CN107560615A - Parking path planing method for parking lot automated driving system - Google Patents
Parking path planing method for parking lot automated driving system Download PDFInfo
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- CN107560615A CN107560615A CN201710684053.3A CN201710684053A CN107560615A CN 107560615 A CN107560615 A CN 107560615A CN 201710684053 A CN201710684053 A CN 201710684053A CN 107560615 A CN107560615 A CN 107560615A
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Abstract
The invention discloses a kind of parking path planing method for parking lot automated driving system, comprise the following steps：Mathematical modeling is carried out to parking lot according to the road network information in parking lot；Intersection and each parking stall selection corresponding node in parking lot, and be numbered, matrix relationship corresponding to foundation；The line information in circuit information table is read, using the distance of beginning and end as weights；The node diagram of road network is constructed into Di Jiesitela maps, optimal path is calculated according to Dijkstra's algorithm.It can quickly plan parking lot starting point to the optimal path on parking stall.
Description
Technical field
The invention belongs to automatic driving decision-making technic field, is used for parking lot automatic Pilot system more particularly to one kind
The parking path planing method of system.
Background technology
As automatic driving technology constantly develops, application of the automatic Pilot in parking lot also begins to obtain extensively
Concern.In parking lot traditional at present, the problem for perplexing driver the most has two：When look for sky parking stall and moor into narrow and small
The difficulty of parking stall；Second, parking lot clogging caused by possibility when multiple vehicles look for sky parking stall.
Parking lot automated driving system can not only improve the convenience of docking process, it is possibility to have effect alleviation looks for parking stall to lead
The parking lot blockage problem of cause.Parking lot automated driving system is stopped using ultrasonic sensor and intelligent wheel detector to search for
Car space, the parking path for reaching parking spot is produced, and control driving.That is, intelligent parking accessory system allows
Driver is moved forward and backward in the case of no steering wheel operation only by control and brake operating and automatic parked vehicle.
Most of paths planning method is used in urban road at present, and parking lot automated driving system field does not relate to also
And the problem of to path planning.Therefore, parking lot automatic Pilot system is made by the paths planning method of parking lot starting point to parking stall
Command one, domain urgent problem to be solved.The present invention is therefore.
The content of the invention
The problem of existing for above-mentioned technical proposal, the present invention proposes a kind of to stop for parking lot automated driving system
Car paths planning method, it can quickly plan parking lot starting point to the optimal path on parking stall.
The technical scheme is that：
A kind of parking path planing method for parking lot automated driving system, comprise the following steps：
S01：Mathematical modeling is carried out to parking lot according to the road network information in parking lot；
S02：Intersection and each parking stall selection corresponding node in parking lot, and be numbered, square corresponding to foundation
Battle array relation；
S03：The line information in circuit information table is read, using the distance of beginning and end as weights；
S04：The node diagram of road network is constructed into Di Jiesitela maps, optimal path is calculated according to Dijkstra's algorithm.
Preferably, the step S04 also includes, and intersection is smoothed, and calculates radius of turn, is turned
Bending track mark.
Preferably, in the step S01, the road network information comprises at least the width of parking lot road, parking stall
Width, length and the distribution situation on parking stall.
Preferably, in the step S02, by the center line of the forward road in front of each parking stall and parking bit width
The intersection point of line is as parking stall node；If the Curvature varying at intersection is not above given threshold, road intersection point is selected
For node, if Curvature varying is more than set threshold value, it is node to select Point of Inflection and center of arc's point.
Preferably, in the step S04, optimal path is calculated according to Dijkstra's algorithm, including：
S11：Playing point set S, i.e. S={ v }, v are starting point, and v distance includes other node sets in addition to v for 0, U, i.e. U=
{ remaining node }, if v is adjacent with U interior joints,<u,v>There are weights, if u is not v abutment points,<u,v>Weights are ∞；
S12：The minimum node k of a distance v are chosen from U, k are added in S, selected distance is exactly v to k shortest path
Length；
S13：Using k as the intermediate point newly considered, the distance of each node in U is changed；If from starting point v by node k to node u away from
From than originally without short with a distance from node k, then changing node u distance value, amended distance value is that node k distance adds
Upper k to u distance value；
S14：Repeat step S12 and S13 is included in S until all nodes.
