CN109720342A - A kind of path planning design method vertically parked - Google Patents
A kind of path planning design method vertically parked Download PDFInfo
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- CN109720342A CN109720342A CN201910040799.XA CN201910040799A CN109720342A CN 109720342 A CN109720342 A CN 109720342A CN 201910040799 A CN201910040799 A CN 201910040799A CN 109720342 A CN109720342 A CN 109720342A
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Abstract
The invention discloses the path planning design methods that one kind is vertically parked, and include the following steps: S1, minimum parking stall length needed for being calculated according to vehicle parameter and environmental information；S2, practical parking stall length and minimum parking stall length；S3, mode of parking is selected according to step S2 comparison result, if practical parking stall length is less than or equal to minimum parking stall length, is designed using the path planning once parked in place, if practical parking stall length is less than or equal to minimum parking stall length, parked the design of path planning in place using multistep.The present invention specifically designs the path planning of vehicle, mitigates the pressure of driver according to location information of the vehicle under virtual coordinate system and the body gesture angle information obtained by vehicle CAN signal.
Description
Technical field
The present invention relates to intelligent driving technical fields, and in particular to intelligent parking technology.
Background technique
As continuous improvement of people's living standards and automobile industry constantly flourish, automobile quantity increases year by year therewith
Add, and highway, street and parking lot seem more crowded narrow, because dispute caused by vehicle parking also increases year by year.When parking
Driver only relies on rearview mirror and glass for vehicle window observes surrounding vehicles environment, and the visual field can not be controlled it by larger limitation simultaneously
The situation of rear of vehicle and the situation for taking into account surrounding vehicles, are easy to produce unsafe factor, and park largely according to
Rely the driving experience and skill in driver, if experience is inadequate with skill, and encounters more narrow parking stall, parks difficulty just
It can greatly increase, therefore just have parking assisting system.
As parking assisting system is constantly towards intelligence, humanized requirement is strided forward, and automated parking system comes into being.
The purpose of exploitation automated parking system is to free driver from complicated parking manoeuvres, improves the comfortable of driving
Property, alleviate tensity of driver when parking, prevention is parked the generation of accident.Automated parking system includes environmental data collecting
System (ultrasonic radar system, the acquisition of vehicle CAN signal), vehicle-mounted ECU (carries out data processing, path planning and control command
Output), the vehicle parking operating system EPS of active control (can).
Automatic parking, which is divided into side, parks and parks with vertical.For vertically parking, due to being not easy to hold when driver's operation
The opportunity of steering wheel and the angle of steering wheel are beaten well, and are vertically parked and may be needed to pass in and out parking stall and can just stop for several times, institute
Shift is also taken into account with driver.Therefore, it is necessary to study the path planning problems vertically parked, and mitigate the pressure of driver.
Summary of the invention
The technical problem to be solved by the invention is to provide the path planning design methods vertically parked of one kind, automatically into
Row path planning mitigates the pressure of driver.
In order to solve the above technical problems, the present invention adopts the following technical scheme: a kind of path planning design vertically parked
Method includes the following steps:
S1, minimum parking stall length needed for being calculated according to vehicle parameter and environmental information；
S2, practical parking stall length and minimum parking stall length；
S3 selects mode of parking according to step S2 comparison result, if practical parking stall length is less than or equal to most trolley
Bit length is designed using the path planning once parked in place, if practical parking stall length is less than or equal to minimum, parking stall is long
Degree, using multistep park path planning in place design.
Optionally, the path planning once parked in place includes: to be sentenced using minimum turning radius according to minimum lateral distance
Break required minimum parking stall length.
Optionally, the path planning once parked in place further include: curved section is needed before starting using straightway transition.
Optionally, probe measures after vehicle enters parking stall behind two sides of vehicle, start to the body gesture of two sides vehicle into
Row identification, planning path again, starts new control after recognition.
Optionally, the path planning once parked in place determines each coordinate parameters, start bit on the basis of the middle line R of parking stall
It is set to position of the vehicle rear shaft center apart from middle line R；Include following parameter: W: vehicle width, L: length of wagon, Rmin: minimum turns
Curved radius, Cx: lateral distance, b: the distance of rear shaft center to the tailstock, d3: distance of this vehicle in parking stall apart from two sides, d1: vehicle
Safe distance of the rear axle innermost point apart from parking stall, Δ d: once parking and constrain segment length in place, L2: the reality of ultrasonic wave identification
Parking stall length, Lmin: the required minimum parking stall length being calculated,
Above-mentioned parameter has following geometrical relationship:
L2=W+2*d3
Optionally, after recognizing lateral distance Cx and practical parking stall length L2 positioned at the ultrasonic probe of automobile side, such as
Fruit L2≥(Lmin- 10), then selection is once parked path planning design in place, the on the contrary then path that selects multistep to park in place
Planning and designing.
