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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Abstract
本发明公开了一种地下停车场弯曲坡道路径规划及路径跟踪方法，是在地下停车场三维弯曲坡道上，由已知规划的行驶路径，通过模型预测算法进行弯曲坡道上路径跟踪，完成弯曲坡道的自动驾驶。该方法具体过程如下：1)当自主车辆开始进入地下停车场坡道时，由车辆定位系统给出此时车辆起始点在弯曲坡道的相对位置。2)由自主车辆在弯曲坡道入口处的位置信息，结合数字地图，即可根据螺线的数学公式进行弯曲坡道内的路径规划。3)已知弯曲坡道内的行驶路径，根据模型预测控制进行路径跟踪。相比于目前二维平面路径规划，本发明结合数字地图和螺线公式能够规划出三维路径，采用模型预测进行路径跟踪，弯曲坡道路径跟踪效果较好。
The invention discloses a path planning and path tracking method for a curved slope in an underground parking lot. On the three-dimensional curved slope of the underground parking lot, the path tracking on the curved slope is carried out through a model prediction algorithm based on the known planned driving path, and the curved slope is completed. Autopilot on ramps. The specific process of the method is as follows: 1) When the autonomous vehicle starts to enter the ramp of the underground parking lot, the relative position of the starting point of the vehicle on the curved ramp is given by the vehicle positioning system at this time. 2) Based on the location information of the autonomous vehicle at the entrance of the curved ramp, combined with the digital map, the path planning in the curved ramp can be carried out according to the mathematical formula of the spiral. 3) The driving path in the curved slope is known, and the path tracking is performed according to the model predictive control. Compared with the current two-dimensional plane path planning, the present invention can plan a three-dimensional path by combining the digital map and the spiral formula, adopting model prediction to track the path, and the path tracking effect of the curved slope is better.
Description
技术领域technical field
本发明属于自动驾驶领域，尤其涉及一种地下停车场弯曲坡道路径规划及路径跟踪方法。The invention belongs to the field of automatic driving, and in particular relates to a path planning and path tracking method for a curved ramp in an underground parking lot.
背景技术Background technique
随着自动控制技术在汽车所有执行器上得到普遍应用，进而又有若干执行器组合上得到普遍应用，自动驾驶技术有着长远的发展过程，导致今天全自动驾驶呼之欲出。With the widespread application of automatic control technology on all actuators of automobiles, and the general application of several actuator combinations, automatic driving technology has a long-term development process, leading to the imminent emergence of fully automatic driving today.
在全自动驾驶技术中，由于全工况的复杂性及人工智能的不完善性，急需一个正在意义上的全自动驾驶产品推动自动驾驶的前进，因此，局部工况的停车场自主泊车应运而生。停车场自主泊车指的是，自主车辆停在停车场入口处，车辆自主进入停车场，并在停车场内寻库且完成泊车。因此，自主车辆能自主出入停车场，是完成停车场自主泊车的前提。In the fully automatic driving technology, due to the complexity of all working conditions and the imperfection of artificial intelligence, there is an urgent need for a fully automatic driving product to promote the advancement of automatic driving. Therefore, autonomous parking in parking lots under partial working conditions should be used. And born. Autonomous parking in the parking lot means that the autonomous vehicle is parked at the entrance of the parking lot, the vehicle enters the parking lot autonomously, and searches for a warehouse in the parking lot and completes parking. Therefore, autonomous vehicles can autonomously enter and exit the parking lot, which is the prerequisite for completing autonomous parking in the parking lot.
鉴于上述情况，有必要在停车场自主泊车技术中，提出一种地下停车场弯曲坡道路径规划及路径跟踪方法。In view of the above situation, it is necessary to propose a path planning and path tracking method for curved ramps in underground parking lots in autonomous parking technology.
发明内容Contents of the invention
本发明提出一种地下停车场弯曲坡道路径规划及路径跟踪方法。在地下停车场自主泊车技术中，自主车辆能自动出入地下停车场时前提，因此，只有通过地下停车场坡道完成自主出入地下停车场，地下停车场自主泊车才能进入寻库及泊车的流程。The invention proposes a path planning and path tracking method for a curved ramp in an underground parking lot. In the autonomous parking technology of the underground parking lot, it is the premise that the autonomous vehicle can automatically enter and exit the underground parking lot. Therefore, only when the underground parking lot can enter and exit the underground parking lot independently through the ramp of the underground parking lot, can the underground parking lot enter the parking lot and park by itself. process.
