CN109720342B - Path planning design method for vertical parking - Google Patents
Path planning design method for vertical parking Download PDFInfo
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- CN109720342B CN109720342B CN201910040799.XA CN201910040799A CN109720342B CN 109720342 B CN109720342 B CN 109720342B CN 201910040799 A CN201910040799 A CN 201910040799A CN 109720342 B CN109720342 B CN 109720342B
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Abstract
The invention discloses a path planning and designing method for vertical parking, which comprises the following steps: s1, calculating the length of the minimum parking space according to the vehicle parameters and the environmental information; s2, comparing the actual parking space length with the minimum parking space length; and S3, selecting a parking mode according to the comparison result of the step S2, adopting a path planning design of one-time parking if the actual parking space length is less than or equal to the minimum parking space length, and adopting a path planning design of multi-step parking if the actual parking space length is less than or equal to the minimum parking space length. According to the invention, the path planning of the vehicle is specifically designed according to the position information of the vehicle in the virtual coordinate system and the vehicle body attitude angle information obtained through the whole vehicle CAN signal, so that the pressure of a driver is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to an intelligent parking technology.
Background
With the continuous improvement of the living standard of people and the continuous vigorous development of the automobile industry, the number of automobiles is increased year by year, and roads, streets and parking lots are more crowded and narrower, and disputes caused by vehicle parking are also increased year by year. When parking, a driver only relies on the rearview mirror and the window glass to observe the surrounding vehicle environment, the visual field is greatly limited, the situation behind the vehicle and the situation of the surrounding vehicle cannot be controlled simultaneously, unsafe factors are easy to generate, the parking is greatly dependent on the driving experience and skill of the driver, if the experience and skill are insufficient, the parking difficulty is greatly increased when the driver encounters a narrow parking space, and therefore the parking auxiliary system is provided.
With the continuous progress of the parking auxiliary system towards intellectualization and humanization, the automatic parking system is in force. The automatic parking system is developed to release a driver from complex parking operation, improve driving comfort, relieve tension of the driver during parking and prevent parking accidents. The automatic parking system comprises an environmental data acquisition system (an ultrasonic radar system and the whole vehicle CAN signal acquisition), a vehicle-mounted ECU (for data processing, path planning and control command output) and a vehicle parking operation system (an EPS capable of being actively controlled).
Automatic parking is divided into lateral parking and vertical parking. For vertical parking, the driver is not easy to grasp the time for driving the steering wheel and the angle of the steering wheel, and the vertical parking may need to be stopped for several times when getting in or out of the parking space, so the driver also needs to take into account the gear shifting. Therefore, it is necessary to study the path planning problem of vertical parking and reduce the stress of the driver.
Disclosure of Invention
The invention aims to provide a path planning design method for vertical parking, which can automatically plan a path and reduce the pressure of a driver.
In order to solve the technical problems, the invention adopts the following technical scheme: a path planning and designing method for vertical parking comprises the following steps:
s1, calculating the length of the minimum parking space according to the vehicle parameters and the environmental information;
s2, comparing the actual parking space length with the minimum parking space length;
s3, selecting a parking mode according to the comparison result of the step S2, adopting path planning design of one-time parking if the actual parking space length is larger than the minimum parking space length, and adopting path planning design of multi-step parking if the actual parking space length is smaller than or equal to the minimum parking space length;
planning a path in which the vehicle is parked in place for one time, determining each coordinate parameter by taking a center line R of the parking space as a reference, wherein the starting position is the position of the center of a rear axle of the vehicle away from the center line R; the following parameters are included: w: vehicle width, L: length of car body, Rmin: minimum turning radius, Cx: lateral distance, b: distance from the center of the rear axle to the rear of the vehicle, d3: distance d between the vehicle and two sides of the parking space1: the safe distance between the innermost point of the rear axle of the vehicle and the parking space, delta d: length of constraint segment in one parking2: actual parking space length, L, of ultrasonic recognitionmin: the calculated required minimum parking space length has the following geometrical relationship:
L2＝W+2·d3
optionally, the path planning of a parking position includes: and judging the required minimum parking space length according to the minimum lateral distance by adopting the minimum turning radius.
Optionally, the path planning of a parking position further includes: straight line segment transition is used before the curve segment begins.
Optionally, after the two probes behind the two sides of the vehicle detect that the vehicle enters the parking space, the vehicle body postures of the vehicles on the two sides are identified, the path is re-planned after the vehicle posture is identified, and new control is started.
Optionally, an ultrasonic probe located on the side of the vehicle recognizes the lateral distance CxAnd the actual parking space length L2Then, if L2≥(Lmin10), selecting a path planning design for parking in one time, and otherwise selecting a path planning design for parking in multiple steps.