Optionally, the path planning design once parked in place further includes originating turning point: having set the initial position of vehicle (just
Position of the vehicle rear shaft center in virtual coordinate system when starting to park) it is A0, coordinate is (x0, y0, a0), then needs to keep straight on and arrive
Start again after the A1 of position along circular motion, vehicle movement track is that straight line and tangent arc form at this time, since back calculates
The attitude angle that initial position is assumed when minimum parking stall length is 0, it is therefore desirable to supply circular arc, be if supplying rear virtual starting point
Ax plans minimum parking stall according to the position Ax, does not know whether end point attitude angle is 90 ° at this time, if end point x coordinate is 0, A1
The corresponding starting turning point coordinate of state is (x1, y1, a1), then virtual point Ax coordinate is (xx, yx, ax), according to geometrical relationship
Following relationship should be met:
xx=x1+Rmin·sin(a1)
yx=y1+Rmin·[1-cos(a1)]
Wherein f indicates that the distance and vehicle of rear axle to headstock enter parking stall rear car rear shaft center apart from parking stall horizontal line
Distance, i.e. the y-coordinate of parking stall barrier point；Establish the linear equation of straight trip section:
y0-y1=tan (a0)*(x0-x1), according to the following formula:
Wherein LactFor practical parking stall length, according to linear equation y0-y1=tan (a0)*(x0-x1) y1 is expressed with x1, it will
Y1 substitutes into yxObtain yxWith the relational expression of x1, by the y of backxThe coordinate x1 of starting turning point A1 can be acquired by substituting into above formula, then
Y1 is calculated according to linear equation.
Optionally, multistep park path planning in place design include first segment path planning, first segment path planning packet
Include above-mentioned minimum parking stall length and starting turning point, further includes:
The point of impingement behind the right side: when the right rear end of vehicle point enters parking stall horizontal line, right angled triangle B1 and B2 have public
Bevel edge, wherein b be distance, that is, figure intermediate cam shape B1 one right-angle side of the vehicle rear axle to the tailstock, another right-angle side of B1
It turns the round heart and the vehicle inside rear wheel line of centres for vehicle body, the right-angle side of B2 is made from the vehicle body round heart of turning to parking stall horizontal line
Vertical line obtains, and the line of the vertical line and horizontal intersection point to vehicle body right rear end point is the right-angle side of B2 horizontal direction, enables the x be
The right-angle side of B2 horizontal direction can calculate to obtain x value according to geometrical relationship:
Judge x- (Rmin-Lmin/ 2) whether it is greater than 0, obstacle vehicle will not be knocked if more than the point of impingement behind 0 right side；
The left back point of impingement: when the left back endpoint of vehicle enters parking stall horizontal line, right angled triangle B1 and B2 have public
Bevel edge, wherein b is one right-angle side of distance, that is, figure intermediate cam shape B1 that vehicle rear axle arrives the tailstock, enables x for B2 horizontal direction
Right-angle side, x value can be calculated according to geometrical relationshipThis
When judge x- (Rmin-Lmin/ 2) whether it is greater than practical parking stall length, parking stall can be entered if more than then left back endpoint and attitude angle can
To reach critical value,
Left back endpoint enters parking stall and attitude angle can achieve critical value: if attitude angle can reach critical value a just, if
It is set to 75 °, then can finds out corresponding minimum parking stall according to following geometrical relationship:
αB=tan-1(b/(Rmin+W/2))
Ls1=RB·sin(α+αB)+d1-(Rmin-Lmin/ 2),
Wherein, αBFor the angle in the vehicle body turning center of circle and rear axle line and the center of circle and the left back endpoint line of vehicle, RBFor Che Zuohou
Distance of the endpoint to the center of circle, Ls1Just reach the minimum parking stall of critical value needs for attitude angle,
If the corresponding attitude angle of end point is unable to reach critical value, can be found out as the following formula according to known parking stall length
Corresponding attitude angle a:
α=sin-1[(Ls1-d1+xs)/RB]-αB。
Optionally, multistep park path planning in place design further include second segment path planning, if xs≤0, xs be work as
Coordinate of ground point at the end of x coordinate value of the front truck in virtual coordinate system sets second segment path is (xe, ye, ae), wherein xe
=0, ae=90 ° reach target position if using one section of circular arc path, and circular arc b must satisfy and parking stall middle line phase
It cuts and turning radius is not too much, excessive to will lead to longitudinal distance excessive, calculates arc radius R=(- x at this times)/[1-sin
(as)], have the following two kinds situation:
1)R<Rmin
According to Rmin radius planning path, if upper be equal to the position of vehicle at 90 ° without departing from parking stall to attitude angle,
Halt is the position that attitude angle is equal to 90 °, if more than, then using the point at x=(parking stall length-W)/2 as halt；
2) R >=Rmin
The longitudinal length Y needed using straight line+arc method pathse1It can be calculated according to geometrical relationship:
Yse1=Rmin·cos(as)+tan(as)*[-xs-Rmin·(1-sin(as))]
Wherein asThe attitude angle of vehicle body, x when starting for second segment pathsVehicle rear shaft center exists when starting for second segment path
X-coordinate value in virtual coordinate system,
It can be calculated by geometrical relationship using the longitudinal length Yse2 that two sections of arc method paths need:
If Yse2Greater than Yse1Then choose straight line+arc method mode planning path, the on the contrary then method of two sections of circular arcs of selection
Planning path.