本发明解决了在地下停车场弯曲坡道工况下跟踪三维路径的难题，为未来地下停车场自主泊车做铺垫，也补充了在三维立体空间上的路径跟踪。The invention solves the difficult problem of tracking the three-dimensional path under the working condition of the curved slope of the underground parking lot, paves the way for future autonomous parking in the underground parking lot, and also supplements the path tracking in the three-dimensional space.
为实现上述目的，本发明采用的技术方案如下：To achieve the above object, the technical scheme adopted in the present invention is as follows:
本发明提出的一种地下停车场弯曲坡道路径规划及路径跟踪方法是在地下停车场三维弯曲坡道上，由已知规划的行驶路径，通过模型预测算法进行弯曲坡道上路径跟踪，完成弯曲坡道的自动驾驶，补充了路径跟踪技术在三维空间上的不足，该方法具体过程如下：A method for path planning and path tracking of curved slopes in underground parking lots proposed by the present invention is to track the paths on the curved slopes on the three-dimensional curved slopes of underground parking lots by using the known planned driving path through a model prediction algorithm to complete the curved slopes. The automatic driving of the road complements the deficiency of path tracking technology in three-dimensional space. The specific process of this method is as follows:
1)当自主车辆开始进入地下停车场坡道时，由车辆定位系统给出此时车辆起始点在弯曲坡道的相对位置。1) When the autonomous vehicle starts to enter the ramp of the underground parking lot, the relative position of the starting point of the vehicle on the curved ramp is given by the vehicle positioning system.
2)由自主车辆在弯曲坡道入口处的位置信息，结合数字地图，即可根据螺线的数学公式进行弯曲坡道内的路径规划。2) Based on the location information of the autonomous vehicle at the entrance of the curved ramp, combined with the digital map, the path planning in the curved ramp can be carried out according to the mathematical formula of the spiral.
3)已知弯曲坡道内的行驶路径，根据模型预测控制进行路径跟踪。3) The driving path in the curved slope is known, and the path tracking is performed according to the model predictive control.
本发明的有益效果：本发明提出了一种地下停车场弯曲坡道路径规划及路径跟踪方法，该方法相比于现有方法具有如下优势：Beneficial effects of the present invention: the present invention proposes a curved ramp path planning and path tracking method in an underground parking lot, which has the following advantages compared to existing methods:
(1)目前还没有针对地下停车场弯曲坡道这类特定工况的路径跟踪见报道，本发明具有特定性，解决了未来在地下停车场的区域自动驾驶的弯曲坡道路径跟踪的问题，具有较好的前瞻性。(1) At present, there is no path tracking for the specific working conditions of the curved ramp in the underground parking lot. The present invention is specific and solves the problem of the path tracking of the curved ramp for automatic driving in the area of the underground parking lot in the future. It has good foresight.
(2)本发明通用性强，不需要地下停车场另外安装设备，成本较低。(2) The present invention has strong versatility, does not need to install additional equipment in the underground parking lot, and has low cost.
(3)本发明结合数字地图和螺线公式进行路径规划，再由模型预测控制进行路径跟踪，具有如下几个好处：第一，相比于目前的二维平面的路径规划，本发明结合数字地图和螺线公式能够规划出三维路径，弥补了二维平面路径规划在三维弯曲坡道的空缺；第二，将模型预测应用在路径跟踪领域中，弯曲坡道路径跟踪效果较好。(3) The present invention combines digital maps and spiral formulas to carry out path planning, and then carries out path tracking by model predictive control, which has the following advantages: first, compared to the current two-dimensional plane path planning, the present invention combines digital The map and spiral formula can plan a three-dimensional path, making up for the vacancy of two-dimensional planar path planning in three-dimensional curved ramps; second, applying model prediction to the field of path tracking, the path tracking effect of curved ramps is better.
附图说明Description of drawings
图1为本发明一实施方式中结合圆柱螺线进行路径规划的示意图。FIG. 1 is a schematic diagram of path planning combined with a cylindrical helix in an embodiment of the present invention.
图2为模型预测控制的路径跟踪框图。Figure 2 is a block diagram of path tracking for model predictive control.
图3为自主车辆在地下停车场弯曲坡道车速控制框图。Figure 3 is a block diagram of the speed control of the autonomous vehicle on the curved slope of the underground parking lot.
具体实施方式detailed description
下面结合附图以及具体实例对本发明的技术方案及设计原理进行阐述，但本发明的保护范围并不限于此。The technical solutions and design principles of the present invention will be described below in conjunction with the accompanying drawings and specific examples, but the protection scope of the present invention is not limited thereto.
