CN113085840B - Parking path determination method and device, vehicle and storage medium - Google Patents
Parking path determination method and device, vehicle and storage medium Download PDFInfo
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Abstract
The invention discloses a parking path determining method and device, a vehicle and a storage medium. The method comprises the following steps: determining the position information and the target parking space information of a vehicle to be parked; determining a Bezier curve according to the position information and the target parking space information; and determining a parking path of the vehicle to be parked based on the Bezier curve. By using the method, the parking path can be simply and quickly planned.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a parking path determining method and device, a vehicle and a storage medium.
Background
The increasingly worsened parking scene increases the parking pressure of the driver and the risk of the damaged vehicle, the automatic parking system can automatically park the vehicle, and the problem that the vehicle is scratched due to improper operation of the driver is avoided. For an automatic parking system, path planning is an important part of the automatic parking system, and the quality of the path planning directly determines the quality of the automatic parking system.
For the inclined parking spaces with large inclination angles, the path planning mode in the parking system mostly adopts a geometric mode or a searching mode. The searching mode can search the required parking paths for various parking scenes, but the calculating process is complex and time-consuming, the real-time performance is poor due to excessive occupation of calculating resources, and the parking paths cannot be transplanted to the controller.
Therefore, how to simply and quickly plan a parking path is a technical problem to be solved urgently at present.
Disclosure of Invention
The embodiment of the invention provides a parking path determining method, a parking path determining device, a vehicle and a storage medium, and the parking path can be simply and quickly planned.
In a first aspect, an embodiment of the present invention provides a parking path determining method, including:
determining position information and target parking space information of a vehicle to be parked;
determining a Bezier curve according to the position information and the target parking space information;
and determining a parking path of the vehicle to be parked based on the Bezier curve.
In a second aspect, an embodiment of the present invention further provides a parking path determining apparatus, including:
a first determining module for determining the position information and target parking space information of the vehicle to be parked
The second determination module is used for determining a Bezier curve according to the position information of the vehicle to be parked and the target parking space information;
and the third determination module is used for determining a parking path of the vehicle to be parked based on the Bezier curve.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executed by the one or more processors, so that the one or more processors are used to implement a method for determining a parking path according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method for determining a parking path as provided by any of the embodiments of the present invention.
The embodiment of the invention provides a method and a device for determining a parking path, a vehicle and a storage medium, wherein the method comprises the steps of firstly determining position information and target parking space information of a vehicle to be parked; then determining a Bezier curve according to the position information and the target parking space information; and finally, determining a parking path of the vehicle to be parked based on the Bezier curve. By using the technical scheme, the parking path can be simply and quickly planned.
Drawings
Fig. 1 is a flowchart illustrating a parking path determining method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a preset coordinate system in a parking path determining method according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a parking path determining method according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of forward parking in a parking path determining method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of backward parking in a method for determining a parking path according to a second embodiment of the present invention;
fig. 6 is a flowchart illustrating an example of a parking path determining method according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a parking path determining apparatus according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While certain 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 construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and the embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present invention are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a" or "an" or "the" modification(s) in the present invention are intended to be illustrative rather than limiting and that those skilled in the art will understand that reference to "one or more" unless the context clearly indicates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present invention are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
Example one
Fig. 1 is a schematic flow chart of a parking path determining method according to an embodiment of the present invention, which is applicable to a parking situation of a vehicle, particularly a parking situation for an inclined parking space, and which may be executed by a parking path determining device, wherein the device may be implemented by software and/or hardware and is generally integrated in a parking system of the vehicle, and the vehicle in this embodiment may be any type and any size of vehicle.
As shown in fig. 1, a parking path determination method according to an embodiment of the present invention includes the following steps:
and S110, determining the position information of the vehicle to be parked and the target parking space information.
In this embodiment, the target parking space may be understood as a parking space in which the vehicle to be parked is to be parked, and the vehicle to be parked may be understood as a vehicle to be parked. The position information of the vehicle to be parked can be information representing the position of the vehicle to be parked, and the target parking space information can be information representing the position of the target parking space.
The position information of the vehicle to be parked may include a position coordinate of the vehicle to be parked and an angle of the vehicle to be parked, and the target parking space information may include a target parking space coordinate and an angle of the target parking space.
