CN108931981A - A kind of paths planning method of automatic driving vehicle - Google Patents
A kind of paths planning method of automatic driving vehicle Download PDFInfo
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- CN108931981A CN108931981A CN201810922335.7A CN201810922335A CN108931981A CN 108931981 A CN108931981 A CN 108931981A CN 201810922335 A CN201810922335 A CN 201810922335A CN 108931981 A CN108931981 A CN 108931981A
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- 230000009471 action Effects 0.000 claims abstract description 11
- 239000013598 vector Substances 0.000 claims description 40
- 239000012141 concentrate Substances 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention discloses a kind of paths planning method of automatic driving vehicle, vehicle movement model is placed in three-dimensional system of coordinate by this method, the path locus point of generation contains vehicle location, car speed, car speed and vehicle body angle, the information of actuator action code, the paths planning method for avoiding traditional automatic driving vehicle only considers the movement operating condition of vehicle from two-dimensional angle, have ignored the instruction of vehicle-posture information and planning layer to vehicle actuator, cause the automatic driving vehicle function based on the paths planning method simple, the problem of vehicle can not effectively being controlled under complicated operating condition.The movement operating condition of the paths planning method of automatic driving vehicle disclosed by the invention vehicle from the viewpoint of three-dimensional, while planning layer also taking into account the instruction of vehicle actuator, enrich the function of automatic driving vehicle.
Description
Technical field
The present invention relates to automatic driving vehicle field, in particular to a kind of paths planning method of automatic driving vehicle.
Background technique
Automatic driving vehicle is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.For automatic driving vehicle, path planning be related to vehicle safety and
An important factor for stability.Currently, only considered the position coordinates of vehicle in the paths planning method that automatic driving vehicle uses
Information (X, Y, φ), wherein X, Y, φ are scalars, and vehicle two dimensional motion model as shown in Figure 1, X represents current vehicle position
Abscissa, Y represents the ordinate of current vehicle position, and φ represents the yaw angle of vehicle.
But the paths planning method of above-mentioned automatic driving vehicle, the movement work of vehicle is only considered from two-dimensional angle
Condition has ignored vehicle-posture information, while also not taking into account planning layer to the instruction of vehicle actuator, causes based on the road
The automatic driving vehicle function of diameter planing method is simple, while can not effectively be controlled under complicated operating condition vehicle.
Summary of the invention
The purpose of the present invention is to provide a kind of paths planning method of automatic driving vehicle, the paths planning method is from three
The movement operating condition of vehicle from the perspective of dimension, while planning layer also taking into account the instruction of vehicle actuator, it enriches
The function of automatic driving vehicle.
To achieve the goals above, the invention provides the following technical scheme:
A kind of paths planning method of automatic driving vehicle, comprising the following steps:
The starting point and terminal of the global path planning layer setting task of S1, the vehicle, calculate feasible path, choose most
Shortest path and the local paths planning layer for being output to vehicle；
S2, the vehicle local paths planning layer the vehicle is generated according to the optimal path and vehicle parameter current
Path locus point, each path locus point include the vehicle location information, velocity information, posture information and execution
Action message；
S3, the vehicle local paths planning layer the path locus point passed into vehicle in the form of instruction set hold
Row system, the vehicle execute system execution described instruction and concentrate all instructions.
Preferably, the local paths planning layer generates the path locus in Descartes's three-dimensional system of coordinate of setting
Point.
Further, it includes N number of actuator that the vehicle, which executes system, and described instruction collection is to be located at the flute card by 4
N-dimensional vector in your three-dimensional system of coordinateThe matrix of N × 4 of composition, is denoted asWherein,
The vectorFor recording vehicle location；
The vectorFor recording car speed；
The vectorFor recording vehicle attitude；
The vectorN number of element respectively corresponds the action code of N number of actuator, for controlling N number of execution
The movement of device.
Preferably, by the N-dimensional vectorThe elements of 3 positions be respectively defined as vehicle location in X-axis, Y-axis, Z axis
Coordinate value, by the N-dimensional vectorThe value of other N-3 undefined elements be set as 0.
Preferably, by the N-dimensional vectorThe elements of 3 positions be respectively defined as car speed in X-axis, Y-axis, Z axis
Component velocity coordinate value, by the N-dimensional vectorThe value of other N-3 undefined elements be set as 0.
Preferably, by the N-dimensional vector1 position element definition be car speed direction and vehicle body direction folder
The value of angle θ, the N-dimensional vectorThe value of other N-1 undefined elements be set as 0.
Preferably, 1,2 is numbered to N number of actuator ..., i ..., N-1, N；The vectorIn i-th of element
Numerical value represent vehicle planning layer give i-th of actuator control instruction, wherein 1≤i≤N.
