CN102963355A - Intelligent auxiliary parking method and implementation system thereof - Google Patents

Abstract

The invention discloses an intelligent auxiliary parking method, which comprises the following steps of: planning parking paths in two parts, wherein in-space regulation paths are planned, and then storage paths are planned; and providing a human-computer interaction interface, receiving the intention of a driver, and displaying parking information. An intelligent auxiliary parking system for implementing the method comprises an environment sensing unit, a path planning unit, a driving control unit and a human-computer interface unit, which are in communication contact with one another. A vehicle can be guided into a parking space from any starting position, so that the number of times of pivot steering and changes in forward and backward movement of the vehicle in a parking process can be reduced; and under a parallel parking condition, a proper parking space can be selected according to the maximum permissible number of in-space regulation set by the driver, so that the requirements of the vehicle on the length of a parallel parking space are lowered.

Description

A kind of intelligence auxiliary park method and realization system thereof

Technical field

The invention belongs to vehicle control technology field, relate to the auxiliary technology of parking of intelligence of driving ancillary technique, particularly automobile.

Background technology

Because the increase of city automobile recoverable amount, the problem of parking stall anxiety becomes increasingly conspicuous, park and become a difficulties in the city traffic, owing to need when parking chaufeur in the space of narrow and small compactness, to observe and judge ambient environment, control simultaneously bearing circle, throttle and brake in short time, its driving skills and reaction sensitivity are proposed very high request, therefore be necessary to develop auxiliary parking system, helped chaufeur to finish the operation of parking.

Intelligent parking or auxiliary parking system have become research emphasis both domestic and external, and Intelligent parking system generally comprises sensory perceptual system, control system and actuating system etc.And control system is the core of Intelligent parking system, and it mainly is according to sensor information and pilot control information, and the state of vehicle is adjusted, and makes vehicle find a suitable path in the process of parking, and guided vehicle is finished the operation of parking.

The control algorithm of intelligent parking mainly is divided into following a few class at present: path planning and following algorithm, its basic thought is that path planning module is cooked up feasible path according to the situation of initial pose and object pose and obstacle, the path is followed the module controls vehicle and is followed path planning, finally make vehicle sail parking position into, this algorithm is simple, realizes easily and assesses the cost lower; Intelligent algorithm based on experience, it formulates control policy according to the experience of parking of human chaufeur, control vehicle parking warehouse-in, generally comprise fuzzy control, neural network, genetic algorithm and particle cluster algorithm etc., these intelligent algorithms can solve non-linear problem preferably, but bad adaptability, control law is formulated complicated, and the height that assesses the cost; The attitude stabilization algorithm is by stability analysis, makes the attitude of vehicle converge to zero, reaches object pose thereby progressively control vehicle, and it is large that this algorithm has higher non-linear and calculated amount.

The difficult point of parking can be summarized as: one, vehicle in the process of parking can not with the obstacle collision happens of front and back; Two, vehicle is in the process of parking, and vehicle movement can not surpass the physical constraint condition of vehicle itself.The main task of parking path planning module is to solve this two key issues; In addition, in the process of parking, consider the factors such as traveling comfort and safety, also will consider the seesaw factors such as change number of times, pivot stud number of times and parking path length of direction of vehicle during path planning.

Therefore, for auxiliary parking system, the paths planning method of exploitation practicality and high efficiency is significant.

Summary of the invention

The object of the present invention is to provide a kind of intelligent auxiliary parking system, when the environment sensing system identification behind the warehouse compartment that can be used for parking, cook up rational parking path, and the control vehicle travels along path planning, until vehicle is finished the action of parking, and human-computer interaction interface is provided, and accept driver intention, show the information of parking.

For reaching above purpose, solution of the present invention is:

A kind of intelligent auxiliary parking system comprises:

The environment sensing unit is for the posture information of obtaining warehouse compartment information and vehicle;

The path planning unit is used for cooking up suitable parking path;

The Driving control unit is used for the control vehicle and travels along given path;

Human-machine interface unit is used for man-machine interaction, comprises driver information input and system information output.

This path planning unit comprises two modules:

(1) adjusts path planning module in the warehouse compartment, the path when the planning vehicle is adjusted in warehouse compartment;

(2) warehouse-in path planning module is planned the parking path of putting in storage according to the initial pose of vehicle;

This human-machine interface unit provides the driver intention input interface, and chaufeur can be set and adjust number of times in the maximum warehouse compartment that allows in the Parallel parking situation; In the situation of vertically parking, do not allow vehicle to carry out adjusting in the warehouse compartment.

After the environment sensing unit detects the warehouse compartment size, this path planning unit can calculate pool and enter in the required warehouse compartment of this warehouse compartment to adjust number of times in the Parallel parking situation, when adjusting number of times greater than the chaufeur set point number in the warehouse compartment that calculates, abandon this warehouse compartment.

When the adjustment number of times was not more than the chaufeur set point number in the warehouse compartment that calculates, this path planning unit was at first cooked up and is adjusted the path in the warehouse compartment, then cooks up the warehouse-in path.The starting point of adjusting the path in the warehouse compartment is first object pose B, and terminal point is ultimate aim pose G.Adjust the path in the warehouse compartment and connect first object pose B and ultimate aim pose G with the minimum turning radius circular arc; Initial pose S and the first object pose B of warehouse-in Path Connection vehicle.

Adjusting path planning module in the warehouse compartment is made of constrain equation generation submodule and Optimization Solution submodule, wherein constrain equation generates submodule and can generate parking path constrain equation group according to position and the size of warehouse compartment, the Optimization Solution module can be carried out optimization to the constrain equation group of setting up, obtain optimum and park and adjust the path in object pose and the optimum storehouse, guarantee to access maximum safety distance in the vehicle parking process.By adjusting the optimization in path in the warehouse compartment, can reduce the interior number of times of adjusting of warehouse compartment of vehicle, perhaps in identical warehouse compartment, adjust in the situation of number of times, vehicle can be moored into as far as possible little warehouse compartment.

The warehouse-in path planning module comprises three submodules: generate submodule and routing submodule but the collisionless path generates the submodule execution route, this collision-free Trajectory Planning of Welding submodule generates the collisionless parking path and adopts the sector region method, select fan-shaped upper point apart from the obstacle distance maximum, the point that namely least may bump with obstacle connects these points and consists of the collisionless parking path.

