WO2023040774A1 - Method for automatically determining parking trajectory and electronic device - Google Patents

Abstract

A method for automatically determining a parking trajectory and an electronic device. The method for automatically determining a parking trajectory comprises: according to an initial vehicle position and a target parking space position, determining a first parking steering angle corresponding to a first parking trajectory segment; according to the initial vehicle position, the first parking steering angle, and the smallest turning radius, determining that the ending position of the first parking trajectory segment is a first ending point; according to the relative position relationship between the first ending point and the target parking position, determining a second parking steering angle and a third parking steering angle; and determining a second parking trajectory segment and a third parking trajectory segment according to the second parking steering angle and the third parking steering angle, and determining a parking trajectory according to the first parking trajectory segment, the second parking trajectory segment, and the third parking trajectory segment.

Description

Automatic determination method and electronic equipment of parking trajectory

This application claims the priority of the Chinese patent application with application number 202111091042.7 submitted to the China Patent Office on September 17, 2021, the entire content of which is incorporated herein by reference.

technical field

The present application relates to the field of computer application technology, for example, to a method for automatically determining a parking trajectory and electronic equipment.

Background technique

The number of parking spaces is difficult to adapt to the rapidly growing number of cars, making the parking environment more and more complicated, and the parking space is getting narrower and narrower. The complex and narrow parking environment undoubtedly increases the difficulty of parking for drivers.

For the problem of "difficult parking", there are many automatic parking trajectory determination methods, but these automatic parking trajectory determination methods often have parking trajectory when planning the parking path of the vehicle in the face of narrow and vertical parking spaces. Computational efficiency is not high.

Contents of the invention

The application provides a method for automatically determining the parking trajectory and electronic equipment. In the scene of parking in a narrow vertical parking space, the automatic determination of the parking trajectory can be realized, and the efficiency of the calculation of the parking trajectory can be improved, the parking distance can be shortened, and the parking distance can be improved. purpose of vehicle safety.

In a first aspect, the present application provides a method for automatically determining a parking trajectory, the method comprising:

determining a first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space;

According to the initial position of the vehicle, the first parking steering angle and the minimum turning radius, it is determined that the termination position of the first parking trajectory segment is the first termination point; wherein, the minimum turning radius is equal to the maximum front axle The turning radius of the midpoint of the rear axle of the vehicle corresponding to the effective turning angle; the initial position of the vehicle is the starting position of the first parking track segment;

determining a second parking steering angle and a third parking steering angle according to the relative positional relationship between the first termination point and the target parking position;

A second parking trajectory segment and a third parking trajectory segment are determined according to the second parking steering angle and the third parking steering angle, and according to the first parking trajectory segment, the second parking trajectory segment, The trajectory segment and the third parking trajectory segment define a parking trajectory.

In a second aspect, the present application provides a device for automatically determining a parking trajectory, the device comprising:

The first parking steering angle determination module is configured to determine the first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space;

The first termination point determination module is configured to determine the termination position of the first parking trajectory segment as the first termination point according to the vehicle initial position, the first parking steering angle and the minimum turning radius; wherein, the The minimum turning radius is the turning radius of the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle; the initial position of the vehicle is the initial position of the first parking track segment;

A parking steering angle determining module, configured to determine a second parking steering angle and a third parking steering angle according to the relative positional relationship between the first end point and the target parking position;

A parking trajectory determining module, configured to determine a second parking trajectory segment and a third parking trajectory segment according to the second parking steering angle and the third parking steering angle, and determine a second parking trajectory segment and a third parking trajectory segment according to the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment determine a parking trajectory.

In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above method for automatically determining the parking trajectory is realized.

In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable by the processor, and the above-mentioned parking is realized when the processor executes the computer program Automatic trajectory determination method.

Description of drawings

FIG. 1A is a flow chart of a method for automatically determining a parking trajectory provided in Embodiment 1 of the present application;

Fig. 1B is a schematic diagram of the principle of Ackermann steering geometry;

FIG. 2A is a flow chart of another method for automatically determining a parking trajectory provided in Embodiment 2 of the present application;

Fig. 2B is a schematic diagram of the process of determining the parking trajectory under the condition that the rear of the vehicle can completely enter the parking space entrance provided by Embodiment 2 of the present application;

FIG. 2C is a schematic diagram of the process of determining the parking trajectory under the condition that the rear of the vehicle can partially enter the parking space entrance provided by Embodiment 2 of the present application;

Fig. 2D is a schematic diagram of the process of determining the parking trajectory under the condition that the rear of the vehicle cannot enter the parking space entrance provided by Embodiment 2 of the present application;

FIG. 3A is a flow chart of another method for automatically determining a parking trajectory provided in Embodiment 3 of the present application;

3B is a schematic diagram of the relationship between the longitudinal coordinates of the starting position of the vehicle and the corresponding angle of the first parking trajectory segment provided by Embodiment 3 of the present application;

Fig. 4 is a schematic structural diagram of a device for automatically determining a parking trajectory provided in Embodiment 4 of the present application;

FIG. 5 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present application.

Detailed ways

The application will be described below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are for illustration of the application only. For ease of description, only parts relevant to the present application are shown in the drawings.

Before discussing the exemplary embodiments, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of various steps may be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.

Embodiment one

Fig. 1A is a flow chart of a method for automatically determining a parking trajectory provided by Embodiment 1 of the present application. This embodiment is applicable to automatically determining the parking trajectory during the process of parking in a narrow parking space perpendicular to the initial vehicle posture. Condition. The method can be executed by the device for automatically determining the parking trajectory provided by the embodiment of the present application. The device can be realized by software and/or hardware, and can be integrated into the electronic equipment running the system.

As shown in Figure 1A, the method for automatically determining the parking trajectory includes:

S110. Determine a first parking steering angle corresponding to the first parking trajectory segment according to the initial vehicle position and the target parking space position.

When parking to a parking space in a complex and narrow parking environment, the driver needs to be able to judge the distance between the car and obstacles with the help of driving experience and feeling within a limited field of vision, and to be able to skillfully control the speed and speed of the car. The steering wheel angle brings great parking difficulty to inexperienced drivers. In order to simplify the parking difficulty so that the driver can quickly and safely complete the parking operation in a complex and narrow parking environment, this application will park the trajectory It is decomposed into parking trajectory segments, wherein each parking trajectory segment includes a circular arc whose radius is the minimum turning radius. Wherein, the minimum turning radius is the turning radius at the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle. That is, the arc traveled by the vehicle when the driver turns the steering wheel counterclockwise or clockwise to the end.

Figure 1B is a schematic diagram of the geometric principle of Ackermann steering. Based on the geometric principle of Ackermann steering, the geometry of the turning radius R of the rear axle of the vehicle, the equivalent turning angle δ _f of the front axle of the vehicle, and the steering angle δ _fl of the left front wheel and the steering angle δ _fr of the right front wheel are determined. Relational.

2cotδ _f ＝cotδ _fl +cotδ _fr

Since there is a fixed proportional relationship between the steering wheel angle of the vehicle and the steering angle of the left front wheel δ _fl and the steering angle δ _fr of the right front wheel, the relationship between the steering wheel angle of the vehicle and the equivalent angle of the front axle can be established, and thus the relationship between the steering wheel angle and the rotational speed of the vehicle The constraints can be mapped to the constraints of the equivalent rotation angle and speed of the front axle. As shown in FIG. 1B , there is a relational formula corresponding to the turning radius R at the midpoint of the rear axle of the vehicle and the equivalent turning angle of the front axle: tanδ _f =L/R, where L is the wheelbase. When the equivalent turning angle of the front axle reaches the maximum value, the turning radius corresponding to the midpoint of the rear axle of the vehicle is the smallest, and the turning radius is called the minimum turning radius.