Optionally, the path planning design of the one-time parking position further includes an initial turning point: let the starting position of the vehicle be A0 and the coordinate be (x)0，y0，a0) The vehicle needs to move to a position A1 and then starts to move along an arc, the motion track of the vehicle is composed of a straight line and a tangent arc, the attitude angle of the initial position is assumed to be 0 when the minimum parking space length is calculated in the previous step, the arc needs to be complemented, the virtual initial point after complementation is taken as Ax, the minimum parking space is planned according to the Ax position, whether the attitude angle of the uncertain end point is 90 degrees or not is determined, the x coordinate of the end point is taken as 0, and the coordinate of the initial turning point corresponding to the A1 state is (x) coordinate1，y1，a1) Then the virtual point Ax has the coordinate of (x)x，yx，ax) According to the geometrical relationship, the following relationship should be satisfied:
xx＝x1+Rmin·sin(a1)
yx＝y1+Rmin·[1-cos(a1)]
wherein f represents the distance from the rear axle to the vehicle head, and is also the distance from the center of the rear axle of the vehicle to the horizontal line of the parking space after the vehicle enters the parking space, namely the y coordinate of the obstacle point of the parking space;
establishing a linear equation of a straight-going section:
y0-y1＝tan(a0)·(x0-x1)，
according to the following formula:
wherein L isactFor the actual parking space length, the y of the previous step isxSubstituting the formula to obtain the coordinate x of the starting turning point A11And y1。
Optionally, the design of the path plan for parking in multiple steps includes a first-stage path plan, where the first-stage path plan includes the minimum parking space length and the starting turning point, and the method further includes:
rear right collision point: when the right rear end point of the vehicle enters the parking space horizontal line, a right-angled triangle B1 and a right-angled triangle B2 have a common oblique side, wherein B is the distance from the rear axle of the vehicle to the tail of the vehicle, namely a right-angled side of the triangle B1, the other right-angled side of B1 is the connecting line of the circle center of the turning circle of the vehicle body and the center of the rear wheel at the inner side of the vehicle, the right-angled side of B2 is obtained by making a vertical line from the circle center of the turning circle of the vehicle body to the parking space horizontal line, the connecting line from the intersection point of the vertical line and the horizontal line to the right rear end point of the vehicle body is the right-angled side of B2:
judgment of x- (R)min-LminWhether the collision is larger than 0 or not, and if the collision is larger than 0, the rear right collision point cannot collide with the obstacle vehicle;
left rear collision point: when the left rear end point of the vehicle enters the horizontal line of the parking space, the right-angled triangles B1 and B2 have a common oblique side, wherein B is the distance from the rear axle of the vehicle to the tail of the vehicle, namely a right-angled side of the triangle B1, x is a right-angled side in the horizontal direction of B2, and the value x can be calculated according to the geometrical relationship
At this time, x- (R) is judgedmin-Lmin/2) isIf the attitude angle can just reach the critical value α and is set as 75 degrees, the corresponding minimum parking space can be obtained according to the following geometrical relationship:
αB＝tan-1(b/(Rmin+W/2))
Ls1＝RB·sin(α+αB)+d1-(Rmin-Lmin/2)，
wherein, αBIs the included angle between the connecting line of the circle center of the turning of the vehicle body and the rear axle and the connecting line of the circle center and the left rear end point of the vehicle, RBThe distance from the left rear end point of the vehicle to the center of the circle, Ls1If the attitude angle corresponding to the ending point cannot reach the critical value, the corresponding attitude angle α can be obtained according to the known length of the parking space and the following formula:
α＝sin-1[(Ls1-d1+xs)/RB]-αB,
wherein xsThe distance from the initial parking point to the edge of the parking space.
Optionally, the design of the path plan for parking in place in multiple steps further includes a second-stage path plan, where the x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system at the beginning of the second stage (i.e., the position where the vehicle stops when the first-stage path ends) is set as xsY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the second path, i.e. the coordinate of the vehicle body at this time is (x)s，ys，as) Let x besLess than or equal to 0, and the target end point coordinate of the second section of the path is (x)e，ye，ae) Wherein x ise＝0，ae＝90°，
If a section of circular arc path is adopted to reach the target position, the circular arc b must meet the conditions that the circular arc b is tangent to the center line of the parking space and the turning radius is not equalToo large, which results in too large longitudinal distance, when the circular arc radius R is calculated as (-x)s)/[1-sin(as)]There are two cases:
1)R＜Rmin
according to RminPlanning a path by radius, wherein if the position of the vehicle at the position where the attitude angle is equal to 90 degrees does not exceed the parking space, the stopping point is the position where the attitude angle is equal to 90 degrees, and if the position of the vehicle exceeds the parking space, the stopping point is a point where x is equal to (parking space length-W)/2;
2)R≥Rmin
longitudinal length Y required for path by adopting straight line + arc methodse1It can be calculated according to the geometrical relationship:
Yse1＝Rmin·cos(as)+tan(as)·[-xs-Rmin·(1-sin(as))]
the longitudinal length Y required for the path by using two-segment circular arc methodse2Can be calculated from the geometric relationship:
if Y isse2Greater than Yse1And selecting a straight line + arc method to plan the path, otherwise selecting two sections of arcs to plan the path.