May comprise three kinds of curve types but execution route generates the path of submodule planning: shortest-distance curve is RS curve (Reeds﹠amp; Shepp ' s curve), the curvature continuous curve is that CC curve (Continuous-Curvature curve) and half curvature continuous curve are hCC curve (half Continuous-Curvature curve).

The routing submodule can select suitable curve type (RS/hCC/CC) as parking path according to different principles, three kinds of mode of operations of these principle respective path chooser modules, and it specifically is expressed as:

1) the least number of times principle that direction changes that seesaws in the process of parking, associative mode 1;

The shortest principle of distance of 2) parking and passing by in the process, associative mode 2;

3) the park least number of times principle of pivot stud in the process, associative mode 3;

Human-machine interface unit provides the driver intention input interface, and the routing submodule receives the path type preference pattern that chaufeur is inputted, but and selects accordingly to meet the curve of driver intention as execution route.

When the driver intention that receives when human-machine interface unit was pattern 1, the maximum direction that receives the permission that chaufeur sets changed number of times, when the path of planning surpasses this setting value, abandons parking; When the driver intention that receives when human-machine interface unit is pattern 2, the system-computed parking path, but select voluntarily to meet the curve of driver intention as execution route.When the driver intention that receives when human-machine interface unit is mode 3, receive the maximum pivot stud number of times of the permission that chaufeur sets, when the path of planning surpasses this setting value, abandon parking.

The present invention can moor into the parking stall from any initial pose guided vehicle, can reduce vehicle pivot stud in the process of parking and number of times that the direction that seesaws changes; In the Parallel parking situation, can according to allowing the maximum suitable parking stall of selection of times of adjusting in the warehouse compartment of chaufeur setting, reduce vehicle to the requirement of Parallel parking warehouse compartment length.

Description of drawings

Fig. 1 is the system chart of the present invention's intelligence auxiliary parking system.

Fig. 2 adjusts the path planning module block diagram in the embodiment of the invention warehouse compartment.

Fig. 3 is embodiment of the invention warehouse-in path planning module block diagram.

Fig. 4 is the auto model scheme drawing.

Embodiment scheme drawing when Fig. 5 is twice interior adjustment of warehouse compartment.

Fig. 6 is the scheme drawing that the sector region method generates collisionless path embodiment.

Fig. 7 a is the CC curvature of curve that turns left-arc length figure.

Fig. 7 b is the CC curvature of curve of turning right-arc length figure.

Fig. 8 a is the hCC curvature of curve that turns left-arc length figure.

Fig. 8 b is the hCC curvature of curve of turning right-arc length figure.

Fig. 9 is that the RS Curve transform is the CC curve synoptic diagram.

Figure 10 is CC path curvature-arc length scheme drawing after the conversion.

Figure 11 is that the RS Curve transform is the hCC curve synoptic diagram.

Figure 12 is the afterwards curvature in hCC path-arc length figure of conversion.

Figure 13 is the schematic flow sheet of choosing of sampling point.

Figure 14 RS/hCC/CC curve is chosen pattern 1.

A kind of process simulation result schematic diagram of parking of Figure 15.

The specific embodiment

The present invention includes the perception unit, be used for obtaining the posture information of warehouse compartment information and vehicle; The path planning unit is used for cooking up suitable parking path; The Driving control unit is used for the control vehicle and travels along path planning; Human-machine interface unit is used for man-machine interaction, comprises driver information input and system information output, such as vision demonstration, voice suggestion and mechanical vibration etc.

The path planning unit is the center of whole system, warehouse compartment information and vehicle posture information that its reception environment perception unit is sent, need to follow the tracks of the path parameter that travels to Driving control unit output vehicle, simultaneously the routing information of planning is outputed to human-machine interface unit, provide the corresponding prompting of chaufeur.Human-machine interface unit is the window that system and chaufeur carry out information interaction, the information output that it sends environment sensing unit, path planning unit, Driving control unit etc., and can accept the input of chaufeur, allow chaufeur to set and adjust the parameters such as number of times, warehouse-in path mode in the maximum warehouse compartment that allows.

Can moor into more narrow and small warehouse compartment in order to make vehicle, when the present invention allows vehicle to carry out Parallel parking, after entering warehouse compartment, do the adjustment of several times attitude, chaufeur can be set the number of times that allows attitude to adjust by man-machine interface, when adjusting number of times greater than the chaufeur set point number in vehicle is moored the required warehouse compartment of warehouse compartment, system abandons this warehouse compartment.When the adjustment number of times was not more than the chaufeur set point number in the warehouse compartment, system at first cooked up the attitude of vehicle in warehouse compartment and adjusts the path, then cooks up the path that vehicle sails warehouse compartment into.Because carried out optimized design when adjusting the path in the planning warehouse compartment, the warehouse compartment space is fully used.Compare with other auxiliary parking systems, the present invention can under not increasing the situation of adjusting number of times in the warehouse compartment, moor into less warehouse compartment vehicle.

In order to make vehicle sail warehouse compartment into from any initial pose, the present invention has adopted the two-step method paths planning method in the warehouse-in path planning module, at first generates the collisionless path, then generates vehicle according to the collisionless path and can follow the tracks of the path of travelling.There are three kinds of patterns in the final warehouse-in path that generates, and every kind of pattern has different stressing to the traveling comfort in path, length etc.Chaufeur can be selected the pattern in warehouse-in path by man-machine interface according to the personal like.

The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.

(1) vehicle control model

In the process of parking, the speed of a motor vehicle is very low, and the cornering behavior of tire can be ignored, so can adopt following vehicle control model (see figure 4):

$\left[\begin{array}{c}\frac{\mathrm{dx}\left(t\left(s\right)\right)}{\mathrm{ds}}\\ \frac{\mathrm{dy}\left(t\left(s\right)\right)}{\mathrm{ds}}\\ \frac{\mathrm{d\θ}\left(t\left(s\right)\right)}{\mathrm{ds}}\\ \frac{\mathrm{d\κ}\left(t\left(s\right)\right)}{\mathrm{ds}}\end{array}\right]=\left[\begin{array}{c}\cos \left(\mathrm{\θ}\left(t\left(s\right)\right)\right)\\ \cos \left(\mathrm{\θ}\left(t\left(s\right)\right)\right)\\ \mathrm{\κ}\left(t\left(s\right)\right)\\ 0\end{array}\right]\mathrm{sign}\left(v_{\max }\left(t\left(s\right)\right)\right)+\left[\begin{array}{c}0\\ 0\\ 0\\ 1\end{array}\right]\frac{\mathrm{\σ}\left(\frac{s}{v_{\max }}\right)}{v_{\max }}$ Formula (1-1)

Wherein, s is the arc length that vehicle crosses, and x, y are horizontal stroke, the ordinate of vehicle in global coordinate system, and θ is the course angle of vehicle, and κ is the curvature of the locus of points in the vehicle rear axle, and σ is the rate of change of curvature, v _MaxBe the maximum speed of middle permission of parking, t is time variable, sign () is-symbol function

Two constraint conditions of vehicle are:

| κ |≤κ _Max, formula (1-2)

| σ |≤σ m _Ax, formula (1-3)

Wherein, κ _MaxAnd σ _MaxBe the maxim of curvature and curvature variation, they are the binding occurrences by the physical property decision of vehicle itself.