Optionally, multistep park path planning in place design further include third section path planning, start plan third section
When, first judge current body gesture angle α, then vehicle rear axle midpoint is crossed with current pose angle and is track extension straight line, the straight line and y
=0 intersection point abscissa, it is determined as xd, x coordinate of the vehicle body rear shaft center in virtual coordinate system when starting to plan third section path
For xs, y-coordinate ys；
C0: α close to 90 ° and xd is almost overlapped with parking stall center, extends the direct planning path of straight line according to track；
C1: α close to 90 °, | xd | larger and xs > 0, starting point is located at the right side of x=0, and attitude angle is larger, at this time may be used
To be planned to two sections of circular arcs, turning radius is calculated according to geometrical relationship, formula is as follows:
It will appear following two situation at this time:
1)R>Rmin
It needs to plan end point x coordinate again to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, it is assumed that
The angle of body gesture angle maximum is α in whole section of pathM, the angle is calculated as follows:
If αMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is 70 ° of x coordinate xe:x for planning third section path end point again less than 90 °e=x0-
2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, is avoided among planning path as far as possible
There is the too small situation in body gesture angle；
C2: α close to 90 °, | xd | larger and xs≤0
Starting point is located at the left side of x=0, and attitude angle is larger, and attitude angle is negative value at this time, for convenience of calculation, according to
Positive value so is taken, two sections of circular arcs can be planned at this time, calculate turning radius according to the following formula
It will appear following two situation at this time:
1)R>Rmin
In order to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, need to plan end point x coordinate again, vacation
If the angle of body gesture angle maximum is α in whole section of pathM:
If αMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is the x coordinate xe:x of 70 ° of end points for planning third section path again less than 90 °e=
x0-2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, it is ensured that attitude angle of the vehicle in parking stall
It is not less than 70 °；
Smaller and xs > 0 C3: α
One section of circular arc is chosen first, is judged whether to can achieve target point (0,0,90 °), can be acquired by geometrical relationship
One section in place required for turning radius R, following two situation is divided into according to the size of R value:
1)R>Rmin
Dy is the move distance in the direction y when moving along planning path,
It is planned if meeting dy < ys according to one section of circular arc, circular arc terminates to be followed by straight line；
Otherwise judge whether straight line+circular arc scheme is feasible, according to minimum turning radius, calculate the required direction y distance,
It is planned for end point (0,0,90 °)
If circular arc straight line points of tangency is Z point, coordinate is (xz, yz, az), can acquire straight line+circular arc institute by geometrical relationship
The fore-and-aft distance Yse needed, calculation such as following formula:
Yse=Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
If Yse < ys, straight line+circular arc is feasible, otherwise then uses two sections of arc methods, the same C1 of method；
2)R≤Rmin
Using minimum turning radius, it is planned for y=0, judges the x coordinate of terminal at this time, if being more than unilateral parking stall gap
Terminating point is then planned in the range of the gap of parking stall by range；
C4: α, less than 80 ° and xs < 0, directlys adopt minimum turning radius Rmin and carries out path planning.
The technical solution adopted by the present invention compares calculated required minimum parking stall length and reality under current context information
The parking stall length detected is parked in place in place or repeatedly to select once to park.Then according to vehicle under virtual coordinate system
Location information and the body gesture angle information obtained by vehicle CAN signal, specifically design the path planning of vehicle, are subtracted
The pressure of light driver.
The specific technical solution of the present invention and its advantages will in the following detailed description in conjunction with attached drawing into
Row detailed description.
Detailed description of the invention
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
Fig. 1 is overall flow figure of the present invention；
Fig. 2 is schematic diagram in place of once parking；
Fig. 3 be once park specific example in place be calculated needed for minimum parking stall length schematic diagram；
Fig. 4 is the relation schematic diagram of confinement section Δ d and lateral distance in place of once parking；
Fig. 5 is first segment path planning minimum parking stall length schematic diagram in place of repeatedly parking；
Fig. 6 is point of impingement schematic diagram after repeatedly parking the first segment path planning right side in place；
Fig. 7 is the left back point of impingement schematic diagram of first segment path planning in place of repeatedly parking；
Repeatedly to park, the left back endpoint of first segment path planning enters parking stall to Fig. 8 in place and attitude angle can achieve critical value
Schematic diagram；
Fig. 9 be repeatedly park the left back endpoint of first segment path planning in place cannot be introduced into parking stall critical attitude angle signal
Figure；
Figure 10 is second segment path planning schematic diagram 1 in place of repeatedly parking；
Figure 11 is second segment path planning schematic diagram 2 in place of repeatedly parking；
Figure 12 is second segment path planning schematic diagram 3 in place of repeatedly parking；
Figure 13 is third section path planning schematic diagram in place of repeatedly parking；
Figure 14 is third section path planning C2 schematic diagram in place of repeatedly parking；
Figure 15 is third section path planning C3 schematic diagram 1 in place of repeatedly parking；
Figure 16 is third section path planning C3 schematic diagram 2 in place of repeatedly parking.