In this embodiment, the position coordinates of the vehicle to be parked may be coordinates of the vehicle to be parked in a preset coordinate system. The preset coordinate system may be a two-dimensional coordinate system established based on the vehicle to be parked, and the preset coordinate system may be established according to actual situations, where the establishment of the preset coordinate system is not specifically limited, for example, fig. 2 is a schematic diagram of the preset coordinate system in the method for determining the parking path according to the embodiment of the present invention, as shown in fig. 2, the preset coordinate system may be a coordinate system established by taking a center point of a rear axle of the vehicle to be parked as an origin of coordinates, taking a direction of a longitudinal axis of the vehicle to be parked as an x-axis, and taking a direction perpendicular to the x-axis as a y-axis. It should be noted that, if the preset coordinate system is established in the above manner, the position coordinate of the vehicle to be parked may be a coordinate of a midpoint of a rear axle of the vehicle to be parked in the preset coordinate system.
The angle of the vehicle to be parked can be an included angle formed by a central axis in the direction of the head of the vehicle to be parked and the positive direction of the x axis of the preset coordinate system.
Optionally, before executing the step, an automatic parking function of the vehicle to be parked needs to be started, the parking spaces can be automatically searched after the automatic parking function is started, and if multiple parking spaces are searched, the driver can select one parking space as the target parking space. The target parking space can be selected by the driver in any mode, and illustratively, the driver can manually select the target parking space on a driving computer screen; the driver can also select a target parking space on the mobile phone through a remote control mode.
Optionally, the manner of determining the position information of the vehicle to be parked may be: the position and the angle of the vehicle to be parked are adjusted according to the target parking space selected by the driver, in the embodiment, the position information of the vehicle to be parked is not limited, and the position information can be selected in a self-adaptive mode according to the actual situation.
The target parking space coordinate can be a coordinate of a target parking space selected by a driver in a preset coordinate system; the angle of the target parking space is an included angle formed by a connecting line between the target parking space and the vehicle to be parked and the right side direction of the target parking space horizontally.
Optionally, the determination mode of the target parking space information may be: after the driver selects the target parking space, the parking system can automatically acquire the position and the angle of the target parking space. Specifically, after the user selects the target parking space, the parking system may automatically calculate the angle of the target parking space according to the position coordinate and the angle of the vehicle to be parked and the position coordinate of the target parking space, and details on how to obtain the angle of the target parking space are omitted here.
The above-described manner of determining the position information of the vehicle to be parked and the position information of the target vehicle is merely an example, and is not a limitation on the determination manner, and the position information of the vehicle to be parked and the position information of the target vehicle may be determined in any other manner.
And S120, determining a Bezier curve according to the position information and the target parking space information.
In this embodiment, the method for determining the bezier curve according to the position information and the target parking space information may be: and determining coordinates of a plurality of control points according to the position information and the target parking space information, and determining a Bezier curve according to the coordinates of each control point.
The control points may be points on the bezier curve, including a start point and an end point, the control points may be equal division points, that is, the distance between every two control points is equal, the control points may be distributed at any interval distance, that is, the interval distance between every two control points may be any value. The number of the control points may be an integer greater than 1, and the number of the control points is not particularly limited herein, and for example, the number of the control points may be 6, 9, or 10.
Specifically, the manner of determining the coordinates of the plurality of control points according to the position information and the target parking space information may be: and substituting the position coordinates of the vehicle to be parked, the angle of the vehicle to be parked, the coordinates of the target parking space and the angle of the target parking space into a control point calculation formula to calculate to obtain a plurality of control point coordinates. The method for determining the bezier curve according to the coordinates of each control point may be as follows: the coordinates of the control points are substituted into a Bezier curve equation to calculate the coordinates of a plurality of curve points, and all the curve points are fitted to obtain a Bezier curve.
The calculation formula of the control point is not particularly limited, and may be any formula capable of calculating each control point. The bezier curve equation can be determined according to the number of control points, and the bezier curves generated according to different numbers of control points are also different.
And S130, determining a parking path of the vehicle to be parked based on the Bezier curve.
In the present embodiment, the bezier curve may be used as the parking path of the vehicle to be parked.
Optionally, different bezier curves may be calculated according to different numbers of control points, so that a plurality of bezier curves may be obtained, and then one bezier curve may be selected from the plurality of bezier curves as the parking path.
The method for determining the parking path provided by the embodiment of the invention comprises the steps of firstly determining the position information of a vehicle to be parked and the target parking space information; then determining a Bezier curve according to the position information and the target parking space information; and finally determining a parking path of the vehicle to be parked based on the Bezier curve. By the method, the parking path can be simply and quickly planned.