(2) pose is adjusted path planning module in the warehouse compartment

1) setting and the judgement of adjustment number of times in the storehouse

In the present invention, after the size of the warehouse compartment of parking was determined, system just can calculate vehicle and moor into attitude adjustment number of times in the needed warehouse compartment of warehouse compartment.System allows to adjust number of times to the interior maximum of adjusting number of times and chaufeur setting of the warehouse compartment that calculates and compares, and when the adjustment number of times that calculates was adjusted number of times greater than the permission of chaufeur setting, system abandoned this warehouse compartment.

Adjust the setting of number of times and can adopt various ways, as adopting keyboard input, touch-screen input or being preset in the system controller.

Calculate the method for adjusting number of times in the vehicle warehouse compartment according to the warehouse compartment size and also can have various ways, such as look-up table, numerical method etc.In embodiment 1, system calculates according to formula and adjusts number of times, and concrete grammar is as follows:

I calculates the degree of depth of the parking degree of depth of parking and refers to finish the distance of vehicle centre-line and warehouse compartment outer after the action of parking, and it is determined according to following formula:

$h=\left\{\begin{array}{cc}{W}_V/2& (W_P\&GreaterEqual;W_V+E_h)\\ W_p-W_v/2-e_h& (W_p<W_v+e_h)\end{array}\right.$ Formula (2-1)

Wherein h represents the degree of depth of parking, W _vThe expression vehicle width, W _pThe library representation bit width, e _hThe park safety distance of the degree of depth of expression.

II calculates vehicle, and to carry out n(n be non-negative integer) when adjusting, inferior attitude can moor the minimum warehouse compartment length that enters

Required minimum warehouse compartment length when calculating vehicle and need not that attitude is adjusted in the warehouse compartment according to following formula:

${\mathrm{<figure-callout\; id="0"\; label="L"\; filenames="HDA00002344173800031.png,HDA00002344173800041.png"\; state="\{\{state\}\}">L</figure-callout>}}_0=\sqrt{(R^2-b^2)+{(L_v-L_r)}^2-(\sqrt{R^2-b^2}-{(h+W_v/2)}^2)}+L_r$ Formula (2-2)

L wherein ₀Can moor the minimum warehouse compartment length that enters when expression need not the interior attitude adjustment of warehouse compartment, h represents the degree of depth of parking, L _vThe expression Vehicle length, W _vThe expression vehicle width, b represents vehicle wheelbase, L _rExpression vehicle rear axle mid point is apart from the distance of vehicle tail end, and R represents the minimum turning radius of vehicle outside front-wheel, as shown in Figure 4.

Calculate the minimum warehouse compartment length that can moor when vehicle carries out attitude adjustment in n warehouse compartment according to following formula:

L _n=-k _nArctan (n)+L ₀Formula (2-3)

L wherein _nRepresent that n attitude adjustment can moor the minimum warehouse compartment length that enters, k _nExpression is got L corresponding to the adjusting parameter of adjusting frequency n by demarcation ₀When need not the interior attitude adjustment of warehouse compartment, expression can moor the minimum warehouse compartment length that enters.

III calculates pool and enters to have now adjustment number of times in the required warehouse compartment of warehouse compartment.

According to the relation of adjusting number of times and warehouse compartment length in the warehouse compartment of Step II gained, calculate pool and enter to have now adjustment number of times in the required warehouse compartment of warehouse compartment, when adjusting number of times greater than preset value, abandon this warehouse compartment, and by man-machine interface chaufeur is made prompting.

2) adjust path planning in the warehouse compartment

Adjusting path planning module in the warehouse compartment utilizes vehicle minimum turning radius circular arc planning vehicle to carry out the motion path that attitude is adjusted in warehouse compartment, it comprises two submodules: constrain equation generates submodule and Optimization Solution submodule, wherein constrain equation generates submodule and can generate parking path constrain equation group according to position and the size of warehouse compartment, and its track must satisfy the constrain equation group when vehicle moved in warehouse compartment; The Optimization Solution module can be carried out optimization to the constrain equation group of setting up, and obtains optimum and parks and adjust the path in object pose and the optimum warehouse compartment, guarantees to obtain in the vehicle parking process maximum safety distance.By adjusting the optimization in path in the warehouse compartment, can reduce the adjustment number of times of vehicle in warehouse compartment, perhaps in identical warehouse compartment, adjust in the situation of number of times, vehicle can be moored into as far as possible little warehouse compartment.

Article one, adjust the path as shown in Figure 5 in the typical warehouse compartment.

The method for building up of constrain equation group can have various ways, namely can finish online, also can be preset in the algorithm of controller.Set of equations is optimized the method for finding the solution also can has various ways, such as linear programming technique or iterative method etc.In embodiment 2, path planning algorithm is moored warehouse compartment and need to be carried out attitude adjustment in 2 warehouse compartments by calculate finding vehicle, and less than the preset value of chaufeur, it is as follows to adjust paths planning method in its warehouse compartment:

I sets up the constrain equation group

As shown in Figure 5, warehouse compartment is made of obstacle 1 and obstacle 2, and it is L that the environment sensing module detects warehouse compartment length _MinVehicle need to be done twice attitude adjustment in warehouse compartment, adjustment path in the warehouse compartment is comprised of two sections circular arcs, first paragraph be by first object pose B to the travelling forward of intermediate objective pose C, second segment is by the backward motion of intermediate objective pose C to ultimate aim pose G.Vehicle arrives B point, C point and G point successively along path planning, and establishing the B point coordinate is (x _B, y _B, θ _B), the C point coordinate is (x _C, y _C, θ _C), the G point coordinate is (x _G, y _G, θ _G), the upper left angle point of vehicle, upper right angle point, right back angle point, left back angle point are expressed as an a, b, c, d successively, and the ordinate of curb L6 is y6, and the initial point of coordinate axle is set in the left back angle point of the place ahead obstacle.Vehicle length is expressed as L _v, vehicle width is expressed as W _v, vehicle wheelbase is expressed as b, and the vehicle rear axle mid point is shown L apart from the distance table of vehicle tail end _r, after vehicle arrives the G point, require vehicle just with the warehouse compartment keeping parallelism, and reach the required degree of depth of parking, so have

y _G=-h formula (2-4)

θ _G=0 formula (2-5)

Wherein h represents the degree of depth of parking.