Specific embodiment
As shown in Figure 1, a kind of path planning design method vertically parked, includes the following steps:
S1, minimum parking stall length needed for being calculated according to vehicle parameter and environmental information；
S2, practical parking stall length and minimum parking stall length；
S3 selects mode of parking according to step S2 comparison result, if practical parking stall length is less than or equal to most trolley
Bit length is designed using the path planning once parked in place, if practical parking stall length is less than or equal to minimum, parking stall is long
Degree, using multistep park path planning in place design.
Once park in place
It is as shown in Figure 2:
Using the turning radius of minimum vehicle, it is the minimum turning radius of vehicle itself, is provided by depot；
According to the required minimum parking stall length of minimum lateral Distance Judgment, minimum lateral distance can be set, set here
It is 50 centimetres of fixed value；
When less than or equal to minimum lateral apart from corresponding minimum parking stall length, it is parked in centre；Greater than when according to minimum lateral
Stop (front truck is the vehicle measured after finding during parking stall) by front truck apart from corresponding minimum parking stall length；
Curved section needs before starting using straightway transition, when stopped behind parking stall again due to finding, may be parked in from parking stall
Farther away place, if at this time directly to having the vehicle that high probability knocks parking stall side, it is therefore desirable to first with straightway
Mode it is straight fall backward and start to turn to again after a distance；
Probe measures after vehicle enters parking stall behind two sides of vehicle, by being mounted on the radar at vehicle body two sides rear to two sides
Vehicle detected, according to coordinate of the detection result combination vehicle in virtual coordinate system and body gesture to the vehicle body of two sides vehicle
Posture is identified, in parking stall and at a distance from the vehicle of two sides, is corrected and is fixed when initially looking for parking stall with vehicle according to the angle identified
Parking stall central point (origin in virtual coordinate system) and stop position target angle initially set, planning path, is opened again
Begin new control.
The case where once parking in place determines each coordinate parameters on the basis of the middle line of parking stall, and initial position is apart from middle line R
Position；
The meaning of each parameter in Fig. 2 are as follows: W (vehicle width), L (length of wagon), Rmin (minimum turning radius), (side Cx
To distance), b (distance of rear shaft center to the tailstock), d3 (distance of the instruction carriage in parking stall apart from two sides), d1 (vehicle rear axle
Safe distance of the innermost point apart from parking stall), Δ d (once parks and constrains segment length in place), (the practical parking stall of ultrasonic wave identification L2
Length), Lmin (the required minimum parking stall length being calculated).
Above-mentioned parameter has following geometrical relationship:
L2=W+2*d3
It takes parameter R=400cm, W=180cm, d1=20cm, Cx to take 50~200cm, b=97cm, L=457cm, calculates
Lmin.As a result as shown in Figure 3.The relationship of confinement section Δ d and lateral distance is as shown in Figure 4.
Starting turning point: refering to what is shown in Fig. 5, setting the initial position of vehicle as A0, coordinate is that (x0, y0, a0) then needs directly
Start again after row to position A1 along circular motion, vehicle movement track is that straight line and tangent arc form at this time, due to back
The attitude angle that initial position is assumed when calculating minimum parking stall length is 0, it is therefore desirable to circular arc is supplied, if supplying rear virtual starting
Point is Ax, plans minimum parking stall according to the position Ax, does not know whether end point attitude angle is 90 ° at this time, if end point x coordinate is
The corresponding starting turning point coordinate of 0, A1 state is (x1, y1, a1), then virtual point Ax coordinate is (xx, yx, ax), according to geometry
Relationship should meet following relationship:
xx=x1+Rmin·sin(a1)
yx=y1+Rmin·[1-cos(a1)]
Wherein f indicates that the distance and vehicle of rear axle to headstock enter parking stall rear car rear shaft center apart from parking stall horizontal line
Distance, i.e. the y-coordinate of parking stall barrier point；Establish the linear equation of straight trip section:
y0-y1=tan (a0)*(x0-x1), according to the following formula:
Wherein LzctFor practical parking stall length, by the y of backxThe coordinate of starting turning point A1 can be acquired by substituting into this formula
X1 and y1.
After lateral distance Cx and practical parking stall length L2 are recognized positioned at the ultrasonic probe of automobile side, if L2≥
(Lmin- 10), the then algorithm that selection is once parked in place.It can be repaired using two, side rear probe after entering parking stall in view of vehicle
Just, therefore 10cm allowance is stayed；It is on the contrary then multistep is selected to park algorithm in place.
