CN117184051A

CN117184051A - Method, device, equipment and medium for determining vehicle parking path

Info

Publication number: CN117184051A
Application number: CN202311392520.7A
Authority: CN
Inventors: 李超; 杜建宇; 黄显晴; 王皓南; 曹天书; 姜辉; 刘丁菠
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-10-25
Filing date: 2023-10-25
Publication date: 2023-12-08

Abstract

The invention discloses a method, a device, equipment and a medium for determining a vehicle parking path, and relates to the technical field of automatic parking. The method comprises the following steps: acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; determining a straight-line parking segmented path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase; determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; and taking a path obtained by connecting the straight-line parking segmented path and the curve parking segmented path as a vehicle parking path, and controlling the vehicle to be parked according to the vehicle parking path. The technical scheme of the invention improves the driving experience of the user.

Description

Method, device, equipment and medium for determining vehicle parking path

Technical Field

The present invention relates to the field of automatic parking technologies, and in particular, to a method, an apparatus, a device, and a medium for determining a parking path of a vehicle.

Background

Currently, most vehicles are equipped with an automatic parking function so that the vehicles can automatically park into or out of a parking space, and the probability of scratch accidents in the parking space with a small space is reduced.

For the inclined parking space, the vehicle is parked out along the direction of the vehicle body in the prior art, the parked vehicle is controlled to be parked out of the parking space until the side door of the vehicle can be opened, the parked vehicle still needs to be manually adjusted by a user to drive away from the area where the vehicle is located, and the user experience is poor.

Disclosure of Invention

The invention provides a method, a device, equipment and a medium for determining a vehicle parking path so as to improve the driving experience of a user.

In a first aspect, the present invention provides a method for determining a vehicle parking path, including:

acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located;

Determining a straight-line parking segmented path of a vehicle to be parked according to parking information, endpoint position information and wheelbase;

determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path;

and taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road.

In a second aspect, the present invention also provides a device for determining a vehicle parking path, including:

the parameter acquisition module is used for acquiring vehicle parameters of the vehicle to be parked, parking information of the vehicle to be parked, parking steering angle of the vehicle to be parked and endpoint position information of at least one road endpoint in parking spaces where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located;

The straight line path determining module is used for determining a straight line parking segmented path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase;

the curve path determining module is used for determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path;

the parking path determination module is used for taking a path obtained by connecting the straight parking sectional path and the curve parking sectional path as a vehicle parking path, and controlling the vehicle to be parked according to the vehicle parking path to park so that the parked vehicle is parallel to the road.

In a third aspect, an embodiment of the present invention further provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the method comprises the steps of

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining a vehicle egress path provided by any one of the embodiments of the present invention.

In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium storing computer instructions for causing a processor to execute the method for determining a vehicle parking path according to any of the embodiments of the present invention.

According to the embodiment of the invention, the vehicle parameters of the vehicle to be parked, the parking information of the vehicle to be parked, the parking steering angle of the vehicle to be parked and the endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located are obtained; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located; determining a straight-line parking segmented path of a vehicle to be parked according to parking information, endpoint position information and wheelbase; determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path; and taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road. According to the technical scheme provided by the embodiment of the invention, the straight-line berthing segmented path and the curve berthing segmented path are determined, and the path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path is used as the vehicle berthing path.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1A is a flow chart of a method for determining a vehicle parking path according to a first embodiment of the present invention;

FIG. 1B is a schematic diagram of a vehicle coordinate system according to a first embodiment of the present invention;

fig. 2A is a flowchart of a method for determining a parking path of a vehicle according to a second embodiment of the present invention;

fig. 2B is a schematic view of a projection point of a road side endpoint according to a second embodiment of the present invention;

FIG. 3A is a flow chart of a method for determining a vehicle parking path according to a third embodiment of the present invention;

FIG. 3B is a schematic illustration of a curve of termination points of a break-out path according to a third embodiment of the present invention;

FIG. 4 is a flow chart of a method for determining a vehicle parking path according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural view of a determination device for a vehicle parking path according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device implementing a method of determining a vehicle parking path according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first" and "second" and the like in the description and the claims of the present invention and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the technical scheme of the embodiment of the invention, the acquisition, storage, application and the like of the related vehicle parameters and the like all meet the requirements of related laws and regulations, and the public sequence is not violated.

Example 1

Fig. 1A is a flowchart of a method for determining a vehicle parking path according to an embodiment of the present invention, where the method may be performed by a device for determining a vehicle parking path, and the device for determining a vehicle parking path may be implemented in hardware and/or software, and specifically configured in an electronic device, such as a server.

Referring to fig. 1A, a method for determining a vehicle parking path includes:

s101, acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point at the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located.

In this embodiment, the wheelbase may be the distance between the front axle and the rear axle of the vehicle to be parked. The steering radius may be the radius at which the vehicle to be parked steers when the wheel angle is at a maximum. The parking steering angle can be the circle center angle corresponding to the circular arc path of the vehicle to be parked in the parking process. The parking position information may be position information of an axle center point on a parking space side of the vehicle to be parked. The parking space can be a space for parking a vehicle to be parked; in this embodiment, the parking space type of the parking space is an inclined type, that is, an inclined angle exists between the direction of the parking space and the road direction. The parking direction may be a body direction of the vehicle to be parked out. The end point may be the intersection between every two consecutive boundary lines of the parking space. In one embodiment, the parking space is adjacent to the road, and the parking space side is the side close to the parking space, namely the side far away from the road; the road side is the side close to the road, namely the side far away from the parking space.