The first parking trajectory segment is the first arc that the vehicle travels through starting from the initial position of the vehicle during parking. Correspondingly, the first parking steering angle is the arc corresponding to the first parking trajectory segment. the central angle of . The first parking steering angle further includes the direction of rotation of the steering wheel, wherein the direction of rotation of the steering wheel refers to the direction of rotation of the steering wheel, for example, whether the steering wheel rotates clockwise or counterclockwise. In order to simplify the driver's operation in this application, the planning process of the parking trajectory is all carried out under the premise that the steering wheel of the vehicle is turned to the bottom. Therefore, it is only necessary to determine the rotation direction of the steering wheel, and there is no need to care about the rotation angle of the steering wheel.

The initial position of the vehicle refers to the initial position of the vehicle when parking towards the target parking space. The vehicle position refers to the position of the midpoint of the rear axle of the vehicle. The target parking space refers to an area where vehicles can be parked, and the target parking space may be an area framed on the ground by a line drawn by the parking space. When the target parking space is determined, in order to ensure that it is feasible for the vehicle to park in the target parking space, the initial position of the vehicle is limited. Only when the initial position of the vehicle falls within the parking feasible area can the vehicle enter the target parking space. Wherein, the feasible parking area is related to the target parking space, and the feasible parking area is predetermined by relevant technical personnel.

In this application, the vehicle pose is perpendicular to the longitudinal direction of the target parking space, that is, the axis of the vehicle is perpendicular to the longitudinal direction of the target parking space. In order to ensure that the vehicle can park in the parking space with the front of the vehicle in front and the vehicle body parallel to the longitudinal direction of the parking space, it is necessary to determine the end point of the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space.

In the case that the corresponding radius and starting position of the first parking trajectory segment are determined, the end position of the first parking trajectory segment can be determined only by determining the central angle corresponding to the first parking trajectory segment and the direction of rotation of the steering wheel, A first parking trajectory segment is thus determined.

In an optional embodiment, the determining the first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space includes: according to the entrance edge angle of the target parking space, The relative positional relationship between the initial position of the outer edge angle of the vehicle rear and the initial position of the inner edge angle of the vehicle tail determines the first parking steering angle corresponding to the first parking trajectory segment.

Due to the complex and narrow parking environment, in order to avoid collisions between vehicles and obstacles around the parking space. The present application fully considers the relative positional relationship between the edge of the rear of the vehicle and the edge angle of the entrance of the target parking space, and determines the first parking trajectory segment. Generally speaking, the target parking space is a rectangle, and the edge corners of the entrance of the target parking space are the two vertices of the side where the entrance of the parking space is located in the rectangle. According to the relative position of the edge of the rear of the vehicle and the edge angle of the entrance of the target parking space, it is determined whether the entire rear of the vehicle can enter the entrance of the target parking space. And for the three working conditions that the rear of the vehicle can completely enter the entrance of the parking space, the rear of the vehicle can partially enter the entrance of the parking space, and the rear of the vehicle cannot enter the entrance of the parking space, determine the first parking space. steering angle.

S120. Determine an end position of the first parking trajectory segment as a first end point according to the vehicle initial position, the first parking steering angle, and the minimum turning radius.

The initial position of the vehicle is the starting position of the first parking trajectory segment. When the first parking steering angle is determined, the rotation direction of the steering wheel and the central angle corresponding to the first parking trajectory segment are also determined. The direction of rotation of the steering wheel determines the direction of movement of the first parking path segment. Since the first parking trajectory segment is an arc determined by the minimum turning radius, the first parking trajectory segment is also determined when the starting position, motion direction, central angle and motion radius are all determined. The end position of the first parking trajectory segment is the first end point.

S130. Determine a second parking steering angle and a third parking steering angle according to the relative positional relationship between the first end point and the target parking position.

After the first parking trajectory segment is determined, according to the relative positional relationship between the first end point and the target parking position, it is determined again whether the rear of the vehicle can smoothly drive into the entrance of the target parking space. And according to the situation of whether the rear of the vehicle can drive into the target parking space, the second parking steering angle and the third parking steering angle are determined. Wherein, the second parking steering angle is the angle corresponding to the second parking trajectory segment. Optionally, the second parking steering angle also includes the rotation direction of the vehicle steering wheel; the third parking steering angle is the angle corresponding to the third parking trajectory segment Correspondingly, the third parking steering angle includes the direction of rotation of the steering wheel of the vehicle in the third parking trajectory segment.

S140. Determine a second parking trajectory segment and a third parking trajectory segment according to the second parking steering angle and the third parking steering angle, and determine a second parking trajectory segment and a third parking trajectory segment according to the first parking trajectory segment, the second The parking trajectory segment and the third parking trajectory segment define a parking trajectory.

The first end point is the starting position of the second parking trajectory segment. When the second parking steering angle is determined, the rotation direction of the steering wheel and the central angle corresponding to the second parking trajectory segment are also determined. The direction of rotation of the steering wheel determines the direction of movement of the second parking path segment. In the case where the initial position, the direction of motion, the central angle and the radius of motion are all determined, the second parking trajectory segment is also determined. When the third parking steering angle is determined, the rotation direction of the steering wheel and the central angle corresponding to the third parking trajectory segment are also determined. The direction of rotation of the steering wheel determines the direction of movement of the third parking path segment. A third parking trajectory segment can be determined as a function of the third parking steering angle. The final parking trajectory can be determined based on the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment.

The embodiment of the present application is aimed at the problem of parking in a narrow parking space perpendicular to the initial position of the vehicle, fully considering the characteristics of vehicle kinematics constraints, decomposing the parking trajectory into three parking trajectory segments, and according to the initial position of the vehicle and the target parking determining the first parking trajectory segment based on the position; determining the second parking trajectory segment according to the termination position of the first parking trajectory segment based on the first parking trajectory segment; and then determining the third parking trajectory segment based on the second parking trajectory segment, Finally, the entire parking trajectory is determined on the basis of the first, second and third parking trajectory segments. By executing the method for automatically determining the parking trajectory provided by this application, the vehicle whose initial posture is perpendicular to the longitudinal direction of the parking space can be parked in the parking space with the final posture parallel to the longitudinal direction of the parking space, which is convenient for leaving the warehouse and improves the parking space. The calculation efficiency of the trajectory shortens the parking distance and improves the parking safety at the same time.

Embodiment two

FIG. 2A is a flow chart of another method for automatically determining a parking trajectory provided in Embodiment 2 of the present application. This embodiment will be described on the basis of the above-mentioned embodiments. For the operation "according to the relative positional relationship among the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle rear and the initial position of the inner edge angle of the vehicle rear, determine the first parking lot corresponding to the first parking trajectory segment Steering Angle" is described.

As shown in FIG. 2A, the method for automatically determining the parking trajectory includes:

S210. Determine a circle center corresponding to the first parking trajectory segment as a first circle center according to the initial position of the vehicle, the initial pose of the vehicle, the target pose of the vehicle, and the minimum turning radius.