Compared with prior art, the paths planning method of automatic driving vehicle provided by the invention has following
The utility model has the advantages that
The paths planning method of automatic driving vehicle provided by the invention, by the global path planning layer of vehicle to vehicle
Optimal path is calculated, then by local paths planning layer combination optimal path, vehicle parameter current and is driven in the process of moving
The path locus point of environment generation vehicle is sailed, finally the path locus point of generation vehicle is passed into the form of instruction set and executed
System concentrates all instructions to execute instruction, and vehicle is eventually arrived at default by the instruction of each path locus point of execution
Terminal complete required movement, realize the automatic Pilot task of vehicle stabilization.
And in the paths planning method of automatic driving vehicle provided by the invention, each path locus point not only includes vehicle
Location information, further comprise vehicle speed information, posture information and execute action message；This method is come from three-dimensional angle
Consider the movement operating condition of vehicle, while planning layer also taking into account the instruction of vehicle actuator, passes through matching for each actuator
Conjunction movement, automatic driving vehicle can complete some more complicated functions, so that automatic Pilot more safety and stability.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of structural block diagram of the paths planning method of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is that a kind of three-dimensional vehicle movement of paths planning method of automatic driving vehicle provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is that a kind of Control system architecture of the paths planning method of automatic driving vehicle provided in an embodiment of the present invention shows
Example diagram.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, implement below in conjunction with the present invention
Attached drawing in example, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiment obtained without creative labor belongs to the model that the present invention protects
It encloses.
Embodiment one
Referring to Fig.1, Fig. 2 or Fig. 3, a kind of paths planning method of automatic driving vehicle provided in this embodiment, this method
The following steps are included:
The starting point and terminal of the global path planning layer setting task of S1, the vehicle, calculate feasible path, choose most
Shortest path and the local paths planning layer for being output to vehicle；
S2, the vehicle local paths planning layer the vehicle is generated according to the optimal path and vehicle parameter current
Path locus point, each path locus point include the vehicle location information, velocity information, posture information and execution
Action message；
S3, the vehicle local paths planning layer the path locus point passed into vehicle in the form of instruction set hold
Row system, the vehicle execute system execution described instruction and concentrate all instructions.
In hierarchy system in automatic driving vehicle, planning layer includes global path planning layer and local path rule
Layer is drawn, and provides programmed environment by operating system for planning layer.When vehicle executes automatic Pilot task, global path planning layer
Descartes's three-dimensional system of coordinate is first set, and three-dimensional live map maps are set into the coordinate system, and in the map
The starting point coordinate and terminal point coordinate of Vehicular automatic driving concurrently set the automatic driving vehicle task type to be executed；Global road
Diameter planning layer calculates feasible path according to road condition data, further according to program setting optimizing index (such as: not walking expressway, few
Traffic lights avoid congested link etc.) optimal path is chosen, the optimal path and the row from starting point to terminal are generated in map
Direction is sailed, and is sent to local paths planning layer.
The sensory perceptual system of automatic driving vehicle include high-accuracy position system, laser radar, millimetre-wave radar, camera with
And other sensors, operating system progress sensor fusion is given for acquiring vehicle current environment Data Concurrent, then by operating
System is sent to local paths planning layer, optimal path that local paths planning layer is sended over according to global path planning layer and
Driving direction in conjunction with the collected vehicle current environment of vehicle sensory perceptual system and vehicle parameter, and positions current vehicle position,
The path locus point, and the tracing point that will be obtained by Trajectory Tracking Control module are generated in above-mentioned Descartes's three-dimensional system of coordinate
It is sent to vehicle in a manner of instruction set and executes system, vehicle executes system and executes instruction all instructions of concentration, and instruction includes
Other action codes to be executed in next driving target position, drive speed, steering direction and driving procedure, for example switch
Vehicle window, switch music etc., and it is anti-by Trajectory Tracking Control module using implementing result as a part of " vehicle parameter current "
Feed operating system, and after being merged by operating system with other vehicle parameter currents feedback to local paths planning layer.In addition,
The problem of operating system also has the function of system monitoring, diagnosis and maintenance, and Ride Control System is braked in discovery in time simultaneously solves,
Improve the safety of driving.
The paths planning method of automatic driving vehicle provided in an embodiment of the present invention, during automatic Pilot, global road
After starting point and terminal is arranged in diameter planning layer, generates local paths planning layer and according to the optimal path of vehicle, parameter current and drive
Environment is sailed, each path locus point of generation not only includes the location information of vehicle, further comprises current vehicle speed information, appearance
State information and execution action message execute hide obstacle, the adjustment movement such as speed and adjustment direction in time；This method is from three-dimensional
From the perspective of vehicle movement operating condition, while planning layer also taking into account the instruction of vehicle actuator, by respectively holding
The interoperation of row device, automatic driving vehicle can complete some more complicated functions, so that automatic Pilot is safer
Stablize.