In an alternative embodiment, the location information may be expressed in terms of longitude and latitude, i.e., the parking location information includes, but is not limited to, longitude and latitude of a center point of a side axle of the vehicle to be parked; endpoint location information includes, but is not limited to, the longitude and latitude of the endpoint.

In another alternative embodiment, the position information may be represented in the form of coordinates, and a point may be selected from the parking space as a coordinate origin to establish a coordinate system, and a distance between a central point of a parking space side axle of the vehicle to be parked and the coordinate origin, and an angle between the central point of the parking space side axle and the coordinate axis are obtained to determine parking position information, that is, coordinates of the central point of the parking space side axle in the coordinate system; and acquiring the distance between the road side end point and the coordinate origin and the angle between the parking space side axle center point and the coordinate axis, and determining the end point position information, namely the coordinates of the road side end point in the coordinate system. In a specific embodiment, a coordinate system is established by taking a parking space side axle center point of a vehicle to be parked as an origin, taking a straight line in which a parking direction is located as an abscissa axis, and taking a straight line in which a perpendicular direction of the parking direction is located as an ordinate axis.

Alternatively, FIG. 1B is a schematic representation of a vehicle coordinate system. Wherein the straight line M and the straight line N are boundary lines on two sides of the road; the parallelogram formed by the points A, B, C and D represents parking space; the end points of the parking space are respectively an A point, a B point, a C point and a D point; the boundary line N of the road coincides with the boundary line AB of the parking space, and the points A and B are the road side end points close to the road. The rectangular area in the parking space represents the vehicle to be parked; and the point O represents the center point of a parking space side axle of the vehicle to be parked. As shown in fig. 1B, a coordinate system XOY is established with the origin of the point O of the center point O of the vehicle axle on the parking side, the straight line in the parking direction as the abscissa axis, the direction of the vehicle head as the abscissa axis positive direction, the straight line in the perpendicular direction to the parking direction as the ordinate axis, and the direction of the left side of the vehicle as the ordinate axis positive direction.

S102, determining a straight-line parking segmented path of the vehicle to be parked according to parking information, end point position information and wheelbase.

In this embodiment, the straight-out section path may be a straight-out path along which the vehicle to be parked travels during the parking process. Specifically, a certain algorithm is adopted, and a straight-line parking segmented path of the vehicle to be parked is determined according to parking information, end point position information and wheelbase.

S103, determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the travel sequence of the vehicle to be parked in the straight parking section path is prior to the travel sequence in the curved parking section path.

In this embodiment, the curved parking segment path may be a curved path that the vehicle to be parked travels during the parking process. Specifically, a certain algorithm is adopted, and a curve parking segmented path of the vehicle to be parked is determined according to the straight parking segmented path, the parking steering angle and the steering radius.

And S104, taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road.

The vehicle parking path may be a path traveled during a process of parking the vehicle to be parked out of the parking space. It should be noted that, the method for controlling the vehicle to be parked according to the parking path may be at least one of the prior arts, which is not limited in the present invention.

In a specific embodiment, if a user intervenes in a parking event is monitored in the process of controlling the vehicle to be parked to park according to the vehicle parking path, parking the vehicle to be parked is stopped; among other things, user intervention out events may include, but are not limited to, a user steering wheel event or a user opening a door event, etc.

According to the embodiment of the invention, the vehicle parameters of the vehicle to be parked, the parking information of the vehicle to be parked, the parking steering angle of the vehicle to be parked and the endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located are obtained; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located; determining a straight-line parking segmented path of a vehicle to be parked according to parking information, endpoint position information and wheelbase; determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path; and taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road. According to the technical scheme provided by the embodiment of the invention, the straight-line berthing segmented path and the curve berthing segmented path are determined, and the path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path is used as the berthing path.

Example two

Fig. 2A is a flowchart of a method for determining a vehicle parking path according to a second embodiment of the present invention, where the determining operation of a straight-line parking segment path is optimized and improved based on the technical solution of the foregoing embodiment.

Further, the method comprises the steps of determining a straight-line parking segmented path of a vehicle to be parked according to parking information, end point position information and wheelbase, and determining end point position information of the straight-line parking segmented path according to the parking information, the end point position information and the wheelbase; and taking the parking position information as the starting point position information of the straight-line berthing segmented path, and fitting to obtain the straight-line berthing segmented path' of the vehicle to be berthed according to the starting point position information of the straight-line berthing segmented path and the ending point position information of the straight-line berthing segmented path so as to perfect the determining operation of the straight-line berthing segmented path.

In the embodiments of the present invention, the details are not described, and reference may be made to the description of the foregoing embodiments.

Referring to fig. 2A, a method for determining a vehicle parking path includes:

s201, acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point at the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located.