Since the axis of the vehicle in the initial state of the parking process in this application is perpendicular to the longitudinal direction of the target parking space, in order to facilitate the calculation of the parking trajectory, before determining the parking trajectory, enter the parking gate with the target parking space close to the initial position of the vehicle. The edge corner is the coordinate origin, the longitudinal direction of the target parking space is the vertical direction, and the horizontal direction of the target parking space is the horizontal direction to establish a parking Cartesian coordinate system. The parking trajectory is planned in the parking Cartesian coordinate system.

The first center of the circle is the center of the circle where the first parking track segment is located. The circle determined by the first center of circle and the minimum turning radius is the midpoint of the rear axle of the vehicle when the initial position of the vehicle is taken as the starting point and the steering wheel is turned to the bottom. motion track. Using the first circle center as a reference to determine the positional relationship between the inner and outer edges of the rear of the vehicle and the corners of the entrance edge of the target parking space, so as to determine whether the rear of the vehicle can enter the target parking space. In the parking Cartesian coordinate system, the coordinates of the edge corner of the entrance of the target parking space are (-W _d , 0), where W _d is the width of the entrance of the target parking space.

The initial pose of the vehicle can be determined according to the axial direction of the vehicle. As mentioned above, the initial pose of the vehicle is perpendicular to the longitudinal direction of the target parking space. The vehicle target pose is the final pose of the vehicle after the vehicle is parked in the target parking space. The parking trajectory determination method provided in this application is used to set the initial pose of the vehicle perpendicular to the longitudinal direction of the parking space to the target position parallel to the longitudinal direction of the parking space. Pose into the parking space. Therefore, the target pose of the vehicle is parallel to the longitudinal direction of the target parking space. The initial pose of the vehicle is perpendicular to the target pose of the vehicle, with an angle of 90 degrees between them. The initial position of the vehicle is a point on a circle with the minimum turning radius as the radius. In the Cartesian coordinate system of parking, the vehicle

S220. Calculate the distances between the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle tail, the initial position of the inner edge angle of the vehicle tail and the center of the first circle, respectively, as the edge distance of the entrance, The distance from the outer edge of the rear and the distance from the inner edge of the rear.

The entrance edge angle of the target parking space refers to an edge angle away from the initial position of the vehicle. In the parking Cartesian coordinate system, the coordinates of the entrance edge angle P ₃ of the target parking space, the initial position coordinates of the outer edge angle P ₁ of the vehicle rear, the initial position coordinates of the inner edge angle P ₂ of the vehicle rear, and the first circle center O ₁ Euclidean distance between coordinates.

S230. If the distance from the edge of the entrance to the vehicle is greater than or equal to the distance from the outer edge of the rear of the vehicle, determine a first parking steering angle based on a first manner. Skip to step S260.

The distance from the edge of the vehicle entrance is greater than or equal to the distance from the outer edge of the rear of the vehicle, i.e. |O ₁ P ₃ |≥|O ₁ P ₁ |, indicating that the rear of the vehicle can completely enter the entrance of the parking space. In this case, use the first way to determine the first parking steering angle. FIG. 2B is a schematic diagram of a parking trajectory determination process provided in Embodiment 2 of the present application under the working condition that the rear of the vehicle can fully enter the parking space entrance.

In an optional embodiment, if the distance from the edge of the vehicle entrance is greater than or equal to the distance from the outer edge of the rear of the vehicle, the first parking steering angle is determined based on the first method, and the first parking steering angle is determined according to the following formula: Car steering angle:

Wherein, θ ₁ represents the first parking steering angle; x _{O 1} is the abscissa of the first circle center, W _d is the width of the entrance of the target parking space, O ₁ refers to the first center of circle, and P ₁ refers to the outside of the rear of the vehicle. The initial position of the edge angle, O ₁ P ₁ represents the distance from the outer edge of the rear of the vehicle; L _r represents the rear suspension of the vehicle.

S240. If the distance to the edge of the vehicle entrance is greater than or equal to the distance to the inner edge of the rear of the vehicle and smaller than the distance to the outer edge of the rear of the vehicle, determine a first parking steering angle based on a second manner. Skip to step S260.

The distance from the edge of the vehicle entrance is greater than or equal to the distance from the inner edge of the vehicle rear |O ₁ O ₂ |≤|O ₁ P ₃ |<|O ₁ P ₁ |, indicating that only part of the rear of the vehicle can enter the entrance of the parking space. In this case, the first parking steering angle is determined in a second manner. FIG. 2C is a schematic diagram of a parking trajectory determination process provided in Embodiment 2 of the present application under the condition that the rear of the vehicle can partially enter the parking entrance.

In an optional embodiment, if the distance from the edge of the vehicle entrance is greater than or equal to the distance from the inner edge of the rear of the vehicle and less than the distance from the outer edge of the rear of the vehicle, the first parking steering angle is determined based on the second method , determine the first parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first center O ₁ , P ₃ refers to the edge angle of the entrance of the target parking space, and O ₁ P ₃ represents the entrance of the vehicle Edge distance; L _r represents the rear overhang of the vehicle.

S250. If the edge distance of the vehicle entrance is smaller than the inner edge distance of the vehicle rear, determine a first parking steering angle based on a third method; wherein, the first method, the second method, and the third method different from each other. Continue to execute step S260.

The edge distance of the entrance is smaller than the inner edge distance of the rear |O ₁ P ₂ |＞|O ₁ P ₃ |, indicating that the rear of the vehicle cannot enter the entrance of the parking space. In this case, use the third method to determine the first parking steering angle. FIG. 2D is a schematic diagram of a parking trajectory determination process provided in Embodiment 2 of the present application under the working condition that the rear of the vehicle cannot enter the parking space entrance.

In an optional embodiment, if the distance from the edge of the vehicle entrance is smaller than the distance from the inner edge of the rear of the vehicle, the first parking steering angle is determined based on the third method, and the first parking steering angle is determined according to the following formula :

Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first center O ₁ , P ₂ refers to the initial position of the inner edge angle of the rear of the vehicle, and O ₁ P ₂ represents the distance from the inner edge of the rear of the vehicle ; L _r represents the rear suspension of the vehicle.

S260. Determine an end position of the first parking trajectory segment as a first end point according to the vehicle initial position, the first parking steering angle, and the minimum turning radius.

The minimum turning radius is the turning radius of the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle; the initial position of the vehicle is the starting position of the first parking trajectory segment.

In an optional embodiment, the end position of the first parking trajectory segment is determined as the first end point according to the vehicle initial position, the first parking steering angle and the minimum turning radius, and is determined according to the following formula The first termination point:

in,

is the initial position of the vehicle, θ ₁ is the first parking steering angle, and R _min is the minimum turning radius.

The first circle center O ₁ , the vehicle initial position G ₁ and the first end point G ₂ can determine a triangle _{O 1} G ₁ G ₂ , θ ₁ is the side O ₁ G 1 and side O ₁ G in _the triangle O ₁ G ₁ G 2 ₂ , in the case of the first center of circle and the initial position of the vehicle and θ ₁ are known, the coordinates of the first end point G ₂ in the parking Cartesian coordinate system can be determined according to mathematical theorems.

S270. Determine a second parking steering angle and a third parking steering angle according to the relative positional relationship between the first end point and the target parking position.