Repeatedly park in place
First segment path planning
Minimum parking stall length
As shown in figure 5, being planned according to minimum turning radius, it is assumed that vehicle location is Ax when starting, if when this position
Lateral distance is S, and vehicle width is W, and safe distance of the vehicle rear axle innermost point apart from parking stall is d, the minimum turning radius of vehicle
For Rmin, minimum parking stall length Lmin can be acquired according to geometrical relationship, circular calculates in place with reference to once parking
Method.
Originate turning point
As shown in figure 5, set the initial position of vehicle as A0, coordinate be after (x0, y0, a0) then needs to keep straight on to position A1 again
Start along circular motion, vehicle movement track is that straight line and tangent arc form at this time, and starting is assumed when calculating due to back
The attitude angle of position is 0, it is therefore desirable to supply circular arc, if supplying rear virtual starting point is Ax, plan according to the position Ax minimum
Parking stall.Do not know whether end point attitude angle is 90 ° at this time, if end point x coordinate is the corresponding starting point (rear axle of 0, A1 state
Midpoint) coordinate be (x1, y1, a1), then virtual point Ax coordinate be (xx, yx, ax), according to geometrical relationship can acquire starting turning
The coordinate value of point, circular is with reference to calculation method in place of once parking.
The point of impingement behind the right side
As shown in fig. 6, when the right rear end of vehicle point enters parking stall horizontal line, (right rear end point is with parking stall horizontal line same
When on one straight line), right angled triangle B1 and B2 have public bevel edge (center of circle of vehicle body turning circle to tailstock right rear end point), wherein
B is distance, that is, figure intermediate cam shape B1 one right-angle side of the vehicle rear axle to the tailstock, and another right-angle side of B1 is vehicle body turning
The round heart and the vehicle inside rear wheel line of centres, the right-angle side of B2 are obtained as vertical line from the vehicle body round heart of turning to parking stall horizontal line,
The line of the vertical line and horizontal intersection point to vehicle body right rear end point is the right-angle side of B2 horizontal direction.Enabling x is the level side B2
To right-angle side, can be calculated to obtain x value according to geometrical relationship:
Judge x- (Rmin-Lmin/ 2) whether it is greater than 0, obstacle vehicle will not be knocked if more than the point of impingement behind 0 right side.
The left back point of impingement
As shown in fig. 7, right angled triangle B1 and B2 have public when the left back endpoint of vehicle enters parking stall horizontal line
Bevel edge, wherein b is distance, that is, figure intermediate cam shape B1 one right-angle side of the vehicle rear axle to the tailstock, and enabling x is B2 horizontal direction
X value can be calculated according to geometrical relationship in right-angle sideAt this time
Judge x- (Rmin-Lmin/ 2) whether it is greater than practical parking stall length, it can be into parking stall if more than then left back endpoint and attitude angle can be with
Reach critical value.
As shown in figure 8, left back endpoint enters parking stall and attitude angle can achieve critical value: if attitude angle can reach just
Critical value a (is set as 75 °), then corresponding minimum parking stall: α can be found out according to following geometrical relationshipB=tan-1(b/(Rmin+W/
2))
Ls1=RB·sin(α+αB)+d1-(Rmin-Lmin/ 2),
As shown in figure 9, if the corresponding attitude angle of end point is unable to reach critical value, it can be according to known parking stall length
Corresponding attitude angle a is found out as the following formula:
α=sin-1[(Ls1-d1+xs)/RB]-αB。
Due to needing multistage to park in place, the condition that critical value stops as first segment path is set herein, is avoided
Vehicle always backward backing collision to obstacle vehicle.
Second segment path planning
As shown in Figure 10, if xs≤0 (xs is the x coordinate value when front truck in virtual coordinate system)
Target end point coordinate (xe, ye, ae), wherein xe=0, ae=90 °,
Reach target position if using one section of circular arc path, circular arc b must satisfy it is tangent with parking stall middle line and
Turning radius is not too much, and excessive to will lead to longitudinal distance excessive, calculates arc radius R=(- x at this times)/[1-sin
(αs)], have the following two kinds situation:
1)R<Rmin
According to Rmin radius planning path, if on be equal to attitude angleLocate the position of vehicle without departing from parking stall, then
Halt is equal to for attitude anglePosition, if more than, then using the point at x=(parking stall length-W)/2 as halt；
2) R >=Rmin
As shown in figure 11, the longitudinal length Y needed using straight line+arc method pathse1It can be calculated according to geometrical relationship:
Yse1=Rmin·cos(as)+tan(as)*[-xs-Rmin·(1-sin(as))]
Wherein asThe attitude angle of vehicle body, x when starting for second segment pathsVehicle rear shaft center exists when starting for second segment path
X-coordinate value in virtual coordinate system.
As shown in figure 12, it can be calculated by geometrical relationship using the longitudinal length Yse2 that two sections of arc method paths need:
If Yse2Greater than Yse1Then choose straight line+arc method mode planning path, the on the contrary then method of two sections of circular arcs of selection
Planning path.