It is contemplated that obtain maximum safety distance in the adjustment process in order to make vehicle in warehouse compartment, the distance of obstacle should be identical when B point, C point, G point with recently for vehicle.

Vehicle is when the G point, and its left back angle point d is nearest apart from rear obstacle, and its abscissa is:

x _Gd=(L _r+ x _G) formula (2-6)

X wherein _GdThe abscissa of expression vehicle its left back angle point d when the G point.

Vehicle is nearest apart from rear obstacle when the B point, and the abscissa that its left back angle point d is ordered is:

x _Bd=x _B-L _rCos θ _B-0.5W _vSin θ _BFormula (2-7)

X wherein _BdThe expression vehicle abscissa that its left back angle point d is ordered when the B point.

Vehicle is nearest apart from the place ahead obstacle when the C point, and the abscissa of its right front angle point b is:

x _Cb=x _C+ (L _v-L _r) cos θ _c+ 0.5W _vSin θ _CFormula (2-8)

X wherein _CbThe expression vehicle abscissa that its right front angle point b is ordered when the C point.

Require vehicle identical with the distance of nearest obstacle at B point, C point, G point place, and require distance greater than zero, can get accordingly:

x _Bd+ L _Min=-x _Cb＞0 formula (2-9)

x _Gd+ L _Min=x _Bd+ L _Min＞0 formula (2-10)

The position relationship of ordering according to B point and C can get:

R _MunrCos θ _c-R _MunrCos θ _B=y _C-y _BFormula (2-11)

-R _MinrSin θ _c+ R _MinrSin θ _B=x _C-x _BFormula (2-12)

The position relationship of ordering according to C point and G can get:

R _MinlSin θ _C=x _C-x _GFormula (2-13)

R _Minl-R _MinlCos θ _C=y _C-y _GFormula (2-14)

R wherein _MinrExpression vehicle rear axle mid point minimum turning radius to the right, R _MinlExpression vehicle rear axle mid point minimum turning radius left.

Suppose that vehicle arrives the B point with minimum turning radius circular arc reversing outside the storehouse, require that the right front angle point b of vehicle does not bump with warehouse compartment in the reversing process, right back angle point c does not bump with curb L6, can limit inequality:

$\sqrt{{(R_{\min l}+0.5W_v)}^2+{(L_v-L_r)}^2-{(y_B+R_{\min l}\cos {\mathrm{\&theta;}}_B)}^2}-R_{\min l}-\sin {\mathrm{\&theta;}}_B+x_B<0$ Formula (2-15)

y _B-L _rSin θ _B-0.5W _vCos θ _B＞y6 formula (2-16)

Wherein y6 represents the ordinate of curb L6.

Formula (2-4)-(2-16) has comprised makes vehicle obtain the required satisfied condition of maximum safety distance with obstacle in the attitude adjustment process.

The II optimization

The unknown quantity that needs in the constrain equation group to find the solution is the coordinate (x that B is ordered _B, y _B, θ _B), the coordinate (x that C is ordered _C, y _C, θ _C) and the G coordinate (x of ordering _G,-h, 0), unknown quantity has 7: x _B, y _B, θ _B, x _C, y _C, θ _CAnd x _GAnd equation has 6: formula (2-9)-(2-14); The restriction inequality has 4: (2-9), (2-10), (2-15) and (2-16), can be 6 equation abbreviations about θ so _CParametric equation, then allow θ _CWith a fixed step size value, detect θ within the specific limits _CThe shortest distance of vehicle distances curb L6 and vehicle backing arrive the shortest distance of B point process middle distance warehouse compartment when getting different value.When the closest range of vehicle parking process middle distance warehouse compartment, curb is all larger, the θ of this moment _CValue is more reasonable.Then obtain the coordinate that B point this moment, C point and G orders, can be used as optimal path by attitude adjustment path in the definite warehouse compartment of B point, C point and G point.

Above computation process provides a kind of method of carrying out attitude adjustment path planning in the warehouse compartment, also can adopt in other embodiments different constrain equations to set up cube method, perhaps adopts different optimum method for solving.

(3) warehouse-in path planning module

1) generation in collisionless path

The collisionless path is the path that does not bump with the front and back obstacle that connects initial pose S and first object pose B, in the planning in this step, does not consider first the physical constraint of vehicle self.The generation in collisionless path on the path each pose to the distance of obstacle farthest as principle.

The generation method in collisionless path is, respectively from initial pose S (x _s, y _s, θ _s) and first object pose B (x _B, y _B, θ _B) beginning, select the next pose in the collisionless path of all pose middle distance obstacle distances point farthest around a certain pose take certain calculation step, according to collisionless path τ who connects first object pose B and initial pose S of such law generation.After a pose N determined on the collisionless path, what definite method of next pose T adopted was the sector region method, sees Fig. 6.

Take N as the center of circle, a calculation step is that radius is done a sector region forward, two end points are the physical constraint conditions when turned to by left and right vehicle wheel about the sector region circular arc line---maximum curvature determines that what all the other each points were corresponding is that curvature is less than the each point of maximum curvature.T1 is exactly the range coverage of vehicle after a step-length to the arc of T7 among the figure, that is to say, the zone that can arrive when vehicle moves a step-length with different front wheel angles is exactly the each point on the fan-shaped arc section.Calculating is also compared the distance of T1 to the T7 each point to obstacle, chooses the point of obstacle distance maximum as the next point on the collisionless path.