Compared with prior art, it is an advantage of the invention that：
It can quickly plan parking lot starting point to the optimal path on parking stall.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is the flow chart for the parking path planing method that the present invention is used for parking lot automated driving system；
Fig. 2 is parking lot modeling schematic diagram；
Fig. 3 is selection node schematic diagram in parking lot；
Fig. 4 is the track schematic diagram after round and smooth processing at intersection.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Embodiment：
Below in conjunction with the accompanying drawings, presently preferred embodiments of the present invention is described further.
As shown in figure 1, a kind of parking path planing method for parking lot automated driving system, comprises the following steps：
Mathematical modeling is carried out to parking lot according to the road network information in parking lot.Parking lot is obtained by the road network information in parking lot
The distribution situation of the width x length and parking stall on width of road etc. and parking stall.As shown in Fig. 2 to one in example
Parking lot carries out mathematical modeling；
There are 31 parking stalls per a line in example, altogether 93 parking stalls.Each parking bit length is 6 meters, and width is 3 meters.Its
Green rectangle represents lawn, and width is 1 meter, and length is 6 meters.Road width among two row parking stalls is 10 meters.
Intersection and each parking stall selection corresponding node in parking lot, and be numbered, square corresponding to foundation
Battle array relation, as shown in Figure 3；Using the intersection point of the center line of the forward road in front of each parking stall and the center line of parking bit width as
Parking stall node, if the Curvature varying at intersection is not above given threshold, it is node to select road intersection point, if curvature
Change is more than set threshold value, and it is node to select Point of Inflection and center of arc's point.
The line information selection beginning and end in circuit information table is read, using distance as weights；It can connect in practice
Adjacent node using actual range as weights, not attachable nodal distance is arranged to larger numerical value.Final position is
The positional information on one empty parking stall is obtained by the communication in vehicle and parking lot, and reads the positional information on empty parking stall, is looked for
To corresponding node serial number.The automobile of automatic Pilot can be by setting speed to travel, it is not necessary to considers the time as weights, only
Using distance as weights, the time of calculating is saved.
Using a middle row leftmost side a little as starting point v in example, one empty parking space of random selection is as terminal.Will be close to
The positive distance of node be used as weights, the weights between node can not directly reach and reverse are arranged to a larger number
Value, so reduce and calculate the time, there is great significance to autonomous driving vehicle.
The node diagram of road network is constructed into Di Jiesitela maps；
Optimal path is calculated according to Dijkstra's algorithm, is comprised the following steps：
A. when initial in example, S only includes the set of starting point, i.e. S={ v }, v distance are 0.U includes other nodes in addition to v
Set, i.e. U={ remaining node }, if v is adjacent with U interior joints,<u,v>Normally there are weights, if u is not v abutment points,<
u,v>Weights are ∞.
B. the minimum node k of a distance v are chosen from U, k is added in S（The selected distance is exactly the most short of v to k
Path length）.
C. using k as the intermediate point newly considered, the distance of each node in U is changed；If from starting point v to node u distance（By
Node k）Than original distance（U is directly reached without node k, i.e. v）It is short, then change node u distance value, amended distance
Value is that node k distance adds k to u distance value.
D. repeat step b and c is included in S until all nodes.
As shown in figure 4, intersection curve is smoothed；Handling circular arc with circular arc at intersection will be with
Straight line is tangent, and radius of turn is the half having a lot of social connections, and can draw the track of turning.In order to which automatic driving vehicle can pass through road
Intersection, do not constrained by dynamics problem.In example, radius of turn is 3.5 meters, and steering angle is 90 degree.The method can allow
Automatic driving vehicle can this intersection of stable mistake, due to the picture of course angle vehicle will not be caused to pass through intersection.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.In addition, appended claims purport of the present invention
Covering the whole changes fallen into scope and border or this scope and the equivalents on border and repairing
Change example.
