CN117657217A - Parking planning method, electronic device and storage medium - Google Patents
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Abstract
The application discloses a parking plan, including: acquiring raster map data in a preset area; determining a first target point and a second target point from the grid map data, and determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein point costs in the first point set and the second point set are determined based on preset cost calculation; determining a first current expansion point meeting a preset cost condition from a first point set, and determining a second current expansion point meeting the preset cost condition from a second point set; generating a current preset curve from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point meeting a first preset condition; and responding to the current preset curve meeting the second preset condition, and generating a drivable path for parking in the preset area by using the current preset curve. The application also discloses an electronic device and a storage medium. The automatic parking method and the automatic parking device improve the efficiency and accuracy of automatic parking.
Description
Technical Field
The disclosed embodiments of the present application relate to the field of autopilot technology, and more particularly, to a parking planning method, an electronic device, and a storage medium.
Background
The parking function is the highest demand call of people in each automatic driving function, and mainly uses sensors distributed in the vehicle and surrounding environment to measure the relative distance, speed and angle between the vehicle and surrounding objects, and calculates the steering and acceleration and deceleration of the vehicle through an algorithm platform so as to realize the functions of automatic parking in, parking out and partial running. For complex scenarios, such as narrow parking spaces, there is still a need for more efficient and accurate parking functions.
Disclosure of Invention
According to an embodiment of the application, a parking planning method, an electronic device and a storage medium are provided to solve the above problems.
The first aspect of the application discloses a parking planning method, comprising: acquiring raster map data in a preset area; determining a first target point and a second target point from the grid map data, and determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein point costs in the first point set and the second point set are determined based on preset cost calculation; determining a first current expansion point meeting a preset cost condition from the first point set, and determining a second current expansion point meeting the preset cost condition from the second point set; generating a current preset curve from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point meeting a first preset condition; and responding to the current preset curve meeting a second preset condition, and generating a travelable path for parking in the preset area by utilizing the current preset curve.
In some embodiments, the first current expansion point satisfying the preset cost condition is a point with the minimum cost in the first point set, and the second current expansion point satisfying the preset cost condition is a point with the minimum cost in the second point set.
In some embodiments, in response to the current preset curve not meeting the second preset condition, the first set of points is updated with the first current extension point and the second set of points is updated with the second current extension point.
In some embodiments, determining a first next expansion point from the updated first set of points that meets the preset cost condition, and determining a second next expansion point from the updated second set of points that meets the preset cost condition; generating a next preset curve from the first next expansion point to the second next expansion point in response to at least one of the first next expansion point and the second next expansion point satisfying the first preset condition; and responding to the next preset curve to meet the second preset condition, and generating a travelable path for parking in the preset area by utilizing the next preset curve.
In some embodiments, the first next expansion point satisfying the preset cost condition is a point with the minimum cost in the updated first point set, and the second next expansion point satisfying the preset cost condition is a point with the minimum cost in the updated second point set.
In some embodiments, said updating said first set of points with said first current extension point comprises: expanding from the first current expansion point to obtain an adjacent expansion node adjacent to the first current expansion point; adding the adjacent extension nodes to the first point set to update the first point set; updating the second set of points with the second current extension point, including: expanding from the second current expansion point to obtain an adjacent expansion node adjacent to the second current expansion point; the adjacent extension nodes are added to the second set of points to update the second set of points.
In some embodiments, the first set of points or the updated point costs in the first set of points include heuristic costs, wherein the heuristic costs are represented by a sum of hamming distances of three location parameters of nodes; the second set of points or the updated point costs in the second set of points include heuristic costs, wherein the heuristic costs are represented by a sum of hamming distances of three location parameters of nodes.
In some embodiments, the heuristic cost isWherein X, Y is,R is a position parameter in the raster map data min For minimum turning radius of vehicle。
A second aspect of the present application discloses an electronic device, comprising a memory and a processor coupled to each other, the processor being configured to execute program instructions stored in the memory, to implement the parking planning method described in the first aspect.
A third aspect of the present application discloses a non-transitory computer readable storage medium having stored thereon program instructions which, when executed by a processor, implement the parking planning method described in the first aspect.