Example two
Fig. 3 is a schematic flow chart of a parking path determining method according to a second embodiment of the present invention, which is optimized based on the first embodiment. In this embodiment, after the determining the location information of the vehicle to be parked and the target parking space information, the method further includes: and determining the parking direction of the vehicle to be parked according to the angle of the target parking space, wherein the angle of the target parking space is the angle of an included angle formed by a connecting line between the target parking space and the vehicle to be parked and the right side direction of the target parking space. Further, this embodiment will also determine a bezier curve according to the location information and the target parking space information, and further optimize as: determining a plurality of control point coordinates according to the position information and the target parking space information; obtaining a plurality of curve point coordinates based on the control point coordinates; and generating a Bezier curve by taking the coordinates of each curve point as coordinates on the Bezier curve.
As shown in fig. 3, a parking route determining method according to a second embodiment of the present invention includes the following steps:
s310, determining the position information of the vehicle to be parked and the target parking space information.
And S320, determining the parking direction of the vehicle to be parked according to the angle of the target parking space.
The parking direction of the vehicle to be parked may be understood as a driving direction of the vehicle to be parked into the target parking space, and the parking direction of the vehicle to be parked may include forward parking and backward parking.
Further, the method for determining the parking direction of the vehicle to be parked according to the angle of the target parking space may be: and determining the parking direction of the vehicle to be parked according to whether the angle of the target parking space is larger than a preset angle or not.
Specifically, the determining the parking direction of the vehicle to be parked according to the target parking space angle includes: if the angle of the target parking space is larger than the preset angle, determining that the parking direction of the vehicle to be parked is forward parking; and if the target parking space angle is smaller than or equal to the preset angle, determining that the parking direction of the vehicle to be parked is backward parking.
The preset angle may be a preset angle, and the preset angle may be set according to an actual situation, which is not specifically limited herein, and for example, the preset angle may be 90 degrees. When the angle of the target parking space is larger than 90 degrees, determining that the parking direction of the vehicle to be parked is forward parking; and if the angle of the target parking space is smaller than or equal to 90 degrees, determining that the parking direction of the vehicle to be parked is backward parking.
In the embodiment, the parking path can be effectively simplified by determining whether the vehicle to be parked is parked in the forward direction or the backward direction according to the angle of the target parking space.
And S330, determining the coordinates of a plurality of control points according to the position information and the target parking space information.
In this embodiment, the coordinates of the plurality of control points may be calculated according to the position coordinates and the angle in the position information and the target parking space coordinates and the angle in the target parking space information.
Illustratively, if the position coordinate is (x) A ,y A ) At an angle of yaw for the vehicle to be parked A (ii) a The coordinate of the target parking space is (x) B ,y B ) Angle of target parking space is yaw B If the number of the control points is 6 and the points are equally divided, the calculation formula of the coordinates of each control point is as follows:
the position coordinates can be used as the coordinates of the starting point in the control point, and the coordinates of the target parking space can be used as the coordinates of the ending point in the control point.
And S340, obtaining a plurality of curve point coordinates based on the control point coordinates.
Wherein the curve point may be a point on a bezier curve.
In this embodiment, the coordinates of the control points are substituted into the bezier curve equation to obtain the coordinates of a plurality of curve points.
For example, if the number of control points is 5, the expression of the bezier curve equation may be:
wherein, P 0x 、P 1x 、P 2x 、P 3x 、P 4x And P 5x Respectively, the abscissa, P, of 6 control points 0y 、P 1y 、P 2y 、P 3y 、P 4y And P 5y Respectively, 6 control points, d may be [0,1 ]]Any value in (1) needs to ensure that d is taken as an equal interval value, for example, d can be taken as 0,0.1,0.2, \ 8230, 1, d can also be taken as 0,0.01,0.02, \ 8230, 1, the number of d is not limited, and the smaller the value interval, the more the number of d is, the more accurate the calculated Bessel curve is.
And S350, generating the Bezier curve by taking the coordinates of the curve points as coordinates on the Bezier curve.
In this embodiment, a bezier curve may be generated by fitting based on each curve point, and the coordinates of the curve points are the coordinates on the bezier curve.
It is understood that the coordinates of the control points can be calculated in the above manner, and the bezier curve can be calculated according to the bezier curve equation, regardless of whether the parking direction of the vehicle to be parked is forward parking or backward parking.