Third section path planning
As shown in figure 13, when starting to plan third section, first judge that (body gesture angle is by Che Shangchuan by current body gesture angle α
The data integral calculation that sensor returns obtains), then vehicle rear axle midpoint is crossed with current pose angle and does track extension straight line, the straight line
With the intersection point abscissa of y=0, it is determined as xd, x of the vehicle body rear shaft center in virtual coordinate system is sat when starting to plan third section path
It is designated as xs, y-coordinate ys；
C0: α close to 90 ° and xd is almost overlapped with parking stall center, extends the direct planning path of straight line according to track；
C1: α close to 90 °, | xd | larger and xs > 0, starting point is located at the right side of x=0, and attitude angle is larger, at this time may be used
To be planned to two sections of circular arcs, turning radius is calculated according to geometrical relationship, formula is as follows:
It will appear following two situation at this time:
1)R>Rmin
It needs to plan end point x coordinate again to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, it is assumed that
The angle of body gesture angle maximum is a in whole section of pathM, the angle is calculated as follows:
If aMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is 70 ° of x coordinate xe:x for planning third section path end point again less than 90 °e=x0-
2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, is avoided among planning path as far as possible
There is the too small situation in body gesture angle；
C2: α close to 90 °, | xd | larger and xs≤0
Starting point is located at the left side of x=0, and attitude angle is larger, and attitude angle is negative value at this time, for convenience of calculation, according to
Positive value so is taken, two sections of circular arcs can be planned at this time, shows that geometrical relationship calculates turning radius according to Figure 14, calculates turn according to the following formula
Curved radius
It will appear following two situation at this time:
1)R>Rmin
In order to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, need to plan end point x coordinate again, vacation
If the angle of body gesture angle maximum is a in whole section of pathM:
If aMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is 70 ° less than 90 °, the x coordinate of third section path end point end point is planned again
Xe:
xe=x0-2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, it is ensured that attitude angle of the vehicle in parking stall
It is not less than 70 °；
Smaller and xs > 0 C3: α
One section of circular arc is chosen first, judges whether to can achieve target point (0,0,90 °), it can be by with several shown in Figure 15
Turning radius R required for what relationship acquires one section in place.
It is divided into following two situation according to the size of R value:
1)R>Rmin
Dy is the move distance in the direction y when moving along planning path.
It is planned if meeting dy < ys according to one section of circular arc, circular arc terminates to be followed by straight line；
Otherwise judge whether straight line+circular arc scheme is feasible, according to minimum turning radius, calculate the required direction y distance,
It is planned for end point (0,0,90 °)
If circular arc straight line points of tangency is Z point, coordinate is (xz, yz, az), can acquire straight line+circular arc institute by geometrical relationship
The fore-and-aft distance Yse needed, calculation such as following formula:
Yse=Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
If Yse < ys, straight line+circular arc is feasible, otherwise then uses two sections of arc methods, the same C1 of method；
2)R≤Rmin
Using minimum turning radius, it is planned for y=0, judges the x coordinate of terminal at this time, if being more than unilateral parking stall gap
Terminating point is then planned in the range of the gap of parking stall by range；
Smaller and xs < 0 C4: α
It directlys adopt minimum turning radius Rmin and carries out path planning.
It will be appreciated by those skilled in the art that being position of this vehicle in virtual coordinate system in the present invention, in vehicle rear axle
The heart is subject to the position in virtual coordinate system.Moreover, it relates to length unit be centimetre.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, is familiar with
The those skilled in the art should be understood that the present invention includes but is not limited to content described in specific embodiment above.It is any
Modification without departing from function and structure principle of the invention is intended to be included in the range of claims.
Claims (10)
1. the path planning design method that one kind is vertically parked, it is characterised in that include the following steps:
S1, minimum parking stall length needed for being calculated according to vehicle parameter and environmental information；
S2, practical parking stall length and minimum parking stall length；
S3 selects mode of parking according to step S2 comparison result, if practical parking stall length is less than or equal to minimum, parking stall is long
Degree is designed using the path planning once parked in place, if practical parking stall length is less than or equal to minimum parking stall length, is adopted
With multistep park path planning in place design.
2. the path planning design method that one kind according to claim 1 is vertically parked, it is characterised in that: once park to
The path planning of position includes: using minimum turning radius, according to the required minimum parking stall length of minimum lateral Distance Judgment.
3. the path planning design method that one kind according to claim 2 is vertically parked, it is characterised in that: once park to
The path planning of position further include: curved section is needed before starting using straightway transition.
4. the path planning design method that one kind according to claim 2 is vertically parked, it is characterised in that: two sides of vehicle
Probe measures after vehicle enters parking stall afterwards, starts to identify the body gesture of two sides vehicle, plans road again after recognition
Diameter starts new control.