The beneficial effects of this application are: determining a first target point and a second target point from grid map data in a preset area, determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein point costs in the first point set and the second point set are determined based on preset cost calculation, determining a first current expansion point and a second current expansion point meeting preset cost conditions from the first point set and the second point set, generating a current preset curve from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point meeting the first preset condition, and generating a drivable path for parking in the preset area by using the current preset curve in response to the current preset curve meeting the second preset condition, that is, starting from the two target points in a bidirectional mode, and planning a parking path in combination with the preset cost calculation, so that the efficiency and the accuracy of automatic parking are improved.
Drawings
The application will be further described with reference to the accompanying drawings and embodiments, in which:
FIG. 1 is a flow chart of a parking planning method according to an embodiment of the present application;
FIG. 2 is a flow chart of a parking planning method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a nonvolatile computer-readable storage medium according to an embodiment of the present application.
Detailed Description
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The term "and/or" in this application is merely an association relation describing an associated object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a plurality" herein means two or more than two. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the present application are described in further detail below with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a flow chart of a parking planning method according to an embodiment of the present application. The execution subject of the method can be an electronic device with a computing function, such as a microcomputer, a server, a mobile device such as a notebook computer, a tablet computer, and the like.
It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 1.
In some possible implementations, the method may be implemented by a processor invoking computer readable instructions stored in a memory, as shown in fig. 1, and may include the steps of:
s11: and acquiring raster map data in a preset area.
Grid map data in a preset area are acquired, namely grid map data of a pre-parking area are acquired, for example, the grid map of the pre-parking area is initialized, and position information of each point in the grid map of the pre-parking area is acquired, wherein the position information comprises x, y and phi, x, y are horizontal and vertical coordinate values under global positioning, and phi is an angle orientation value under global coordinates.
S12: and determining a first target point and a second target point from the grid map data, and determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein the point cost in the first point set and the second point set is determined based on preset cost calculation.
The first target point and the second target point are determined from the raster map data, for example, the first target point may be a path start point of the vehicle when the parking path planning is performed, and the second target point may be a path end point when the parking path planning is performed. And determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein the point costs in the first point set and the second point set are determined based on preset cost calculation, for example, the first point set is an open set (start_open_set) based on the first target point, the second point set is an open set (end_open_set) based on the second target point, that is, the first point set comprises the first target point and the relevant position point, and the costs of the first target point and the relevant position point, the second point set comprises the second target point and the relevant position point, and the point costs of the points are determined based on preset cost rules through calculation.
S13: and determining a first current expansion point meeting the preset cost condition from the first point set, and determining a second current expansion point meeting the preset cost condition from the second point set.
A first current extension point satisfying the preset cost condition is determined from the first point set, for example, a point satisfying the preset cost condition is determined from the first point set as a current extension point, that is, a first current extension point (cur_node_start), where the point satisfying the preset cost condition may refer to a corresponding point where the cost value satisfies the preset condition. A second current expansion point satisfying the preset cost condition is determined from the second point set, for example, a point satisfying the preset cost condition is determined from the second point set as the current expansion point, that is, a second current expansion point (cur_node_end), wherein the point satisfying the preset cost condition may refer to a corresponding point in which the cost value satisfies the preset condition.
S14: and generating a current preset curve from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point meeting a first preset condition.
And responding to at least one of the first current expansion point and the second current expansion point to meet a first preset condition, for example, effectively judging the first current expansion point and the second current expansion point, and responding to at least one of the first current expansion point and the second current expansion point as an effective point, wherein the effective point can be understood that the position information of the current expansion point accords with the current parking path planning logic, so that a current preset curve, namely an RS curve, from the first current expansion point to the second current expansion point is generated.
S15: and responding to the current preset curve meeting the second preset condition, and generating a travelable path for parking in the preset area by utilizing the current preset curve.
And responding to the current preset curve meeting a second preset condition, for example, judging collision of the current preset curve, and responding to the fact that the current preset curve and the obstacle do not collide, and further utilizing the current preset curve to generate a drivable path for parking in a preset area so as to automatically park.
In this embodiment, a first target point and a second target point are determined from raster map data in a preset area, a first point set corresponding to the first target point and a second point set corresponding to the second target point are determined, point costs in the first point set and the second point set are determined based on preset cost calculation, a first current expansion point and a second current expansion point meeting preset cost conditions are determined from the first point set and the second point set, at least one of the first current expansion point and the second current expansion point meets the first preset condition, a current preset curve from the first current expansion point to the second current expansion point is generated, and a current preset curve is utilized to generate a drivable path for parking in the preset area, that is, a parking path is planned by combining the preset cost calculation from two target points in a bidirectional manner, so that the efficiency and the accuracy of automatic parking are improved.