The generative process in collisionless path comprises three steps altogether:

I. generate the collisionless path τ take first object pose B as starting point _g

According to the sector region method from first object pose B one by one step-length generate next pose, until ordinate y and the direction θ of a plurality of continuous pose no longer change, obtain a collisionless path τ _g

II. generate the collisionless path τ take initial pose S as starting point _s

According to the sector region method from initial pose one by one step-length generate next pose, until ordinate y and the direction θ of a plurality of continuous pose no longer change, obtain a collisionless path τ _s

III. collisionless path τ in the middle of generating _c, connect τ _sAnd τ _g

Work as τ _sAnd τ _g(have intersection point to refer to two collisionless paths and have common ground, be identical at the pose (x, y, θ) at this some place) when having intersection point, take intersection point as boundary, abandon intersection point path afterwards, the path before the intersection point consists of the collisionless path.

Work as τ _sAnd τ _gWhen not having intersection point, begin keeping parallelism as boundary take two paths, abandon the part of two paths keeping parallelisms, the remainder path τ that is distributed on the straight line _cConnect τ _cTwo end points be respectively τ _sAnd τ _gTerminal point H and K, as shown in Figure 6.Path τ _c, τ _sAnd τ _gConsist of final collisionless path.

2) but the generation of execution route

But execution route generates submodule and at first chooses sampling point in the collisionless path that previous step generates, and generates execution route but connect sampling point with three kinds of dissimilar curves again.But the planning of the execution route in the vehicle parking process take vehicle passed by apart from optimum as principle.According to the different operating modes of parking, but execution route may comprise three types: RS curve, hCC curve and CC curve.

The RS curve is made of circular arc and the straight line of minimum turning radius, and it can be so that parking path be the shortest, and simultaneously required warehouse compartment length is minimum, if but do not carry out smoothing techniques, can cause the curvature of path planning discontinuous; The CC curve is the curve (curvature is shown in Fig. 7 a, Fig. 7 b) of curvature linear change, it is made of the transition clothoid curve between straight line, circular arc and straight line and the circular arc, thereby it can carry out smoothing techniques to the path by the RS Curve transform, the CC path overall process curvature that can guarantee to park is continuous, without steer without driving, to change number of times too much for direction but can cause the process vehicle of parking to seesaw, and required warehouse compartment length value is larger; The hCC curve is a kind of CC curve of variation, also is made of straight line, circular arc and clothoid curve, and shown in Fig. 8 a, Fig. 8 b, at the initial of curve or terminating point place, curvature is not zero to its curvature with the variation of arc length, and vehicle needs pivot stud.Compare with the CC curve, when adopting the hCC curve, vehicle seesaws, and to change number of times less for direction, and the risk that bumps with obstacle is little, and the path of formation is applicable to less parking position length.CC curve and hCC curve can be by the RS Curve transforms.

But when generating execution route, utilize the method for 2 of RS curve connections ripe, repeat no more, the below introduces the method for utilizing CC curve and hCC curve approximation RS curve.

The I.RS Curve transform is the CC curve

Various types of RS Curve transforms are the CC curve, refer to utilize the CC curve that the RS curve is similar to, so that the curvature in path changes the problem of steer without driving in the process thereby solution is parked continuously.The CC path is comprised of three parts: 1) one section clothoid curve segmental arc, the rate of change of curvature is σ _Max(curvature variation maxim), curvature is from 0 to ± κ _Max(curvature maxim); 2) one section curvature is ± κ _MaxCircular arc; 3) one section clothoid curve segmental arc, the rate of change of curvature is σ _Max, curvature is from ± κ _MaxTo 0.

According to the characteristic of clothoid curve, the CC curvature of a curve is that zero point is positioned on the profile circle, and the profile radius of circle is

$r_{\mathrm{cc}}=\sqrt{{(\sqrt{\frac{\mathrm{\&pi;}}{{\mathrm{\&sigma;}}_{\max }}}{C}_f\left(\frac{{\mathrm{\&kappa;}}_{\max }}{\sqrt{{\mathrm{\&sigma;}}_{\max }\mathrm{\&pi;}}}\right)-\frac{\sin \frac{{\mathrm{\&kappa;}}_{\max }^2}{{2\mathrm{\&sigma;}}_{\max }}}{{\mathrm{\&kappa;}}_{\max }})}^2+{(\sqrt{\frac{\mathrm{\&pi;}}{{\mathrm{\&sigma;}}_{\max }}}{S}_f\left(\frac{{\mathrm{\&kappa;}}_{\max }}{\sqrt{{\mathrm{\&sigma;}}_{\max }\mathrm{\&pi;}}}\right)+\frac{\cos \frac{{\mathrm{\&kappa;}}_{\max }^2}{{2\mathrm{\&sigma;}}_{\max }}}{{\mathrm{\&kappa;}}_{\max }})}^2}$ Formula (3-1)

Wherein, C _fAnd S _fThe Fa Saier integration:

$\left\{\begin{array}{c}{C}_f\left(x\right)={\&Integral;}_0^x\cos \left(\frac{\mathrm{\&pi;}}{2}{\mathrm{\&xi;}}^2\right)\mathrm{d\&xi;}\\ S_f\left(x\right)={\&Integral;}_0^x\sin \left(\frac{\mathrm{\&pi;}}{2}{\mathrm{\&xi;}}^2\right)\mathrm{d\&xi;}\end{array}\right.$

Curvature is that the angle of the sense of motion of the tangential direction of profile circle at zero point place and vehicle is:

$\mathrm{\&mu;}=\arctan \frac{\sqrt{\frac{\mathrm{\&pi;}}{{\mathrm{\&sigma;}}_{\max }}}{C}_f\left(\frac{{\mathrm{\&kappa;}}_{\max }}{\sqrt{{\mathrm{\&sigma;}}_{\max }\mathrm{\&pi;}}}\right)-\frac{\sin \frac{{\mathrm{\&kappa;}}_{\max }^2}{2{\mathrm{\&sigma;}}_{\max }}}{{\mathrm{\&kappa;}}_{\max }}}{\sqrt{\frac{\mathrm{\&pi;}}{{\mathrm{\&sigma;}}_{\max }}}{S}_f\left(\frac{{\mathrm{\&kappa;}}_{\max }}{\sqrt{{\mathrm{\&sigma;}}_{\max }\mathrm{\&pi;}}}\right)+\frac{\cos \frac{{\mathrm{\&kappa;}}_{\max }^2}{2{\mathrm{\&sigma;}}_{\max }}}{{\mathrm{\&kappa;}}_{\max }}}$ Formula (3-2)

The angle that the clothoid curve segmental arc turns over is:

${\mathrm{\&delta;}}_{\min }={\mathrm{\&kappa;}}_{\max }^2{\mathrm{\&sigma;}}_{\max }^{-1}$ Formula (3-3)

For given initial pose, stopping pose only can be different and change along with the corner of the correspondence of interlude circular arc.Different termination poses all is positioned on this profile circle.

