CN107167155A - A kind of underground parking curved ramp path planning and path following method - Google Patents
A kind of underground parking curved ramp path planning and path following method Download PDFInfo
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- CN107167155A CN107167155A CN201710318248.6A CN201710318248A CN107167155A CN 107167155 A CN107167155 A CN 107167155A CN 201710318248 A CN201710318248 A CN 201710318248A CN 107167155 A CN107167155 A CN 107167155A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The invention discloses a kind of underground parking curved ramp path planning and path following method, it is on the three-dimensional bending ramp of underground parking, by the driving path of known planning, curved ramp upper pathway tracking is carried out by model prediction algorithm, the automatic Pilot of curved ramp is completed.This method detailed process is as follows：1) when autonomous vehicle initially enters underground parking ramp, now relative position of the vehicle starting point in curved ramp is provided by Vehicle positioning system.2) by autonomous vehicle curved ramp porch positional information, with reference to numerical map, you can according to the mathematical formulae of helical carry out curved ramp in path planning.3) driving path known in curved ramp, path trace is carried out according to Model Predictive Control.Compared to current two dimensional surface path planning, the present invention, which combines numerical map and helical formula, can cook up three-dimensional path, and path trace is carried out using model prediction, and curved ramp path trace effect is preferable.
Description
Technical field
The invention belongs to automatic Pilot field, more particularly to a kind of underground parking curved ramp path planning and path with
Track method.
Background technology
As automatic control technology is widely used on all actuators of automobile, there are some actuators to combine in turn
On be widely used, automatic Pilot technology has long-range evolution, causes today full-automatic driving ready to appear.
In full-automatic driving technology, due to the complexity and the imperfection of artificial intelligence of full working scope, it is being badly in need of one just
Full-automatic driving product in the sense promotes the advance of automatic Pilot, and therefore, the parking lot autonomous parking of local operating mode meets the tendency of
And give birth to.Parking lot autonomous parking refers to that autonomous vehicle is parked at Entrance, and vehicle independently enters parking lot, and is stopping
Parking lot Nei Xun storehouses and completion park.Therefore, autonomous vehicle can independently come in and go out parking lot, complete before the autonomous parking of parking lot
Carry.
In view of the foregoing, it is necessary in the autonomous parking technology of parking lot, a kind of underground parking curved ramp is proposed
Path planning and path following method.
The content of the invention
The present invention proposes a kind of underground parking curved ramp path planning and path following method.In underground parking certainly
In main technology of parking, autonomous vehicle can come in and go out automatically underground parking when premise, it is therefore, only complete by underground parking ramp
Into the autonomous underground parking that comes in and goes out, underground parking autonomous parking could enter the flow sought storehouse and parked.
The present invention solves the problem that three-dimensional path is tracked under the curved ramp operating mode of underground parking, is that following underground is stopped
Parking lot autonomous parking is laid the groundwork, also supplemented with the path trace on three-dimensional space.
To achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of underground parking curved ramp path planning and path following method proposed by the present invention are in underground parking
On the three-dimensional bending ramp of field, by the driving path of known planning, curved ramp upper pathway tracking is carried out by model prediction algorithm,
The automatic Pilot of completion curved ramp, the deficiency supplemented with path tracking technique on three dimensions, this method detailed process is such as
Under：
1) when autonomous vehicle initially enters underground parking ramp, now vehicle starting point is provided by Vehicle positioning system
In the relative position of curved ramp.
2) by autonomous vehicle curved ramp porch positional information, with reference to numerical map, you can according to the number of helical
Learn the path planning in formula progress curved ramp.
3) driving path known in curved ramp, path trace is carried out according to Model Predictive Control.
Beneficial effects of the present invention：The present invention proposes a kind of underground parking curved ramp path planning and path trace
Method, this method has following advantage compared to existing method：
(1) appeared in the newspapers there is presently no the path trace for this kind of specific operation of underground parking curved ramp, this hair
It is bright that there is specificity, future is solved the problem of the curved ramp path trace of the region automatic Pilot of underground parking, tool
Have preferably perspective.
(2) highly versatile of the present invention, it is not necessary to which the additionally mounted equipment in underground parking, cost is relatively low.
(3) present invention combines numerical map and helical formula carries out path planning, then carries out path by Model Predictive Control
Tracking, with following several benefits：First, compared to the path planning of current two dimensional surface, present invention combination numerical map
Three-dimensional path can be cooked up with helical formula, vacancy of the two dimensional surface path planning in three-dimensional bending ramp is compensate for；Second,
Model prediction is applied in path trace field, curved ramp path trace effect is preferable.