S202, determining the end point position information of the straight-line out-of-section path according to the parking information, the end point position information and the wheelbase.

In this embodiment, the position information of the termination point of the straight-out segment path may be the position information of the termination point of the end of the straight-out segment path. Specifically, a certain algorithm is adopted, and the end point position information of the straight-line out segmented path is determined according to the parking information, the end point position information and the wheelbase.

Optionally, determining the end point position information of the straight-line out segment path according to the parking information, the end point position information and the wheelbase includes: determining an absolute distance between the road side end point and the vehicle to be parked according to the parking position information and the end point position information for each road side end point; determining a projection distance of the absolute distance in the parking direction; position information obtained by extending the projection distance of the parking position information along the parking direction is determined as the projection position information of the road side end point in the parking direction; and determining the position information of the termination point of the straight-line berthing segmented path according to the projection position information and the wheelbase.

The absolute distance may be a linear distance between the road-side end point and the vehicle to be parked. In an alternative embodiment, the distance between the road-side end point and the center point of the parking-space-side axle of the vehicle to be parked may be taken as the absolute distance between the road-side end point and the vehicle to be parked. The projection distance may be a distance projected by the absolute distance in the parking direction of the vehicle to be parked, that is, a distance between the road-side end point and the vehicle to be parked in the parking direction. The projection position information may be position information of a projection point of the road-side end point in the parking direction.

Specifically, for each road side endpoint, determining the Euclidean distance between the endpoint position information and the parking position information of the road side endpoint, and taking the obtained Euclidean distance as the absolute distance between the road side endpoint and the vehicle to be parked; determining a projection distance of the absolute distance in the parking direction; position information obtained by extending the projection distance of the parking position information along the parking direction is determined as the projection position information of the road side end point in the parking direction; determining the projection position information of the road side end point with the longest projection distance as the position information of the axle center point of the road side when the vehicle to be parked arrives at the end point position information; and determining the position information obtained by extending the distance of the wheel base of the position information of the central point of the vehicle at the side of the road along the opposite direction of the parking direction when the vehicle to be parked reaches the position information of the ending point as the position information of the ending point of the vehicle to be parked, namely determining the position information of the central point of the vehicle at the side of the parking space of the vehicle to be parked when the position information of the central point of the vehicle at the side of the road is the projection position information of the end point of the side of the road with the longest projection distance as the position information of the ending point of the straight-line parking segmented path.

It can be appreciated that by adopting the above technical scheme, the projection position information of the road side end point with the longest projection distance in the parking direction is determined as the position information of the road side axle center point of the vehicle to be parked after the straight parking section path is completed, and the parking space side axle center point position information when the projection points of the road side axle center point with the longest projection distance in the parking direction are overlapped is determined as the termination point position information, so that the vehicle to be parked can be steered at any wheel corner at the termination point position of the straight parking section path, the length of the straight parking section path is reduced under the condition that the contact between the vehicle body and the road side end point is not caused, meanwhile, the scratch between the vehicle parked in the adjacent parking space is avoided, and the parking safety and the parking efficiency of the vehicle are improved.

Alternatively, fig. 2B is a schematic view of a projection point of a road side endpoint. As shown in fig. 2B, a coordinate system XOY is established with the parking space side axle center point O of the vehicle to be parked as the origin of coordinates, the parking direction of the vehicle as the abscissa axis, and the vertical direction of the parking direction as the ordinate axis; line segment OA ₁ The length of the road is the projection distance of the road side end point A in the parking direction, A ₁ A projection point of the road side end point A on the axis of abscissa; a is that ₁ The coordinate value of the point is the projection position information of the road side endpoint A in the parking direction; line segment OB ₁ Is the projection distance of the road side end point B in the parking direction, B ₁ A projection point of the road side end point B on the axis of abscissa; b (B) ₁ The coordinate value of the point is the projection position information of the road side endpoint B in the parking direction; the road side endpoint with the longest projection distance is the point B; will B ₁ The point is used as a road side axle center point when the vehicle to be parked arrives at the ending point position information; along the negative direction of the abscissa axis, the extension axisThe coordinate value of the point obtained from the length of the distance is taken as the position information of the ending point of the straight-line out segmented path.

S203, taking the parking position information as the starting point position information of the straight-line berthing segmented path, and fitting to obtain the straight-line berthing segmented path of the vehicle to be berthed according to the starting point position information of the straight-line berthing segmented path and the ending point position information of the straight-line berthing segmented path.

Specifically, taking parking position information of a vehicle to be parked as starting point position information of a straight parking segmented path; and fitting according to the initial point position information and the end point position information of the straight-line berthing segmented path to obtain the straight-line berthing segmented path of the vehicle to be berthed. It should be noted that, the path fitting method may be at least one of the prior art, which is not limited in this invention.

S204, determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the travel sequence of the vehicle to be parked in the straight parking section path is prior to the travel sequence in the curved parking section path.

S205, taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road.