S280. Determine a second parking trajectory segment and a third parking trajectory segment according to the second parking steering angle and the third parking steering angle, and determine a second parking trajectory segment and a third parking trajectory segment according to the first parking trajectory segment, the second The parking trajectory segment and the third parking trajectory segment define a parking trajectory.

According to the technical solution provided by the embodiment of the present application, the embodiment of the present application determines the relative positional relationship between the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle rear, and the initial position of the inner edge angle of the vehicle rear. Whether the rear of the vehicle can fully enter the entrance of the target parking space, and it is aimed at the entrance of the parking space where the rear of the vehicle can fully enter the entrance of the parking space, the entrance of the vehicle that can partially enter the parking space and the rear of the vehicle that cannot enter the parking space For the three working conditions at the entrance, the method of determining the first parking steering angle enables the vehicle to park smoothly into the target parking space. Then, the first parking trajectory segment is determined according to the first parking steering angle, and the second parking trajectory segment and the third parking trajectory segment are determined based on the first parking trajectory segment, thereby determining the entire parking trajectory. The calculation efficiency of the parking trajectory is improved, and the parking safety is improved at the same time, and collisions with obstacles around the parking space are avoided.

Embodiment Three

FIG. 3A is a flow chart of another method for automatically determining a parking trajectory provided in Embodiment 3 of the present application. This embodiment will be described on the basis of the above-mentioned embodiments. According to the relative positional relationship between the first end point and the target parking position, determining the second parking steering angle and the third parking steering angle includes: determining that the second parking steering angle is parallel to the rear axle of the vehicle and passes through the first end point On the straight line, the center of circle corresponding to the second parking trajectory segment is determined as the second center of circle on the straight line, so that the distances from the first end point to the first center of circle and the second center of circle are equal to the the minimum turning radius; if the horizontal distance between the second circle center and the midpoint of the target parking space is less than the minimum turning radius, then determine the second parking steering angle and the third parking steering angle according to the fourth method otherwise, the second parking steering angle and the third parking steering angle are determined in a fifth manner; wherein the fourth manner is different from the fifth manner.

As shown in FIG. 3A, the method for automatically determining the parking trajectory includes:

S310. Determine a first parking steering angle corresponding to the first parking trajectory segment according to the initial vehicle position and the target parking space position.

S320. Determine an end position of the first parking trajectory segment as a first end point according to the vehicle initial position, the first parking steering angle, and the minimum turning radius.

The minimum turning radius is the turning radius of the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle; the initial position of the vehicle is the starting position of the first parking trajectory segment.

S330. Determine a straight line parallel to the rear axle of the vehicle and passing through the first termination point, and determine the center of the circle corresponding to the second parking trajectory segment on the straight line as the second circle center, so that the first termination point reaches The distance between the first circle center and the second circle center is equal to the minimum turning radius.

In order to enable the vehicle to park in the middle of the target parking space with a target pose parallel to the longitudinal direction of the target parking space, it is necessary to ensure that the initial pose of the vehicle and the target pose are at an angle of 90 degrees, that is, the corresponding angles of the three parking trajectories are considered In the case of forming a direction with an angle, it is necessary to ensure that the sum of the first parking steering angle, the second parking steering angle and the third parking steering angle is equal to 90 degrees.

As shown in Figure 2B, Figure 2C and Figure 2D, the second parking trajectory segment is on a circle tangent to the circle where the first parking trajectory segment G ₁ G ₂ is located, and the first end point G ₂ is the point of tangency between the two circles . When the vehicle is at the first end point, draw a straight line parallel to the rear axle of the vehicle through the first end point, and select the second circle center O ₂ on the straight line, so that the first end point G ₂ reaches the first circle center O ₁ The distance from the second center _O2 is equal to the minimum turning radius. The second circle center is the center of the circle where the second parking trajectory segment G ₂ G ₃ is located. The circle determined by the second center of circle and the minimum turning radius is the trajectory of the midpoint of the vehicle's rear axle when the vehicle starts from the first end point _G2 and the steering wheel is turned to the bottom.

S340. If the horizontal distance between the second circle center and the midpoint of the target parking space is smaller than the minimum turning radius, determine the second parking steering angle and the third parking steering angle according to a fourth method , and jump to step S360.

If the horizontal distance between the second circle center and the midpoint of the target parking space is less than the minimum turning radius, it indicates that the vehicle is parked at the target parking space at the current first end point, and the rear of the vehicle can be fully or partially driven into the target parking space. For a target parking space, the second parking steering angle and the third parking steering angle are determined according to a fourth manner.

In an optional embodiment, if the horizontal distance between the second circle center and the midpoint of the target parking space is less than the minimum turning radius, then the second parking steering angle and the The third parking steering angle, the second parking steering angle is determined according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; x _{O 2} is the abscissa of the second center of circle O ₂ , W _d is the width of the entrance of the target parking space; R _min is the minimum turning radius;

Correspondingly, the third parking steering angle is determined according to the following formula:

Wherein, θ ₁ represents the first parking steering angle, θ ₂ represents the second parking steering angle, and θ ₃ represents the third parking steering angle.

As shown in Fig. 2B and Fig. 2C, a circle is made with the radius of the second center _O2 being 2R _min , and the ordinate value of the two intersection points of the circle and the straight line _BB1 is the smaller one, which is used as the third parking trajectory segment

The corresponding third circle center O ₃ . Among them, point B is the edge point of the parking feasible area, and a straight line parallel to the parking Cartesian coordinate system is drawn through point B, and B ₁ is selected below point B of the straight line so that the length of BB ₁ is equal to the minimum turning radius.

Determine the coordinates of the third circle center O ₃ in the parking Cartesian coordinate system. Draw a straight line parallel to the horizontal direction of the parking Cartesian coordinate system through the third circle center O ₃ , draw a straight line parallel to the vertical direction of the parking Cartesian coordinate system through the second circle center, and mark the intersection of the two lines as O ₂₃ , O ₂ O ₃ O ₂₃ form an arbitration triangle.

Based on the arbitration triangle O ₂ O ₃ O ₂₃ , by

Calculate the second parking steering angle. Wherein, θ ₁ represents the first parking steering angle; x _{O 2} is the abscissa of the second center of circle O ₂ , and W _d is the width of the entrance of the target parking space; R _min is the minimum turning radius; with the third center of circle O ₃ is the center of the circle, with R _min as the radius, a third circle where the third parking trajectory segment is located is constructed, and the second circle is tangent to the third circle at the second end point G ₃ . Based on the triangle O ₂ O ₃ O ₂₃ , it can be determined that the coordinates of the second end point G ₃ in the parking Cartesian coordinate system are:

According to the triangle interior angle sum theorem, by

A third parking steering angle θ ₃ is determined.

In the case of determining the first parking steering angle, the second parking steering angle, and _O2 coordinates, according to the geometric relationship through

Determine the coordinates of the third circle center O ₃ . Thereby, it can be determined that the termination position of _the third parking trajectory segment _G3G4 is the third termination point _G4 , and the coordinates of _G4 are

The first end point _G2 is the starting position _of the second parking trajectory segment _G2G3 . When the second parking steering angle is determined, the rotation direction of the steering wheel and the central angle corresponding to the second parking trajectory segment G ₂ G ₃ are also determined. The direction of rotation of _the steering wheel determines the direction of movement of the second parking trajectory segment _G2G3 . Because the second parking trajectory segment G ₂ G ₃ is a circular arc determined by the minimum turning radius, when the starting position, motion direction, central angle and motion radius are all determined, the second parking trajectory segment G ₂ G ₃ is also OK.