Embodiment two
Please refer to Fig. 1 or Fig. 2, the paths planning method of automatic driving vehicle provided in an embodiment of the present invention, the office of vehicle
The information package of the path locus point of generation is converted into the form of instruction set by portion's path planning layer, and the support of instruction set is hardware
It is coefficient with software as a result, the location information, velocity information, posture information in instruction set and the action message to be executed,
It requires to combine them by the adjustment to entire car controller hardware and software, and passes through CAN bus and intelligent gateway
It passes to vehicle and executes system.
It includes N number of actuator that vehicle, which executes system, and the instruction set comprising path planning point information is to be located at Descartes by 4
N-dimensional vector in three-dimensional system of coordinateThe matrix of N × 4 of composition, is denoted as Wherein,
N-dimensional vectorFor recording vehicle location,3 positions element be respectively defined as vehicle to be reached it is next
The position of a path locus point X-axis, Y-axis, Z axis coordinate value, by the N-dimensional vectorOther undefined N-3 members
The value of element is set as 0；When execution system executes instruction collection, vector is foundAfterwards, according to the address of the storage position coordinate of setting,
Read out the location coordinate information for next path locus point that vehicle to be reached；
N-dimensional vectorFor recording car speed,The elements of 3 positions vehicle is respectively defined as to be reached down
The speed of one path locus point X-axis, Y-axis, the component velocity of Z axis coordinate value, by the N-dimensional vectorOther are undefined
The value of N-3 element be set as 0；When execution system executes instruction collection, vector is foundAfterwards, according to the storage component velocity of setting
Address, read out vehicle in three direction component velocity information, union generate that next movement to be executed with directive
Vector velocity information；
N-dimensional vectorFor recording vehicle attitude,The element definition of 1 position be car speed direction and vehicle body side
To angle theta value, the N-dimensional vectorThe value of other N-1 undefined elements be set as 0；It is executed instruction in execution system
When collection, vector is foundAfterwards, according to the address of the storage vehicle body steering angle of setting, vehicle is read out at the angle of steering to be executed
Spend information；
N-dimensional vectorN number of element respectively corresponds the action code of N number of actuator, for controlling N number of execution
The movement of device is numbered 1,2 to N number of actuator ..., i ..., N-1, N；The vectorIn i-th of element numerical value
Vehicle planning layer is represented to the control instruction of i-th of actuator, wherein 1≤i≤N.VectorThe number of element is driven by nobody
The quantity of line traffic control actuator in vehicle is sailed to determine, each element corresponds to an actuator in automatic driving vehicle, element
Numerical value represents planning layer to the instruction of actuation means.Such as when the corresponding element of actuator is 1, which starts to move
Make, when the corresponding element of actuator is 0, corresponding actuator is failure to actuate, from there through the interoperation of each actuator, nobody
Some more complicated functions can be completed by driving vehicle.
Instruction set records the letter of the path locus point of vehicle in the form of the matrix for N × 4 that 4 N-dimensional vectors form
It ceases, then accurately reads the information of every instruction (i.e. each vector) by way of addressing, it is not only concise, moreover, from three
The movement operating condition of vehicle from the perspective of dimension, while planning layer also taking into account the instruction of vehicle actuator, it enriches
The function of automatic driving vehicle improves the intelligent of automatic Pilot, safety and stability.
Embodiment three
Fig. 1 or Fig. 2 is please referred to, the embodiment of the present invention provides a kind of paths planning method of automatic driving vehicle, works as needs
Allow vehicle by interior goods transportation to designated place, when giving special object.It needs the movement completed to have:
The position coordinates of three-dimensional coordinate, starting point (X0, Y0, Z0), terminal (X1, Y1, Z1) are arranged in global path planning layer
And being executed for task is goods transportation, calculates and filters out optimal path；Vehicle launch, local paths planning layer is according to optimal
Path, vehicle parameter current and driving environment generate next path locus point, and vehicle follows each path locus point at any time
Position, speed, posture and control actuator system cooperation is adjusted to drive；Vehicle automatic running to coordinate be terminal (X1, Y1,
Z1 it after), according to preset task type " goods transportation ", executes movement " opening car door " and waits；When pressure of vehicle passes
After sensor detects that article is removed, movement " closed door " is executed；After completion task, vehicle global path planning layer is by terminal
It exchanges, generate new starting point (X1, Y1, Z1), new terminal (X0, Y0, Z0) and new optimal path and drives with starting point coordinate
Sail direction, according to paths planning method provided in an embodiment of the present invention, Vehicular automatic driving back to initial place (X0, Y0,
Z0)。
In this process, above-metioned instruction collection must be passed to execution level by vehicle planning layer, whereinIn include vehicle
The required path point coordinate information run over, to guarantee the correct of route,In separately include what vehicle should travel
The angle of speed and speed and vehicle body, to meet the requirement of vehicle attitude.In each be all used to control a vehicle
Actuator, after place of arrival, by controlling Car's door controlling device car door on and off, by pressure sensor detection object whether
It is removed, the work in combination of this Series Controller and sensor, completes target action.