5. the path planning design method that one kind according to claim 1 is vertically parked, it is characterised in that: once park to
The path planning of position, determines each coordinate parameters on the basis of the middle line R of parking stall, and initial position is vehicle rear shaft center apart from middle line R's
Position；Include following parameter: W: vehicle width, L: length of wagon, Rmin: minimum turning radius, Cx: lateral distance, b: rear axle
Distance of the center to the tailstock, d3: distance of this vehicle in parking stall apart from two sides, d1: peace of the vehicle rear axle innermost point apart from parking stall
Full distance, Δ d: once parking and constrain segment length in place, L2: Lmin: the practical parking stall length of ultrasonic wave identification is calculated
Required minimum parking stall length,
Above-mentioned parameter has following geometrical relationship:
L2=W+2*d3
6. the path planning design method that one kind according to claim 5 is vertically parked, it is characterised in that: be located at vehicle side
After the ultrasonic probe on side recognizes lateral distance Cx and practical parking stall length L2, if L2≥(Lmin- 10), then selection is primary
The path planning design parked in place, path planning that is on the contrary then selecting multistep to park in place design.
7. the path planning design method that one kind according to claim 6 is vertically parked, it is characterised in that: once park to
The path planning design of position further includes starting turning point: setting the initial position of vehicle as A0, coordinate is that (x0, y0, a0) then needs
Start again after keeping straight on to position A1 along circular motion, vehicle movement track is that straight line and tangent arc form at this time, due to previous
Step assumes that the attitude angle of initial position is 0 when calculating minimum parking stall length, it is therefore desirable to circular arc is supplied, if supplying rear virtual rise
Initial point is Ax, plans minimum parking stall according to the position Ax, does not know whether end point attitude angle is 90 ° at this time, if end point x coordinate
It is (x1, y1, a1) for the corresponding starting turning point coordinate of 0, A1 state, then virtual point Ax coordinate is (xx, yx, ax), according to several
What relationship should meet following relationship:
xx=x1+Rmin·sin(a1)
yx=y1+Rmin·[1-cos(a1)]
Wherein f indicate rear axle to headstock distance and vehicle enter parking stall rear car rear shaft center apart from parking stall it is horizontal away from
From the i.e. y-coordinate of parking stall barrier point；
Establish the linear equation of straight trip section:
y0-y1=tan (a0)*(y0-y1),
According to the following formula:
Wherein LactFor practical parking stall length, by the y of backxSubstitute into this formula can acquire starting turning point A1 coordinate x1 and
y1。
8. the angle recognition bearing calibration that one kind according to claim 7 is vertically parked, it is characterised in that: multistep park to
The path planning design of position includes first segment path planning, and first segment path planning includes above-mentioned minimum parking stall length and starting
Turning point, further includes:
The point of impingement behind the right side: when the right rear end of vehicle point enters parking stall horizontal line, right angled triangle B1 and B2 have public oblique
Side, wherein b is one right-angle side of distance, that is, triangle B1 of vehicle rear axle to the tailstock, and another right-angle side of B1 turns for vehicle body
The curved round heart and the vehicle inside rear wheel line of centres, the right-angle side of B2 are obtained as vertical line from the vehicle body round heart of turning to parking stall horizontal line
It arrives, the line of the vertical line and horizontal intersection point to vehicle body right rear end point is the right-angle side of B2 horizontal direction, and enabling x is B2 horizontal
The right-angle side in direction can calculate to obtain x value according to geometrical relationship:
Judge x- (Rmin-Lmin/ 2) whether it is greater than 0, obstacle vehicle will not be knocked if more than the point of impingement behind 0 right side；
The left back point of impingement: when the left back endpoint of vehicle enters parking stall horizontal line, right angled triangle B1 and B2 have public oblique
Side, wherein b is one right-angle side of distance, that is, triangle B1 of vehicle rear axle to the tailstock, and enabling x is the right-angle side of B2 horizontal direction,
X value can be calculated according to geometrical relationshipX- is judged at this time
(Rmin-Lmin/ 2) whether it is greater than practical parking stall length, parking stall can be entered if more than then left back endpoint and attitude angle can achieve and face
Dividing value,
Left back endpoint enters parking stall and attitude angle can achieve critical value: if attitude angle can reach critical value a just, being set as
75 °, then corresponding minimum parking stall can be found out according to following geometrical relationship:
αB=tan-1(b/(Rmin+W/2))
Ls1=RB·sin(α+αB)+d1-(Rmin-Lmin/ 2),
Wherein, αBFor the angle in the vehicle body turning center of circle and rear axle line and the center of circle and the left back endpoint line of vehicle, RBFor the left back endpoint of vehicle
To the distance in the center of circle, Ls1Just reach the minimum parking stall of critical value needs for attitude angle,
If the corresponding attitude angle of end point is unable to reach critical value, correspondence can be found out according to known parking stall length as the following formula
Attitude angle a:
α=sin-1[(Ls1-d1+xs)/RB]-αB。
9. the path planning design method that one kind according to claim 8 is vertically parked, it is characterised in that: multistep park to
The path planning design of position further includes second segment path planning,
If xs≤0, xs are the x coordinate value when front truck in virtual coordinate system
Target end point coordinate (xe, ye, ae), wherein xe=0, ae=90 °,
Target position is reached if using one section of circular arc path, circular arc b must satisfy tangent with parking stall middle line and turn
Radius is not too much, and excessive to will lead to longitudinal distance excessive, calculates arc radius R=(- x at this times)/[1-sin(αs)], meeting
There is the following two kinds situation:
1) R < Rmin
According to Rmin radius planning path, if the upper position for being equal to vehicle at 90 ° to attitude angle stops without departing from parking stall
Point is the position that attitude angle is equal to 90 °, if more than, then using the point at x=(parking stall length-W)/2 as halt；
2) R >=Rmin
The longitudinal length Y needed using straight line+arc method pathse1It can be calculated according to geometrical relationship:
Yse1=Rmin·cos(as)+tan(as)*[-xs-Rmin·(1-sin(as))]
Wherein asThe attitude angle of vehicle body, x when starting for second segment pathsVehicle rear shaft center is virtual when starting for second segment path
X-coordinate value in coordinate system,
It can be calculated by geometrical relationship using the longitudinal length Yse2 that two sections of arc method paths need:
If Yse2Greater than Yse1Then choose straight line+arc method mode planning path, method planning that is on the contrary then choosing two sections of circular arcs
Path.