The end position of the second parking trajectory segment G ₂ G ₃ is the second end point G ₃ . During parking, the vehicle stops when it reaches the second end point. Wherein, the second end point _G3 is _the starting position of the third parking trajectory segment _G3G4 . When the third parking steering angle is determined, the direction of rotation of the steering wheel and the corresponding central angle in the third parking trajectory segment G ₃ G ₄ are also determined. The direction of rotation of _the steering wheel determines the direction of movement of the third parking trajectory segment _G3G4 . Because the third parking trajectory segment G ₃ G ₄ is a circular arc determined by the minimum turning radius, when the starting position, motion direction, central angle and motion radius are all determined, the third parking trajectory segment G ₃ G ₄ is also OK. According to the movement of the three-segment parking trajectory, the vehicle can be transformed from the initial initial position perpendicular to the longitudinal direction of the target parking space to the target position parallel to the longitudinal direction of the target parking space. At this time, only the vehicle needs to maintain the current position. Drive into the target parking space with the straight segment G ₄ G ₅ . The coordinates of G ₄ are

Wherein, y _O3 is the vertical coordinate of the third circle center.

G ₅ is the end position of the entire parking trajectory. In this application, the parking trajectory refers to the trajectory of the midpoint of the rear axle of the vehicle during the process of parking to the target parking space. In order to ensure safety and facilitate exit, the vehicle finally parks in the middle of the target parking space. In the parking Cartesian coordinate system, the coordinates of G ₅ are (-W _d /2, -L _f -L), where, L _f represents the front suspension of the vehicle, and L represents the wheelbase.

A parking trajectory can be determined on the basis of the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment. first parking track segment

Second parking track segment

third parking track segment

The determined parking trajectory curve _{G 1 G 2} G ₃ G 4 G ₅ is connected sequentially with the straight line segment G ₄ G ₅ .

S350. If the horizontal distance between the second circle center and the midpoint of the target parking space is greater than or equal to the minimum turning radius, determine the second parking steering angle and the third parking steering angle in a fifth manner horn. Continue to execute step S360.

If the horizontal distance between the second center of circle and the midpoint of the target parking space is greater than the minimum turning radius, it indicates that the vehicle is parked at the current first end point to the target parking space, and the rear of the vehicle cannot enter the target parking space. According to A fifth way determines the second parking steering angle and the third parking steering angle, wherein the fourth way is different from the fifth way.

In an optional embodiment, if the horizontal distance between the second circle center and the midpoint of the target parking space is greater than or equal to the minimum turning radius, the second parking steering angle is determined in a fifth manner and said third parking steering angle, comprising:

Determine the center of circle corresponding to the third parking trajectory segment as the third center of circle according to the following formula:

Wherein, (x _O3 , y _O3 ) is the position of the third center of circle O ₃ , R _min is the minimum turning radius, W _d is the width of the entrance of the target parking space, and W is the width of the vehicle; wherein, the third center of the circle is the third The center of the circle where the parking trajectory segment is located. The circle determined by the third center and the minimum turning radius is the trajectory of the midpoint of the rear axle of the vehicle when the steering wheel is turned to the bottom and the second end point is the starting point of the vehicle.

And determine the second parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle, x _O2 and x _O3 are the abscissas of the second circle center _O2 and the third circle center _O3 respectively, and y _O2 and y _O3 are the second circle center _O2 and the third circle center O3 respectively. The ordinate of the center of three circles _O3 ; correspondingly, the third parking steering angle determined according to the following formula:

Wherein, x _O2 , x _O3 are respectively the abscissas of the second circle center O ₂ and the third circle center O ₃ , and y _O2 , y _O3 are respectively the ordinates of the second circle center O ₂ and the third circle center O ₃ .

As shown in Figure 2D, when the horizontal distance between the second center of the circle and the midpoint of the target parking space is greater than the minimum turning radius, the current first end point of the vehicle is parked towards the target parking space, and the rear of the vehicle cannot enter the target parking space , in order to enable the vehicle to safely drive into the target parking space under this working condition, when the vehicle is at the end position _G3 of the second parking trajectory segment, the vehicle position needs to be adjusted. Keeping the steering wheel still and driving the straight line G ₃ G ₄ means that the vehicle reaches the position of G ₄ , and G ₄ is the starting position of the third parking trajectory segment. The coordinates of G ₃ and G ₄ in the parking Cartesian coordinate system are:

Under the situation that the third parking steering angle _θ3 and the third parking trajectory section starting position _G4 are determined, the coordinates of the end position _G5 of the third parking trajectory section can be determined:

When the vehicle is in position _G5 , the vehicle has transformed from the initial initial pose perpendicular to the longitudinal direction of the target parking space to the target pose parallel to the longitudinal direction of the target parking space. Segment G ₅ G ₆ drives into the target parking space. The coordinates of G ₆ are (-W _d /2, -L _f -L), where L _f represents the front suspension of the vehicle, and L represents the wheelbase.

From the first parking trajectory segment

The arc of the second parking track segment

Straight line segment G ₃ G ₄ , the third parking track segment

The three-step vertical parking trajectory curve G ₁ G ₂ G ₃ G ₄ G 5 G ₆ is formed by connecting with the straight line segment G ₅ G ₆ in _sequence .

S360. Determine a second parking trajectory segment and a third parking trajectory segment according to the second parking steering angle and the third parking steering angle, and determine a second parking trajectory segment and a third parking trajectory segment according to the first parking trajectory segment, the second The parking trajectory segment and the third parking trajectory segment define a parking trajectory.

In the technical solution provided by the embodiment of the present application, the center of the circle corresponding to the second parking trajectory segment, that is, the second center of the circle, is determined according to the termination position of the first parking trajectory segment, that is, the first termination point, and according to the relationship between the second circle center and the parking space entry The position relationship of the midpoint of the vehicle entrance determines whether the rear of the vehicle can drive into the entrance of the target parking space when the vehicle is parked at the first end point to the target parking space, and is aimed at the entry of the vehicle’s rear into the parking space. The second parking steering angle and the third parking steering angle are determined to determine the second parking trajectory segment and the third parking trajectory segment. Furthermore, determining the entire parking trajectory enables the vehicle to smoothly park into the target parking space, improves the calculation efficiency of the parking trajectory, improves parking safety, and avoids collisions with obstacles around the parking space.

In an optional embodiment, the first parking steering angle is greater than or equal to the minimum feasible parking steering angle.

For the working conditions shown in FIG. 2B and FIG. 2C , that is, the horizontal distance between the second center of the circle and the midpoint of entering the vehicle of the target parking space is smaller than the minimum turning radius. The center _O3 in Fig. 2B and Fig. 2C is the one with the smaller ordinate among the intersection points of the straight line _BB1 and the circle with _O2 as the center and 2R _min as the radius. If the center _O3 is located below the point _B1 , a collision occurs during parking. Therefore, the center _O3 is required to be located above the point _B1 . For the vehicle initial position G ₁ is located at the boundary of the parking feasible area

In the situation above, the constraint condition that the center of circle O ₃ is located above point B ₁ is transformed into a constraint condition for the first parking steering angle θ ₁ , that is, θ ₁ is required to satisfy: θ ₁ ≥ θ _min , where θ _min is arc

minimum angle.