本发明的一种地下停车场弯曲坡道路径规划及路径跟踪方法，由车辆定位系统得出自主车辆在地下停车场坡道的起始位置，路径规划系统结合数字地图和圆柱螺线生成弯曲坡道的行驶路径，再由模型预测控制对该路径进行跟踪，补充三维空间的路径规划及跟踪解决方案。A method for path planning and path tracking of a curved ramp in an underground parking lot according to the present invention. The initial position of the autonomous vehicle on the ramp of the underground parking lot is obtained by the vehicle positioning system, and the path planning system combines the digital map and the cylindrical spiral to generate the curved slope. The driving path of the road is tracked by model predictive control, which complements the path planning and tracking solution in three-dimensional space.
图1为本发明所述的一实施方式中结合圆柱螺线进行路径规划的示意图，在所述的一实施方式中，数字地图中的地下停车场弯曲坡道曲线可用圆柱螺线进行表征。Fig. 1 is a schematic diagram of path planning combined with a cylindrical helix in an embodiment of the present invention. In the aforementioned embodiment, the curve of the curved slope of the underground parking lot in the digital map can be represented by a cylindrical helix.
该圆柱面为：x2+y2＝a2 The cylindrical surface is: x 2 +y 2 =a 2
由P点起始的圆柱螺线上一点M(x,y,z),|PQ|＝2ab，Q表示点Q，a表示圆柱面底面圆的半径、b表示表示影响螺距的一个变量参数。A point M(x, y, z) on the cylindrical spiral starting from point P, |PQ|=2ab, Q represents point Q, a represents the radius of the bottom circle of the cylindrical surface, and b represents a variable parameter that affects the pitch.
且， and,
点O和点P看成是地下停车场弯曲坡道的某一入口处，由于弯曲坡道曲线类型可用圆柱螺线进行表征，因此，从点O到点P之间的任意一点都必有一条圆柱螺线和该点对应。因此，只要由车辆定位系统得知车辆在入口处的位置，即点O到点P之间的某一点坐标，就可以通过圆柱螺线规划出一条路径。Point O and point P are regarded as a certain entrance of the curved ramp of the underground parking lot. Since the curve type of the curved ramp can be characterized by a cylindrical spiral, any point from point O to point P must have a A cylindrical helix corresponds to this point. Therefore, as long as the vehicle positioning system knows the position of the vehicle at the entrance, that is, the coordinates of a certain point between point O and point P, a path can be planned through the cylindrical spiral.
图2为模型预测控制的路径跟踪框图，路径跟踪目的是协同控制方向盘角度和车速，使汽车轨迹和规划的路径一致。由得出的规划路径输入到有限时域滚动优化中，滚动优化以车速为约束条件，求解最优解，使车辆轨迹无限逼近规划的路径。同时，路径跟踪由模型预测控制器控制为主，雷达反馈作为辅助反馈进行监控车辆位置。Figure 2 is a path tracking block diagram of model predictive control. The purpose of path tracking is to control the steering wheel angle and vehicle speed collaboratively, so that the vehicle trajectory is consistent with the planned path. The obtained planning path is input into the finite time-domain rolling optimization, and the rolling optimization takes the vehicle speed as the constraint condition to solve the optimal solution, so that the vehicle trajectory infinitely approaches the planned path. At the same time, the path tracking is mainly controlled by the model predictive controller, and the radar feedback is used as the auxiliary feedback to monitor the vehicle position.
图3为自主车辆在地下停车场弯曲坡道内车速控制策略，将坡道类型、坡度和弯度作为输入量，由模糊控制器进行模糊控制输出加速度到自主车辆，自主车辆的速度作为反馈量输入到模糊控制器。Figure 3 shows the speed control strategy of the autonomous vehicle in the curved ramp of the underground parking lot. The type of ramp, slope and curvature are used as input quantities, and the fuzzy controller performs fuzzy control to output the acceleration to the autonomous vehicle, and the speed of the autonomous vehicle is input to the autonomous vehicle as a feedback quantity. fuzzy controller.
该方法具体过程如下：The specific process of the method is as follows:
1)当自主车辆开始进入地下停车场弯曲坡道时，由车辆定位系统输出此刻自主车辆在弯曲坡道的位置信息，即自主车辆后轴中心位置在弯曲坡道起始点处的位置，将自主车辆后轴中心位置信息输出到路径规划系统。1) When the autonomous vehicle starts to enter the curved slope of the underground parking lot, the vehicle positioning system outputs the position information of the autonomous vehicle on the curved slope at the moment, that is, the position of the center of the rear axle of the autonomous vehicle at the starting point of the curved slope. The position information of the rear axle center of the vehicle is output to the path planning system.