And S360, determining a parking path of the vehicle to be parked based on the Bezier curve.
In the present embodiment, the calculated bezier curve is taken as the parking path of the vehicle to be parked.
Further, after determining the parking path, the method may further include: parking according to the parking path and judging whether the vehicle to be parked reaches a target parking space; stopping parking if the vehicle to be parked reaches the target parking space; and if the vehicle to be parked does not reach the target parking space, continuing to park according to the parking path until the vehicle to be parked reaches the target parking space.
The method for judging whether the vehicle to be parked reaches the target parking space can be used for judging whether the current position coordinates of the vehicle to be parked are the same as the coordinates of the target parking space, and if so, determining that the vehicle to be parked reaches the target parking space and stopping parking; if the parking paths are different, parking can be continuously carried out according to the parking paths, and the parking is stopped until the vehicle to be parked reaches the target parking space.
The parking path determining method provided by the second embodiment of the invention embodies the determination of the Bezier curve according to the position information and the target parking space information. The method plans the parking path based on the Bezier curve mode, so that the parking track is generated simply and conveniently, the occupation of computing resources is less, and the parking process is smoother. In addition, the method can determine whether the parking direction is forward parking or backward parking according to the angle of the target parking space, and can simplify the parking path.
The embodiment of the invention provides a specific implementation mode on the basis of the technical scheme of each embodiment.
Fig. 4 is a schematic forward parking diagram in a parking path determining method according to a second embodiment of the present invention, as shown in fig. 4, a rectangle in which a point a is located represents a vehicle to be parked, a rectangular coordinate system shown in fig. 4 is constructed by using the point a as a coordinate origin, and a point B represents a target parking space, and it can be known from fig. 4 that an angle of the target parking space is greater than 90 degrees, so that the vehicle to be parked can perform forward parking. In fig. 4, a curve between the points a and B is a bezier curve, that is, a parking path along which the vehicle to be parked is parked forward.
Fig. 5 is a schematic diagram of backward parking in a parking path determining method according to a second embodiment of the present invention, as shown in fig. 5, a rectangle in which a point a is located represents a vehicle to be parked, a rectangular coordinate system shown in fig. 5 is constructed by using the point a as an origin of coordinates, and a point C in the diagram represents a target parking space, and it can be known from fig. 5 that an angle of the target parking space is smaller than 90 degrees, so that the vehicle to be parked can perform backward parking. The curve between points a and C in fig. 5 is a bezier curve, that is, a parking path indicating backward parking of the vehicle to be parked.
Fig. 6 is a flowchart illustrating an exemplary parking path determining method according to a second embodiment of the present invention, and as shown in fig. 6, the parking path determining method may include the following steps.
Starting a parking function of a vehicle to be parked, establishing a coordinate system, namely a preset coordinate system, searching parking spaces, judging whether the angle of a target parking space is greater than 90 degrees after the target parking space is determined, if so, determining that the parking direction of the vehicle to be parked is forward parking, determining the coordinates of a control point based on the position information and the information of the target parking space of the vehicle to be parked, further determining a Bessel curve, following a path of the vehicle to be parked, judging whether the vehicle to be parked reaches the target parking space, if so, finishing the parking function, and if not, continuing to follow the parking path until the vehicle to be parked reaches the target parking space; if the angle of the target parking space is judged to be smaller than or equal to 90 degrees after the target parking space is judged, the parking direction of the vehicle to be parked is determined to be backward parking, the control point coordinates are determined based on the position information of the vehicle to be parked and the target parking space information, a Bessel curve is further determined, the vehicle to be parked carries out parking path following, whether the vehicle to be parked reaches the target parking space is judged, if the vehicle to be parked reaches the target parking space, the parking function is finished, if the vehicle to be parked does not reach the target parking space, the path following is continued until the vehicle to be parked reaches the target parking space, and the parking is finished.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a parking path determining apparatus according to a third embodiment of the present invention, which is applicable to a situation where a vehicle is parked, particularly a situation where a vehicle is parked in an inclined parking space, wherein the apparatus can be implemented by software and/or hardware and is generally integrated into a parking system of the vehicle.
As shown in fig. 7, the parking route determination device includes: a first determination module 710, a second determination module 720, and a third determination module 730.
The first determining module 710 is configured to determine location information of a vehicle to be parked and target parking space information.