_B1 coordinates are:

first parking track segment

The constraint condition of the first parking trajectory segment θ ₁ is transformed into the following inequality

where W is the width of the vehicle.

The larger the corresponding θ ₁ is, the larger the left side of the above inequality is. The larger the width W _d of the parking entrance, the larger θ ₁ is. Therefore, the larger W _d is, the larger the left side of the above inequality is. The bigger W _d is, the abscissa value of point B ₁

The smaller the value of the ordinate

The larger is, the smaller the right-hand side of the above inequality will be. To sum up, by setting the parking space width W _d not less than the minimum parking space width, the boundary of the parking feasible area

Any starting position of the vehicle on satisfies the constraints described by the above inequalities. Conversely, by making the parking feasible area boundary

The minimum parking space width can be solved by satisfying the constraint conditions described by the above inequalities at any starting position of the vehicle on .

Therefore, if the boundary of the parking feasible area

The starting position of the vehicle on satisfies the constraint conditions described by the above inequality, and the points in the parking feasible area all satisfy the constraint conditions described by the above inequality. The larger the rear suspension L _r of the vehicle is, the smaller θ ₁ is. Therefore, the larger the rear overhang L _r of the vehicle, the larger the required minimum parking space width.

Fig. 3B is a schematic diagram of the relationship between the longitudinal coordinates of the starting position of the vehicle and the angle corresponding to the first parking trajectory segment provided by Embodiment 3 of the present application, the starting position of the vehicle and the entrance of the target parking space in three typical working conditions The vertical distance of the side satisfies y ₃ >y ₂ >y ₁ , then the first parking steering angle satisfies θ ₁₃ >θ ₁₂ =θ ₁₁ when R _min is the turning radius, that is, when the turning radius is R _min , increasing the vertical distance between the starting position of the vehicle and the side where the entrance of the target parking space is located, the first parking steering angle will not decrease. In Fig. 3B, P ₁ and P ₂ respectively represent the outer edge angle of the vehicle rear and the inner edge angle of the vehicle rear, and P ₃₁ , P ₃₂ and P ₃₃ are respectively the vertical distances between the starting position of the vehicle and the side where the entrance of the target parking space is located. In the case of y ₁ , y ₂ and y ₃ , the position of the edge corner of the parking space entrance.

This application aims at three working conditions in the process of parking to a narrow parking space perpendicular to the initial position of the vehicle: the rear of the vehicle completely enters the parking space, the rear of the vehicle partially enters the parking space, and the rear of the vehicle does not enter the parking space. The straight line combination method is used to plan the feasible vertical parking trajectory, and the relationship between the initial position of the vehicle and the corresponding angle of the first parking trajectory and the requirements for the width of the parking space are analyzed, which improves the calculation efficiency of the parking trajectory and shortens the parking time. The vehicle trajectory effectively solves the problem of parking trajectory planning in the process of parking in a narrow parking space perpendicular to the vehicle's initial pose.

Embodiment four

Fig. 4 is a device for automatically determining a parking trajectory provided by Embodiment 4 of the present application. This embodiment is applicable to automatically determine the parking trajectory during the process of parking in a narrow parking space perpendicular to the initial vehicle posture. The device can be implemented by software and/or hardware, and can be integrated into electronic equipment such as smart terminals.

As shown in FIG. 4 , the device may include: a first parking steering angle determination module 410 , a first end point determination module 420 , a parking steering angle determination module 430 and a parking trajectory determination module 440 .

The first parking steering angle determining module 410 is configured to determine the first parking steering angle corresponding to the first parking trajectory segment according to the vehicle initial position and the target parking position; the first end point determining module 420 is configured to determine the first parking steering angle according to the determined The initial position of the vehicle, the first parking steering angle and the minimum turning radius determine that the end position of the first parking trajectory segment is the first end point; wherein, the minimum turning radius is the equivalent turning angle of the largest front axle The corresponding turning radius of the midpoint of the rear axle of the vehicle; the initial position of the vehicle is the starting position of the first parking trajectory segment; the parking steering angle determination module 430 is configured to be based on the first end point and the The relative positional relationship of the target parking position is to determine the second parking steering angle and the third parking steering angle; the parking trajectory determination module 440 is configured to Determine the second parking trajectory segment and the third parking trajectory segment, and determine the parking trajectory according to the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment.

The embodiment of the present application is aimed at the problem of parking in a narrow parking space perpendicular to the initial position of the vehicle, fully considering the characteristics of vehicle kinematics constraints, decomposing the parking trajectory into three parking trajectory segments, and according to the initial position of the vehicle and the target parking determining the first parking trajectory segment based on the position; determining the second parking trajectory segment according to the termination position of the first parking trajectory segment based on the first parking trajectory segment; and then determining the third parking trajectory segment based on the second parking trajectory segment, Finally, the entire parking trajectory is determined on the basis of the first, second and third parking trajectory segments. The calculation efficiency of the parking trajectory is improved, the parking distance is shortened, and the parking safety is improved at the same time.

Optionally, the first parking steering angle determining module 410 includes: a first parking steering angle determining submodule. Wherein, the first parking steering angle determination sub-module is set to determine the relative positional relationship between the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle rear, and the initial position of the inner edge angle of the vehicle rear. A first parking steering angle corresponding to a parking trajectory segment.

Optionally, the first parking steering angle determination submodule includes: a first circle center determination unit configured to determine the first parking steering angle according to the initial position of the vehicle, the initial pose of the vehicle, the target pose of the vehicle and the minimum turning radius. The center of circle corresponding to the trajectory segment is used as the first center of circle; the distance calculation unit is configured to calculate the entrance edge angle of the target parking space, the initial position of the outer edge angle of the vehicle tail, the initial position of the inner edge angle of the vehicle tail and the first position respectively. The distance between the circle centers is respectively used as the edge distance of the vehicle entrance, the outer edge distance of the rear end and the inner edge distance of the rear end; the first determination unit of the first parking steering angle is set as if the edge distance of the vehicle entrance is greater than or equal to The distance from the outer edge of the rear of the vehicle is based on the first method to determine the first parking steering angle; the second determination unit for the first parking steering angle is configured to determine if the distance from the edge of the vehicle entrance is greater than or equal to the inner edge of the rear of the vehicle. If the edge distance is smaller than the outer edge distance of the vehicle rear, the first parking steering angle is determined based on the second method; the third determining unit for the first parking steering angle is configured to if the edge distance of the vehicle entrance is smaller than the The distance from the inner edge of the rear of the vehicle is based on a third manner to determine the first parking steering angle; wherein, the first manner, the second manner and the third manner are different from each other.

Optionally, the first determination unit for the first parking steering angle is configured to determine the first parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; x _O1 is the abscissa of the first circle center, W _d is the width of the entrance of the target parking space, O ₁ P ₁ represents the distance from the outer edge of the rear of the vehicle; L _r Indicates the rear suspension of the vehicle; correspondingly, the second determination unit for the first parking steering angle is configured to determine the first parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first circle center O ₁ , O ₁ P ₃ represents the distance from the edge of the vehicle entrance; L _r represents the rear suspension of the vehicle; correspondingly, the first A third parking steering angle determining unit, configured to determine the first parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first circle center O ₁ , O ₁ P ₂ represents the distance from the inner edge of the rear of the vehicle; L _r represents the rear suspension of the vehicle.

