second obstacle avoidance path can be used as the second obstacle avoidance path, so that the length of the obstacle avoidance path is reduced, energy is saved, and the time for the vehicle to enter a parking space is prolonged.

Referring to fig. 7, in some embodiments, obtaining a minimum distance between a second preset point of the vehicle and a second obstacle when the vehicle is traveling along the adjusted initial second obstacle avoidance path includes:

；

wherein ,the distance between the nearest track point of the second preset point of the vehicle in the second direction and the second obstacle is the distance between the nearest track point of the second preset point of the vehicle in the second direction when the vehicle runs along the adjusted initial second obstacle avoidance path. The nearest track point refers to the track point with the smallest ordinate.

In some embodiments, the second preset point is a front right vertex FR of the vehicle.

As can be seen from fig. 7, when the nearest track point of the second preset point of the vehicle in the second direction is the end point of the second obstacle avoidance path, the right front vertex of the vehicle is located.

Referring to fig. 8, an embodiment of the present application provides a parking path planning apparatus, including:

an acquisition module 1 for acquiring a yaw angle of the vehicle;

a second docking path generation module 2 for generating a second docking path;

a collision judging module 3 for judging whether the vehicle collides with an obstacle on the second parking path;

the parking path generating module 4 is configured to generate a parking path according to the second parking path when the determination result of the collision determining module 3 is negative;

the parking path generation module 4 is further configured to generate an obstacle avoidance path according to the yaw angle, generate a first parking path, and generate a parking path according to the obstacle avoidance path and the first parking path when the determination result of the collision determination module 3 is yes;

the obstacle avoidance path includes: a first obstacle avoidance path and a second obstacle avoidance path; the parking path generation module 4 is further configured to generate a first obstacle avoidance path if the yaw angle is within the first angle range; the parking path generation module 4 is further configured to generate a first obstacle avoidance path if the yaw angle is within the second angle range, and generate a second obstacle avoidance path according to the first obstacle avoidance path;

The parking path generation module 4 is further configured to generate a parking path according to the first obstacle avoidance path and the first parking path if the yaw angle is within the first angle range; if the yaw angle is in the second angle range, generating a parking path according to the second obstacle avoidance path and the first parking path;

the parking path generating module 4 is further configured to generate an eighth spiral line, a fourth circular arc line, a ninth spiral line, a second straight line segment, and a tenth spiral line, and splice the eighth spiral line, the fourth circular arc line, the ninth spiral line, the second straight line segment, and the tenth spiral line to obtain a first initial parking path; adjusting parameters of the first initial parking path until the first initial parking path meets a first preset condition to obtain a first parking path;

the second parking path generating module 2 is further configured to generate a fifth spiral, a third circular arc, a sixth spiral, a first straight line segment, and a seventh spiral, and splice the fifth spiral, the third circular arc, the sixth spiral, the first straight line segment, and the seventh spiral to obtain a second initial parking path; adjusting parameters of the second initial parking path until the second initial parking path meets a second preset condition to obtain a second parking path;

The obstacle comprises: the collision judging module 3 is further configured to obtain a second coordinate of a first preset point of the vehicle in a second direction when the vehicle travels on a second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction;

the parking path generation module 4 is further configured to generate a first spiral line, a first circular arc line, a second spiral line, a third spiral line, a second circular arc line, and a fourth spiral line, and splice the first spiral line, the first circular arc line, the second spiral line, the third spiral line, the second circular arc line, and the fourth spiral line to obtain a first obstacle avoidance path;

the parking path generation module 4 is further configured to determine a first central angle of the first arc line and a second central angle of the second arc line of the first obstacle avoidance path by the following formula:

；

wherein ,is the first central angle of the first arc line of the first obstacle avoidance path, +.>Is the first central angle of the second arc line of the first obstacle avoidance path, +.>For the distance between the first obstacle avoidance path end point and the parking start point in the second direction, +.>For the minimum turning radius of the vehicle, +.>、/>、/>、/>Is an intermediate parameter->For the gyrate yaw angle +.>Maximum value of limit rotation angle of equivalent center point of front axle, +. >Is the front axle equivalent center point speed, +.>Is the equivalent rotation angle rotation speed of the front axle, < >>For the wheelbase of the vehicle>For a second coordinate of the parking start in a second direction, +.>Is a first coordinate of the parking start point in a first direction.

The module in the embodiment of the present application is further configured to perform the above method, which is not described herein.

The application further provides an electronic device, please refer to fig. 9, and fig. 9 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 91, a communication interface 92, a memory 93, and at least one communication bus 94. Wherein the communication bus 94 is used to enable direct connection communication of these components. The communication interface 92 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 91 may be an integrated circuit chip with signal processing capabilities.

The processor 91 may be a general-purpose processor, including a central processing unit (CentralProcessingUnit, CPU), a network processor (NetworkProcessor, NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the processor 91 may be any conventional processor or the like.

The Memory 93 may be, but is not limited to, random access Memory (RandomAccessMemory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 93 has stored therein computer readable instructions which, if executed by the processor 91, enable the electronic device to perform the steps of the method embodiments described above.

Optionally, the electronic device may further include a storage controller, an input-output unit.