It in the present embodiment, returns to one's starting point from setting task to completion task, comes in driving procedure from three-dimensional angle
Consider that the movement operating condition of vehicle improves the safety and stability of automatic Pilot, together so that the control to vehicle is more accurate
When complete task process also planning layer also takes into account the instruction of vehicle actuator, enrich the function of automatic driving vehicle
Energy.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
1. a kind of paths planning method of automatic driving vehicle, which is characterized in that the paths planning method the following steps are included:
The starting point and terminal of the global path planning layer setting task of S1, the vehicle, calculate feasible path, choose optimal road
Diameter and the local paths planning layer for being output to vehicle；
S2, the vehicle local paths planning floor the road of the vehicle is generated according to the optimal path and vehicle parameter current
Diameter tracing point, each path locus point include the location information of the vehicle, velocity information, posture information and execute movement
Information；
S3, the vehicle local paths planning layer the path locus point passed into vehicle in the form of instruction set execute system
System, the vehicle execute system execution described instruction and concentrate all instructions.
2. the paths planning method of automatic driving vehicle according to claim 1, which is characterized in that the local path rule
It draws layer and generates the path locus point in Descartes's three-dimensional system of coordinate of setting.
3. the paths planning method of automatic driving vehicle according to claim 2, which is characterized in that the vehicle executes system
System includes N number of actuator, and described instruction collection is the N-dimensional vector being located in Descartes's three-dimensional system of coordinate by 4
The matrix of N × 4 of composition, is denoted asWherein,
The vectorFor recording vehicle location；
The vectorFor recording car speed；
The vectorFor recording vehicle attitude；
The vectorN number of element respectively corresponds the action code of N number of actuator, for controlling N number of actuator
Movement.
4. the paths planning method of automatic driving vehicle according to claim 3, which is characterized in that by the N-dimensional vector
3 positions element be respectively defined as vehicle location X-axis, Y-axis, Z axis coordinate value, by the N-dimensional vectorOther
The value of N-3 undefined element is set as 0.
5. the paths planning method of automatic driving vehicle according to claim 3, which is characterized in that by the N-dimensional vector
The elements of 3 positions be respectively defined as car speed in the coordinate value of X-axis, Y-axis, the component velocity of Z axis, by the N-dimensional vectorThe value of other N-3 undefined elements be set as 0.
6. the paths planning method of automatic driving vehicle according to claim 3, which is characterized in that by the N-dimensional vector
1 position element definition be car speed direction and vehicle body direction angle theta value, the N-dimensional vectorOther not
The value of N-1 element of definition is set as 0.
7. the paths planning method of automatic driving vehicle according to claim 3, which is characterized in that N number of execution
Device is numbered 1,2 ..., i ..., N-1, N；The vectorIn the numerical value of i-th of element represent vehicle planning layer to i-th
The control instruction of a actuator, wherein 1≤i≤N.
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| CN109857109A (en) * | 2019-01-31 | 2019-06-07 | 广州华南交通设施安装有限公司 | A kind of intelligent transportation highway path track positioning system |
| CN110341711A (en) * | 2019-07-06 | 2019-10-18 | 深圳数翔科技有限公司 | A kind of driving trace generation system and method based on port environment |
| CN111123952A (en) * | 2019-12-31 | 2020-05-08 | 华为技术有限公司 | Trajectory planning method and device |
| CN111708371A (en) * | 2020-08-20 | 2020-09-25 | 深圳市海柔创新科技有限公司 | Warehouse robot navigation route reservation |
| CN111791887A (en) * | 2020-07-03 | 2020-10-20 | 北京理工大学 | Vehicle energy-saving driving method based on layered vehicle speed planning |
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| CN112612287A (en) * | 2020-12-28 | 2021-04-06 | 清华大学 | System, method, medium and device for planning local path of automatic driving automobile |
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| CN111811531A (en) * | 2020-06-22 | 2020-10-23 | 北京九曜智能科技有限公司 | Path planning method and system for automatic driving vehicle mounting pallet truck |
| CN111791887A (en) * | 2020-07-03 | 2020-10-20 | 北京理工大学 | Vehicle energy-saving driving method based on layered vehicle speed planning |
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| CN112612287B (en) * | 2020-12-28 | 2022-03-15 | 清华大学 | System, method, medium and device for planning local path of automatic driving automobile |
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