CN118269940A

CN118269940A - Method, device and equipment for planning parking warehouse-in route and readable storage medium

Info

Publication number: CN118269940A
Application number: CN202311399665.XA
Authority: CN
Inventors: 李佳欣; 韩冰; 谢新瑞
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Filing date: 2023-10-25
Publication date: 2024-07-02

Abstract

The invention provides a method, a device, equipment and a readable storage medium for planning a parking and warehousing route, wherein the method for planning the parking and warehousing route comprises the following steps: acquiring a parking position before a vehicle enters a garage and a target parking position in the garage; determining a target line according to the heading angle of the vehicle and the parking position; generating an in-garage route tangential to the target line according to the target line and the target parking position; generating an out-of-warehouse adjustment route according to the warehouse entry point and the parking position; and obtaining a parking warehouse-in route based on the in-warehouse route and the out-warehouse adjustment route. According to the invention, the position of the vehicle outside the garage can be adjusted according to the parking position and the target parking position of the vehicle, and then the vehicle is parked in the garage, so that the position of the vehicle before the vehicle is parked in the garage is prevented from being adjusted by a user, and the convenience of automatic parking is improved.

Description

Method, device and equipment for planning parking warehouse-in route and readable storage medium

Technical Field

The present invention relates to the field of intelligent automobiles, and in particular, to a method and apparatus for planning a parking route, an electronic device, and a readable storage medium.

Background

With the development of automobile intellectualization, automobiles are expected to provide better experience. Parking is a tricky problem for users with unskilled driving techniques, where the garage is lateral, requiring the user to park the vehicle in from the longer side of the garage.

At present, a user needs to adjust the position of a vehicle by driving the vehicle, after the vehicle is parked to a specified parking position prompted by the vehicle, the vehicle can plan a parking route, and then the vehicle is controlled to automatically park to the specified position in the garage without manual operation of the user.

However, the current automatic parking scheme is still relatively limited and has low convenience because the user is still required to adjust the vehicle to the designated parking position.

Disclosure of Invention

The embodiment of the invention provides a method, a device, electronic equipment and a readable storage medium for planning a parking and warehousing route, which are used for solving the problems that an automatic parking scheme in the prior art is still larger in limitation and low in convenience.

In a first aspect, an embodiment of the present invention provides a method for planning a parking route, including:

Acquiring a parking position before a vehicle enters a garage and a target parking position in the garage; the garage is a transverse garage, the parking position represents the position of a preset point of a vehicle body when the vehicle is ready to be put in storage, and the target parking position represents the position of the preset point of the vehicle body when the vehicle is put in storage successfully;

Determining a target line according to the heading angle of the vehicle and the parking position; the target line is a reference line for determining an in-warehouse route and an out-warehouse adjustment route in the warehouse-in route;

generating an in-garage route tangential to the target line according to the target line and the target parking position; the tangent point of the target line and the in-garage route is a warehouse entry point, and the in-garage route is used for guiding the vehicle to move from the warehouse entry point to the target parking position;

generating an out-of-warehouse adjustment route according to the warehouse entry point and the parking position; the off-garage adjustment route is used for guiding the vehicle to move from the parking position to the warehouse-in point;

And obtaining a parking warehouse-in route based on the in-warehouse route and the out-warehouse adjustment route.

Optionally, the step of generating an in-garage route tangential to the target line according to the target line and the target parking position includes:

Moving the target line to a first preset distance in the direction of the garage to obtain an offset target line;

Generating an initial in-library route tangent to the offset target line according to the offset target line and the target parking position; the route in the initial library at least comprises two sections of curves;

Moving an end curve in the initial intra-warehouse route to a position tangential to the target line to obtain an offset end curve, and generating a connecting line between the head end of the offset end curve and the tail ends of other curves except the offset end curve in the initial intra-warehouse route;

And generating an in-library route based on the offset end segment curve, the other curves and the connecting line.

Optionally, the step of moving the end curve in the route in the initial library to a position tangential to the target line includes:

determining an end tangential direction based on the ends of other curves except the offset end section curve;

the end curve is moved in the end tangential direction to a position tangential to the target line.

Optionally, the step of determining the target line according to the heading angle of the vehicle and the parking position includes:

Generating an initial target line according to the parking position under the condition that the course angle of the vehicle is determined to be zero; the initial target line passing the park position;

and moving the initial target line to a position with a preset second distance from the garage in the longitudinal direction to obtain a target line parallel to the garage.

Optionally, the step of generating the out-of-library adjustment route by taking the tangent point of the target line and the in-library route as a warehouse entry point according to the warehouse entry point and the parking position includes:

Generating an off-garage curve path passing through the parking position and tangential to the target line according to the parking position and the target line;

Generating an out-of-library adjustment point according to the out-of-library curve path and the tangent point of the target line;

And generating an out-of-library linear path according to the in-library point and the out-of-library adjusting point, and generating an out-of-library path according to the out-of-library linear path and the out-of-library curve path.

determining a target line passing through the parking position according to the heading angle of the vehicle and the parking position in a case where the heading angle of the vehicle is determined to be greater than zero and the parking position is in an upper right of the garage;

and taking the tangent point of the target line and the in-warehouse route as a warehouse-in point, and generating an out-warehouse linear route as an out-warehouse adjustment route according to the warehouse-in point and the parking position.