The memory 93, the memory controller, the processor 91, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically coupled to each other via one or more communication buses 94. The processor 91 is configured to execute executable modules stored in the memory 93, such as software functional modules or computer programs included in the electronic device.

The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.

It will be appreciated that the configuration shown in fig. 9 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 9, or have a different configuration than shown in fig. 9. The components shown in fig. 9 may be implemented in hardware, software, or a combination thereof.

The embodiment of the application also provides a computer readable storage medium, on which instructions are stored, and if the instructions run on a computer, the method of the method embodiment is implemented when the computer program is executed by a processor, and for avoiding repetition, details are not repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

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

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A method of parking path planning, comprising:

acquiring a yaw angle of the vehicle;

generating a second ingress path;

if not, generating a parking path according to the second parking path;

the obstacle comprises: the first obstacle, first obstacle and parking stall are relative, judge whether the vehicle bumps with the obstacle on the second berthing path, include: acquiring a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on the second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction;

；

2. The parking path planning method according to claim 1, characterized by further comprising, before the generating the second parking path:

the adjustment path includes: a circular arc line and a convolution line;

；

3. The method for planning a parking path according to claim 2, wherein,

the generating a parking path according to the second parking path includes: if the yaw angle is not 0 degrees, generating a parking path according to the adjustment path and the second parking path, and if the yaw angle is 0 degrees, generating a parking path according to the second parking path;

4. A method of parking path planning according to claim 3, wherein the generating a second obstacle avoidance path from the first obstacle avoidance path comprises:

5. The method of claim 4, wherein the re-stitching the multiple sub-obstacle avoidance paths of the first obstacle avoidance path according to the yaw angle to generate an initial second obstacle avoidance path comprises:

6. The method for planning a parking path according to claim 5, wherein the adjusting the parameter of the initial second obstacle avoidance path according to the yaw angle to obtain the adjusted initial second obstacle avoidance path includes:

if it isObtaining the second central angle of the first arc line of the adjusted initial second obstacle avoidance path and the adjusted initial second obstacle avoidance path through the following formulaThird central angle of the second circular arc line of the diameter:

；

7. The parking path planning method according to claim 6, wherein the obstacle includes: a second obstacle, the generating the second obstacle avoidance path according to the adjusted initial second obstacle avoidance path includes:

8. The method of claim 7, wherein the obtaining the minimum distance between the second preset point of the vehicle and the second obstacle when the vehicle travels the adjusted initial second obstacle avoidance path comprises:

；

9. The parking path planning method according to claim 1, wherein the first preset point is a left front vertex of the vehicle;

；

；；

；

wherein ：

；

in the above-mentioned formula(s),for the length of the rear overhang of the vehicle->For vehicle width>Is the length of the vehicle; />A second coordinate of a midpoint of a rear axle of the vehicle in a second direction when the vehicle is traveling on the fifth swing line; />A second coordinate of the first preset point of the vehicle in the second direction when the vehicle is running on the fifth swing line; />When the vehicle runs on the third arc line, the midpoint of the rear axle of the vehicle is at a second coordinate in a second direction; />For the second coordinates of the first preset point of the vehicle in the second direction when the vehicle is driving on the third arc,/->For the second coordinate of the midpoint of the rear axle of the vehicle in the second direction when the vehicle is traveling on the sixth swing line, +.>For the second coordinate of the first preset point of the vehicle in the second direction when the vehicle is driving on the sixth swing line,/->For the time when the midpoint of the rear axle of the vehicle is at the start of the fifth spin line,for the current time of the vehicle at the rear axle center on the fifth rotation line, +.>For the time of the rear axle center point of the vehicle at the end of the fifth spin line, +.>The time when the midpoint of the rear axle of the vehicle is at the start point of the third circular arc; />For the current time of the vehicle's rear axle center point when driving on the third circular arc, +. >For the time of the midpoint of the rear axle of the vehicle at the end of the third arc, +.>For the time of the midpoint of the rear axle of the vehicle at the start of the sixth spin, +.>For the current time of the vehicle at the rear axle center on the sixth spin line, +.>For the time of the rear axle center point of the vehicle at the end of the sixth spin line, +.>For the second coordinate of the first preset point of the vehicle in the second direction, at the end point of the fifth turning line, at the midpoint of the rear axle of the vehicle, +.>A second coordinate of the midpoint of the rear axle of the vehicle in the second direction when the midpoint of the rear axle of the vehicle is at the end point of the third circular arc，/>Is the central angle of the third arc line, +.>、/>、/>Is an intermediate variable.

10. A parking path planning apparatus, comprising:

an acquisition module for acquiring a yaw angle of the vehicle;

the obstacle comprises: the first obstacle is opposite to the parking space, and the collision judging module is further used for acquiring a second coordinate of a first preset point of the vehicle in a second direction when the vehicle runs on the second parking path; judging whether the vehicle collides with the first obstacle on the second parking path according to the second coordinate of the first preset point in the second direction;

；

11. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any one of claims 1-9 when the computer program is executed.

12. A computer readable storage medium having instructions stored thereon which, when run on a computer, cause the computer to perform the method of any of claims 1-9.