Optionally, the design of the path plan for parking in multiple steps further includes a third-stage path plan, when the third stage is planned, the current attitude angle α of the vehicle body is judged first, then the current attitude angle passes through the middle point of the rear axle of the vehicle to make a trajectory extension straight line, and the abscissa of the intersection point of the straight line and y, which is 0, is determined as xdWhen the third section of path is planned, the x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system is xsY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the third path;
c0: α is near 90 DEG and xdAlmost coinciding with the center of the parking space, and directly planning a path according to a track extension straight line;
c1: α is nearly 90 degrees and xdIs greater and xs>0, starting point at x ═ 0And the right side and the attitude angle are larger, at this time, two arcs can be planned, and the turning radius is calculated according to the geometric relationship, wherein the formula is as follows:
at this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x coordinate of the endpoint needs to be re-planned, and the angle at the position with the largest vehicle body attitude angle in the whole path is assumed to be aMThe angle is calculated as follows:
if aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, replanning the x coordinate x of the end point of the third section of path by taking the maximum attitude angle as 70 degreese：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is 0, y is 0, and the situation that the attitude angle of the vehicle body is too small in the middle of the planned path is avoided as much as possible;
c2: α is nearly 90 degrees and xdIs greater and xs≤0
The starting point is located on the left side of 0 x, the attitude angle is large, the attitude angle is a negative value at the moment, for the convenience of calculation, a positive value is still taken, two arcs can be planned at the moment, and the turning radius is calculated according to the following formula
At this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x-coordinate of the end point needs to be re-planned, and the angle at the position with the largest attitude angle of the vehicle body in the whole path is assumed to be aM：
If aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, replanning the x coordinate x of the end point of the third section of path by taking the maximum attitude angle as 70 degreese：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is equal to 0, and y is equal to 0, so that the attitude angle of the vehicle in the parking space is not smaller than 70 degrees;
c3: α is smaller and xs>0
Firstly, selecting a section of circular arc, judging whether a target point (0,0,90 degrees) can be reached, obtaining a section of turning radius R required by reaching the target point through a geometric relation, and dividing the turning radius into the following two conditions according to the R value:
1)R＞Rmin
dyfor the movement distance in the y-direction when moving along the planned path,
if d is satisfiedy<ysPlanning according to a section of arc, and then connecting a straight line after the arc is finished;
otherwise, judging whether the scheme of straight line and circular arc is feasible, calculating the required y-direction distance according to the minimum turning radius, and planning to the end point (0,0,90 degrees)
The point of tangency of the circular arc straight lines is set as Z point, and the coordinate is (x)z，yz，az) The longitudinal distance Y required by the straight line and the circular arc can be obtained through the geometric relationseThe calculation is as follows:
Yse＝Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
if Y isse＜ysIf not, the two-section arc method is adopted in the same way as C1;
2)R≤Rmin
planning to reach y equal to 0 by adopting the minimum turning radius, judging the x coordinate of the terminal point at the moment, and planning the terminal point to reach the range of the parking space gap if the terminal point exceeds the range of the parking space gap on one side;
c4: α is less than 80 DEG and xs<0, directly using the minimum turning radius RminAnd (6) planning the path.
According to the technical scheme, the required minimum parking space length calculated under the current environment information is compared with the actually detected parking space length to select one-time parking or multiple-time parking. And then, according to the position information of the vehicle in the virtual coordinate system and the vehicle body attitude angle information obtained through the whole vehicle CAN signal, the path planning of the vehicle is specifically designed, and the pressure of a driver is relieved.
The following detailed description of the present invention will be provided in conjunction with the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is an overall flow chart of the present invention;
FIG. 2 is a schematic diagram of a single parking operation;
FIG. 3 is a schematic diagram illustrating a specific example of a parking in place for one time to calculate a required minimum parking space length;
FIG. 4 is a schematic diagram showing a relationship between a restraint section Δ d in a one-time parking position and a lateral distance;
FIG. 5 is a schematic diagram of a first path of multiple parking positions for planning a minimum parking space length;
FIG. 6 is a schematic diagram of a collision point after the first section of path planning after multiple parking in place;
FIG. 7 is a schematic diagram of a first section of a planned left rear collision point of a multiple parking lot;
fig. 8 is a schematic diagram of a first section of a path in which multiple parking is performed and a left rear end point enters a parking space and an attitude angle of the first section of the path can reach a critical value;
FIG. 9 is a schematic diagram of a critical attitude angle at which a left rear end point of a first section of a planned path cannot enter a parking space after multiple parking;
FIG. 10 is a schematic diagram of a second path plan for multiple parking runs 1;
FIG. 11 is a schematic diagram of a second path plan for multiple parking runs 2;
FIG. 12 is a schematic diagram of a second path plan for multiple parking positions 3;
FIG. 13 is a schematic diagram of a third path plan for multiple parking runs;
FIG. 14 is a schematic view of a third path plan C2 for multiple parking lots;
FIG. 15 is a schematic view of a third segment path plan C3 for multiple parking lots;
fig. 16 is a schematic view of a third path plan C3 for multiple parking lots.