Optionally, the first termination point determination module 420 is configured to determine the first termination point according to the following formula:

in,

is the initial position of the vehicle, θ ₁ is the first parking steering angle, and R _min is the minimum turning radius.

Optionally, the parking steering angle determination module 430 includes: a second circle center determination submodule, configured to determine a straight line parallel to the rear axle of the vehicle and passing through the first termination point, and determine a straight line that is parallel to the first end point on the straight line. The center of circle corresponding to the two parking trajectory segments is the second center of circle, so that the distances from the first end point to the first center of circle and the second center of circle are equal to the minimum turning radius; the parking angle determines the first submodule , set to determine the second parking steering angle and the third parking steering angle according to the fourth method if the horizontal distance between the second circle center and the midpoint of the target parking space is less than the minimum turning radius angle; the first submodule for determining the parking angle is configured to determine the second parking in a fifth manner if the horizontal distance between the second circle center and the midpoint of the target parking space is greater than or equal to the minimum turning radius vehicle steering angle and the third parking steering angle; wherein, the fourth mode is different from the fifth mode.

Optionally, the first submodule for determining the parking angle is configured to determine the second parking steering angle according to the following formula:

Wherein, θ ₁ represents the first parking steering angle; x _{O 2} is the abscissa of the second center of circle O ₂ , W _d is the width of the entrance of the target parking space; R _min is the minimum turning radius; correspondingly, as follows The third parking steering angle determined by the formula:

Wherein, θ ₁ represents the first parking steering angle, θ ₂ represents the second parking steering angle, and θ ₃ represents the third parking steering angle.

Optionally, the first submodule for determining the parking angle is configured to determine the center of the circle corresponding to the third parking trajectory segment as the third center of circle according to the following formula:

Wherein, (x _O3 , y _O3 ) is the position of the third center of circle _O3 , R _min is the minimum turning radius, W _d is the width of the entrance of the target parking space, and W is the width of the vehicle; and the first is determined according to the following formula 2. Parking Steering Angle:

Wherein, θ ₁ represents the first parking steering angle, x _O2 and x _O3 are the abscissas of the second center _O2 and the third _center O3 respectively, and y _O2 and y _O3 are the second center O2 _and the third center O3 respectively. The ordinate of the center of three circles _O3 ; correspondingly, the third parking steering angle determined according to the following formula:

Wherein, x _O2 , x _O3 are respectively the abscissas of the second circle center O ₂ and the third circle center O ₃ , and y _O2 , y _O3 are respectively the ordinates of the second circle center O ₂ and the third circle center O ₃ .

Optionally, the first parking steering angle is greater than or equal to the minimum feasible parking steering angle.

A device for automatically determining a parking trajectory provided in an embodiment of the present application can execute a method for automatically determining a parking trajectory provided in any embodiment of the application, and has corresponding performance modules and effects for executing a method for automatically determining a parking trajectory .

Embodiment five

Embodiment 5 of the present application also provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute a method for automatically determining a parking trajectory when executed by a computer processor. The method includes:

Determine the first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space; determine the first parking steering angle according to the initial position of the vehicle, the first parking steering angle and the minimum turning radius The terminating position of the parking trajectory segment is the first terminating point; wherein, the minimum turning radius is the turning radius of the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle; the initial position of the vehicle is the first parking The starting position of the vehicle trajectory segment; according to the relative positional relationship between the first end point and the target parking position, determine the second parking steering angle and the third parking steering angle; according to the second parking steering angle and the third parking steering angle to determine the second parking trajectory segment and the third parking trajectory segment, and according to the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment The vehicle trajectory segment determines the parking trajectory.

Storage medium refers to any of various types of memory electronics or storage electronics. The term "storage medium" is intended to include: installation media such as Compact Disc Read-Only Memory (CD-ROM), floppy disks, or tape drives; computer system memory or random access memory, such as dynamic random access memory (Dynamic RAM, DRAM), double rate random access memory (Double Data Rate RAM, DDR RAM), static random access memory (Static RAM, SRAM), extended data output random access memory (Extended Data Output RAM, EDO RAM), Rambus Random Access Memory (Random Access Memory, Rambus RAM), etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory components, etc. The storage medium may also include other types of memory or combinations thereof. Also, the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network such as the Internet. The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside on different devices, for example in different computer systems connected by a network. A storage medium may store program instructions (eg, implemented as a computer program) that are executable by one or more processors.

A storage medium containing computer-executable instructions provided by an embodiment of the present application. The computer-executable instructions are not limited to the automatic determination of the parking trajectory as described above, and can also execute the parking trajectory provided by any embodiment of the application. Automatically determine the relevant actions in the method.

Embodiment six

Embodiment 6 of the present application provides an electronic device, which can integrate the device for automatically determining the parking trajectory provided by the embodiment of the present application. The electronic device can be configured in the system, or can be a part of the execution system. or full performance equipment. FIG. 5 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present application. As shown in FIG. 5 , this embodiment provides an electronic device 500, which includes: one or more processors 520; a storage device 510 configured to store one or more programs, when the one or more programs are executed The one or more processors 520 execute, so that the one or more processors 520 implement the method for automatically determining the parking trajectory provided in the embodiment of the present application, the method includes:

Determine the first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space; determine the first parking steering angle according to the initial position of the vehicle, the first parking steering angle and the minimum turning radius The terminating position of the parking trajectory segment is the first terminating point; wherein, the minimum turning radius is the turning radius of the midpoint of the rear axle of the vehicle corresponding to the maximum equivalent turning angle of the front axle; the initial position of the vehicle is the first parking The starting position of the vehicle trajectory segment; according to the relative positional relationship between the first end point and the target parking position, determine the second parking steering angle and the third parking steering angle; according to the second parking steering angle and the third parking steering angle to determine the second parking trajectory segment and the third parking trajectory segment, and according to the first parking trajectory segment, the second parking trajectory segment and the third parking trajectory segment The vehicle trajectory segment determines the parking trajectory.

The processor 520 also implements the technical solution of the method for automatically determining the parking trajectory provided in any embodiment of the present application.

The electronic device 500 shown in FIG. 5 is only an example, and should not limit the performance and application scope of the embodiment of the present application.

As shown in Figure 5, the electronic device 500 includes a processor 520, a storage device 510, an input device 530, and an output device 540; the number of processors 520 in the electronic device can be one or more, and one processor 520 As an example; the processor 520, the storage device 510, the input device 530 and the output device 540 in the electronic device may be connected through a bus or in other ways. In FIG. 5, the connection through the bus 550 is taken as an example.

As a computer-readable storage medium, the storage device 510 can be configured to store software programs, computer-executable programs and module units, such as program instructions corresponding to the method for automatically determining the parking trajectory in the embodiment of the present application.

The storage device 510 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application program required for performance; the data storage area may store data created according to the use of the terminal, and the like. In addition, the storage device 510 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some examples, the storage device 510 may include memory located remotely from the processor 520, and these remote memories may be connected through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 530 may be configured to receive input numbers, character information or voice information, and generate key signal input related to user settings and performance control of the electronic device. The output device 540 may include electronic equipment such as a display screen and a speaker.