In an alternative embodiment, after controlling the vehicle to be parked to travel to the termination point of the straight parking segmented path, detecting whether a distance between the vehicle to be parked and the vehicle to be parked is smaller than a preset distance threshold value or not; if the distance between the periphery of the vehicle to be parked and the vehicle to be parked is smaller than the obstacle with the preset distance threshold, the vehicle to be parked is controlled to continue parking according to the parking direction of the straight-line parking segmented path until the obstacle with the distance smaller than the preset distance threshold cannot be detected around the vehicle to be parked, and the position information of the center point of the parking space side axle of the vehicle to be parked at the moment is used as the position information of the termination point of the straight-line parking segmented path.

According to the technical scheme, the end point position information of the straight-line out segmented path is determined according to the parking information, the end point position information and the wheelbase; and taking the parking position information as the starting point position information of the straight-line berthing segmented path, and fitting according to the starting point position information of the straight-line berthing segmented path and the ending point position information of the straight-line berthing segmented path to obtain the straight-line berthing segmented path of the vehicle to be berthed. According to the technical scheme, after the vehicle to be parked out of the sectional path is driven, the vehicle to be parked out of the sectional path is rotated by any wheel rotation angle, so that the vehicle body is not contacted with the side end point of the road, the vehicle parked in the adjacent parking space is prevented from being scratched, and the parking safety of the vehicle is improved.

Example III

Fig. 3A is a flowchart of a method for determining a parking path of a vehicle according to a third embodiment of the present invention, where the determining operation of a curve parking segment path is optimized and improved based on the technical solution of the foregoing embodiment.

Further, the method comprises the steps of determining a curve-out segmented path of a vehicle to be parked according to a straight-line parking segmented path, a parking steering angle and a steering radius, and determining the end point position information of the curve-out segmented path according to the end point position information of the straight-line parking segmented path, the parking steering angle, the wheel base and the steering radius; and taking the position information of the ending point of the straight-line berthing segmented path as the position information of the starting point of the curve berthing segmented path, and fitting to obtain the straight-line berthing segmented path' of the vehicle to be berthed according to the position information of the starting point of the curve berthing segmented path, the position information of the ending point of the curve berthing segmented path and the steering radius so as to perfect the determining operation of the curve berthing segmented path.

Referring to fig. 3A, a method for determining a vehicle parking path includes:

s301, acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point at the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located.

S302, determining a straight-line parking segmented path of the vehicle to be parked according to parking information, end point position information and wheelbase.

S303, determining the end point position information of the curve-out segmented path according to the end point position information of the straight-out segmented path, the out steering angle and the steering radius; wherein the travel sequence of the vehicle to be parked in the straight parking section path is prior to the travel sequence in the curved parking section path.

In this embodiment, the location information of the termination point of the curve-out segmented path may be location information of the termination point of the end of the curve-out segmented path, and specifically, a certain algorithm is adopted to determine the location information of the termination point of the curve-out segmented path according to the location information of the termination point of the straight-line-out segmented path, the angle of the break-out steering, and the radius of the turn-out steering.

Optionally, determining the end point position information of the curve-out segmented path according to the end point position information of the straight-out segmented path, the out steering angle and the steering radius includes: the position information of the termination point of the straight-line berthing segmented path is obtained by extending the steering radius along the steering side direction of the vehicle to be berthed, and the position information is determined to be the position information of the circle center point of the curve berthing segmented path; and determining the end point position information of the curve-out segmented path according to the out steering angle, the steering radius and the center point position information.

The steering-side direction may be the direction in which the vehicle is steered to one side when the vehicle is parked out. In an exemplary right-hand travel region of the vehicle, if the vehicle to be parked is parked in a forward travel mode, the right-hand direction of the vehicle body is the steering-side direction; if the vehicle to be parked is parked in a reversing mode, taking the left side direction of the vehicle body as the steering side direction; in the left-side running area of the vehicle, if the vehicle to be parked is parked in a forward running mode, the left side direction of the vehicle body is a steering side direction; and if the vehicle to be parked is parked in a reversing mode, taking the right direction of the vehicle body as the steering side direction. The location information of the center point may be the location information of the center point corresponding to the arc to which the segmented path of the curve belongs.

In an alternative embodiment, the central point of the parking space side axle may be taken as an origin, a straight line where the parking direction is located is taken as an abscissa axis, the direction of the vehicle head is taken as an abscissa axis positive direction, a straight line where the vertical direction of the parking direction is located is taken as an ordinate axis, the opposite direction of the steering side direction is taken as an ordinate axis positive direction, and a coordinate system is established, so that the central point of the parking space side axle of the vehicle to be parked is (0, 0); if the ending point coordinate of the straight-line out segmented path is (K, 0), determining the ending point coordinate of the straight-line out segmented path as a coordinate (K, -R) with the steering radius R extended along the steering side direction as a center point coordinate; and determining the position coordinates of the termination point of the curve-out segmented path according to the out steering angle, the steering radius and the coordinates of the circle center point.

Illustratively, the end point position coordinates of the curve out of the segmented path may be determined by the following formula:

Q _x ＝K-Rsinα；

Q _y ＝Rcosα-R；

wherein Q is _x The abscissa of the termination point of the segmented path of the curve is represented; q (Q) _y The ordinate of the termination point of the segmented path of the curve is represented; k represents the abscissa of the termination point of the straight-line out segment path; alpha represents the poise steering angle.