10. the path planning design method that one kind according to claim 9 is vertically parked, it is characterised in that: multistep is parked
Path planning design in place further includes third section path planning,
When starting to plan third section, current body gesture angle α is first judged, then vehicle rear axle midpoint is crossed with current pose angle and does track
Extend straight line, the intersection point abscissa of the straight line and y=0, it is determined as xd, vehicle body rear shaft center is in void when starting to plan third section path
X coordinate in quasi-coordinate system is xs, y-coordinate ys, asThe attitude angle of vehicle body when starting for third section path；
C0: α close to 90 ° and xd is almost overlapped with parking stall center, extends the direct planning path of straight line according to track；
C1: α close to 90 °, | xd | larger and xs > 0, starting point is located at the right side of x=0, and attitude angle is larger, can advise at this time
It divides two sections of circular arcs into, turning radius is calculated according to geometrical relationship, formula is as follows:
It will appear following two situation at this time:
1)R>Rmin
It needs to plan end point x coordinate again to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, it is assumed that whole section
The angle of body gesture angle maximum is α in pathM, the angle is calculated as follows:
If αMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is 70 ° of x coordinate xe for planning third section path end point again less than 90 °:
xe=x0-2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, avoids occurring among planning path as far as possible
The too small situation in body gesture angle；
C2: α close to 90 °, | xd | larger and xs≤0
Starting point is located at the left side of x=0, and attitude angle is larger, and attitude angle is that negative value still takes for convenience of calculation at this time
Positive value can be planned to two sections of circular arcs at this time, calculate turning radius according to the following formula
It will appear following two situation at this time:
1)R>Rmin
In order to guarantee that attitude angle of the vehicle in parking stall is not less than 70 °, need to plan end point x coordinate again, it is assumed that whole
The angle of body gesture angle maximum is α in section pathM:
If αMGreater than 70 ° then according to initial planning end point (0,0,90 °)；
If enabling maximum attitude angle is 70 ° of x coordinate xe for planning third section path end point again less than 90 °:
xe=x0-2·R·(1-sin(αM))
2)R≤Rmin
R=Rmin is taken, not can guarantee be planned for x=0 at this time, if being planned for y=0, it is ensured that attitude angle of the vehicle in parking stall should not
Less than 70 °；
Smaller and xs > 0 C3: α
One section of circular arc is chosen first, judges whether to can achieve target point (0,0,90 °), one section can be acquired by geometrical relationship
Required turning radius R in place is divided into following two situation according to the size of R value:
1)R>Rmin
Dy is the move distance in the direction y when moving along planning path,
It is planned if meeting dy < ys according to one section of circular arc, circular arc terminates to be followed by straight line；
Otherwise judge whether straight line+circular arc scheme is feasible, according to minimum turning radius, calculate the required direction y distance, plan
To end point (0,0,90 °)
If circular arc straight line points of tangency is Z point, coordinate is (xz, yz, az), can be acquired needed for straight line+circular arc by geometrical relationship
Fore-and-aft distance Yse, calculation such as following formula:
Yse=Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
If Yse < ys, straight line+circular arc is feasible, otherwise then uses two sections of arc methods, the same C1 of method；
2)R≤Rmin
Using minimum turning radius, it is planned for y=0, judges the x coordinate of terminal at this time, if being more than the range in unilateral parking stall gap,
Then terminating point is planned in the range of the gap of parking stall；
C4: α, less than 80 ° and xs < 0, directlys adopt minimum turning radius Rmin and carries out path planning.
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