Detailed Description
As shown in fig. 1, a path planning and designing method for vertical parking includes the following steps:
s1, calculating the length of the minimum parking space according to the vehicle parameters and the environmental information;
s2, comparing the actual parking space length with the minimum parking space length;
and S3, selecting a parking mode according to the comparison result of the step S2, adopting path planning design of one-time parking if the actual parking space length is larger than the minimum parking space length, and adopting path planning design of multi-step parking if the actual parking space length is smaller than or equal to the minimum parking space length.
One-time parking in place
As shown in fig. 2:
the turning radius of the minimum vehicle is adopted and is provided by a vehicle manufacturer as the own minimum turning radius of the vehicle;
judging the length of the required minimum parking space according to the minimum lateral distance, wherein the minimum lateral distance can be set to be a fixed value of 50 cm;
stopping in the middle when the length is less than or equal to the minimum parking space length corresponding to the minimum lateral distance; when the distance is larger than the preset distance, the front vehicle stops according to the length of the minimum parking space corresponding to the minimum lateral distance (the front vehicle is a vehicle detected backwards in the process of searching the parking space);
the curve section needs to be transited by using a straight line section before starting, and because the curve section can be stopped at a place far away from a parking space when the parking space is found and then the vehicle is parked, if the vehicle is directly steered at the moment, the vehicle with a higher probability can collide with the side of the parking space, and therefore the curve section needs to be turned after being directly turned backwards for a certain distance in the straight line section mode;
after the two side rear probes of the vehicle detect that the vehicle enters the parking space, the two side rear probes detect the vehicles on two sides through the radars installed on the rear parts of two sides of the vehicle body, the vehicle body postures of the vehicles on two sides are identified according to the detection result by combining the coordinates of the vehicles in the virtual coordinate system and the vehicle body postures, the parking space central point (the original point in the virtual coordinate system) determined during the initial parking space finding and the initially set stop position target angle are corrected according to the identified angle and the distance between the vehicles and the vehicles on two sides in the parking space, the path is planned again, and new control is started.
Determining coordinate parameters by taking a parking space center line as a reference under the condition of once parking in place, wherein the starting position is a position away from the center line R;
the meaning of the parameters in fig. 2 is: w (vehicle width), L (vehicle body length), Rmin(minimum turning radius), cx(lateral distance), b (distance from the center of the rear axle to the rear of the vehicle), d3(distance of test vehicle in parking space from both sides), d1(safety distance between the innermost point of the rear axle of the vehicle and the parking space), delta d (length of a constraint segment for once parking), and L2(actual parking space length recognized by ultrasonic wave), Lmin(the calculated minimum required slot length).
The above parameters have the following geometrical relationships:
L2＝W+2·d3
taking the parameters R as 400cm, W as 180cm, d1＝20cm，CxTaking 50-200 cm, b being 97cm and L being 457cm, and calculating Lmin. The results are shown in FIG. 3. The relationship of the restraint section Δ d to the lateral distance is shown in fig. 4.
Starting turning points: referring to fig. 5, let the start position of the vehicle be a0 and the coordinate be (x)0，y0，a0) If the vehicle needs to move to the position A1 and then starts to move along the arc, the vehicle motion track is composed of a straight line and a tangent arc, the minimum parking space length is calculated in the previous step, the attitude angle of the initial position is assumed to be 0, the arc needs to be complemented, the virtual initial point after complementation is set to be Ax, the minimum parking space is planned according to the Ax position, whether the attitude angle of the uncertain end point is 90 degrees or not is determined, the x coordinate of the end point is set to be 0, and the coordinate of the initial turning point corresponding to the A1 state is (x) coordinate1，y1，a1) Then the virtual point Ax has the coordinate of (x)x，yx，ax) According to the geometrical relationship, the following relationship should be satisfied:
xx＝x1+Rmin·sin(a1)
yx＝y1+Rmin·[1-cos(a1)]
wherein f represents the distance from the rear axle to the vehicle head, and is also the distance from the center of the rear axle of the vehicle to the horizontal line of the parking space after the vehicle enters the parking space, namely the y coordinate of the obstacle point of the parking space; establishing a linear equation of a straight-going section:
y0-y1＝tan(a0)·(x0-x1) According to the following formula:
wherein L isactFor the actual parking space length, the y of the previous step isxSubstituting the formula to obtain the coordinate x of the starting turning point A11And y1。
The ultrasonic probe located on the side of the vehicle recognizes the lateral distance CxAnd the actual parking space length L2Then, if L2≥(Lmin-10), an algorithm for parking in place once is selected. Considering that a vehicle can adopt two probes at the side and the rear part for correction after entering a parking space, a 10cm allowance is reserved; otherwise, a multi-step parking-in-place algorithm is selected.
Multiple parking in place
First stage path planning
Minimum parking space length
As shown in FIG. 5, the minimum turning radius is planned assuming that the vehicle position at the start is Ax and the lateral distance at this position is cxThe width of the vehicle is W, and the safe distance from the innermost point of the rear axle of the vehicle to the parking space is d1The minimum turning radius of the vehicle is RminThe minimum parking space length L can be obtained according to the geometric relationshipminThe specific calculation method refers to a one-time parking in-place calculation method.
