CN109959382A - A kind of automatic parking path planning apparatus - Google Patents
A kind of automatic parking path planning apparatus Download PDFInfo
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- CN109959382A CN109959382A CN201711417991.3A CN201711417991A CN109959382A CN 109959382 A CN109959382 A CN 109959382A CN 201711417991 A CN201711417991 A CN 201711417991A CN 109959382 A CN109959382 A CN 109959382A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
A kind of automatic parking path planning apparatus, belong to the field of parking, it is compared to solve to ajust the increased control point of vehicle body institute with original control point, slope variation is excessive, cause curvature of curve variation excessive, it the problem of can not being kept up with to vehicle, has technical point that spline curve planning module, optimal path is selected to approach route as spline curve in feasible region；It does if being chosen on approaching route as spline curve control point, and plans spline curve；Polishing circular arc module, in one section of circular arc determined by vehicle minimum turning radius of starting point and/or terminating point polishing of the spline curve of planning, so that with spline curve phase junction, first derivative is continuous；In the end of arc section, its first derivative is 0；Output trajectory point coordinate is to complete to plan.Effect is: this invention ensures that the start-stop point pose of whole curve, also guarantees during ajusting vehicle body, meeting the kinematical constraint of vehicle.
Description
Technical field
The invention belongs to the fields of parking, and are related to a kind of automatic parking path planning apparatus.
Background technique
The prior art is when planning B-spline path, at the ending at the last one control point, in same horizontal line
4 control nodes are further added by, to keep terminating point posture parallel with parking position bottom edge.This method has the disadvantage in that
1, after additionally increasing control point, the curvature that not can guarantee whole spline curve all meets the least radius of vehicle about
Beam.
2, initial position not can guarantee the posture of vehicle body.
In automatic parking control system, path planning is always numerous research people as key core technologies therein
The emphasis and hot spot of member's concern.Good path planning can not only guarantee the barrier avoiding function of vehicle, but also can mitigate control
The pressure of execution system.
For Parallel parking position, the method for bicircular arcs splicing is method the most basic.This method passes through vehicle and parks
The relativeness of position, calculates the initial position of parking position, the circular arc being then made up of two sections of minimum turning radius, by vehicle
It puts into parking stall.After relaxing requirement, the radius of two sections of circular arcs, which can extend to, meets vehicle kinematics, avoidance requirement, tangent
Any radius of constraint.But the parking path planing method based on circular arc splicing, there is the difficulty that can not be overcome, is exactly bent
Rate is discontinuous.This requires vehicles in certain specific positions, and within the extreme time, steering wheel is turned over a biggish angle
Degree, to damage to vehicle, and makes significant impact to the comfort of rider.
On this basis, research staff develops the parking path planning algorithm based on spline curve.The algorithm is maximum
Advantage is that the continuity that ensure that vehicle curvature in the process of moving.This patent be exactly herein basis on invent come
's.
The prior art refers to Song Jinze doctoral thesis " technical research of autonomous parking system core ", and chapter 3 merges differential
Flat, spline theory orbit generation method, " National University of Defense Technology ", 2009.
According to principles above, when being researched and analysed and being emulated, it is found that in the second half section part of curve, vehicle is not
It can be according to the click-through line trace planned.Reason is it to ajust the vehicle body increased control point of institute and original control point phase
Than slope variation is excessive, causes curvature of curve variation excessive, so that vehicle can not be kept up with.
Summary of the invention
It is compared to solve to ajust the increased control point of vehicle body institute with original control point, slope variation is excessive, leads to curve
Curvature varying is excessive, thus the problem of vehicle can not be kept up with, present invention provide the technical scheme that
A kind of automatic parking path planning apparatus, comprising:
Spline curve planning module selects optimal path to approach route as spline curve in feasible region；?
It does if approaching and being chosen on route as spline curve control point, and plans spline curve；
Polishing circular arc module is turned in the starting point of the spline curve of planning and/or one section of terminating point polishing by vehicle minimum
The circular arc that curved radius determines, so that with spline curve phase junction, first derivative is continuous；In the end of arc section, its single order is led
Number is 0；Output trajectory point coordinate is to complete to plan.
The utility model has the advantages that the present invention has been after having planned spline curve, the curve one section of start-stop point position polishing by minimum
The circular arc that turning radius is constituted.Its main advantage are as follows: 1. ensure that the body gesture of start-stop point.2. meeting the kinematics of vehicle
Constraint.3. in the case where spline curve arc length is certain, the increased circular arc arc length met the requirements it is minimum.