As shown in Figure 9, with the first type RS path

(L, R and S represent respectively be left, to the right minimum turning radius circular arc and straight line, subscript represents the direction of moving ,+expression was before moved ,-expression is motion backward, the subscript representative be the length of each section) be the example explanation.q _sAnd q _BRepresent respectively the pose (x of starting point S and terminal point B _S, y _S, θ _S) and (x _B, y _B, θ _B).To guarantee the initial pose of vehicle before and after the conversion and stop pose constant.R _MinlAnd R _MinrRepresent respectively the minimum turning radius that the vehicle rear axle mid point turns left and turns right.r _CclAnd r _CcrTwo profile radius of a circles when representing respectively left-hand rotation and right-hand rotation.q _1fAnd q ₂₀Represent respectively first profile circle roll away from a little and second profile justified sails a little pose (x into _1f, y _1f, θ _1f) and (x ₂₀, y ₂₀, θ ₂₀).(x _O1, y _O1) and (x _O2, y _O2) be the coordinate of the round heart of two profiles.Starting point direction angle ψ _sWith center of circle O1 coordinate be respectively

${\mathrm{\&psi;}}_s=\mathrm{mod}({\mathrm{\&theta;}}_s-\frac{\mathrm{\&pi;}}{2}-\mathrm{\&mu;},2\mathrm{\&pi;})$ Formula (3-4)

Terminal point direction angle ψ _BWith center of circle O2 coordinate be respectively

${\mathrm{\&psi;}}_B=\mathrm{mod}({\mathrm{\&theta;}}_B+\frac{\mathrm{\&pi;}}{2}-\mathrm{\&mu;},2\mathrm{\&pi;})$ Formula (3-6)

$\left\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="2"\; label="o"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">o</figure-callout>}2}=x_B-r_{\mathrm{ccr}}\cos \left({\mathrm{\&psi;}}_B\right)\\ {\mathrm{<figure-callout\; id="2"\; label="y\; o"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">y</figure-callout>}}_o=y_B-r_{\mathrm{ccr}}\sin \left({\mathrm{\&psi;}}_B\right)\end{array}\right.$ Formula (3-7)

Can obtain thus two distances between the center of circle | O ₁O ₂|.

The length of middle one section straight line path is:

$l_3=\sqrt{{\left|O_1{\mathrm{<figure-callout\; id="2"\; label="O"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">O</figure-callout>}}_2\right|}^2-{(r_{\mathrm{ccl}}+r_{\mathrm{ccr}})}^2+{\left((r_{\mathrm{ccl}}+r_{\mathrm{ccr}})\sin \left(\mathrm{\&mu;}\right)\right)}^2}-(r_{\mathrm{ccl}}+r_{\mathrm{ccr}})\sin \left(\mathrm{\&mu;}\right)$ Formula (3-8)

Then two circle center line connectings and horizontal direction angulation are φ=∠ o ₁o ₂

On justifying, first profile circle and second profile roll and sail into a little direction angle away from:

${\mathrm{\&theta;}}_{1f}={\mathrm{\&theta;}}_{20}=\mathrm{mod}(\mathrm{\&phi;}+\frac{\mathrm{\&pi;}}{2}-\mathrm{\&mu;},2\mathrm{\&pi;})$ Formula (3-9)

Then can obtain

The arc length of each section.Path after the conversion is exactly from q _sBeginning is arrived q with the CC path _1f, next being linearly moved to q20, final stage is that the CC curved path is to qB.The arc length of three sections correspondences is respectively:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">S</figure-callout>}}_1=\frac{2{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\max }}{{\mathrm{\&kappa;}}_{\mathrm{<figure-callout\; id="2"\; label="max\; S"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">max</figure-callout>}}}& \\ S_{}{}_2=l_3\\ S_3=\frac{2{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_B-{\mathrm{\&theta;}}_{20}-{\mathrm{\&delta;}}_{\min }}{{\mathrm{\&kappa;}}_{\max }}\end{array}\right.$ Formula (3-10)

So can obtain curvature corresponding to each point on the path of planning:

$\mathrm{\&kappa;}=\left\{\begin{array}{cc}{\mathrm{\&sigma;}}_{\max }\&CenterDot;s,& 0\&le;s<\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}\\ {\mathrm{\&kappa;}}_{\max },& \frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}\&le;s<\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\min }}{{\mathrm{\&kappa;}}_{\max }}\\ {\mathrm{\&sigma;}}_{\max }\&CenterDot;(s_1-s),& \frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\min }}{{\mathrm{\&kappa;}}_{\max }}\&le;S<S_1\\ 0,& s_1\&le;s<s_1+s_2\\ -{\mathrm{\&sigma;}}_{\max }\&CenterDot;(s-s_1-s_2),& S_1+S_2\&le;S<\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+s_1+s_2\\ -{\mathrm{\&kappa;}}_{\max },& S_1+S_2\&le;S<\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+s_1+s_2+\frac{{\mathrm{\&theta;}}_B-{\mathrm{\&theta;}}_{20}-{\mathrm{\&delta;}}_{\min }}{{\mathrm{\&kappa;}}_{\max }}\\ -{\mathrm{\&sigma;}}_{\max }\&CenterDot;(s_1+s_2+s_3-s),& s_1+s_2+\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_B-{\mathrm{\&theta;}}_{20}-{\mathrm{\&delta;}}_{\min }}{{\mathrm{\&kappa;}}_{\max }}\&le;s\&le;s_1+s_2+s_3\\ 0,& s_1+s_2+s_3\end{array}\right.$ Formula (3-11)

The curvature of generation pass is seen Figure 10 with the scheme drawing that arc length changes.