Alternatively, FIG. 3B is a schematic illustration of the termination point of a curve out of a segmented path. As shown in fig. 3B, a coordinate system XOY is established with the origin of the point O of the center point O of the vehicle axle on the parking side, the straight line in the parking direction as the abscissa axis, the direction of the vehicle head as the positive direction of the abscissa axis, the straight line in the perpendicular direction to the parking direction as the positive direction of the ordinate axis, and the direction on the left side of the vehicle as the positive direction of the ordinate axis; the point P is the center point of a parking space side axle of the vehicle to be parked, namely the termination point of the straight parking section path; the Q point curve is used for parking the termination point of the segmented path, namely, after the vehicle to be parked is parked, the center line point of the axle of the side of the parking space of the vehicle to be parked; the arc PQ is a curve segment berthing path; the point T is the center point of the arc PQ.

It can be understood that the end point position information of the curve parking section path obtained by adopting the technical scheme can enable the vehicle to be parked to be in the road running direction when the parking position side axle center point of the vehicle to be parked is coincident with the end point of the curve parking section path, compared with the technical scheme of straight parking of the vehicle in the prior art, the vehicle to be parked can avoid that the user still needs to manually adjust the vehicle to the road running direction after the vehicle is parked, and the driving experience of the user is improved.

S304, taking the position information of the ending point of the straight-line berthing segmented path as the position information of the starting point of the curve berthing segmented path, and fitting according to the position information of the starting point of the curve berthing segmented path, the position information of the ending point of the curve berthing segmented path and the steering radius to obtain the straight-line berthing segmented path of the vehicle to be berthed.

S305, taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road.

According to the embodiment of the invention, the position information of the termination point of the segmented path of the curve is determined according to the position information of the termination point of the segmented path of the straight line, the parking steering angle, the wheelbase and the steering radius; and taking the position information of the ending point of the straight-line berthing segmented path as the position information of the starting point of the curve berthing segmented path, and fitting according to the position information of the starting point of the curve berthing segmented path, the position information of the ending point of the curve berthing segmented path and the steering radius to obtain the straight-line berthing segmented path of the vehicle to be berthed. The curve parking segmented path determined by the technical scheme of the embodiment of the invention can enable the vehicle to be parked to be the road running direction after the vehicle to be parked is parked according to the curve parking segmented path, and compared with the technical scheme of the vehicle straight line parking in the prior art, the method and the device can avoid that the user still needs to manually adjust the vehicle to the road running direction after the vehicle is parked, and improve the driving experience of the user.

Example IV

Fig. 4 is a flowchart of a method for determining a vehicle parking path according to a fourth embodiment of the present invention, where the determining operation of a curve parking segment path is optimized and improved based on the technical solution of the foregoing embodiment.

Further, the parking space boundary image of the parking space is acquired by thinning the parking steering angle of the vehicle to be parked into the parking space; identifying an included angle between a side boundary line of the parking space and a road boundary line of the parking space from the parking space boundary image; if the identification result exists, determining an included angle between the side boundary line and the road boundary line as a parking steering angle; if the identification result is empty, acquiring historical parking information of the vehicle to be parked adjacent to the current moment, and determining a parking steering angle of the vehicle to be parked according to the acquired result of the historical parking information; the historical berthing information comprises a berthing start course angle and a berthing end course angle so as to perfect the determination operation of the berthing steering angle.

Referring to fig. 4, a method for determining a vehicle parking path includes:

S401, acquiring a parking space boundary image of a parking space.

In this embodiment, the parking space boundary image may be an image of a parking space boundary line of a parked parking space. In a specific embodiment, the parking space boundary image of the parking space can be obtained through an image acquisition device such as a camera arranged on the vehicle to be parked.

S402, identifying an included angle between a side boundary line of the parking space and a road boundary line of the parking space from the parking space boundary image.

In this embodiment, the side boundary line may be a parking space boundary line intersecting with a road boundary line among parking space boundary lines of parking spaces. The road boundary line may be a boundary line that meets the road among the parking space boundary lines of the parking spaces. It should be noted that at least one technique in the prior art may be adopted to identify an included angle between a side boundary line of a parking space and a road boundary line of the parking space from a parking space boundary image, so as to obtain an identification result of the included angle, which is not limited in the present invention.

And S403, if the identification result exists, determining the included angle between the side boundary line and the road boundary line as the parking steering angle.

S404, if the identification result is empty, acquiring historical parking information of the vehicle to be parked adjacent to the current moment, and determining a parking steering angle of the vehicle to be parked according to the acquired result of the historical parking information; wherein the historical berthing information comprises a berthing start course angle and a berthing end course angle.

In this embodiment, the current time may be the actual time when the recognition result is empty, by recognizing the included angle between the side boundary line of the parking space and the road boundary line of the parking space from the parking space boundary image. The history parking information may be information when the vehicle was parked in the parking space the last time adjacent to the current time. The parking start course angle can be the course angle when the vehicle to be parked starts to park in the parking space last time; the finish-of-parking end course angle may be a course angle at which the vehicle to be parked out was last parked into the parking space, i.e., the end of parking. Specifically, a certain algorithm is adopted, and a parking steering angle of the vehicle to be parked is determined according to the acquired result of the historical parking information.