Initial turning point
As shown in FIG. 5, let the starting position of the vehicle be A0 and the coordinate be (x)0，y0，a0) And if the vehicle needs to move to the position A1 and then starts to move along the arc, the vehicle movement track is formed by a straight line and a tangent arc, the arc needs to be complemented because the attitude angle of the initial position is assumed to be 0 in the previous calculation, the virtual initial point after complementation is taken as Ax, and the minimum parking space is planned according to the Ax position. At this time, it is not determined whether the attitude angle of the end point is 90 °, the x coordinate of the end point is set to 0, and the coordinate of the start point (rear axle midpoint) corresponding to the a1 state is set to (x)1，y1，a1) Then the virtual point Ax has the coordinate of (x)x，yx，ax) And obtaining the coordinate value of the initial turning point according to the geometric relation, wherein the specific calculation method refers to a one-time parking in-place calculation method.
Rear right collision point
As shown in fig. 6, when the right rear end point of the vehicle enters the parking space horizontal line (when the right rear end point is on the same straight line with the parking space horizontal line), the right triangles B1 and B2 have a common oblique side (the center of the vehicle body turning circle is on the right rear end point of the vehicle tail), wherein B is the distance from the rear axle to the vehicle tail, i.e. a right-angled side of the triangle B1 in the figure, the other right-angled side of B1 is the line connecting the center of the vehicle body turning circle and the center of the rear wheel inside the vehicle, the right-angled side of B2 is obtained by making a perpendicular line from the center of the vehicle body turning circle to the parking space horizontal line, and the line connecting the intersection point of the perpendicular line and the horizontal line to the. Let x be the right-angle side of B2 horizontal direction, can calculate according to the geometric relation and get the x value:
judgment of x- (R)min-LminAnd/2) whether the collision is greater than 0, and if the collision is greater than 0, the rear right collision point cannot collide with the obstacle vehicle.
Left rear collision point
As shown in FIG. 7, when the left rear end point of the vehicle enters the parking space horizontal line, the right triangles B1 and B2 have a common hypotenuse, wherein B is the distance from the rear axle of the vehicle to the tail of the vehicle, i.e. a cathetus of the triangle B1 in the figure, and x is a cathetus in the horizontal direction of B2, and the value of x can be calculated according to the geometrical relationship
At this time, x- (R) is judgedmin-LminAnd/2) whether the length of the left rear end point is larger than the length of the actual parking space or not, if so, the left rear end point can enter the parking space, and the attitude angle can reach a critical value.
As shown in fig. 8, the left rear end point enters the parking space and the attitude angle may reach the critical value: if the attitude angle can just reach the critical value α (set to 75 °), the corresponding minimum parking space can be found according to the following geometrical relationship:
αB＝tan-1(b/(Rmin+W/2))
Ls1＝RB·sin(α+αB)+d1-(Rmin-Lmin/2)，
as shown in fig. 9, if the attitude angle corresponding to the ending point cannot reach the critical value, the corresponding attitude angle α can be obtained according to the following formula from the known parking space length:
α＝sin-1[(Ls1-d1+xs)/RR]-αB，
where x issThe distance from the initial parking point to the edge of the parking space.
Because multiple parking sections are needed, the critical value is set as the condition for stopping the first section of route, and the vehicle is prevented from colliding with the obstacle vehicle all the time backwards.
Second stage path planning
As shown in FIG. 10, the x-coordinate of the vehicle body rear axle center in the virtual coordinate system at the start of the second stage (i.e., the position at which the vehicle stops at the end of the first stage route) is defined as xsY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the second path, i.e. the coordinate of the vehicle body at this time is (x)s，ys，as) Let x besLess than or equal to 0, and the target end point coordinate of the second section of the path is (x)e，ye，ae) Wherein x ise＝0，ae＝90°，
If a section of circular arc path is adopted to reach the target position, the circular arc b must meet the conditions that the circular arc b is tangent to the center line of the parking space and the turning radius is not too large, the longitudinal distance is too large, and the circular arc radius R is calculated at the moment (-x)s)/[1-sin(as)]There are two cases:
1)R＜Rmin
according to RminPlanning a path by radius, wherein if the position of the vehicle at the position where the attitude angle is equal to 90 degrees does not exceed the parking space, the stopping point is the position where the attitude angle is equal to 90 degrees, and if the position of the vehicle exceeds the parking space, the stopping point is a point where x is equal to (parking space length-W)/2;
2)R≥Rmin
as shown in FIG. 11, the longitudinal length Y required for the straight-line + arc pathse1It can be calculated according to the geometrical relationship:
Yse1＝Rmin·cos(as)+tan(as)·[-xs-Rmin·(1-sin(as))]
as shown in FIG. 12, the longitudinal length Y required for a path using a two-segment circular arc methodse2Can be calculated from the geometric relationship:
if Y isse2Greater than Yse1And selecting a straight line + arc method to plan the path, otherwise selecting two sections of arcs to plan the path.