The II.RS Curve transform is the hCC curve

The hCC path is two-part: 1) one section curvature is ± κ _MaxCircular arc; 2) one section clothoid curve segmental arc, the rate of change of curvature is σ _Max, curvature can be from 0 to ± κ _Max, also can be from ± κ _MaxTo 0.The characteristics of the track that the hCC curve consists of are requirement vehicle pivot studs when allowing at vehicle parking when reference position and end position, but do not need steer without driving in motion process.HCC ask method and CC conversion ask method similar, just the round heart of profile ask method different, see Figure 11.

The method of asking in the center of circle of two profile circles is:

$\left\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="1"\; label="o"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">o</figure-callout>}1}=x_s+R_{\min l}(-\sin \left({\mathrm{\&theta;}}_s\right))\\ {\mathrm{<figure-callout\; id="1"\; label="y\; o"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">y</figure-callout>}}_o=y_s+R_{\min l}\left(\cos \left({\mathrm{\&theta;}}_s\right)\right)\end{array}\right.$ Formula (3-12)

$\left\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="2"\; label="o"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">o</figure-callout>}2}=x_B-R_{\min r}(-\sin \left({\mathrm{\&theta;}}_B\right))\\ {\mathrm{<figure-callout\; id="2"\; label="y\; o"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">y</figure-callout>}}_o=y_B-R_{\min r}\left(\cos \left({\mathrm{\&theta;}}_B\right)\right)\end{array}\right.$ Formula (3-13)

Then can obtain

The arc length of each section:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">S</figure-callout>}}_1=\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\min }/2}{{\mathrm{\&kappa;}}_{\mathrm{<figure-callout\; id="2"\; label="max\; S"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">max</figure-callout>}}}& \\ S_{}{}_2=l_3\\ S_3=\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+\frac{{\mathrm{\&theta;}}_B{\mathrm{\&theta;}}_{20}{\mathrm{\&delta;}}_{\min }/2}{{\mathrm{\&kappa;}}_{\max }}\end{array}{}_{}\right.$ Formula (3-14)

So can obtain curvature corresponding to each point on the path of planning:

$\mathrm{\&kappa;}=\left\{\begin{array}{cc}{\mathrm{\&kappa;}}_{\max },& 0\&le;s<\frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\min }/2}{{\mathrm{\&kappa;}}_{\max }}\\ {\mathrm{\&sigma;}}_{\max }\&CenterDot;(s_1-s),& \frac{{\mathrm{\&theta;}}_{1f}-{\mathrm{\&theta;}}_s-{\mathrm{\&delta;}}_{\min }/2}{{\mathrm{\&kappa;}}_{\min }}\&le;s<s_1\\ 0,& {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">s</figure-callout>}}_1\&le;s<s_1+{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">s</figure-callout>}}_2\\ {\mathrm{\&sigma;}}_{\max }\&CenterDot;({\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">s</figure-callout>}}_1+s_2-s),& {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">s</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">s</figure-callout>}}_2\&le;s<\frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+s_1+s_2\\ -{\mathrm{\&kappa;}}_{\max },& \frac{{\mathrm{\&kappa;}}_{\max }}{{\mathrm{\&sigma;}}_{\max }}+s_1+{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">s</figure-callout>}}_2\&le;s\&le;s_1+{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">s</figure-callout>}}_2+s_3\\ 0,& s>{\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="HDA00002344173800053.png,HDA00002344173800081.png"\; state="\{\{state\}\}">s</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="HDA00002344173800041.png,HDA00002344173800054.png"\; state="\{\{state\}\}">s</figure-callout>}}_2+s_3\end{array}\right.$ Formula (3-15)

The curvature of generation pass is seen Figure 12 with the scheme drawing of arc length.

Target curvature and target curvature rate of change control vehicle that the Driving control unit is obtained according to the path planning unit are followed this path.

III. the thinking of choosing of sampling point is selected element in couples on the collisionless path, starting point and terminal point that a pair of point of at first selecting is the collisionless path, but utilize execution route to connect in twos point, but bump if judge execution route and front and back obstacle between current 2, just increase again the intermediate point between 2, do not bump with the front and back obstacle but continuation connects in twos with execution route, these collisionless points just are elected to be sampling point at last.

Choose the diagram of circuit of sampling point in the collisionless path and see Figure 13.The implication of each symbol is among the figure, and τ represents collisionless path, N _CandN _gThe sequence number that represents respectively current sampling candidate point and current transition object point, P represents the sum of the point on the τ.q _SamThe pose of the sampling point selected, q _BLast pose on the collisionless path, the first object pose that namely planning of pose adjusting stage obtains in the warehouse compartment.The smallest positive integral less than or equal to certain number is got in operational symbol floor () expression.

3) routing

Different chaufeurs is different to the requirement of the process traveling comfort of parking, the routing submodule can be selected according to the different mode of chaufeur input in this path planning unit, and three patterns are respectively: the process of the parking direction that seesaws changes the least number of times pattern; The process of the parking shortest path pattern of passing by; The process of parking pivot stud least number of times pattern; Characteristics according to previously described RS, hCC and CC curve, the RS curve may be so that the shortest path that the whole process of parking is passed by, but the process of parking often needs steer without driving, compare with the CC curve, the hCC curve is suitable as the pattern that the direction that seesaws changes least number of times, and the CC curve then can guarantee omnidistance without pivot stud.Provide the path among the embodiment 3 and chosen situation when the RS/hCC/CC curve is chosen for pattern 1 in the submodule.See Figure 14.

Under this pattern, the vehicle number of times that direction changes that seesaws is more few better, and the RS path preferably do not occur.In conjunction with the actual conditions of parking, select the RS/hCC/CC path to change least number of times as principle take the front and back sense of motion.To change number of times more for direction when selecting any curve all can cause vehicle to seesaw, and during maximum times that excess drive person sets, abandons parking.

I. at first calculate hCC and CC path, do not calculate the RS path;

Ii has an existence in hCC and CC path, and direction changes number of times when less, selects the curve type of existence, and the path planning success is withdrawed from;

Iii. all exist and the direction that seesaws changes number of times when all less when hCC and CC path,

A) the inferior of hCC direction change is less than CC, selects hCC, and the path planning success is withdrawed from;

B) otherwise, select CC, path planning success is withdrawed from;

Although iv. when hCC and the CC path does not exist or both in have at least one to exist but direction changes number of times when too much, calculate the RS path

A) the RS path does not exist or direction changes number of times when too much, and path planning is unsuccessful, withdraws from;

When b) existence of RS path and direction change number of times were few, the RS path was selected in the path planning success, withdraws from.