Optionally, determining the parking steering angle of the vehicle to be parked according to the obtained result of the historical parking information includes: if the obtained result of the historical parking information is empty, taking the preset steering angle as a parking steering angle of the vehicle to be parked; if the obtained result of the historical parking information is not null, determining the difference between the parking start course angle and the parking end course angle as the parking steering angle.

It should be noted that the preset steering angle may be set by a technician according to an actual requirement or a practical experience, which is not limited in the present invention. In an alternative embodiment, if the obtained result of the historical parking information is not null, the absolute value of the difference between the parking start course angle and the parking end course angle is determined as the parking steering angle.

It can be appreciated that by adopting the technical scheme, when the historical parking information cannot be acquired, the preset steering angle is used as the parking steering angle, so that the situation that the parking steering angle cannot be acquired and then the vehicle cannot be automatically parked out of the vehicle is avoided, and the parking efficiency of the vehicle can be improved; when the obtained result is not empty, the difference between the berthing-in initial course angle and the berthing-in ending course angle is determined as a berthing-out steering angle, so that the berthing-out path of the vehicle determined according to the berthing-out steering angle can enable the direction of the body of the vehicle after berthing-out to be parallel to the direction of the road, the situation that the user still needs to manually adjust the vehicle to the direction of the road after berthing-out of the vehicle can be avoided, and the driving experience of the user is improved.

In an alternative embodiment, if the obtained result of the historical parking information is null, the parking steering angle input information may also be generated to prompt the user to manually input the value of the parking steering angle; monitoring a parking-out steering angle value input event of a user, and determining a parking-out steering angle input by the user from the parking-out steering angle input event; if the parking-out steering angle value input event of the user is not monitored within the preset time threshold, taking the preset steering angle as the parking-out steering angle of the vehicle to be parked.

In an alternative embodiment, the historical parking information can further include parking termination position information and parking space type; the parking end position information may be vehicle position information when the parking of the vehicle is ended; the parking end time may be a time when the parking of the vehicle is ended; the parking space type may include, but is not limited to, a parallel type, an inclined type, and the like. The parallel type is used for representing that the parking space direction is parallel to the road direction; if the acquired result of the historical parking information is not empty, checking whether the parking space type is an inclined parking space type or not; determining the Euclidean distance between the position indicated by the parking end position information and the position identified by the parking position information under the condition that the parking space type is the inclined parking space type; if the Euclidean distance between the position indicated by the parking end position information and the position marked by the parking position information is larger than a preset displacement threshold value, generating parking steering angle input information to prompt a user to manually input the numerical value of the parking steering angle; monitoring a parking-out steering angle value input event of a user, and determining a parking-out steering angle input by the user from the parking-out steering angle input event; if the parking-out steering angle value input event of the user is not monitored within the preset time threshold, taking the preset steering angle as the parking-out steering angle of the vehicle to be parked.

In an alternative embodiment, the user is prompted via an HMI (Human Machine Interface, human interface) to issue steering angle input information.

S405, acquiring vehicle parameters of a vehicle to be parked and parking information of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point at the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located.

S406, determining a straight-line parking segmented path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase.

S407, determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the travel sequence of the vehicle to be parked in the straight parking section path is prior to the travel sequence in the curved parking section path.

S408, taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the berthed vehicle to be parallel to the road.

According to the embodiment of the invention, a parking space boundary image of a parking space is obtained; identifying an included angle between a side boundary line of the parking space and a road boundary line of the parking space from the parking space boundary image; if the identification result exists, determining an included angle between the side boundary line and the road boundary line as a parking steering angle; if the identification result is empty, acquiring historical parking information of the vehicle to be parked adjacent to the current moment, and determining a parking steering angle of the vehicle to be parked according to the acquired result of the historical parking information; wherein the historical berthing information comprises a berthing start course angle and a berthing end course angle. According to the technical scheme, the parking steering angle is identified from the parking space boundary image; if the parking space cannot be identified, the parking steering angle is determined from the historical parking information, so that the flexibility of determining the parking steering angle is improved, the situation that the parking space cannot be automatically parked out due to the fact that the parking steering angle cannot be acquired is avoided, and the automatic parking efficiency and the automatic parking availability of the vehicle are improved.

Example five

Fig. 5 is a schematic structural diagram of a determination device for a vehicle parking path according to a fifth embodiment of the present invention. The embodiment of the invention can be applied to the situation of determining the vehicle parking path, the device can execute the method for determining the vehicle parking path, the device for determining the vehicle parking path can be realized in the form of hardware and/or software, and the device can be configured in electronic equipment, such as a server.

Referring to fig. 5, the apparatus for determining a vehicle exit path includes a parameter acquisition module 501, a straight path determination module 502, a curved path determination module 503, and an exit path determination module 504, wherein,

the parameter obtaining module 501 is configured to obtain vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located;

the straight line path determining module 502 is configured to determine a straight line parking segment path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase;

a curve path determining module 503, configured to determine a curve parking segment path of the vehicle to be parked according to the straight parking segment path, the parking steering angle, and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path;

The parking path determining module 504 is configured to take a path obtained by connecting the straight parking segment path and the curved parking segment path as a vehicle parking path, and control the vehicle to be parked according to the vehicle parking path to park, so that the parked vehicle is parallel to the road.