The first current expansion point meeting the preset cost condition is the point with the minimum cost in the first point set, and the second current expansion point meeting the preset cost condition is the point with the minimum cost in the second point set.
The first current expansion point meeting the preset cost condition is the point with the minimum cost in the first point set, namely, the point with the minimum cost value is determined from the first point set to be the first current expansion point meeting the preset cost condition, the second current expansion point meeting the preset cost condition is the point with the minimum cost in the second point set, namely, the point with the minimum cost value is determined from the second point set to be the second current expansion point meeting the preset cost condition, wherein the cost of the points is calculated and determined based on the preset cost rule, and further, at least one of the point with the minimum cost in the first point set and the point with the minimum cost in the second point set meets the first preset condition so as to generate a current preset curve.
Further, in some embodiments, in response to the current preset curve not meeting the second preset condition, the first set of points is updated with the first current extension point and the second set of points is updated with the second current extension point.
If at least one of the first current expansion point and the second current expansion point meets a first preset condition, generating a current preset curve from the first current expansion point to the second current expansion point, performing collision judgment on the current preset curve, updating the first point set by using the first current expansion point and updating the second point set by using the second current expansion point in response to the current preset curve not meeting the second preset condition, wherein the updated first point set comprises a first target point and a relevant position point and the updated second point set comprises a second target point and a cost corresponding to the relevant position point, and the updated second point set comprises a second target point and a cost corresponding to the relevant position point.
Further, in some embodiments, a first next expansion point satisfying a preset cost condition is determined from the updated first set of points, and a second next expansion point satisfying the preset cost condition is determined from the updated second set of points; generating a next preset curve from the first next expansion point to the second next expansion point in response to at least one of the first next expansion point and the second next expansion point satisfying a first preset condition; and generating a travelable path for parking in the preset area by utilizing the next preset curve in response to the fact that the next preset curve meets the second preset condition.
Determining a first next expansion point satisfying a preset cost condition from the updated first point set, for example, determining a point satisfying the preset cost condition from the updated first point set as a current expansion point, that is, a first next expansion point, where the point satisfying the preset cost condition may refer to a corresponding point where the cost value satisfies the preset condition. And determining a second next expansion point meeting the preset cost condition from the updated second point set, for example, determining a point meeting the preset cost condition from the updated second point set as a current expansion point, namely, a second next expansion point, wherein the point meeting the preset cost condition can be a corresponding point of which the cost value meets the preset condition.
And in response to at least one of the first next expansion point and the second next expansion point meeting a first preset condition, generating a next preset curve from the first next expansion point to the second next expansion point, for example, effectively judging the first next expansion point and the second next expansion point, and in response to at least one of the first next expansion point and the second next expansion point being an effective point, the effective point can be understood that the position information of the current expansion point accords with the current parking path planning logic, and further generating a next preset curve from the first next expansion point to the second next expansion point, namely an RS curve.
And responding to the next preset curve to meet a second preset condition, for example, carrying out collision judgment on the next preset curve, and responding to the next preset curve not colliding with the obstacle, and further utilizing the next preset curve to generate a drivable path for parking in a preset area so as to carry out automatic parking.
The first next expansion point meeting the preset cost condition is the point with the minimum cost in the updated first point set, and the second next expansion point meeting the preset cost condition is the point with the minimum cost in the updated second point set.
The first next expansion point meeting the preset cost condition is the point with the minimum cost in the updated first point set, namely, the point with the minimum cost value is determined from the updated first point set to be the first next current expansion point meeting the preset cost condition, the second next expansion point meeting the preset cost condition is the point with the minimum cost in the updated second point set, namely, the point with the minimum cost value is determined from the updated second point set to be the second next expansion point meeting the preset cost condition, wherein the cost of the points is calculated and determined based on the preset cost rule, and then at least one of the point with the minimum cost in the updated first point set and the point with the minimum cost in the updated second point set meets the first preset condition so as to generate a next preset curve.
In some embodiments, updating the first set of points with the first current extension point includes: expanding from the first current expansion point to obtain adjacent expansion nodes adjacent to the first current expansion point; adding adjacent extension nodes to the first point set to update the first point set; updating the second set of points with the second current extension point, comprising: expanding from the second current expansion point to obtain an adjacent expansion node adjacent to the second current expansion point; the neighboring extension nodes are added to the second set of points to update the second set of points.