Generating an initial target line parallel to the garage and passing through the parking position in the case that it is determined that the heading angle of the vehicle is not equal to zero and the parking position is not at the upper right of the garage;

and moving the initial target line in the longitudinal direction by a preset third distance to generate a target line parallel to the garage.

generating an out-of-library linear path according to the out-of-library curve path, the tangent point of the target line and the warehouse-in point;

And generating an out-of-library adjustment route based on the out-of-library curved path and the out-of-library straight path. In a second aspect, an embodiment of the present invention provides a device for planning a parking route, including:

the acquisition module is used for acquiring a parking position before the vehicle enters the garage and a target parking position in the garage; the garage is a transverse garage, the parking position represents the position of a preset point of a vehicle body when the vehicle is ready to be put in storage, and the target parking position represents the position of the preset point of the vehicle body when the vehicle is put in storage successfully;

A target line module for determining a target line based on a heading angle of the vehicle and the parking position; the target line is a reference line for determining an in-warehouse route and an out-warehouse adjustment route in the warehouse-in route;

The in-garage route module is used for generating an in-garage route tangential to the target line according to the target line and the target parking position; the tangent point of the target line and the in-garage route is a warehouse entry point, and the in-garage route is used for guiding the vehicle to move from the warehouse entry point to the target parking position;

The out-of-warehouse adjustment module is used for generating an out-of-warehouse adjustment route according to the warehouse-in point and the parking position; the off-garage adjustment route is used for guiding the vehicle to move from the parking position to the warehouse-in point;

And the total route module is used for obtaining a parking warehouse-in route based on the in-warehouse route and the out-warehouse adjustment route.

Optionally, the in-library route module includes:

the offset target line sub-module is used for moving the target line to a first preset distance in the direction of the garage to obtain an offset target line;

an initial in-library sub-module for generating an initial in-library route tangential to the offset target line according to the offset target line and the target parking position; the route in the initial library at least comprises two sections of curves;

The linear path submodule is used for moving the end section curve in the initial intra-warehouse route to a position tangential to the target line to obtain an offset end section curve, and generating a connecting line between the head end of the offset end section curve and the tail end of other curves except the offset end section curve in the initial intra-warehouse route;

And the total in-warehouse route submodule is used for generating an in-warehouse route based on the offset end section curve, the other curves and the connecting lines.

Optionally, the linear path submodule includes:

The tail end tangent unit is used for determining the tail end tangent direction based on the tail ends of other curves except the offset tail end curve;

And the tangent moving unit is used for moving the end section curve to a position tangent to the target line along the end tangent direction.

Optionally, the target line module includes:

A first initial sub-module for generating an initial target line according to the parking position in the case that the course angle of the vehicle is determined to be zero; the initial target line passing the park position;

and the first adjustment sub-module is used for longitudinally moving the initial target line to a position with a preset second distance from the garage to obtain a target line parallel to the garage.

Optionally, the out-of-library adjustment module includes:

A first off-garage curve sub-module for generating an off-garage curve path passing through the park location and tangential to the target line from the park location and the target line;

the first out-of-library adjustment point sub-module is used for generating out-of-library adjustment points according to the out-of-library curve path and the tangent point of the target line;

The first out-of-library total route sub-module is used for generating an out-of-library linear path according to the in-library point and the out-of-library adjusting point and generating an out-of-library path according to the out-of-library linear path and the out-of-library curve path.

Optionally, the target line module includes:

A second target line sub-module for determining a target line passing through the parking position according to the heading angle of the vehicle and the parking position in a case where the heading angle of the vehicle is determined to be greater than zero and the parking position is in an upper right of the garage;

Optionally, the out-of-library adjustment module includes:

and the second out-of-warehouse total route sub-module is used for taking the tangent point of the target line and the in-warehouse route as a warehouse-in point, and generating an out-of-warehouse linear route as an out-of-warehouse adjustment route according to the warehouse-in point and the parking position.

Optionally, the target line module includes:

A third initial sub-module for generating an initial target line parallel to the garage and passing through the parking position in the case that it is determined that the heading angle of the vehicle is not equal to zero and the parking position is not at the upper right of the garage;

And the third adjustment sub-module is used for moving the initial target line by a preset third distance in the longitudinal direction to generate a target line parallel to the garage.

Optionally, the out-of-library adjustment module includes:

A third off-garage curve sub-module for generating an off-garage curve path passing through the park location and tangential to the target line from the park location and the target line;

The third out-of-library linear submodule is used for generating an out-of-library linear path according to the out-of-library curve path, the tangent point of the target line and the warehousing point;

And the third external total route submodule is used for generating an external adjustment route based on the external curve route and the external straight route.