Third stage path planning
As shown in fig. 13, when the third segment is planned, the current vehicle body attitude angle α is determined (the vehicle body attitude angle is obtained by integrating data returned from the vehicle sensor), and then a straight line extending the trajectory is made by passing the current attitude angle through the midpoint of the rear axle of the vehicle, and the abscissa of the intersection point where the straight line and y are 0 is determined as xdWhen the third section of path is planned, the x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system is xsY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the third path, i.e. the coordinate of the vehicle at the beginning of the third path is (x)s，ys，as)；
C0: α is near 90 DEG and xdAlmost coinciding with the center of the parking space, and directly planning a path according to a track extension straight line;
c1: α is nearly 90 degrees and xdIs greater and xs>0, the starting point is located on the right side of x being 0, and the attitude angle is larger, at this time, two arcs can be planned, and the turning radius is calculated according to the geometric relationship, wherein the formula is as follows:
at this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x coordinate of the endpoint needs to be re-planned, and the angle at the position with the largest vehicle body attitude angle in the whole path is assumed to be aMThe angle is calculated as follows:
if aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, replanning the x coordinate x of the end point of the third section of path by taking the maximum attitude angle as 70 degreese：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is 0, y is 0, and the situation that the attitude angle of the vehicle body is too small in the middle of the planned path is avoided as much as possible;
c2: α is nearly 90 degrees and xdIs greater and xs≤0
The starting point is located on the left side of 0, the attitude angle is large, the attitude angle is a negative value at the moment, for the convenience of calculation, a positive value is still taken, the starting point can be planned to be two arcs, the turning radius is calculated according to the geometric relationship shown in fig. 14, and the turning radius is calculated according to the following formula
At this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x-coordinate of the end point needs to be re-planned, and the angle at the position with the largest attitude angle of the vehicle body in the whole path is assumed to be aM：
If aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, the maximum attitude angle is 70 degrees, and the x coordinate x of the end point of the third section path is re-plannede：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is equal to 0, and y is equal to 0, so that the attitude angle of the vehicle in the parking space is not smaller than 70 degrees;
c3: α is smaller and xs>0
First, a section of arc is selected, whether the target point (0,0,90 °) can be reached is judged, and the turning radius R required for reaching the target point can be obtained by using the geometric relationship shown in fig. 15.
The following two cases are classified according to the magnitude of the R value:
1)R＞Rmin
dyis the movement distance in the y direction when moving along the planned path.
If d is satisfiedy<ysPlanning according to a section of arc, and then connecting a straight line after the arc is finished;
otherwise, judging whether the scheme of straight line and circular arc is feasible, calculating the required y-direction distance according to the minimum turning radius, and planning to the end point (0,0,90 degrees)
The point of tangency of the circular arc straight lines is set as Z point, and the coordinate is (x)z，yz，az) The longitudinal distance Y required by the straight line and the circular arc can be obtained through the geometric relationseThe calculation is as follows:
Yse＝Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
if Y isse＜ysIf not, the two-section arc method is adopted in the same way as C1;
2)R≤Rmin
planning to reach y equal to 0 by adopting the minimum turning radius, judging the x coordinate of the terminal point at the moment, and planning the terminal point to reach the range of the parking space gap if the terminal point exceeds the range of the parking space gap on one side;
c4: α is smaller and xs<0
By direct application of the minimum turning radius RminAnd (6) planning the path.
It is understood by those skilled in the art that the position of the vehicle in the virtual coordinate system in the present invention is based on the position of the vehicle rear axle center in the virtual coordinate system. In addition, the length units related to the invention are centimeters.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (9)
1. A path planning and designing method for vertical parking is characterized by comprising the following steps:
s1, calculating the length of the minimum parking space according to the vehicle parameters and the environmental information;
s2, comparing the actual parking space length with the minimum parking space length;
s3, selecting a parking mode according to the comparison result of the step S2, adopting path planning design of one-time parking if the actual parking space length is larger than the minimum parking space length, and adopting path planning design of multi-step parking if the actual parking space length is smaller than or equal to the minimum parking space length;
planning the path of once parking, determining each coordinate parameter by taking the center line R of the parking space as the reference, and setting the starting position as the center line of the distance between the centers of the rear axles of the vehicleThe position of R; the following parameters are included: w: vehicle width, L: length of car body, Rmin: minimum turning radius, Cx: lateral distance, b: distance from the center of the rear axle to the rear of the vehicle, d3: distance d between the vehicle and two sides of the parking space1: the safe distance between the innermost point of the rear axle of the vehicle and the parking space, delta d: length of constraint segment in one parking2: actual parking space length, L, of ultrasonic recognitionmin: the calculated length of the required minimum parking space is obtained,
the above parameters have the following geometrical relationships:
L2＝W+2·d3
2. the method for designing a path plan for vertical parking according to claim 1, wherein: the path planning of one-time parking in place comprises the following steps: and judging the required minimum parking space length according to the minimum lateral distance by adopting the minimum turning radius.
3. The method for designing a path plan for vertical parking according to claim 2, wherein: the path planning of one-time parking in place further comprises the following steps: straight line segment transition is used before the curve segment begins.