For the automatic parking of Parallel parking position, smooth effective, specification parking is realized, the technical program is to plan sample
After curve, in the start-stop location point of original curve, the circular arc path that the preceding paragraph is constrained with least radius, arc section and batten are mended
Curve joint keeps first derivative continuous, and it is 0 that terminal angle, which keeps slope,.This ensure that the start-stop point of whole curve
Appearance also guarantees during ajusting vehicle body, meets the kinematical constraint of vehicle.
Original technology does not account for the posture restraint of vehicle start position, during not ajusting in view of terminating point yet
Vehicle kinematics constraint this invention ensures that whole curve start-stop point pose, also guarantee during ajusting vehicle body, meet
The kinematical constraint of vehicle.
Detailed description of the invention
Fig. 1 is the flow diagram of the automatic parking paths planning method in embodiment 1.
Specific embodiment
Embodiment 1: in automatic parking control system, path planning is always crowd as key core technologies therein
The emphasis and hot spot of more researcher's concerns.Good path planning can not only guarantee the barrier avoiding function of vehicle, but also can be with
Mitigate the pressure of control execution system.
For Parallel parking position, the method for bicircular arcs splicing is method the most basic.This method passes through vehicle and parks
The relativeness of position, calculates the initial position of parking position, the circular arc being then made up of two sections of minimum turning radius, by vehicle
It puts into parking stall.After relaxing requirement, the radius of two sections of circular arcs, which can extend to, meets vehicle kinematics, avoidance requirement, tangent
Any radius of constraint.But the parking path planing method based on circular arc splicing, there is the difficulty that can not be overcome, is exactly bent
Rate is discontinuous.This requires vehicles in certain specific positions, and within the extreme time, steering wheel is turned over a biggish angle
Degree, to damage to vehicle, and makes significant impact to the comfort of rider.
On this basis, research staff develops the parking path planning algorithm based on spline curve.The algorithm is maximum
Advantage is that the continuity that ensure that vehicle curvature in the process of moving.This patent be exactly herein basis on invent come
's.
The prior art refers to the paper " technical research of autonomous parking system core " of doctor Song Jinze, and chapter 3 fusion is micro-
Point flat, spline theory orbit generation method, " National University of Defense Technology ", 2009.According to principles above, studied
When analysis and emulation, inventors have found that vehicle can not be according to the click-through line trace planned in the second half section part of curve.
Reason is it to ajust the increased control point of vehicle body institute with original control point and compare, and slope variation is excessive, causes curve bent
Rate variation is excessive, so that vehicle can not be kept up with.Based on this, the present embodiment describes a kind of automatic parking paths planning method,
Optimal path is selected to approach route as spline curve in feasible region；It does if being chosen on approaching route as batten
Curve control point, and plan spline curve；It is characterized in that, in the starting point and/or terminating point polishing of the spline curve of planning
One section of circular arc determined by vehicle minimum turning radius, so that with spline curve phase junction, first derivative is continuous；In circular arc
Its first derivative of end of section is 0, i.e. vehicle attitude is parallel with the bottom edge of parking position；Output trajectory point coordinate is to complete to plan.
As one embodiment: the feasibility range is to park starting point to the feasibility range between terminal, the model
It encloses before determining, has and calculate the step of originating point range of parking.
And in the embodiment, calculating is parked before the step of originating point range, and has parameter input step, the parameter
It include: body dimensions parameter, parking position dimensional parameters, vehicle and parking position position relationship parameter.
As another embodiment: being the second arc section in the circular arc of the terminating point polishing of the spline curve of planning, in sample
At the terminating point of curve, vehicle location (x, y-coordinate i.e. under local coordinate system) and posture respectively with Xf_B, Yf_B,
Thetaf_B indicates, also, to the right and to be upwards the positive direction of X-axis and Y-axis, then, in the terminal point of spline curve, the
The starting point and ending point position of two arc sections and posture are indicated with following formula respectively:
According to the position of the starting point and ending point of acquisition, interpolation method is taken to generate intermediate path point, it is assumed that generate circle
N path point on arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC2: the X-coordinate of second segment circular arc starting point；
Yi_ARC2: the y-coordinate of second segment circular arc starting point；
Thetai_ARC2: the attitude angle of second segment circular arc starting point.
Xf_ARC2: the X-coordinate of second segment circular arc terminating point；
Yf_ARC2: the y-coordinate of second segment circular arc terminating point；
Thetaf_ARC2: the attitude angle of second segment circular arc terminating point.