According to the embodiment of the invention, the parameter acquisition module is used for acquiring the vehicle parameters of the vehicle to be parked, the parking information of the vehicle to be parked, the parking steering angle of the vehicle to be parked and the endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the end point of the road side is the end point close to one side of the road in the parking space where the vehicle to be parked is located; determining a straight-line parking segmented path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase through a straight-line path determining module; the curve path determining module is used for determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running sequence of the vehicle to be parked in the straight parking section path is prior to the running sequence of the vehicle to be parked in the curve parking section path; and the parking path determining module is used for taking a path obtained by connecting the straight parking sectional path and the curve parking sectional path as a vehicle parking path, and controlling the vehicle to be parked according to the vehicle parking path to park so that the parked vehicle is parallel to the road. According to the technical scheme provided by the embodiment of the invention, the straight-line berthing segmented path and the curve berthing segmented path are determined, and the path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path is used as the vehicle berthing path.

Optionally, the straight-line path determining module 502 includes:

the straight line termination point determining unit is used for determining termination point position information of the straight line out of the segmented path according to the parking information, the end point position information and the wheelbase;

the straight line path determining unit is used for taking the parking position information as the starting point position information of the straight line out segmented path, and fitting to obtain the straight line out segmented path of the vehicle to be parked according to the starting point position information of the straight line out segmented path and the ending point position information of the straight line out segmented path.

Optionally, the straight line termination point determining unit is specifically configured to:

determining an absolute distance between the road side end point and the vehicle to be parked according to the parking position information and the end point position information for each road side end point;

determining a projection distance of the absolute distance in the parking direction;

position information obtained by extending the projection distance of the parking position information along the parking direction is determined as the projection position information of the road side end point in the parking direction;

and determining the position information of the termination point of the straight-line berthing segmented path according to the projection position information and the wheelbase.

Optionally, the curve path determining module 503 includes:

the curve seed termination point determining unit is used for determining termination point position information of the curve-out segmented path according to termination point position information of the straight-line out segmented path, the out steering angle and the steering radius;

The curve path determining unit is used for taking the end point position information of the straight-line berthing segmented path as the start point position information of the curve berthing segmented path, and fitting the curve berthing segmented path of the vehicle to be berthed according to the start point position information of the curve berthing segmented path, the end point position information of the curve berthing segmented path and the steering radius.

Optionally, the curve termination point determining unit is specifically configured to:

the position information of the termination point of the straight-line berthing segmented path is obtained by extending the steering radius along the steering side direction of the vehicle to be berthed, and the position information is determined to be the position information of the circle center point of the curve berthing segmented path;

and determining the end point position information of the curve-out segmented path according to the out steering angle, the steering radius and the center point position information.

Optionally, the parameter obtaining module 501 includes:

the image acquisition unit is used for acquiring a parking space boundary image of a parking space;

the included angle identification unit is used for identifying an included angle between the side boundary line of the parking space and the road boundary line of the parking space from the parking space boundary image;

the first steering angle determining unit is used for determining the included angle between the side boundary line and the road boundary line as a parking steering angle if the identification result exists;

The second steering angle determining unit is used for acquiring historical parking information of the vehicle to be parked adjacent to the current moment if the identification result is empty, and determining the parking steering angle of the vehicle to be parked according to the acquired result of the historical parking information; wherein the historical berthing information comprises a berthing start course angle and a berthing end course angle.

Optionally, the second steering angle determining unit is specifically configured to:

if the obtained result of the historical parking information is empty, taking the preset steering angle as a parking steering angle of the vehicle to be parked;

if the obtained result of the historical parking information is not null, determining the difference between the parking start course angle and the parking end course angle as the parking steering angle.

The vehicle parking path determining device provided by the embodiment of the invention can execute the vehicle parking path determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the vehicle parking path determining method.

Example six

Fig. 6 shows a schematic diagram of an electronic device 600 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 600 includes at least one processor 601, and a memory, such as a Read Only Memory (ROM) 602, a Random Access Memory (RAM) 603, etc., communicatively connected to the at least one processor 601, in which the memory stores a computer program executable by the at least one processor, and the processor 601 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 602 or the computer program loaded from the storage unit 608 into the Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the electronic device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, mouse, etc.; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunication networks.

The processor 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 601 performs the various methods and processes described above, such as a method of determining a vehicle exit path.