4. The method for designing a path plan for vertical parking according to claim 2, wherein: after the two side rear probes of the vehicle detect that the vehicle enters the parking space, the vehicle body postures of the vehicles on the two sides are identified, the path is planned again after the vehicle posture is identified, and new control is started.
5. The method for designing a path plan for vertical parking according to claim 1,the method is characterized in that: the ultrasonic probe located on the side of the vehicle recognizes the lateral distance CxAnd the actual parking space length L2Then, if L2≥(Lmin10), selecting a path planning design for parking in one time, and otherwise selecting a path planning design for parking in multiple steps.
6. The method for designing a path plan for vertical parking according to claim 5, wherein: the path planning design of once parking in place also comprises an initial turning point: let the starting position of the vehicle be A0 and the coordinate be (x)0，y0，a0) The vehicle needs to move to a position A1 and then starts to move along an arc, the motion track of the vehicle is composed of a straight line and a tangent arc, the attitude angle of the initial position is assumed to be 0 when the minimum parking space length is calculated in the previous step, the arc needs to be complemented, the virtual initial point after complementation is taken as Ax, the minimum parking space is planned according to the Ax position, whether the attitude angle of the uncertain end point is 90 degrees or not is determined, the x coordinate of the end point is taken as 0, and the coordinate of the initial turning point corresponding to the A1 state is (x) coordinate1，y1，a1) Then the virtual point Ax has the coordinate of (x)x，yx，ax) According to the geometrical relationship, the following relationship should be satisfied:
xx＝x1+Rmin·sin(α1)
yx＝y1+Rmin·[1-cos(α1)]
wherein f represents the distance from the rear axle to the vehicle head, and is also the distance from the center of the rear axle of the vehicle to the horizontal line of the parking space after the vehicle enters the parking space, namely the y coordinate of the obstacle point of the parking space;
establishing a linear equation of a straight-going section:
y0-y1＝tan(a0)·(x0-x1)，
according to the following formula:
wherein L isactIs a reality ofLength of parking space, y of previous stepxSubstituting the formula to obtain the coordinate x of the starting turning point A11And y1。
7. The method for designing a path plan for vertical parking according to claim 6, wherein: the design of the multi-step parking in place path planning comprises a first section of path planning, wherein the first section of path planning comprises the minimum parking space length and the starting turning point, and the design further comprises the following steps:
rear right collision point: when the right rear end point of the vehicle enters the parking space horizontal line, a right-angled triangle B1 and a right-angled triangle B2 have a common oblique side, wherein B is the distance from the rear axle of the vehicle to the tail of the vehicle, namely a right-angled side of the triangle B1, the other right-angled side of B1 is the connecting line of the circle center of the turning circle of the vehicle body and the center of the rear wheel at the inner side of the vehicle, the right-angled side of B2 is obtained by making a vertical line from the circle center of the turning circle of the vehicle body to the parking space horizontal line, the connecting line from the intersection point of the vertical line and the horizontal line to the right rear end point of the vehicle body is the right-angled side of B2:
judgment of x- (R)min-LminWhether the collision is larger than 0 or not, and if the collision is larger than 0, the rear right collision point cannot collide with the obstacle vehicle;
left rear collision point: when the left rear end point of the vehicle enters the horizontal line of the parking space, the right-angled triangles B1 and B2 have a common oblique side, wherein B is the distance from the rear axle of the vehicle to the tail of the vehicle, namely a right-angled side of the triangle B1, x is a right-angled side in the horizontal direction of B2, and the value x can be calculated according to the geometrical relationship
At this time, x- (R) is judgedmin-LminAnd/2) whether the length of the parking space is larger than the length of the actual parking space, if so, the left rear end point can enter the parking space and the attitude angle can reach a critical value,
the left rear end point enters the parking space and the attitude angle can reach a critical value: if the attitude angle can just reach the critical value α, which is set to 75 °, the corresponding minimum parking space can be obtained according to the following geometrical relationship:
αB＝tan-1(b/(Rmin+W/2))
Ls1＝RB·sin(α+αB)+d1-(Rmin-Lmin/2)，
wherein, αBIs the included angle between the connecting line of the circle center of the turning of the vehicle body and the rear axle and the connecting line of the circle center and the left rear end point of the vehicle, RBThe distance from the left rear end point of the vehicle to the center of the circle, Ls1The minimum parking space required for the attitude angle to just reach the critical value,
if the attitude angle corresponding to the end point cannot reach the critical value, the corresponding attitude angle α can be obtained according to the known parking space length according to the following formula:
α＝sin-1[(Ls1-d1+xs)/RB]-αB，
where x issThe distance from the initial parking point to the edge of the parking space.