Xf_B: the X-coordinate of spline curve terminal；
Yf_B: the y-coordinate of spline curve terminal；
Thetaf_B: the attitude angle of spline curve terminal point.
Δ theta: the angle interval of sampling.
X_ARC2(i): i-th x coordinate is inserted into second segment circular arc；
Y_ARC2(i): i-th y-coordinate is inserted into second segment circular arc；
Theta_ARC2(i): i-th attitude angle being inserted into second segment circular arc.
As another embodiment: being the first arc section, batten in the circular arc of the starting point polishing of the spline curve of planning
The starting point of curve, vehicle location and posture are respectively with Xi_B, Yi_B, Thetai_B, also, to the right and upwards for X
The positive direction of axis and Y-axis, the coordinate and pose of the starting point and ending point of the first arc section are obtained by following formula:
According to the starting point and ending point position of acquisition, interpolation method can be taken to generate intermediate path point, it is assumed that Yao Shengcheng
N path point on circular arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC1: the X-coordinate of first segment circular arc starting point；
Yi_ARC1: the y-coordinate of first segment circular arc starting point；
Thetai_ARC1: the attitude angle of first segment circular arc starting point.
Xf_ARC1: the X-coordinate of first segment circular arc terminating point；
Yf_ARC1: the y-coordinate of first segment circular arc terminating point；
Thetaf_ARC1: the attitude angle of first segment circular arc terminating point.
Xi_B: the X-coordinate of spline curve starting point；
Yi_B: the y-coordinate of spline curve starting point；
Thetai_B: the attitude angle of spline curve starting point.
Δ theta: the angle interval of sampling.
X_ARC1(i): i-th x coordinate is inserted into first segment circular arc；
Y_ARC1(i): i-th y-coordinate is inserted into first segment circular arc；
Theta_ARC1(i): i-th attitude angle being inserted into first segment circular arc.
The key point of the present embodiment is, after having planned spline curve, in one Duan Yuan of start-stop point position polishing of the curve
Arc, so that its initial point position of circular arc or terminating point position slope are 0.
The radius of the circular arc is the minimum turning radius of vehicle.
Embodiment 2: a method of guaranteeing vehicle start position posture restraint, feature in automatic parking path planning
It is, in one section of circular arc determined by vehicle least radius of initial point position polishing of spline curve, the circular arc and spline curve
Phase junction, first derivative is continuous, its first derivative of circular arc initial point position be 0.
It is the first arc section, the starting point of spline curve, vehicle in the circular arc of the starting point polishing of the spline curve of planning
Position and posture are respectively with Xi_B, Yi_B, Thetai_B, also, to the right and to be upwards the positive direction of X-axis and Y-axis, the
The coordinate and pose of the starting point and ending point of one arc section are obtained by following formula:
According to the starting point and ending point position of acquisition, interpolation method can be taken to generate intermediate path point, it is assumed that Yao Shengcheng
N path point on circular arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC1: the X-coordinate of first segment circular arc starting point；
Yi_ARC1: the y-coordinate of first segment circular arc starting point；
Thetai_ARC1: the attitude angle of first segment circular arc starting point.
Xf_ARC1: the X-coordinate of first segment circular arc terminating point；
Yf_ARC1: the y-coordinate of first segment circular arc terminating point；
Thetaf_ARC1: the attitude angle of first segment circular arc terminating point.
Xi_B: the X-coordinate of spline curve starting point；
Yi_B: the y-coordinate of spline curve starting point；
Thetai_B: the attitude angle of spline curve starting point.
Δ theta: the angle interval of sampling.
X_ARC1(i): i-th x coordinate is inserted into first segment circular arc；
Y_ARC1(i): i-th y-coordinate is inserted into first segment circular arc；
Theta_ARC1(i): i-th attitude angle being inserted into first segment circular arc
Embodiment 3: a method of guaranteeing vehicle kinematics constraint when ajusting vehicle body in automatic parking path planning,
It is characterized in that, in one section of circular arc determined by vehicle least radius of terminating point position polishing of spline curve, the circular arc and batten
The phase junction of curve, first derivative is continuous, which is 0.In the spline curve of planning
Terminating point polishing circular arc be the second arc section, at the terminating point of spline curve, vehicle location is (i.e. under local coordinate system
X, y-coordinate) with posture respectively with Xf_B, Yf_B, Thetaf_B expression, also, with to the right and upwards for X-axis and Y-axis just
Direction, then, in the terminal point of spline curve, the starting point (point to connect with spline curve) and termination point of the second arc section
Set is indicated with following formula with posture respectively:
According to the position of the starting point and ending point of acquisition, interpolation method is taken to generate intermediate path point, it is assumed that generate circle
N path point on arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC2: the X-coordinate of second segment circular arc starting point；
Yi_ARC2: the y-coordinate of second segment circular arc starting point；
Thetai_ARC2: the attitude angle of second segment circular arc starting point.