Claims (5)
1. a kind of parking path planing method for parking lot automated driving system, it is characterised in that comprise the following steps：
S01：Mathematical modeling is carried out to parking lot according to the road network information in parking lot；
S02：Intersection and each parking stall selection corresponding node in parking lot, and be numbered, square corresponding to foundation
Battle array relation；
S03：The line information in circuit information table is read, using the distance of beginning and end as weights；
S04：The node diagram of road network is constructed into Di Jiesitela maps, optimal path is calculated according to Dijkstra's algorithm.
2. the parking path planing method according to claim 1 for parking lot automated driving system, it is characterised in that
The step S04 also includes, and intersection is smoothed, and calculates radius of turn, obtains turning path.
3. the parking path planing method according to claim 1 for parking lot automated driving system, it is characterised in that
In the step S01, the road network information comprise at least the width of parking lot road, the width on parking stall, length and
The distribution situation on parking stall.
4. the parking path planing method according to claim 1 for parking lot automated driving system, it is characterised in that
In the step S02, using the intersection point of the center line of the forward road in front of each parking stall and the center line for the bit width that stops as stopping
Parking stall node；If the Curvature varying at intersection is not above given threshold, it is node to select road intersection point, if curvature becomes
Change and be more than set threshold value, it is node to select Point of Inflection and center of arc's point.
5. the parking path planing method according to claim 1 for parking lot automated driving system, it is characterised in that
In the step S04, optimal path is calculated according to Dijkstra's algorithm, including：
S11：Playing point set S, i.e. S={ v }, v are starting point, and v distance includes other node sets in addition to v for 0, U, i.e. U=
{ remaining node }, if v is adjacent with U interior joints,<u,v>There are weights, if u is not v abutment points,<u,v>Weights are ∞；
S12：The minimum node k of a distance v are chosen from U, k are added in S, selected distance is exactly v to k shortest path
Length；
S13：Using k as the intermediate point newly considered, the distance of each node in U is changed；If from starting point v by node k to node u away from
From than originally without short with a distance from node k, then changing node u distance value, amended distance value is that node k distance adds
Upper k to u distance value；
S14：Repeat step S12 and S13 is included in S until all nodes.
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| CN108710365A (en) * | 2018-04-19 | 2018-10-26 | 五邑大学 | A kind of robot automatic recharging method and device waterborne based on optimal path cruise |
| CN108766026A (en) * | 2018-07-26 | 2018-11-06 | 谭智 | A kind of parking navigation method and system based on block chain technology |
| CN109596138A (en) * | 2018-12-29 | 2019-04-09 | 北京智行者科技有限公司 | Automatic Pilot charging vehicle parking path method and system for planning |
| CN110471418A (en) * | 2019-08-22 | 2019-11-19 | 北京交通大学 | AGV dispatching method in intelligent parking lot |
| WO2020132959A1 (en) * | 2018-12-26 | 2020-07-02 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Spiral curve based vertical parking planner system for autonomous driving vehicles |
| CN111380554A (en) * | 2018-12-28 | 2020-07-07 | 哲内提 | Efficient searching through meaningful links within a defined topology |
| CN111741876A (en) * | 2018-03-30 | 2020-10-02 | 日立汽车系统株式会社 | Parking assist apparatus |
| CN112258879A (en) * | 2020-10-16 | 2021-01-22 | 安徽亿力停车场投资有限公司 | Method for optimizing urban parking construction by utilizing random matrix |