And in response to the fact that the current preset curve does not meet the second preset condition, updating the first point set by using the first current expansion point, expanding from the first current expansion point to obtain adjacent expansion nodes adjacent to the first current expansion point, calculating the cost of the adjacent expansion nodes adjacent to the first current expansion point, adding the adjacent expansion nodes into the first point set to update the first point set, for example, adding the adjacent expansion nodes into the first point set, and recording that the precursor node is cur_node_start.
And in response to the current preset curve not meeting the second preset condition, updating the second point set by using the second current expansion point, expanding from the second current expansion point to obtain adjacent expansion nodes adjacent to the second current expansion point, calculating the cost of the adjacent expansion nodes adjacent to the second current expansion point, adding the adjacent expansion nodes into the second point set to update the second point set, for example, adding the adjacent expansion nodes into the second point set, and recording the precursor node as cur_node_end.
In some embodiments, the point cost in the first set of points or the updated first set of points includes a heuristic cost, wherein the heuristic cost is represented by a sum of hamming distances of three location parameters of the nodes; the second set of points or the updated point costs in the second set of points comprise heuristic costs, wherein the heuristic costs are represented by a sum of hamming distances of three location parameters of the nodes.
The point cost in the first point set or the updated first point set is f=g+h, where G represents the actual path cost from the starting point to the current node, H represents the heuristic cost of the current node reaching the final node, and F represents the total estimated path cost of the path where the current node is located from the starting point to the final end point, specifically, the point cost in the first point set or the updated first point set includes the heuristic cost H, where the heuristic cost H is represented by the sum of hamming distances of three position parameters of the node.
The point cost in the second point set or the updated second point set is f=g+h, where G represents an actual path cost from the start point to the current node, H represents a heuristic cost of the current node reaching the final node, and F represents a total path cost estimated from the start point to the final end point of the path where the current node is located, specifically, the point cost in the second point set or the updated second point set includes a heuristic cost H, where the heuristic cost H is represented by a sum of hamming distances of three position parameters of the node.
Specifically, in some embodiments, the heuristic cost is Wherein X, Y, < >>R is a position parameter in raster map data min Is the minimum turning radius of the vehicle.
At the cost ofWherein X, Y, < >>R is a position parameter in raster map data min For the minimum turning radius of the vehicle, the heuristic cost only needs to carry out a plurality of basic multiplication and addition operations, so that the generation of path segments between nodes is omitted, the calculated amount is greatly reduced, and the operation efficiency of the algorithm is improved.
For easy understanding, the flow of parking planning in the embodiment of the present application is illustrated in fig. 2, where fig. 2 is a schematic flow diagram of a parking planning method in an embodiment of the present application, initializing a grid map, determining a first target point and a second target point, and determining a first point set (start_open_set) corresponding to the first target point and a second point set (end_open_set) corresponding to the second target point, where the point sets include costs corresponding to points. The minimum cost point is determined from the first set of points as a first current extension point (cur_node_start) and the minimum cost point is determined from the second set of points as a second current extension point (cur_node_end). Judging whether at least one of the first current expansion point and the second current expansion point is invalid (cur_node_start= null|cur_node_end= NULL), and judging that a travelable path is not found in response to the fact that the first current expansion point and the second current expansion point are both invalid; and generating a current preset curve (cur_node_start and cur_node_end generating RS curves) from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point being valid. Judging a second preset condition, for example judging whether the current preset curve collides, and generating a travelable path by using the current preset curve in response to the collision with the obstacle; in response to collision with an obstacle, expanding from a first current expansion point to obtain an adjacent expansion node adjacent to the first current expansion point (expanded by a cur_node_start node), expanding from a second current expansion point to obtain an adjacent expansion node adjacent to the second current expansion point (expanded by a cur_node_end node), calculating the cost of the adjacent expansion node, adding the adjacent expansion node into a first point set and a second point set correspondingly, recording a precursor node in the first point set as cur_node_start, recording a precursor node in the second point set as cur_node_end, updating the first point set and the second point set, and selecting the next current expansion point from the first point set and the second point set.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 30 comprises a memory 31 and a processor 32 coupled to each other, the processor 32 being adapted to execute program instructions stored in the memory 31 for implementing the steps of the above-described embodiments of the parking planning method. In one particular implementation scenario, electronic device 30 may include, but is not limited to: the microcomputer and the server are not limited herein.