Xf_ARC2: the X-coordinate of second segment circular arc terminating point；
Yf_ARC2: the y-coordinate of second segment circular arc terminating point；
Thetaf_ARC2: the attitude angle of second segment circular arc terminating point.
Xf_B: the X-coordinate of spline curve terminal；
Yf_B: the y-coordinate of spline curve terminal；
Thetaf_B: the attitude angle of spline curve terminal point.
Δ theta: the angle interval of sampling.
X_ARC2(i): i-th x coordinate is inserted into second segment circular arc；
Y_ARC2(i): i-th y-coordinate is inserted into second segment circular arc；
Theta_ARC2(i): i-th attitude angle being inserted into second segment circular arc.
Embodiment 4:
A kind of automatic parking path planning apparatus, comprising:
Spline curve planning module selects optimal path to approach route as spline curve in feasible region；?
It does if approaching and being chosen on route as spline curve control point, and plans spline curve；
Polishing circular arc module is turned in the starting point of the spline curve of planning and/or one section of terminating point polishing by vehicle minimum
The circular arc that curved radius determines, so that with spline curve phase junction, first derivative is continuous；In the end of arc section, its single order is led
Number is 0；Output trajectory point coordinate is to complete to plan.
The feasibility range is to park starting point to the feasibility range between terminal, before which determines, is moored
The calculating of vehicle starting point computing module, which is parked, originates point range.
Calculating is parked before originating point range, and parameter input module inputs parameter, and the parameter includes: body dimensions ginseng
Number, parking position dimensional parameters, vehicle and parking position position relationship parameter.
The polishing circular arc module is the second arc section in the circular arc of the terminating point polishing of the spline curve of planning, in sample
At the terminating point of curve, vehicle location and posture respectively with Xf_B, Yf_B, Thetaf_B expression, also, with to the right and to
The upper positive direction for X-axis and Y-axis, the starting point and ending point position of the second arc section and posture are indicated with following formula respectively:
According to the position of the starting point and ending point of acquisition, interpolation method is taken to generate intermediate path point, it is assumed that generate circle
N path point on arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC2: the X-coordinate of second segment circular arc starting point；
Yi_ARC2: the y-coordinate of second segment circular arc starting point；
Thetai_ARC2: the attitude angle of second segment circular arc starting point；
Xf_ARC2: the X-coordinate of second segment circular arc terminating point；
Yf_ARC2: the y-coordinate of second segment circular arc terminating point；
Thetaf_ARC2: the attitude angle of second segment circular arc terminating point；
Xf_B: the X-coordinate of spline curve terminal；
Yf_B: the y-coordinate of spline curve terminal；
Thetaf_B: the attitude angle of spline curve terminal point；
Δ theta: the angle interval of sampling；
X_ARC2(i): i-th x coordinate is inserted into second segment circular arc；
Y_ARC2(i): i-th y-coordinate is inserted into second segment circular arc；
Theta_ARC2(i): i-th attitude angle being inserted into second segment circular arc；
The polishing circular arc module is the first arc section, batten in the circular arc of the starting point polishing of the spline curve of planning
The starting point of curve, vehicle location and posture are respectively with Xi_B, Yi_B, Thetai_B, also, to the right and upwards for X
The positive direction of axis and Y-axis, the coordinate and pose of the starting point and ending point of the first arc section are obtained by following formula:
According to the starting point and ending point position of acquisition, interpolation method can be taken to generate intermediate path point, it is assumed that Yao Shengcheng
N path point on circular arc, the then pose of i-th of path point are as follows:
Wherein:
Xi_ARC1: the X-coordinate of first segment circular arc starting point；
Yi_ARC1: the y-coordinate of first segment circular arc starting point；
Thetai_ARC1: the attitude angle of first segment circular arc starting point；
Xf_ARC1: the X-coordinate of first segment circular arc terminating point；
Yf_ARC1: the y-coordinate of first segment circular arc terminating point；
Thetaf_ARC1: the attitude angle of first segment circular arc terminating point；
Xi_B: the X-coordinate of spline curve starting point；
Yi_B: the y-coordinate of spline curve starting point；
Thetai_B: the attitude angle of spline curve starting point；
Δ theta: the angle interval of sampling；
X_ARC1(i): i-th x coordinate is inserted into first segment circular arc；
Y_ARC1(i): i-th y-coordinate is inserted into first segment circular arc；
Theta_ARC1(i): i-th attitude angle being inserted into first segment circular arc；
Embodiment 5: a kind of device guaranteeing vehicle start position posture restraint in automatic parking path planning, in batten
One section of circular arc determined by vehicle least radius of initial point position polishing of curve, the phase junction of the circular arc and spline curve,
Its first derivative is continuous, which is 0.