8. The method for designing a path plan for vertical parking according to claim 7, wherein: the multi-step parking-in-place path planning design also includes a second stage path planning,
let x be the x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system at the beginning of the second stagesY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the second path, i.e. the coordinate of the vehicle body at this time is (x)s，ys，as) Let x besLess than or equal to 0, and the target end point coordinate of the second section of the path is (x)e，ye，ae) Wherein x ise＝0，ae＝90°，
If a section of circular arc path is adopted to reach the target position, the circular arc b must meet the conditions that the circular arc b is tangent to the center line of the parking space and the turning radius is not too large, and the turning radius can be too largeResulting in an excessive longitudinal distance, when the circular arc radius R (-x) is calculateds)/[1-sin(as)]There are two cases:
1)R＜Rmin
according to RminPlanning a path by radius, wherein if the position of the vehicle at the position where the attitude angle is equal to 90 degrees does not exceed the parking space, the stopping point is the position where the attitude angle is equal to 90 degrees, and if the position of the vehicle exceeds the parking space, the stopping point is a point where x is equal to (parking space length-W)/2;
2)R≥Rmin
longitudinal length Y required for path by adopting straight line + arc methodse1It can be calculated according to the geometrical relationship:
Yse1＝Rmin·cos(as)+tan(as)·[-xs-Rmin·(1-sin(as))]
the longitudinal length Y required for the path by using two-segment circular arc methodse2Can be calculated from the geometric relationship:
if Y isse2Greater than Yse1And selecting a straight line + arc method to plan the path, otherwise selecting two sections of arcs to plan the path.
9. The method for designing a path plan for vertical parking according to claim 8, wherein: the path planning design of the multi-step parking in place also comprises a third section of path planning,
when the third section is planned, the current vehicle body attitude angle α is judged, then the current attitude angle passes through the middle point of the rear axle of the vehicle to be taken as a track extension straight line, and the abscissa of the intersection point of the straight line and y which is 0 is determined as xdWhen the third section of path is planned, the x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system is xsY coordinate being ys，asIs the attitude angle of the vehicle body at the beginning of the third path;
c0: α is near 90 DEG and xdAlmost coincides with the center of the parking space and extends a straight line according to the trackDirectly planning a path;
c1: α is nearly 90 degrees and xdIs greater and xsThe starting point is located on the right side of x being 0, the attitude angle is large, two arcs can be planned at the moment, and the turning radius is calculated according to the geometric relationship, wherein the formula is as follows:
at this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x coordinate of the endpoint needs to be re-planned, and the angle at the position with the largest vehicle body attitude angle in the whole path is assumed to be aMThe angle is calculated as follows:
if aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, replanning the x coordinate x of the end point of the third section of path by taking the maximum attitude angle as 70 degreese：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is 0, y is 0, and the situation that the attitude angle of the vehicle body is too small in the middle of the planned path is avoided as much as possible;
c2: α is nearly 90 degrees and xdIs greater and xs≤0
The starting point is located on the left side of 0 x, the attitude angle is large, the attitude angle is a negative value at the moment, for the convenience of calculation, a positive value is still taken, two arcs can be planned at the moment, and the turning radius is calculated according to the following formula
At this time, the following two cases occur:
1)R＞Rmin
in order to ensure that the attitude angle of the vehicle in the parking space is not less than 70 degrees, the x-coordinate of the end point needs to be re-planned, and the angle at the position with the largest attitude angle of the vehicle body in the whole path is assumed to be aM：
If aMIf the angle is more than 70 degrees, the end point (0,0,90 degrees) is marked according to the original rule;
if the maximum attitude angle is less than 90 degrees, replanning the x coordinate x of the end point of the third section of path by taking the maximum attitude angle as 70 degreese：
xe＝x0-2·R·(1-sin(aM))
Where x is0The x coordinate of the center of the rear axle of the vehicle body in the virtual coordinate system when the third section of path is planned;
2)R≤Rmin
r is taken as RminAt this time, it cannot be guaranteed that x is equal to 0, and y is equal to 0, so that the attitude angle of the vehicle in the parking space is not smaller than 70 degrees;
c3: α is smaller and xs＞0
Firstly, selecting a section of circular arc, judging whether a target point (0,0,90 degrees) can be reached, obtaining a section of turning radius R required by reaching the target point through a geometric relation, and dividing the turning radius into the following two conditions according to the R value:
1)R＞Rmin
dyfor the movement distance in the y-direction when moving along the planned path,
if d is satisfiedy＜ysPlanning according to a section of arc, and then connecting a straight line after the arc is finished;
otherwise, judging whether the scheme of straight line and circular arc is feasible, calculating the required y-direction distance according to the minimum turning radius, and planning to the end point (0,0,90 degrees)
The point of tangency of the circular arc straight lines is set as Z point, and the coordinate is (x)z，yz，az) The longitudinal distance Y required by the straight line and the circular arc can be obtained through the geometric relationseThe calculation is as follows:
Yse＝Rmin·cos(as)+tan(as)·[xs-Rmin·(1-sin(as))]
if Y isse＜ysIf not, the two-section arc method is adopted in the same way as C1;
2)R≤Rmin
planning to reach y equal to 0 by adopting the minimum turning radius, judging the x coordinate of the terminal point at the moment, and planning the terminal point to reach the range of the parking space gap if the terminal point exceeds the range of the parking space gap on one side;
c4: α is less than 80 DEG and xsLess than 0, directly using the minimum turning radius RminAnd (6) planning the path.
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