In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;

a memory for storing a computer program;

And the processor is used for realizing the steps in the method for planning the parking and warehousing route according to the first aspect when executing the program stored in the memory.

In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method for planning a parking garage route according to the first aspect.

Aiming at the prior art, the invention has the following advantages:

In the embodiment of the invention, the parking position before the vehicle enters the garage and the target parking position in the garage are obtained; determining a target line for referencing the in-warehouse route and the out-of-warehouse adjustment route in the warehouse-in route according to the course angle and the parking position of the vehicle; generating an in-library route tangent to the target line according to the target line and the target parking position; the tangent point of the target line and the in-garage route is a warehouse entry point, and the vehicle is guided to move from the warehouse entry point to the target parking position through the in-garage route; and generating an out-of-garage adjusting route according to the parking point and the parking position, guiding the vehicle to move from the parking position to the parking point through the out-of-garage adjusting route, and obtaining the parking in-garage route based on the in-garage route and the out-of-garage adjusting route. Based on the parking position before the user prepares to put in storage, the vehicle is guided to a proper put-in point through the out-of-storage adjustment route, and then put in storage, so that the user can put in storage without driving the vehicle to a designated position, the complicated adjustment operation of the user is reduced, the parking efficiency is further improved, and the convenience of automatic parking is higher.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic diagram of a method for planning a parking route according to an embodiment of the present invention;

fig. 2 is a schematic diagram of determining a target parking position in a garage according to an embodiment of the present invention;

fig. 3 is a schematic diagram of another method for planning a parking route according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of generating an in-library route according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of generating an out-of-library adjustment route according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another generation of an off-library adjustment route according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of yet another embodiment of generating an off-library adjustment route;

FIG. 8 is a schematic diagram of still another embodiment of generating an off-library adjustment route;

fig. 9 is a schematic diagram of a planning apparatus for a parking route according to an embodiment of the present invention;

Fig. 10 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 is a method for planning a parking route according to an embodiment of the present invention, including:

Step 101, acquiring a parking position before a vehicle enters a garage and a target parking position in the garage; the garage is a transverse garage, the parking position represents the position of a preset point of a vehicle body when the vehicle is ready to be put in storage, and the target parking position represents the position of the preset point of the vehicle body when the vehicle is put in storage successfully.

In the embodiment of the disclosure, the position of the vehicle may be indicated by a preset point on the vehicle body, for example, the center point of the rear axle, the center point of the front axle, the center point of the vehicle body, and the like. The application selects the center point of the rear axle of the vehicle for illustration.

The parking position is a position which is required to be reached by a user driving the vehicle, and when the user drives the vehicle to brake, the parking position can be determined, and the user does not perform manual driving operation any more. The vehicle can begin to plan the route of automatic parking, and after the route planning is completed, the vehicle automatically controls the vehicle to move to a target parking position in the garage according to the planned parking route. When the vehicle is successfully parked, the center point of the rear axle is located, so that whether the vehicle is successfully parked is judged, and whether the center point of the rear axle is located at the target parking position is required to be determined.

The horizontal garage is characterized in that a plane coordinate system can be built based on the horizontal garage, the upper edge of the horizontal garage is partially overlapped with the transverse axis of the coordinate system, the right edge of the horizontal garage is partially overlapped with the longitudinal axis of the coordinate system, and the garage is located in the third quadrant of the coordinate system. The determining process of the target parking position may be that step 1: an initial parking point P0 is determined in the garage, a delivery curve is generated based on the initial parking point and the minimum turning radius of the vehicle, and whether the delivery curve collides with obstacles around the garage or not is detected. The method can be that a two-dimensional topographic map of the environment where the garage is located is constructed based on data acquisition equipment such as a vehicle-mounted radar, a camera and the like, the position of an obstacle is determined in the topographic map, then whether a garage curve collides is judged in the topographic map, if the curve corresponding to the initial parking point P0 does not collide, the initial parking point P0 is a escaping point, namely a target parking position.

Step 2: if the initial parking curve of the initial parking point collides, the initial parking point is moved to the negative direction of the transverse axis, and the vehicle stops when the vehicle position, namely the center of the rear axle of the vehicle, is positioned at the parking point and collides, a collision critical point P1 is determined, and a parking curve is generated based on the collision critical point P1 and the minimum turning radius of the vehicle, and whether the parking curve collides with obstacles around the garage or not is detected. If no collision exists, the collision critical point P1 is taken as a starting point, the vehicle moves forwards according to a certain distance, after each movement for a certain distance, whether collision occurs is detected based on the mode, until the safe exit critical point P3 without collision is obtained, and the safe exit critical point P3 is the target parking position.

Step 3: if the ex-warehouse curve corresponding to the collision critical point P1 collides, the vehicle position P2 is obtained when the ex-warehouse curve corresponding to the collision critical point P1 collides. Generating a right-turn backward curve based on the P2, moving the vehicle backwards along the curve until collision, obtaining a collision critical point P3 of the collision at the moment, judging whether a left-turn forward ex-warehouse curve based on the collision critical point P3 collides, if not, taking the collision critical point P3 as a target parking position, and if yes, turning to the step 2 to continuously obtain a proper target parking position.