The device, medium, and electronic device for automatically determining the parking trajectory provided in the above embodiments can execute the method for automatically determining the parking trajectory provided in any embodiment of the present application, and have corresponding performance modules and effects for executing the method. For technical details not exhaustively described in the foregoing embodiments, reference may be made to the method for automatically determining a parking trajectory provided in any embodiment of the present application.

Claims (10)

1. A method for automatically determining a parking trajectory, comprising:

   determining a first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space;

   According to the initial position of the vehicle, the first parking steering angle and the minimum turning radius, it is determined that the termination position of the first parking trajectory segment is the first termination point; wherein, the minimum turning radius is equal to the maximum front axle The turning radius of the midpoint of the rear axle of the vehicle corresponding to the effective turning angle; the initial position of the vehicle is the starting position of the first parking track segment;

   determining a second parking steering angle and a third parking steering angle according to the relative positional relationship between the first termination point and the target parking position;

   A second parking trajectory segment and a third parking trajectory segment are determined according to the second parking steering angle and the third parking steering angle, and according to the first parking trajectory segment, the second parking trajectory segment, The trajectory segment and the third parking trajectory segment define a parking trajectory.
2. The method according to claim 1, wherein said determining the first parking steering angle corresponding to the first parking trajectory segment according to the initial position of the vehicle and the position of the target parking space comprises:

   The first parking steering corresponding to the first parking trajectory segment is determined according to the relative positional relationship between the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle rear, and the initial position of the inner edge angle of the vehicle rear horn.
3. The method according to claim 2, wherein, according to the relative positional relationship between the edge angle of the entrance of the target parking space, the initial position of the outer edge angle of the vehicle rear and the initial position of the inner edge angle of the vehicle rear, the determination of said and The first parking steering angle corresponding to the first parking trajectory segment, including

   determining the center of circle corresponding to the first parking trajectory segment as the first center of circle according to the initial position of the vehicle, the initial pose of the vehicle, the target pose of the vehicle and the minimum turning radius;

   Calculate the distance between the entrance edge angle of the target parking space, the initial position of the outer edge angle of the vehicle tail, the initial position of the inner edge angle of the vehicle tail and the first center of the circle, respectively, as the edge distance of the entrance, the rear The outer edge distance and the rear inner edge distance;

   If the edge distance of the vehicle entrance is greater than or equal to the outer edge distance of the vehicle rear, the first parking steering angle is determined based on a first method;

   If the edge distance of the vehicle entrance is greater than or equal to the inner edge distance of the rear end and smaller than the outer edge distance of the rear end, the first parking steering angle is determined based on a second manner;

   In the case that the edge distance of the vehicle entrance is less than or the inner edge distance of the vehicle rear, the first parking steering angle is determined based on a third method; wherein, the first method, the second method and the The above third methods are different from each other.
4. The method according to claim 3, wherein, when the edge distance of the vehicle entrance is greater than or equal to the outer edge distance of the vehicle rear, determining the first parking steering angle based on a first method includes:

   The first parking steering angle is determined according to the following formula:

   

   Wherein, θ ₁ represents the first parking steering angle; x _O1 is the abscissa of the first circle center, W _d is the width of the entrance of the target parking space, O ₁ P ₁ represents the distance from the outer edge of the rear of the car; L _r Indicates the rear suspension of the vehicle;

   In a case where the distance from the edge of the vehicle entrance is greater than or equal to the distance from the inner edge of the rear end and less than the distance from the outer edge of the rear end, determining the first parking steering angle based on a second method includes:

   The first parking steering angle is determined according to the following formula:

   

   Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first center O ₁ , O ₁ P ₃ represents the edge distance of the entrance; L _r represents the rear suspension of the vehicle;

   If the edge distance of the vehicle entrance is smaller than the inner edge distance of the vehicle rear, the first parking steering angle is determined based on a third method, including:

   The first parking steering angle is determined according to the following formula:

   

   Wherein, θ ₁ represents the first parking steering angle; y _O1 is the ordinate of the first circle center O ₁ , O ₁ P ₂ represents the distance from the inner edge of the rear of the vehicle; L _r represents the rear suspension of the vehicle.
5. The method according to claim 1, wherein the determination of the termination position of the first parking trajectory segment according to the initial vehicle position, the first parking steering angle and the minimum turning radius is the first termination point, include:

   Determine the first termination point according to the following formula:

   

   in,

   

   is the initial position of the vehicle, θ ₁ is the first parking steering angle, and R _min is the minimum turning radius.
6. The method according to claim 3, wherein said determining the second parking steering angle and the third parking steering angle according to the relative positional relationship between the first termination point and the target parking position comprises:

   Determining a straight line parallel to the rear axle of the vehicle and passing through the first termination point, on which the center of the circle corresponding to the second parking trajectory segment is determined as the second center of circle, so that the first termination point reaches the The distance between the first circle center and the second circle center is equal to the minimum turning radius;

   If the horizontal distance between the second circle center and the midpoint of the target parking space is smaller than the minimum turning radius, the second parking steering angle and the third parking steering angle are determined according to a fourth manner ;

   In the case that the horizontal distance between the second circle center and the midpoint of the target parking space is not less than the minimum turning radius, the second parking steering angle and the third parking steering angle are determined in a fifth manner angle; wherein, the fourth manner is different from the fifth manner.
7. The method according to claim 6, wherein when the horizontal distance between the second circle center and the midpoint of the target parking space is smaller than the minimum turning radius, the second parking space is determined according to the fourth manner steering angle and said third parking steering angle, comprising:

   The second parking steering angle is determined according to the following formula:

   

   Wherein, θ ₁ represents the first parking steering angle; θ ₂ represents the second parking steering angle; x _{O 2} is the abscissa of the second center of circle O ₂ , and W _d is the width of the entrance of the target parking space; R _min is the minimum turning radius;

   The third parking steering angle is determined according to the following formula;

   

   Wherein, θ ₁ represents the first parking steering angle, θ ₂ represents the second parking steering angle, and θ ₃ represents the third parking steering angle.
8. The method according to claim 6, wherein the second parking steering is determined in a fifth manner when the horizontal distance between the second circle center and the midpoint of the target parking space is greater than or equal to the minimum turning radius angle and the third parking steering angle, including:

   Determine the center of circle corresponding to the third parking trajectory segment as the third center of circle according to the following formula:

   

   Wherein, (x _O3 , y _O3 ) is the position of the third center of circle _O3 , R _min is the minimum turning radius, W _d is the width of the entrance of the target parking space, and W is the width of the vehicle;

   The second parking steering angle is determined according to the following formula:

   

   Wherein, θ ₁ represents the first parking steering angle, x _O2 and x _O3 are the abscissas of the second circle center _O2 and the third circle center _O3 respectively, and y _O2 and y _O3 are the second circle center _O2 and the third circle center O3 respectively. The vertical coordinate of the center O ₃ of the three circles;

   Said third parking steering angle determined according to the following formula:

   

   Wherein, x _O2 , x _O3 are respectively the abscissas of the second circle center O ₂ and the third circle center O ₃ , and y _O2 , y _O3 are respectively the ordinates of the second circle center O ₂ and the third circle center O ₃ .
9. The method of claim 1 , wherein the first park steer angle is greater than or equal to a minimum feasible park steer angle.
10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein, when the processor executes the computer program, any of claims 1-9 is implemented. A method for automatically determining a parking trajectory.

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