| CN112687123A (en) * | 2019-10-17 | 2021-04-20 | 丰田自动车株式会社 | Automatic parking system |
| CN112908027A (en) * | 2021-02-03 | 2021-06-04 | 芜湖泊啦图信息科技有限公司 | Control algorithm and system based on characteristic path construction of main positioning points in parking lot |
| CN114882732A (en) * | 2022-05-18 | 2022-08-09 | 合肥观佳智能科技有限公司 | Intelligent parking management system of smart city |
| CN115457798A (en) * | 2022-08-15 | 2022-12-09 | 东风汽车集团股份有限公司 | Parking space guiding method, device, equipment and storage medium for automatic driving vehicle |
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Cited By (20)
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| CN111741876A (en) * | 2018-03-30 | 2020-10-02 | 日立汽车系统株式会社 | Parking assist apparatus |
| CN111741876B (en) * | 2018-03-30 | 2022-04-29 | 日立安斯泰莫株式会社 | Parking assist apparatus |
| CN108710365A (en) * | 2018-04-19 | 2018-10-26 | 五邑大学 | A kind of robot automatic recharging method and device waterborne based on optimal path cruise |
| CN108766026A (en) * | 2018-07-26 | 2018-11-06 | 谭智 | A kind of parking navigation method and system based on block chain technology |
| CN108766026B (en) * | 2018-07-26 | 2020-05-05 | 谭智 | Parking navigation method and system based on block chain technology |
| WO2020132959A1 (en) * | 2018-12-26 | 2020-07-02 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Spiral curve based vertical parking planner system for autonomous driving vehicles |
| CN111380554B (en) * | 2018-12-28 | 2024-03-15 | 哲内提 | Efficient searching over meaningful links within defined topologies |
| CN111380554A (en) * | 2018-12-28 | 2020-07-07 | 哲内提 | Efficient searching through meaningful links within a defined topology |
| US11035685B2 (en) * | 2018-12-28 | 2021-06-15 | Zenuity Ab | Route planning algorithm for efficiently searching through meaningful links within a defined topology |
| CN109596138A (en) * | 2018-12-29 | 2019-04-09 | 北京智行者科技有限公司 | Automatic Pilot charging vehicle parking path method and system for planning |
| CN110471418B (en) * | 2019-08-22 | 2021-06-04 | 北京交通大学 | AGV (automatic guided vehicle) scheduling method in intelligent parking lot |
| CN110471418A (en) * | 2019-08-22 | 2019-11-19 | 北京交通大学 | AGV dispatching method in intelligent parking lot |
| CN112687123A (en) * | 2019-10-17 | 2021-04-20 | 丰田自动车株式会社 | Automatic parking system |
| CN112687123B (en) * | 2019-10-17 | 2022-12-27 | 丰田自动车株式会社 | Automatic parking system |
| CN112258879B (en) * | 2020-10-16 | 2021-11-02 | 安徽亿力停车场投资有限公司 | Method for optimizing urban parking construction by utilizing random matrix |
| CN112258879A (en) * | 2020-10-16 | 2021-01-22 | 安徽亿力停车场投资有限公司 | Method for optimizing urban parking construction by utilizing random matrix |
| CN112908027A (en) * | 2021-02-03 | 2021-06-04 | 芜湖泊啦图信息科技有限公司 | Control algorithm and system based on characteristic path construction of main positioning points in parking lot |
| CN114882732A (en) * | 2022-05-18 | 2022-08-09 | 合肥观佳智能科技有限公司 | Intelligent parking management system of smart city |
| CN115457798A (en) * | 2022-08-15 | 2022-12-09 | 东风汽车集团股份有限公司 | Parking space guiding method, device, equipment and storage medium for automatic driving vehicle |
| CN115457798B (en) * | 2022-08-15 | 2023-09-19 | 东风汽车集团股份有限公司 | Method, device, equipment and storage medium for guiding parking space of automatic driving vehicle |
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Effective date of registration: 20221026 Address after: 215200 No. 139, Lian Yang Road, Wujiang District, Suzhou, Jiangsu. Patentee after: TSINGHUA University SUZHOU AUTOMOTIVE RESEARCH INSTITUTE(WUJIANG) Patentee after: TSINGHUA University Address before: 215200 No. 139, Lian Yang Road, Wujiang District, Suzhou, Jiangsu. Patentee before: TSINGHUA University SUZHOU AUTOMOTIVE RESEARCH INSTITUTE(WUJIANG) |