As shown in fig. 2, in the scene a in fig. 2, the initial parking point is moved in the negative direction of the horizontal axis, and when the vehicle just collides, the position of the vehicle, namely the position of the center of the rear axle of the vehicle, is determined to be the collision critical point P1; in the scenario b of fig. 2, when the delivery curve corresponding to the collision critical point P1 collides, the vehicle position P2 is obtained when the left-turning delivery curve corresponding to the collision critical point P1 collides; in the scene c of fig. 2, a route which leaves the garage without collision according to a left-turn garage-out curve corresponding to the escape point is shown; in the d scene of fig. 2, after the exit curve corresponding to the collision critical point P1 collides, the route retreats to the right, and an obstacle positioned below the garage is encountered in the process of retreating to the right; in the d scene of fig. 2, after the exit curve corresponding to the collision critical point P1 collides, the path moves backward to the right, and an obstacle located at the left of the garage is encountered during the backward rightward movement.

102, Determining a target line according to the course angle of the vehicle and the parking position; the target line is a reference line for determining an in-warehouse route and an out-of-warehouse adjustment route in the warehouse-in route.

The heading angle of the vehicle is an included angle formed by the direction pointed by the vehicle body and the direction pointed by the garage. When the transverse shaft of the coordinate system is always constructed by the longer upper edge of the transverse garage and the longitudinal shaft of the coordinate system is constructed by the shorter right edge of the garage, the included angle formed by the direction pointed by the vehicle body and the horizontal line is the course angle of the vehicle, and the parking position is the specific position of the center of the rear axle of the vehicle when the vehicle stops, and the position of the vehicle is represented by the center of the rear axle of the vehicle.

The target line may be at an angle to the horizontal that is consistent with the heading angle of the vehicle and the target line may be a passing parking location. Or a target line obtained by moving the target line after determining an item of target line by the parking position and the course angle. The in-warehouse route and the out-warehouse adjustment route are generated by taking the target line as a reference line of the in-warehouse route and the out-warehouse adjustment route in the warehouse-in route.

Step 103, generating an in-library route tangent to the target line according to the target line and the target parking position; and the tangent point of the target line and the in-warehouse route is a warehouse entry point, and the in-warehouse route is used for guiding the vehicle to move from the warehouse entry point to the target parking position.

An in-garage route tangential to the target line is generated based on the target line and the target parking location. The generation mode can be that a first arc is generated based on the minimum turning radius of the vehicle from the target parking position, and the arc corresponds to a route of the vehicle moving before left steering; then, a second arc is generated starting from the end of the arc, and the arc corresponds to the route of the vehicle moving before turning right. The turning radius of the second arc is not required to be the minimum turning radius, the second arc is tangential to the target line by adjusting the turning radius of the second arc, and the tangent point is used as a dividing point of the in-warehouse route and the out-warehouse adjustment route, namely a warehouse-in point.

The vehicle may be controlled to move from the entry point to the target parking location based on the in-garage route.

104, Generating an out-of-warehouse adjustment route according to the warehouse entry point and the parking position; the off-garage adjustment route is for guiding the vehicle to move from the parking location to the warehouse entry point.

According to the position of the warehouse entry point and the parking position, the position of the warehouse entry point and the parking position can be connected to generate a linear out-warehouse adjustment route, the position of the warehouse entry point and the parking position can be connected through a curve, for example, the position of the warehouse entry point and the parking position can be connected through a Du Binsi curve, and the position of the warehouse entry point and the parking position can be connected through a mode of combining the straight line with the curve so as to generate the out-warehouse adjustment route. By adjusting the route off-board, the vehicle can be controlled to move from the parking location to the entry point.

And 105, obtaining a parking warehouse entry route based on the in-warehouse route and the out-warehouse adjustment route.

Because one end of the in-warehouse route is a warehouse entry point and one end of the out-warehouse adjustment route is a warehouse entry point, the in-warehouse route and the out-warehouse adjustment route are continuous lines. Because the in-garage route is generated by taking the target parking position in the garage as a starting point and extending outwards to be tangent to the target line, the in-garage route is actually an out-garage route triggered from the target parking position. Similarly, the out-of-garage adjustment route actually points to the current parking position of the vehicle with the warehouse entry point as the starting point. Therefore, the continuous in-warehouse route and out-warehouse adjustment route need to be reversed to obtain a warehouse-in route. For example, during the warehouse entry, the coordinates of the points on the following routes are sequentially acquired according to the coordinates on the route closest to the parking position, so that the vehicle can move to the target parking position according to the warehouse entry route.