In some embodiments, the method of determining a vehicle exit path may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into RAM 603 and executed by processor 601, one or more steps of the above-described method of determining a vehicle parking path may be performed. Alternatively, in other embodiments, processor 601 may be configured to perform the method of determining the vehicle exit path in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable vehicle path determination device such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram block or blocks to be performed. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS (Virtual Private Server ) service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A method of determining a vehicle egress path, the method comprising:

acquiring vehicle parameters of a vehicle to be parked, parking information of the vehicle to be parked, a parking steering angle of the vehicle to be parked, and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the road side end point is an end point close to one side of a road in a parking space where the vehicle to be parked is located;

Determining a straight-line parking segmented path of the vehicle to be parked according to the parking information, the endpoint position information and the wheelbase;

determining a curve parking segmented path of the vehicle to be parked according to the straight parking segmented path, the parking steering angle and the steering radius; wherein the running order of the vehicle to be parked in the straight parking segmented path is earlier than the running order of the vehicle to be parked in the curve parking segmented path;

and taking a path obtained by connecting the straight-line berthing segmented path and the curve berthing segmented path as a vehicle berthing path, and controlling the vehicle to be berthed to berth according to the vehicle berthing path so as to enable the vehicle to be berthed to be parallel to the road after berthing.

2. The method of claim 1, wherein the determining a straight-out staging path for the vehicle to be parked based on the parking information, the endpoint location information, and the wheelbase comprises:

determining the end point position information of the straight-line out-of-section path according to the parking information, the end point position information and the wheelbase;

and taking the parking position information as the starting point position information of the straight-line berthing segmented path, and fitting to obtain the straight-line berthing segmented path of the vehicle to be berthed according to the starting point position information of the straight-line berthing segmented path and the ending point position information of the straight-line berthing segmented path.

3. The method of claim 2, wherein the determining termination point location information for the straight-out segment path based on the parking information, the endpoint location information, and the wheelbase comprises:

determining an absolute distance between each road side endpoint and the vehicle to be parked according to the parking position information and the endpoint position information;

determining a projected distance of the absolute distance in the parking direction;

the position information obtained by extending the projection distance of the parking position information along the parking direction is determined to be the projection position information of the road side endpoint in the parking direction;

and determining the end point position information of the straight-line berthing segmented path according to the projection position information and the wheelbase.

4. The method of claim 1, wherein the determining the curved outbound segmented path for the vehicle to be parked based on the straight outbound segmented path, the outbound steering angle, and the steering radius comprises:

determining the end point position information of the curve-out segmented path according to the end point position information of the straight-out segmented path, the out steering angle and the steering radius;

And taking the position information of the ending point of the straight-line berthing segmented path as the position information of the starting point of the curve berthing segmented path, and fitting according to the position information of the starting point of the curve berthing segmented path, the position information of the ending point of the curve berthing segmented path and the steering radius to obtain the curve berthing segmented path of the vehicle to be berthed.

5. The method of claim 4, wherein determining the endpoint location information for the curved break-out segment path based on the endpoint location information for the straight break-out segment path, the break-out steering angle, and the steering radius comprises:

the position information of the termination point of the straight-line berthing segmented path is prolonged along the steering side direction of the vehicle to be berthed, and the position information obtained by the steering radius is determined to be the position information of the circle center point of the curve berthing segmented path;

and determining the end point position information of the curve berthing segmented path according to the berthing steering angle, the steering radius and the center point position information.

6. The method of claim 1, wherein the obtaining a parking steering angle of the vehicle to be parked comprises:

Acquiring a parking space boundary image of the parking space;

identifying an included angle between a side boundary line of the parking space and a road boundary line of the parking space from the parking space boundary image;

if the identification result exists, determining an included angle between the side boundary line and the road boundary line as a parking steering angle;

if the identification result is empty, acquiring historical parking information of the vehicle to be parked adjacent to the current moment, and determining a parking steering angle of the vehicle to be parked according to the acquisition result of the historical parking information; wherein the historical berthing information comprises a berthing start course angle and a berthing end course angle.

7. The method of claim 6, wherein the determining the parking steering angle of the vehicle to be parked based on the obtained historical parking information comprises:

if the obtained result of the historical parking information is empty, taking a preset steering angle as a parking steering angle of the vehicle to be parked;

and if the obtained result of the historical berthing information is not null, determining the difference between the berthing start course angle and the berthing end course angle as a berthing steering angle.

8. A vehicle exit path determination apparatus, characterized by comprising:

The parameter acquisition module is used for acquiring vehicle parameters of the vehicle to be parked, parking information of the vehicle to be parked, parking steering angle of the vehicle to be parked and endpoint position information of at least one road endpoint in a parking space where the vehicle to be parked is located; wherein the vehicle parameters include wheelbase and steering radius; the parking information comprises parking position information and a parking direction; the road side end point is an end point close to one side of a road in a parking space where the vehicle to be parked is located;

the straight line path determining module is used for determining a straight line parking segmented path of the vehicle to be parked according to the parking information, the end point position information and the wheelbase;

the curve path determining module is used for determining a curve berthing segmented path of the vehicle to be berthed according to the straight berthing segmented path, the berthing steering angle and the steering radius; wherein the running order of the vehicle to be parked in the straight parking segmented path is earlier than the running order of the vehicle to be parked in the curve parking segmented path;

and the parking path determination module is used for taking a path obtained by connecting the straight parking sectional path and the curve parking sectional path as a vehicle parking path, and controlling the vehicle to be parked according to the vehicle parking path to park so that the parked vehicle after parking is parallel to the road.

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining a vehicle parking-out path according to any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of determining a vehicle egress path according to any one of claims 1 to 7.