Brief description of the drawings
Fig. 1 is the schematic diagram in an embodiment of the present invention with reference to cylindrical spiral progress path planning.
Fig. 2 is the path trace block diagram of Model Predictive Control.
Fig. 3 is autonomous vehicle in underground parking curved ramp speed control block diagram.
Embodiment
Below in conjunction with the accompanying drawings and instantiation is illustrated to technical scheme and design principle, but the present invention
Protection domain be not limited to this.
A kind of underground parking curved ramp path planning and path following method of the present invention, is obtained by Vehicle positioning system
Go out original position of the autonomous vehicle in underground parking ramp, path planning system combination numerical map and cylindrical spiral generation are curved
The driving path in bent ramp, then be tracked by Model Predictive Control to the path, supplement three dimensions path planning and with
Track solution.
Fig. 1 is combines the schematic diagram that cylindrical spiral carries out path planning in an embodiment of the present invention, described
An embodiment in, the underground parking curved ramp curve in numerical map can be characterized with cylindrical spiral.
The face of cylinder is：x2+y2=a2
A point M (x, y, z) on the cylindrical spiral that P points are originated, | PQ |=2ab, Q represent that point Q, a represent face of cylinder bottom surface
Round radius, b represent a variable parameter of influence pitch.
And,
Point O and point P regard a certain porch of underground parking curved ramp as, because curved ramp curve type is available
Cylindrical spiral is characterized, therefore, must all have a cylindrical spiral corresponding with the point from any point point O to point P.Cause
This, as long as learning position of the vehicle in porch, i.e. point O to a certain point coordinates between point P by Vehicle positioning system, it is possible to
One paths are cooked up by cylindrical spiral.
Fig. 2 is the path trace block diagram of Model Predictive Control, and path trace purpose is Collaborative Control steering wheel angle and car
Speed, makes vehicle track consistent with the path of planning.It is input in finite time-domain rolling optimization, is rolled excellent by the path planning drawn
Change using speed as constraints, solve optimal solution, track of vehicle is infinitely approached the path of planning.Meanwhile, path trace is by mould
Based on the control of type predictive controller, radar feedback is monitored vehicle location as additional feedback.
Fig. 3 is autonomous vehicle speed control strategy in the curved ramp of underground parking, by ramp type, the gradient and camber
As input quantity, fuzzy control is carried out by fuzzy controller and exports acceleration to autonomous vehicle, the speed of autonomous vehicle is as anti-
Feedback amount is input to fuzzy controller.
This method detailed process is as follows：
1) when autonomous vehicle initially enters underground parking curved ramp, Autonomous Vehicles this moment are exported by Vehicle positioning system
Curved ramp positional information, i.e. autonomous vehicle rear shaft center position, will be autonomous in the position of curved ramp starting point
Vehicle rear axle center location information is output to path planning system.
2) path planning system receives the autonomous vehicle rear shaft center positional information from Vehicle positioning system, digitally
The curved ramp characterized in figure by the helical such as cylindrical spiral, conical formula.Autonomous vehicle rear shaft center sets up for origin
Three-dimensional system of coordinate, the helical formula combination numerical map at the origin is extracted, by using autonomous vehicle rear shaft center as original
The three-dimensional system of coordinate of point and the helical expression formula by starting point of the origin constitute the path planning of autonomous vehicle rear shaft center.
3) path trace purpose is Collaborative Control steering wheel angle and speed, makes vehicle track consistent with the path of planning.
Meanwhile, the control of ramp speed and the control of front truck spacing are solved again.Path trace is by Model Predictive Control, and rolling optimization is with speed
Control as constraints, solve steering wheel angle optimal solution, the Collaborative Control of optimization speed and steering wheel in curved ramp.Speed
Control carries out fuzzy control by fuzzy controller according to ramp type, the gradient and camber.If there is vehicle in front, by speed control
Decision fusion is carried out with spacing control, using fusion results as the constraints of solution, steering wheel angle optimal solution is sought.
If 4) equidirectional when having vehicle in front of curved ramp, need to consider that spacing keeps control, pass through equidirectional two car
Displacement difference, speed difference and the safe distance of setting carry out spacing control.Spacing controls formula：
A=k1(Δx-Sa)+k2*Δv
Wherein, Δ x is displacement difference, SaFor safe distance, Δ v is speed difference, and a represents vehicle acceleration, k1Represent displacement difference
Difference with safe distance is for the factor of influence of vehicle acceleration, k2Represent factor of influence of the speed difference for vehicle acceleration.
The acceleration of spacing control output and the acceleration of speed control output are needed to carry out Decision fusion, then fusion is tied
The acceleration magnitude that fruit obtains seeks steering wheel angle optimal solution as constraints.