And a second determining module 720, configured to determine a bezier curve according to the location information of the vehicle to be parked and the target parking space information.
A third determining module 730, configured to determine a parking path of the vehicle to be parked based on the bezier curve.
In this embodiment, the device first determines the location information of the vehicle to be parked and the target parking space information through the first determination module 710; then, determining a Bezier curve according to the position information of the vehicle to be parked and the target parking space information through a second determining module 720; finally, a parking path of the vehicle to be parked is determined by the third determination module 730 on the basis of the bezier curve.
The embodiment provides a parking path determining device which can simply and quickly plan a parking path.
Further, the target parking space information includes a target parking space coordinate and an angle of the target parking space, the target parking space coordinate is a coordinate of the target parking space in a preset coordinate system, the preset coordinate system is a coordinate system established by taking a middle point of a rear shaft of a vehicle to be parked as an origin of coordinate, taking a direction of a longitudinal axis of the vehicle to be parked as an x axis, and taking a direction perpendicular to the x axis as a y axis.
Furthermore, the device for determining the parking path further comprises a fourth determining module, which is used for determining the parking direction of the vehicle to be parked according to the angle of the target parking space, wherein the angle of the target parking space is the angle of an included angle formed by a connecting line between the target parking space and the vehicle to be parked and the right side direction of the target parking space.
On the basis of the optimization, the position information comprises the position coordinates of the vehicle to be parked and the angle of the vehicle to be parked; the position coordinates are determined based on the origin coordinates of the preset coordinate system, and the angle of the vehicle to be parked is the angle of an included angle formed by the central axis of the vehicle head direction of the vehicle to be parked and the positive direction of the x axis of the preset coordinate system.
Based on the above technical solution, the fourth determining module is specifically configured to: if the target parking space angle is larger than the preset angle, determining that the parking direction of the vehicle to be parked is forward parking; and if the target parking space angle is smaller than or equal to the preset angle, determining that the parking direction of the vehicle to be parked is backward parking.
Further, the second determining module 720 is specifically configured to: determining a plurality of control point coordinates according to the position information and the target parking space information; obtaining a plurality of curve point coordinates based on the control point coordinates; and generating a Bezier curve by taking the coordinates of each curve point as coordinates on the Bezier curve.
Further, the device for determining the parking path further comprises a judging module, which is used for parking according to the parking path and judging whether the vehicle to be parked reaches a target parking space; stopping parking if the vehicle to be parked reaches the target parking space; and if the vehicle to be parked does not reach the target parking space, continuing to park according to the parking path until the vehicle to be parked reaches the target parking space.
The parking path determining device can execute the parking path determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
Example four
Fig. 8 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 8, a vehicle according to a fourth embodiment of the present invention includes: one or more processors 81 and storage 82; the number of the processors 81 in the vehicle may be one or more, and one processor 81 is taken as an example in fig. 8; the storage 82 is used to store one or more programs; the one or more programs are executed by the one or more processors 81, so that the one or more processors 81 implement the method for determining a parking path according to any one of the embodiments of the present invention.
The vehicle may further include: an input device 83 and an output device 84.
The processor 81, the storage device 82, the input device 83, and the output device 84 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 8.
The storage device 82 in the vehicle, as a computer-readable storage medium, may be used to store one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the parking path determining method provided in one or two embodiments of the present invention (for example, the modules in the parking path determining device shown in fig. 7 include a first determining module 710, a second determining module 720, and a third determining module 730). The processor 81 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the storage device 82, that is, implements a parking path determination method in the above-described method embodiments.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle, and the like. Further, the storage 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle. The output device 44 may include a display device such as a display screen.
And, when the one or more programs included in the vehicle are executed by the one or more processors 41, the programs perform the following operations:
determining position information and target parking space information of a vehicle to be parked;
determining a Bezier curve according to the position information and the target parking space information;
and determining a parking path of the vehicle to be parked based on the Bezier curve.
EXAMPLE five
An embodiment five of the present invention provides a computer-readable storage medium on which a computer program is stored, the program being executed by a processor to perform a method for determining a parking path, the method comprising:
determining position information and target parking space information of a vehicle to be parked;
determining a Bezier curve according to the position information and the target parking space information;
and determining a parking path of the vehicle to be parked based on the Bezier curve.