The implementation process comprises the steps of obtaining a parking position before the vehicle enters a garage and a target parking position in the garage; determining a target line for referencing the in-warehouse route and the out-of-warehouse adjustment route in the warehouse-in route according to the course angle and the parking position of the vehicle; generating an in-library route tangent to the target line according to the target line and the target parking position; the tangent point of the target line and the in-garage route is a warehouse entry point, and the vehicle is guided to move from the warehouse entry point to the target parking position through the in-garage route; and generating an out-of-garage adjusting route according to the parking point and the parking position, guiding the vehicle to move from the parking position to the parking point through the out-of-garage adjusting route, and obtaining the parking in-garage route based on the in-garage route and the out-of-garage adjusting route. Based on the parking position before the user prepares to put in storage, the vehicle is guided to a proper put-in point through the out-of-storage adjustment route, and then put in storage, so that the user can put in storage without driving the vehicle to a designated position, the complicated adjustment operation of the user is reduced, the parking efficiency is further improved, and the convenience of automatic parking is higher.

The following describes a procedure for planning a parking route according to an embodiment of the present invention, as shown in fig. 3, including:

Step 301, acquiring a parking position before a vehicle enters a garage and a target parking position in the garage; the garage is a transverse garage, the parking position represents the position of a preset point of a vehicle body when the vehicle is ready to be put in storage, and the target parking position represents the position of the preset point of the vehicle body when the vehicle is put in storage successfully;

Step 302, determining a target line according to the course angle of the vehicle and the parking position; the target line is a reference line for determining an in-warehouse route and an out-warehouse adjustment route in the warehouse-in route;

Step 303, generating an in-library route tangent to the target line according to the target line and the target parking position; the tangent point of the target line and the in-garage route is a warehouse entry point, and the in-garage route is used for guiding the vehicle to move from the warehouse entry point to the target parking position;

Step 304, generating an out-of-warehouse adjustment route according to the warehouse entry point and the parking position; the off-garage adjustment route is used for guiding the vehicle to move from the parking position to the warehouse-in point;

And 305, obtaining a parking warehouse entry route based on the in-warehouse route and the out-warehouse adjustment route.

The above steps may refer to the content of the embodiment of fig. 1, and will not be described herein.

Optionally, step 303 may include substeps 3031-3034 of generating an in-garage route tangential to the target line based on the target line and the target parking location:

sub-step 3031, moving the target line to a first preset distance in the direction of the garage to obtain an offset target line;

Sub-step 3032, generating an initial in-garage route tangential to the offset target line according to the offset target line and the target parking location; the route in the initial library at least comprises two sections of curves;

Sub-step 3033, moving the end section curve in the route in the initial library to a position tangential to the target line to obtain an offset end section curve, and generating a connecting line between the head end of the offset end section curve and the tail end of other curves except the offset end section curve in the route in the initial library;

in step 3034, an in-library route is generated based on the offset end curve, the other curves, and the connection line.

In the embodiment of the present disclosure, the target line is moved to the garage direction by a preset distance to obtain the offset target line, and an initial in-garage route tangent to the offset target line is generated according to the offset target line and the target parking position, and the generating manner is the same as the generating manner of the initial in-garage route according to the target line and the target parking position in the step 103, which is not described herein again. Similarly, the initial library has at least two curves corresponding to the left-turn and right-turn routes of the vehicle, the end of the first curve and the head of the second curve are the same, and the final curve, i.e. the second curve in the case of only two curves, is moved to be tangent to the initial target line. The first curve and the second curve are separated, and the tail end of the first curve and the head end of the second curve are connected through a straight line to generate a connecting line. The in-library route is generated based on the offset end curve, other curves such as the first curve and the connection line herein. The length of the linear connecting line can be set to be a threshold value, for example, 0.5 meter or 0.8 meter, and the length of the first preset distance for the target line to move towards the garage is continuously adjusted according to the set length of the linear connecting line, so that the length requirement of the linear connecting line can reach the set threshold value.

By implementing the embodiment of the disclosure, a straight line can be added between curves in the in-garage route, so that errors caused by discontinuous curvature in the process of directly moving from a first left-turn front curve to a second right-turn front curve are avoided, the change degree of curvature can be relieved at a connecting line part, and errors caused by discontinuous curvature in automatic parking route planning are reduced.

Optionally, substep 3033 moves the end curve in the initial intra-library route to a position tangential to the target line may include steps 30331-30332:

Step 30331, determining an end tangential direction based on the ends of the other curves except the offset end curve;

Step 30332, moves the end segment curve tangentially to the target line.

In the disclosed embodiment, the end curve, for example, the second of the two curves, is moved in a tangential direction at the end of the first curve to a position tangential to the target line. As shown in fig. 4, includes a garage 41, a vehicle 42, a target line 43, a first curve PV ₁, a connecting line V ₁V₂, and a second curve V ₂V₃. The first curve PV ₁, the connecting line V ₁V₂, and the second curve V ₂V₃ are connected in sequence.

The positions of the first curve, the connecting line and the second curve can be calculated by:

In a coordinate system established according to the garage, for example, a coordinate (Pe _x,Pe_y,Pe_θ) of the determined target parking position is obtained by taking an upper right corner of the transverse garage as an origin, an upper edge as a horizontal axis, and a right edge as a vertical axis, and a distance between the target line and the offset target line is represented by d:

d=dy·cos γ formula 1

Where dy is the distance that the target line is displaced in the longitudinal direction, d is the distance between the target line and the offset target line, and γ is the heading angle of the vehicle at the parking position.