2)路径规划系统接收到来自车辆定位系统的自主车辆后轴中心位置信息，数字地图中通过圆柱螺线、圆锥螺线等螺线公式表征的弯曲坡道。自主车辆后轴中心为原点建立三维坐标系，将该原点处的螺线公式结合数字地图提取出来，由以自主车辆后轴中心为原点的三维坐标系和以该原点为起始点的螺线表达式组成自主车辆后轴中心的规划路径。2) The path planning system receives the position information of the rear axle center of the autonomous vehicle from the vehicle positioning system, and the curved ramp represented by the helical formulas such as cylindrical helix and conical helix in the digital map. Establish a three-dimensional coordinate system with the center of the rear axle of the autonomous vehicle as the origin, extract the spiral formula at the origin combined with the digital map, and express it by the three-dimensional coordinate system with the center of the rear axle of the autonomous vehicle as the origin and the spiral with the origin as the starting point form the planned path of the center of the rear axle of the autonomous vehicle.
3)路径跟踪目的是协同控制方向盘角度和车速，使汽车轨迹和规划的路径一致。同时，又要解决坡道车速控制和前车车距控制。路径跟踪由模型预测控制，滚动优化以车速控制为约束条件，求解方向盘角度最优解，优化车速和方向盘在弯曲坡道的协同控制。车速控制由模糊控制器根据坡道类型、坡度和弯度进行模糊控制。若前方有车辆，则将车速控制和车距控制进行决策融合，将融合结果作为求解的约束条件，求方向盘角度最优解。3) The purpose of path tracking is to control the steering wheel angle and vehicle speed collaboratively, so that the trajectory of the vehicle is consistent with the planned path. At the same time, it is necessary to solve the speed control of the slope and the distance control of the front vehicle. The path tracking is controlled by model prediction, and the rolling optimization takes the vehicle speed control as the constraint condition to solve the optimal solution of the steering wheel angle, and optimize the cooperative control of the vehicle speed and the steering wheel on the curved slope. The vehicle speed control is fuzzy controlled by the fuzzy controller according to the slope type, slope and curvature. If there is a vehicle in front, the vehicle speed control and vehicle distance control are combined for decision-making, and the fusion result is used as the constraint condition of the solution to find the optimal solution of the steering wheel angle.
4)若弯曲坡道前方同方向有车辆时，则需考虑车距保持控制，通过同方向两车的位移差、速度差和设定的安全距离进行车距控制。车距控制公式：4) If there are vehicles in the same direction in front of the curved slope, it is necessary to consider the control of the distance between vehicles, and control the distance between vehicles based on the displacement difference, speed difference and the set safety distance of the two vehicles in the same direction. Vehicle distance control formula:
a＝k1(Δx-Sa)+k2*Δva=k 1 (Δx-S a )+k 2 *Δv
其中，Δx为位移差，Sa为安全距离，Δv为速度差，a表示车辆加速度，k1表示位移差和安全距离之差对于车辆加速度的影响因子，k2表示速度差对于车辆加速度的影响因子。Among them, Δx is the displacement difference, S a is the safety distance, Δv is the speed difference, a represents the vehicle acceleration, k 1 represents the influence factor of the difference between the displacement difference and the safety distance on the vehicle acceleration, and k 2 represents the influence of the speed difference on the vehicle acceleration factor.
车距控制输出的加速度和车速控制输出的加速度需要进行决策融合，再将融合结果得到的加速度值作为约束条件，求方向盘角度最优解。The acceleration output from the vehicle distance control and the acceleration output from the vehicle speed control need to be fused for decision-making, and then the acceleration value obtained from the fusion result is used as a constraint condition to find the optimal solution for the steering wheel angle.
综上所述，地下停车场弯曲坡道的路径规划有别于目前室内的路径规划算法，首先，目前大多数路径规划生成的都是二维路径，大多数路径规划的目的都是规划最优最短路线。因此，地下停车场弯曲坡道路径规划的研究很有必要。本发明补充解决了三维空间的路径规划及跟踪问题，方案简单，成本较低。To sum up, the path planning of the curved slope of the underground parking lot is different from the current indoor path planning algorithm. First, most of the current path planning generates two-dimensional paths, and the purpose of most path planning is to plan the optimal path. shortest route. Therefore, it is necessary to study the path planning of curved ramps in underground parking lots. The invention supplementarily solves the problem of path planning and tracking in three-dimensional space, and has simple scheme and low cost.
所述实施例为针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所为的等效实施方式或变更均应包含在本发明的保护范围之内。The embodiments are specific descriptions for feasible implementation modes of the present invention, and they are not used to limit the protection scope of the present invention, and all equivalent implementation modes or changes that do not depart from the technical spirit of the present invention should be included in the present invention within the scope of protection.
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| 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 |
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