Alternatively, the program may be used to execute the method for determining a parking path according to any of the embodiments of the present invention when executed by the processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method of determining a parking path, comprising:
determining position information and target parking space information of a vehicle to be parked;
determining a Bezier curve according to the position information and the target parking space information;
determining a parking path of the vehicle to be parked based on the Bezier curve;
wherein, the determining a bezier curve according to the position information and the target parking space information includes:
determining a plurality of control point coordinates according to the position information and the target parking space information;
obtaining a plurality of curve point coordinates based on the control point coordinates;
generating a Bezier curve by taking the coordinates of each curve point as coordinates on the Bezier curve;
the target parking space information comprises a target parking space coordinate and a target parking space angle, and the position information comprises a position coordinate of the vehicle to be parked and an angle of the vehicle to be parked;
the determining the coordinates of the plurality of control points according to the position information and the target parking space information includes:
calculating to obtain a plurality of control point coordinates according to the position coordinates and the angle in the position information and the target parking space coordinates and the angle in the target parking space information;
the position coordinates are used as initial point coordinates in the control points, and the target parking space coordinates are used as end point coordinates in the control points;
the obtaining of a plurality of curve point coordinates based on each of the control point coordinates includes:
substituting the coordinates of the control points into a Bezier curve equation to obtain a plurality of coordinates of the curve points; wherein the curve point is a point on a Bezier curve.
2. The method according to claim 1, wherein the target parking space coordinates are coordinates of the target parking space in a preset coordinate system, the preset coordinate system is a coordinate system established by taking a midpoint of a rear axle of the vehicle to be parked as an origin of coordinates, taking a direction of a longitudinal axis of the vehicle to be parked as an x-axis, and taking a direction perpendicular to the x-axis as a y-axis.
3. The method according to claim 2, wherein after determining the position information of the vehicle to be parked and the target parking space information, the method further comprises:
and determining the parking direction of the vehicle to be parked according to the angle of the target parking space, wherein the angle of the target parking space is the angle of an included angle formed by a connecting line between the target parking space and the vehicle to be parked and the right side direction of the target parking space.
4. The method according to claim 2, wherein the position coordinates are determined based on origin coordinates of the preset coordinate system, and the angle of the vehicle to be parked is an included angle formed by a central axis in the direction of the head of the vehicle to be parked and a positive direction of an x-axis of the preset coordinate system.
5. The method according to claim 3, wherein the determining the parking direction of the vehicle to be parked according to the target parking space angle comprises:
if the target parking space angle is larger than the preset angle, determining that the parking direction of the vehicle to be parked is forward parking;
and if the target parking space angle is smaller than or equal to the preset angle, determining that the parking direction of the vehicle to be parked is backward parking.
6. The method of claim 1, further comprising, after said determining a parking path for a vehicle to be parked based on said bezier curve:
parking according to the parking path and judging whether the vehicle to be parked reaches a target parking space;
stopping parking if the vehicle to be parked reaches the target parking space;
and if the vehicle to be parked does not reach the target parking space, continuing to park according to the parking path until the vehicle to be parked reaches the target parking space.
7. A parking path determination device, characterized by comprising:
a first determining module for determining the position information and target parking space information of the vehicle to be parked
The second determination module is used for determining a Bezier curve according to the position information of the vehicle to be parked and the target parking space information;
the third determination module is used for determining a parking path of the vehicle to be parked based on the Bezier curve;
the second determining module is specifically configured to:
determining a plurality of control point coordinates according to the position information and the target parking space information;
obtaining a plurality of curve point coordinates based on the control point coordinates;
generating a Bezier curve by taking the coordinates of each curve point as coordinates on the Bezier curve;
the target parking space information comprises a target parking space coordinate and a target parking space angle, and the position information comprises a position coordinate of the vehicle to be parked and an angle of the vehicle to be parked;
the determining the coordinates of the plurality of control points according to the position information and the target parking space information includes:
calculating to obtain a plurality of control point coordinates according to the position coordinates and the angle in the position information and the target parking space coordinates and the angle in the target parking space information;
the position coordinates are used as initial point coordinates in the control points, and the target parking space coordinates are used as end point coordinates in the control points;
the obtaining of a plurality of curve point coordinates based on each of the control point coordinates includes:
substituting the coordinates of the control points into a Bezier curve equation to obtain a plurality of coordinates of the curve points; wherein the curve point is a point on a Bezier curve.
8. A vehicle, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executed by the one or more processors, so that the one or more processors are configured to execute the method for determining a parking path according to any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for determining a parking path according to any one of claims 1 to 6.
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