The center of the first segment of arc PV ₁ can be calculated as follows:

O _x＝Pe_x-R1·sin(Pe_θ) equation 2

O _y＝Pe_y+R1·cos(Pe_θ) equation 3

Wherein, O _x is the abscissa of the center of the first arc, O _y is the ordinate of the center of the first arc, pe _x is the abscissa of the target parking position, pe _y is the ordinate of the target parking position, R1 is the radius of the first arc in the in-garage route, and Pe _θ represents the tangential angle of the first arc at the target parking position.

The equation for the target line is set as:

ax+by+c=0 equation 4

With continued reference to fig. 4, the second segment of arc V ₂V₃ is an arc translated according to the end tangential direction, V ₃ may be defined as being translated by V _tan along the end tangential direction, then the arc before translating arc V ₂V₃ may be defined as V ₁V_tan, and the distance from the center O' of arc V ₁V_tan that has not been translated to the target line is R2 plus d, then:

Wherein, O ' _x and O ' _y are the abscissa and the ordinate of the circle center O ', respectively, and R2 is the radius of the second arc in the in-library path. The distance from O' to the circle center O of the first section of arc PV ₁ is R1+R2, and the distance is as follows:

The abscissa value of O' is greater than the abscissa value of O, and the method comprises the following steps:

O' _x-O_x >0 equation 7

The coordinate value of O' is solved according to the above-mentioned formulas 5-7.

V ₁ on the straight line segment OO', the coordinate calculation formula of V ₁ is:

Wherein, AndThe abscissa and ordinate of V ₁ respectively,Is the tangential angle at V ₁.

When V _tan is O 'not moving, the drop foot of O' on the offset target line, and the coordinate calculation formula of V _tan is as follows:

the coordinate calculation formula of V ₂ is:

Wherein, AndThe abscissa and ordinate of V ₂ respectively,Is the tangential angle at V ₂.

The coordinate calculation formula of V ₃ is:

Wherein, AndThe abscissa and ordinate of V ₃ respectively,Is the tangential angle at V ₃.

By implementing the embodiment of the disclosure, a straight line can be added between curves in the in-garage route to smoothly connect the curves, so that errors caused by discontinuous curvature in the process of directly moving from a first left-turn front curve to a second right-turn front curve are avoided, the change degree of curvature can be relieved at a connecting line part, and errors caused by discontinuous curvature in automatic parking route planning are reduced.

Optionally, step 102 may include substeps 1021-1022:

substep 1021, in the event that it is determined that the heading angle of the vehicle is zero, generating an initial target line from the parking position; the initial target line passing the park position;

sub-step 1022 moves the initial target line longitudinally to a position having a preset second distance from the garage to obtain a target line parallel to the garage.

In the disclosed embodiment, an initial target line passing through the parking position is generated when the heading angle of the vehicle is zero, that is, the angle between the direction in which the vehicle body is pointed and the horizontal line is zero. The initial target line is then moved in a longitudinal direction (the garage is a horizontal garage) to a position having a preset second distance from the garage to obtain a target line parallel to the garage.

The position of the preset second distance can be determined according to the actual environment where the garage is located. For example, the preset second distance is determined according to the turning radius of the vehicle, and since the last section of the route in the garage is an arc, the arc needs to be tangent to the target line of the preset second distance, and the radius of the arc is greater than or equal to the minimum turning radius of the vehicle, but the radius of the arc cannot be too large, the radius of the arc is too large, so that the route range is large, and collision is easy to cause.

Optionally, step 304 may include sub-steps 3041-3043:

Sub-step 3041, generating an off-garage curve path passing through the parking location and tangential to the target line from the parking location and the target line;

Sub-step 3042, generating an out-of-library adjustment point according to the out-of-library curve path and the tangent point of the target line;

And substep 3043, generating an out-of-library linear path according to the in-library point and the out-of-library adjusting point, and generating an out-of-library path according to the out-of-library linear path and the out-of-library curve path.

In the embodiment of the disclosure, the off-garage curve path passing through the parking position and tangential to the target line is generated by generating Du Binsi curves according to the parking position and the target line, specifically, a point V ₄ on the parking position and the target line is connected through a Du Binsi curve. The calculation mode of the point V ₄ is as follows:

Wherein, AndThe abscissa and ordinate of point V ₄ respectively,Is the tangential angle at point V ₄ on the off-library curve path,AndIs the abscissa and ordinate of the parking position, Δy is the distance traveled in moving the initial target line to a preset second distance from the garage, and R ^min is the minimum turning radius of the vehicle.

After calculating point V ₄, the off-library curve path for connecting the parking location and point V ₄ can be determined, and since both the entry point and point V ₄ are on the target line, the entry point and point V ₄ can be connected to form a straight line. And finally, generating an out-of-library path according to the out-of-library linear path and the out-of-library curved path.