The above path planning algorithm is carried out emulation, and simulation result as shown in figure 15.The operating mode that emulation is set is: allow at most to adjust in twice warehouse compartment, selected warehouse-in path mode changes least number of times for the direction that seesaws.Owing to the minimum warehouse compartment length of warehouse compartment length in the emulation near twice adjustment requirement, and the initial pose of vehicle is comparatively harsh, is q _s(x _s, y _s, θ _s)=(2m, 1.4m, 20 °), so vehicle need to adjust twice in the storehouse, the motion direction changes three times outside the storehouse.

The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art, and method described in the present invention also can be applicable to vertical parking assisting system.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.

Claims (10)

1. the auxiliary method of parking of an intelligence is characterized in that: survey the perception vehicle-periphery, recognize the warehouse compartment that can be used for parking after, cook up rational parking path, and the control vehicle travels along path planning, until vehicle is finished the action of parking; And human-computer interaction interface is provided, and accept driver intention, show the information of parking; Wherein, divide two parts to plan to parking path, at first cook up and adjust the path in the warehouse compartment, then cook up the warehouse-in path.

2. intelligence according to claim 1 is assisted the method for parking, and it is characterized in that:

When adjusting the path in the planning warehouse compartment, adopt the minimum turning radius circular arc to consist of the path, the constrain equation in path is adjusted to attitude in the warehouse compartment in model warehouse compartment border, then equation is optimized and finds the solution, and obtains accordingly optimum and parks and adjust the path in object pose and the optimum warehouse compartment;

The planning warehouse-in adopts the two-step method paths planning method during path: at first adopt the sector region method to generate the collisionless path, then generate vehicle according to the collisionless path and can follow the tracks of the path of travelling, select at last the path of adequate types from many executable paths.

3. the auxiliary method of parking of intelligence according to claim 2 is characterized in that: man-machine interface is provided, allows chaufeur that parking path is carried out personalization and set;

(1) calculates the number of times that attitude is adjusted in the warehouse compartment that vehicle needs according to the warehouse compartment size, set adjusting the number of times higher limit in the warehouse compartment by man-machine interface according to the personal like by chaufeur, when required adjustment number of times is not more than the higher limit of chaufeur setting, the beginning path planning;

(2) distinguish different warehouse-in path modes according to traveling comfort, the length in path, by man-machine interface the pattern in warehouse-in path is selected according to the personal like by chaufeur.

4. the intelligent auxiliary parking system of arbitrary described method in the realization claims 1 to 3 is characterized in that: this system comprises having each other environment sensing unit, path planning unit, Driving control unit and the human-machine interface unit of writing to each other.

5. intelligent auxiliary parking system according to claim 4, it is characterized in that: this path planning unit comprises two modules:

(1) adjusts path planning module in the warehouse compartment, the path when the planning vehicle is adjusted in warehouse compartment;

(2) warehouse-in path planning module is planned the parking path of putting in storage according to the initial pose of vehicle.

6. intelligent auxiliary parking system according to claim 4, it is characterized in that: this human-machine interface unit provides the driver intention input interface, is set by chaufeur and adjusts the number of times higher limit in the warehouse compartment that allows in the Parallel parking situation; In the situation of vertically parking, do not allow vehicle to carry out adjusting in the warehouse compartment.

7. intelligent auxiliary parking system according to claim 4, it is characterized in that: after the environment sensing unit detects the warehouse compartment size, this path planning unit calculates pool and enters in the required warehouse compartment of this warehouse compartment to adjust number of times, when adjusting number of times greater than the chaufeur set point number in the warehouse compartment that calculates, abandon this warehouse compartment; When the adjustment number of times was not more than the chaufeur set point number in the warehouse compartment that calculates, this path planning unit was at first cooked up and is adjusted the path in the warehouse compartment, then cooks up the warehouse-in path; Adjust the path in the warehouse compartment and connect first object pose B and ultimate aim pose G with the minimum turning radius circular arc; Initial pose S and the first object pose B of warehouse-in Path Connection vehicle.

8. intelligent auxiliary parking system according to claim 5, it is characterized in that: adjust path planning module in this warehouse compartment and consisted of by constrain equation generation submodule and Optimization Solution submodule, wherein constrain equation generates submodule and can generate parking path constrain equation group according to position and the size of warehouse compartment, the Optimization Solution module can be carried out optimization to the constrain equation group of setting up, and obtains optimum and parks and adjust the path in object pose G and the optimum warehouse compartment;

Perhaps, this warehouse-in path planning module comprises three submodules: generate submodule and routing submodule but the collisionless path generates the submodule execution route, when generating the collisionless parking path, adopts this collision-free Trajectory Planning of Welding submodule the sector region method, select fan-shaped upper point apart from obstacle vehicle distances maximum, the point that namely least may bump with obstacle; Connect these points and consist of the collisionless parking path;

Perhaps, but the path that should execution route generates submodule planning comprises three kinds of curve types: RS curve (Reeds ﹠amp; Shepp ' s curve), CC curve (continuous-Curvature curve) and hCC curve (half Continuous-Curvature curve);

Perhaps, this routing submodule can select suitable curve type (RS/hCC/CC) as parking path according to different principles, and three kinds of mode of operations of these principle respective path chooser modules comprise:

1) the least number of times principle that direction changes that seesaws in the process of parking, associative mode 1;

The shortest principle of distance of 2) parking and passing by in the process, associative mode 2;

3) the park least number of times principle of pivot stud in the process, associative mode 3.

9. intelligent auxiliary parking system according to claim 8, it is characterized in that: human-machine interface unit provides the driver intention input interface, the routing submodule receives the path type preference pattern that chaufeur is inputted, but and selects accordingly to meet the curve of driver intention as execution route.

10. intelligent auxiliary parking system according to claim 9, it is characterized in that: when the driver intention that receives when human-machine interface unit is pattern 1, the maximum that receives the permission that chaufeur the sets direction that seesaws changes number of times, when the path of planning surpasses this setting value, abandons parking; When the driver intention that receives when human-machine interface unit is pattern 2, the system-computed parking path, but select voluntarily to meet the curve of driver intention as execution route; When the driver intention that receives when human-machine interface unit is mode 3, receive the maximum pivot stud number of times of the permission that chaufeur sets, when the path of planning surpasses this setting value, abandon parking.

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