In summary, the path planning of underground parking curved ramp is different from the path planning algorithm of current interior, first
First, most of path planning generations at present is all two dimensional path, and the purpose of most of path plannings is all that planning is optimal most short
Route.Therefore, the research of underground parking curved ramp path planning is necessary.Present invention supplement solves three dimensions
Path planning and tracking problem, scheme are simple, and cost is relatively low.
The embodiment is illustrating for feasibility embodiment of the invention, and they simultaneously are not used to limit this hair
Bright protection domain, all equivalent implementations or change without departing from carried out by skill spirit of the present invention should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of underground parking curved ramp path planning and path following method, it is characterised in that comprise the following steps：
1) when autonomous vehicle initially enters underground parking ramp, by Vehicle positioning system provide now vehicle starting point curved
The relative position in bent ramp；
2), with reference to numerical map, entered by autonomous vehicle in the positional information of curved ramp porch according to the mathematical formulae of helical
Path planning in row curved ramp；
3) driving path known in curved ramp, path trace is carried out according to Model Predictive Control.
2. a kind of underground parking curved ramp path planning according to claim 1 and path following method, its feature
Be, the step 2) implement including：By the underground parking curved ramp curve cylindrical spiral in numerical map
Characterized；The face of cylinder is：
x2+y2=a2
A point M (x, y, z) on the cylindrical spiral that P points are originated, | PQ |=2ab, Q represent point Q.
And,
Point O and point P represent a certain porch of underground parking curved ramp, and any point between point O to point P all must
There is a cylindrical spiral corresponding with the point；The vehicle learnt by Vehicle positioning system is in the position of porch, i.e. point O to point P
Between a certain point coordinates, you can a paths are cooked up by cylindrical spiral.
3. a kind of underground parking curved ramp path planning according to claim 2 and path following method, its feature
Be, step 2) implement and also include：It is input to by the path planning drawn in finite time-domain rolling optimization, rolling optimization
Using speed as constraints, optimal solution is solved, track of vehicle is infinitely approached the path of planning.
4. a kind of underground parking curved ramp path planning according to claim 1 and path following method, its feature
Be, step 3) described in path trace based on the model predictive controller control, radar feedback is supervised as additional feedback
Control vehicle location.
5. a kind of underground parking curved ramp path planning according to claim 4 and path following method, its feature
It is, the realization of the path trace is including as follows：
Using ramp type, the gradient and camber as input quantity, fuzzy control is carried out using fuzzy control and exports acceleration to independently
Vehicle, the speed of autonomous vehicle is input to fuzzy controller as feedback quantity；Detailed process is as follows：
1) when autonomous vehicle initially enters underground parking curved ramp, by Vehicle positioning system output, autonomous vehicle exists this moment
The positional information of curved ramp, i.e. autonomous vehicle rear shaft center position are in the position of curved ramp starting point, by autonomous vehicle
Rear shaft center's positional information is output to path planning system.
2) path planning system is received in the autonomous vehicle rear shaft center positional information from Vehicle positioning system, numerical map
Curved ramp is characterized by cylindrical spiral or conical formula；Autonomous vehicle rear shaft center is that origin sets up three-dimensional coordinate
System, the helical formula combination numerical map at the origin is extracted, by the three-dimensional using autonomous vehicle rear shaft center as origin
Coordinate system and the path planning of helical expression formula composition autonomous vehicle rear shaft center by starting point of the origin；
3) Collaborative Control steering wheel angle and speed, make vehicle track consistent with the path of planning；Meanwhile, control ramp speed and
Front truck spacing；Path trace, using speed control as constraints, solves steering wheel angle most by Model Predictive Control, rolling optimization
The Collaborative Control of excellent solution, optimization speed and steering wheel in curved ramp；The speed control is by fuzzy controller according to ramp class
Type, the gradient and camber carry out fuzzy control；If there is vehicle in front, speed control and spacing control are subjected to Decision fusion, will
Fusion results seek steering wheel angle optimal solution as the constraints of solution；
If 4) equidirectional when having vehicle in front of curved ramp, need to consider that spacing keeps control, pass through the displacement of equidirectional two car
Difference, speed difference and the safe distance of setting carry out spacing control；Spacing controls the formula to be：
A=k1(Δx-Sa)+k2*Δv
Wherein, Dx is displacement difference, SaFor safe distance, Δ v is speed difference, and a represents vehicle acceleration, k1Represent displacement difference and peace
The difference of full distance is for the factor of influence of vehicle acceleration, k2Represent factor of influence of the speed difference for vehicle acceleration；
The acceleration of spacing control output and the acceleration of speed control output are needed to carry out Decision fusion, then fusion results are obtained
The acceleration magnitude arrived seeks steering wheel angle optimal solution as constraints.