It will be appreciated that the objective of the target line is to first adjust the vehicle to a suitable range relative to the garage and then to directly plan an in-garage route from the target parking location to the entry point on the target line. There are many possibilities for the specific location of the vehicle outside the garage, for example, farther from the garage than is appropriate, or closer to the garage than is appropriate.

As shown in fig. 5, V ₃ is the garage entry point position, the uppermost Pc point is the parking position farther from the garage position, and the lowermost Pc point is the parking position nearer to the garage position. Therefore, for the uppermost Pc point, when the vehicle is at the uppermost Pc point, it is necessary to reach any V ₄ point on the curve along the curve passing through the uppermost Pc point to approach the garage at a horizontal distance, and then reach the warehouse entry point V ₃ from the V ₄ point, so as to continue warehouse entry along the in-warehouse route. For the lowest Pc point, when the vehicle is at the lowest Pc point, the vehicle needs to reach any V ₄ point on the curve along the curve passing through the lowest Pc point to be far away from the garage in the horizontal distance, and then reach the warehouse entry point V ₃ from the V ₄ point, so that the vehicle can continue to be warehoused along the in-garage route.

As shown in fig. 6, V ₃ is that the entry point position may be on the same horizontal line as the parking positions Pc1 and Pc2, and then the out-of-library straight line route may be generated as the out-of-library adjustment route directly according to the entry point position and the parking positions Pc1 and Pc 2.

Optionally, step 102 may include sub-step 1023:

sub-step 1023, in the event that it is determined that the heading angle of the vehicle is greater than zero and the parking position is at an upper right of the garage, determining a target line passing through the parking position based on the heading angle of the vehicle and the parking position;

In the embodiment of the disclosure, in the case that the course angle of the vehicle is determined to be greater than zero, a target line passing through the parking position is determined, and the direction of the target line is determined according to the course angle of the vehicle, so that a final target line is obtained.

Optionally, step 304 may include sub-step 3044:

And substep 3044, taking the tangent point of the target line and the in-warehouse route as a warehouse-in point, and generating an out-warehouse linear route as an out-warehouse adjustment route according to the warehouse-in point and the parking position.

Because the target line passes through the parking position and is tangent to the in-garage route, the warehouse-in point is the tangent point, and the out-garage linear route can be generated as the out-garage adjustment route by directly warehousing the point and the parking position.

As shown in fig. 7, the parking position Pc is located at the upper right of the garage, and the entry point V ₃ is located on the target line passing through the parking position Pc, so that an off-garage straight line route can be generated as an off-garage adjustment route according to the entry point and the parking position.

Optionally, step 102 may include sub-steps 1024-1025:

Sub-step 1024, in the event that it is determined that the heading angle of the vehicle is not equal to zero and the park position is not upper right of the garage, generating an initial target line parallel to the garage and passing the park position;

Sub-step 1025, moving the initial target line a preset third distance in the longitudinal direction, generating a target line parallel to the garage.

In the embodiment of the disclosure, when the heading angle of the vehicle is not equal to zero and the parking position is not at the upper right of the garage, an initial target line which passes through the parking position and is parallel to the garage is generated, and then the initial target line is moved by a preset third distance in the longitudinal direction, so that the target line parallel to the garage is generated. The preset third distance L may be calculated by the following formula:

Wherein L is a preset third distance, R ^min is a minimum turning radius of the vehicle, Is the heading angle of the vehicle in the parking position.

Optionally, step 304 may include sub-steps 3045-3047:

sub-step 3045, generating an off-garage curve path passing through the park position and tangential to the target line from the park position and the target line;

sub-step 3046, generating an off-library linear path according to the off-library curve path, the tangent point of the target line and the warehouse-in point;

substep 3047, generating an off-board adjustment route based on the off-board curved path and the off-board straight path.

In the disclosed embodiment, the main process of the substeps 3045-3047 may be the same or similar to the above-described method for generating the off-library curve path, and will not be described herein. It should be noted that, the calculation of the tangent point V ₄ of the off-library curve path and the target line may be by the following formula:

Wherein, AndRespectively the abscissa and ordinate of V ₄, R ^min is the minimum turning radius of the vehicle,Is the heading angle of the vehicle in the parking position. Since V ₄ is the tangent point of the off-library curve path and the target line,Is 0.

As shown in fig. 8, the a scene of fig. 8 is a case where the heading angle of the vehicle at the parking position Pc is less than zero and the parking position Pc is not at the upper right of the garage; the B scene of fig. 8 is a case where the heading angle of the vehicle at the parking position Pc is greater than zero and the parking position Pc is not at the upper right of the garage. In both cases, the vehicle needs to go through a section of off-warehouse adjustment curve to reach V ₄ on the target line and then through the target line to the warehouse entry point V ₃.