In particular, the processor 32 is adapted to control itself and the memory 31 to implement the steps of the above-described embodiments of the parking planning method. The processor 32 may also be referred to as a CPU (Central Processing Unit ), and the processor 32 may be an integrated circuit chip with signal processing capabilities. The processor 32 may also be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 32 may be commonly implemented by an integrated circuit chip.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a non-volatile computer readable storage medium according to an embodiment of the present application. The non-transitory computer readable storage medium 40 is used to store a computer program 401, which computer program 401, when executed by a processor, for example by the processor 32 in the above-described embodiment of fig. 3, is used to implement the steps for the above-described embodiment of the parking planning method.
The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.
In the several embodiments provided in this application, it should be understood that the disclosed methods and related devices may be implemented in other ways. For example, the above-described embodiments of related devices are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication disconnection between the illustrated or discussed elements may be through some interface, indirect coupling or communication disconnection of a device or element, electrical, mechanical, or other form.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all or part of the technical solution contributing to the prior art or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of 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.
Those skilled in the art will readily appreciate that many modifications and variations are possible in the device and method while maintaining the teachings of the present application. Accordingly, the above disclosure should be viewed as limited only by the scope of the appended claims.
Claims (10)
1. A parking planning method, comprising:
acquiring raster map data in a preset area;
determining a first target point and a second target point from the grid map data, and determining a first point set corresponding to the first target point and a second point set corresponding to the second target point, wherein point costs in the first point set and the second point set are determined based on preset cost calculation;
determining a first current expansion point meeting a preset cost condition from the first point set, and determining a second current expansion point meeting the preset cost condition from the second point set;
generating a current preset curve from the first current expansion point to the second current expansion point in response to at least one of the first current expansion point and the second current expansion point meeting a first preset condition;
and responding to the current preset curve meeting a second preset condition, and generating a travelable path for parking in the preset area by utilizing the current preset curve.
2. The method of claim 1, wherein the first current expansion point satisfying the preset cost condition is a point with a minimum cost in the first set of points, and the second current expansion point satisfying the preset cost condition is a point with a minimum cost in the second set of points.
3. The method according to claim 1 or 2, further comprising:
and in response to the current preset curve not meeting the second preset condition, updating the first point set by using the first current expansion point, and updating the second point set by using the second current expansion point.
4. A method according to claim 3, further comprising:
determining a first next expansion point meeting the preset cost condition from the updated first point set, and determining a second next expansion point meeting the preset cost condition from the updated second point set;
generating a next preset curve from the first next expansion point to the second next expansion point in response to at least one of the first next expansion point and the second next expansion point satisfying the first preset condition;
and responding to the next preset curve to meet the second preset condition, and generating a travelable path for parking in the preset area by utilizing the next preset curve.
5. The method of claim 4, wherein the first next expansion point satisfying the preset cost condition is a point with the smallest cost in the updated first point set, and the second next expansion point satisfying the preset cost condition is a point with the smallest cost in the updated second point set.
6. A method according to claim 3, wherein said updating said first set of points with said first current extension point comprises:
expanding from the first current expansion point to obtain an adjacent expansion node adjacent to the first current expansion point;
adding the adjacent extension nodes to the first point set to update the first point set;
updating the second set of points with the second current extension point, including:
expanding from the second current expansion point to obtain an adjacent expansion node adjacent to the second current expansion point;
the adjacent extension nodes are added to the second set of points to update the second set of points.
7. The method according to any one of claims 1 to 6, wherein,
the first point set or the updated point cost in the first point set includes a heuristic cost, wherein the heuristic cost is represented by a sum of hamming distances of three location parameters of nodes;
the second set of points or the updated point costs in the second set of points include heuristic costs, wherein the heuristic costs are represented by a sum of hamming distances of three location parameters of nodes.
8. The method of claim 7, wherein the heuristic cost isWherein X, Y, < >>R is a position parameter in the raster map data min Is the minimum turning radius of the vehicle.
9. An electronic device comprising a memory and a processor coupled to each other, the processor configured to execute program instructions stored in the memory to implement the park planning method of any of claims 1-8.
10. A non-transitory computer readable storage medium having stored thereon program instructions, which when executed by a processor, implement the parking planning method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311759364.3A CN117657217A (en) | 2023-12-19 | 2023-12-19 | Parking planning method, electronic device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311759364.3A CN117657217A (en) | 2023-12-19 | 2023-12-19 | Parking planning method, electronic device and storage medium |
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