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Cited By (12)
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| CN108121205A (en) * | 2017-12-13 | 2018-06-05 | 深圳市航盛电子股份有限公司 | A kind of paths planning method, system and medium for a variety of scenes of parking |
| CN108334086A (en) * | 2018-01-25 | 2018-07-27 | 江苏大学 | A kind of automatic driving vehicle path tracking control method based on soft-constraint quadratic programming MPC |
| CN108973769A (en) * | 2018-06-15 | 2018-12-11 | 吉林大学 | A kind of all fronts control electric car path tracking control method |
| CN110379150A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus for assessing road |
| CN110928293A (en) * | 2018-09-19 | 2020-03-27 | 卡特彼勒路面机械公司 | Job site planning for autonomous construction vehicles |
| CN111930112A (en) * | 2020-06-30 | 2020-11-13 | 广西科技大学 | Intelligent vehicle path tracking control method and system based on MPC |
| CN112037567A (en) * | 2020-09-04 | 2020-12-04 | 中国第一汽车股份有限公司 | Passenger-riding parking method, device, equipment and storage medium |
| CN113335269A (en) * | 2021-06-02 | 2021-09-03 | 上海追势科技有限公司 | Autonomous parking slope vehicle speed control method |
| CN113701756A (en) * | 2021-08-04 | 2021-11-26 | 东南大学 | Novel self-adaptive method for planning and tracking parking path of unmanned vehicle |
| CN115053279A (en) * | 2020-02-04 | 2022-09-13 | 松下知识产权经营株式会社 | Driving assistance device, vehicle, and driving assistance method |
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| CN108121205B (en) * | 2017-12-13 | 2021-02-26 | 深圳市航盛电子股份有限公司 | Path planning method, system and medium for multiple parking scenes |
| CN108121205A (en) * | 2017-12-13 | 2018-06-05 | 深圳市航盛电子股份有限公司 | A kind of paths planning method, system and medium for a variety of scenes of parking |
| CN108334086A (en) * | 2018-01-25 | 2018-07-27 | 江苏大学 | A kind of automatic driving vehicle path tracking control method based on soft-constraint quadratic programming MPC |
| CN108334086B (en) * | 2018-01-25 | 2021-06-22 | 江苏大学 | Unmanned vehicle path tracking control method based on soft-constraint quadratic programming MPC |
| CN108973769A (en) * | 2018-06-15 | 2018-12-11 | 吉林大学 | A kind of all fronts control electric car path tracking control method |
| CN110379150A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus for assessing road |
| CN110379150B (en) * | 2018-09-13 | 2021-05-25 | 北京京东尚科信息技术有限公司 | Method and device for evaluating road trafficability |
| CN110928293A (en) * | 2018-09-19 | 2020-03-27 | 卡特彼勒路面机械公司 | Job site planning for autonomous construction vehicles |
| CN110928293B (en) * | 2018-09-19 | 2024-04-12 | 卡特彼勒路面机械公司 | Job site planning for autonomous construction vehicles |
| CN115053279A (en) * | 2020-02-04 | 2022-09-13 | 松下知识产权经营株式会社 | Driving assistance device, vehicle, and driving assistance method |
| CN115053279B (en) * | 2020-02-04 | 2023-10-20 | 松下知识产权经营株式会社 | Driving support device, vehicle, and driving support method |
| US11498586B2 (en) | 2020-03-27 | 2022-11-15 | Wipro Limited | Method and system for dynamically generating a secure navigation path for navigation of autonomous vehicle |
| US11487299B2 (en) | 2020-03-31 | 2022-11-01 | Wipro Limited | Method and system for localizing autonomous ground vehicles |
| CN111930112A (en) * | 2020-06-30 | 2020-11-13 | 广西科技大学 | Intelligent vehicle path tracking control method and system based on MPC |
| CN112037567A (en) * | 2020-09-04 | 2020-12-04 | 中国第一汽车股份有限公司 | Passenger-riding parking method, device, equipment and storage medium |
| CN113335269A (en) * | 2021-06-02 | 2021-09-03 | 上海追势科技有限公司 | Autonomous parking slope vehicle speed control method |
| CN113701756A (en) * | 2021-08-04 | 2021-11-26 | 东南大学 | Novel self-adaptive method for planning and tracking parking path of unmanned vehicle |
| CN113701756B (en) * | 2021-08-04 | 2024-05-31 | 东南大学 | Novel self-adaptive unmanned vehicle reversing and warehousing path planning and tracking method |
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Application publication date: 20170915 |