Fig. 9 is a schematic diagram of a planning apparatus for a parking route according to an embodiment of the present invention, including:

The acquisition module 901 is used for acquiring a parking position before the vehicle enters a garage and a target parking position in the garage; the garage is a transverse garage, the parking position represents the position of a preset point of a vehicle body when the vehicle is ready to be put in storage, and the target parking position represents the position of the preset point of the vehicle body when the vehicle is put in storage successfully;

A target line module 902 for determining a target line based on a heading angle of the vehicle and the parking position; the target line is a reference line for determining an in-warehouse route and an out-warehouse adjustment route in the warehouse-in route;

An in-store route module 903 configured to generate an in-store route tangential to the target line according to the target line and the target parking location; the tangent point of the target line and the in-garage route is a warehouse entry point, and the in-garage route is used for guiding the vehicle to move from the warehouse entry point to the target parking position;

an off-warehouse adjustment module 904, configured to generate an off-warehouse adjustment route according to the entry point and the parking position; the off-garage adjustment route is used for guiding the vehicle to move from the parking position to the warehouse-in point;

the total route module 905 is configured to obtain a parking route for parking based on the in-garage route and the out-garage adjustment route.

Optionally, the in-library route module includes:

Optionally, the linear path submodule includes:

Optionally, the target line module includes:

Optionally, the out-of-library adjustment module includes:

Optionally, the target line module includes:

Optionally, the out-of-library adjustment module includes:

Optionally, the target line module includes:

Optionally, the out-of-library adjustment module includes:

For the above-mentioned device embodiment, since it is substantially similar to the embodiment of the method for planning a parking garage route, the relevant points will be referred to in the description of the method embodiment.

According to the planning device for the parking and warehousing route, provided by the embodiment of the invention, the driving state information of the vehicle is acquired when the driver controls the vehicle to run, the driving behaviors of different types are identified based on the driving state information, the characteristic data of at least one type of driving behaviors are determined, the determined characteristic data are input into the identity recognition model, and the identity recognition is carried out on the current driver, so that the identity of the driver is recognized only by virtue of the driving state information of the vehicle when the driver drives the vehicle under the conditions that no additional sensor is added, no complicated operation burden is brought to the driver and no biological privacy information of the driver is acquired and recorded, the hardware cost is saved, the driving experience of the driver is ensured, the privacy of the driver is protected, and the intelligent vehicle can provide differentiated driving mode services for different drivers, so that the active safety and the good user experience of the vehicle are improved.

The embodiment of the invention also provides an electronic device, as shown in fig. 10, which comprises a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002 and the memory 1003 complete communication with each other through the communication bus 1004.

Memory 1003 is used for storing a computer program.

The processor 1001 is configured to execute a program stored in the memory 1003, and then: acquiring running state information of a vehicle in the process of controlling the running of the vehicle by a driver; identifying driving behaviors of different categories based on the driving state information, and determining characteristic data of at least one type of driving behaviors; and inputting the determined characteristic data into an identity recognition model, and carrying out identity recognition on the current driver.

The processor 1001 may further implement other steps in the above-mentioned parking garage route planning method, which will not be described herein.

The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM) or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In yet another embodiment of the present invention, a computer readable storage medium is provided, where instructions are stored, which when executed on a computer, cause the computer to perform the method for planning a parking garage route described in the above embodiment.

In yet another embodiment of the present invention, a computer program product containing instructions, which when run on a computer, causes the computer to perform the method for planning a parking garage route described in the above embodiment is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.

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

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. The method for planning the parking warehouse-in route is characterized by comprising the following steps of:

2. The method of claim 1, wherein the step of generating an in-garage route tangential to the target line based on the target line and the target parking location comprises:

3. The method of claim 2, wherein the step of moving the end curve in the initial in-library route to a position tangential to the target line comprises:

4. The method of claim 1, wherein the step of determining a target line based on the heading angle of the vehicle and the parking position comprises:

5. The method of claim 4, wherein the step of generating an off-garage adjustment route based on the entry point and the parking location comprises:

And generating an out-of-library linear path according to the in-library point and the out-of-library adjusting point, and generating an out-of-library adjusting route according to the out-of-library linear path and the out-of-library curve path.

6. The method of claim 1, wherein the step of determining a target line based on the heading angle of the vehicle and the parking position comprises:

And in the case that the course angle of the vehicle is determined to be greater than zero and the parking position is at the upper right of the garage, determining a target line passing through the parking position according to the course angle of the vehicle and the parking position.

7. The method of claim 6, wherein the step of generating an off-garage adjustment route based on the entry point and the parking location comprises:

8. The method of claim 1, wherein the step of determining a target line based on the heading angle of the vehicle and the parking position comprises:

9. The method of claim 8, wherein the step of generating an off-garage adjustment route based on the entry point and the parking location comprises:

and generating an out-of-library adjustment route based on the out-of-library curved path and the out-of-library straight path.

10. A parking garage route planning apparatus, comprising:

11. An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;

a memory for storing a computer program;

A processor for implementing the steps in the parking garage route planning method according to any one of claims 1 to 9 when executing a program stored on a memory.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the steps in the method of planning a parking garage route according to any one of claims 1 to 9.