Embodiment 6: a kind of device guaranteeing vehicle kinematics constraint when ajusting vehicle body in automatic parking path planning,
It is characterized in that, in one section of circular arc determined by vehicle least radius of terminating point position polishing of spline curve, the circular arc and batten
The phase junction of curve, first derivative is continuous, which is 0.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not
It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it
It is interior.
Claims (7)
1. a kind of automatic parking path planning apparatus characterized by comprising
Spline curve planning module selects optimal path to approach route as spline curve in feasible region；It is approaching
It does if being chosen on route as spline curve control point, and plans spline curve；
Polishing circular arc module, in the starting point of the spline curve of planning and/or one section of terminating point polishing by vehicle minimum turning half
The circular arc that diameter determines, so that with spline curve phase junction, first derivative is continuous；In the end of arc section, its first derivative is
0；Output trajectory point coordinate is to complete to plan.
2. automatic parking path planning apparatus as described in claim 1, which is characterized in that the feasibility range is to have parked
Initial point is to the feasibility range between terminal, and before which determines, the calculating of starting point of parking computing module, which is parked, originates point range.
3. automatic parking path planning apparatus as claimed in claim 2, which is characterized in that calculating park originate point range it
Before, parameter input module inputs parameter, and the parameter includes: body dimensions parameter, parking position dimensional parameters, vehicle and parking position
Position relationship parameter.
4. automatic parking path planning apparatus as described in claim 1, which is characterized in that the polishing circular arc module is being advised
The circular arc of the terminating point polishing for the spline curve drawn is the second arc section, at the terminating point of spline curve, vehicle location and appearance
State is respectively with Xf_B, Yf_B, Thetaf_B expression, also, to the right and to be upwards the positive direction of X-axis and Y-axis, the second circular arc
The starting point and ending point position and posture of section are indicated with following formula respectively:
According to the position of the starting point and ending point of acquisition, interpolation method is taken to generate intermediate path point, it is assumed that on Yao Shengcheng circular arc
N path point, then the pose of i-th of path point are as follows:
Wherein:
Xi_ARC2: the X-coordinate of second segment circular arc starting point；
Yi_ARC2: the y-coordinate of second segment circular arc starting point；
Thetai_ARC2: the attitude angle of second segment circular arc starting point；
Xf_ARC2: the X-coordinate of second segment circular arc terminating point；
Yf_ARC2: the y-coordinate of second segment circular arc terminating point；
Thetaf_ARC2: the attitude angle of second segment circular arc terminating point；
Xf_B: the X-coordinate of spline curve terminal；
Yf_B: the y-coordinate of spline curve terminal；
Thetaf_B: the attitude angle of spline curve terminal point；
Δ theta: the angle interval of sampling；
X_ARC2(i): i-th x coordinate is inserted into second segment circular arc；
Y_ARC2(i): i-th y-coordinate is inserted into second segment circular arc；
Theta_ARC2(i): i-th attitude angle being inserted into second segment circular arc.
5. automatic parking path planning apparatus as described in claim 1, which is characterized in that the polishing circular arc module is being advised
The circular arc of the starting point polishing for the spline curve drawn is the first arc section, the starting point of spline curve, vehicle location and posture
Respectively with Xi_B, Yi_B, Thetai_B, also, to the right and to be upwards the positive direction of X-axis and Y-axis, of the first arc section
The coordinate and pose of initial point and terminating point are obtained by following formula:
According to the starting point and ending point position of acquisition, interpolation method can be taken to generate intermediate path point, it is assumed that Yao Shengcheng circular arc
On n path point, then the pose of i-th of path point are as follows:
Wherein:
Xi_ARC1: the X-coordinate of first segment circular arc starting point；
Yi_ARC1: the y-coordinate of first segment circular arc starting point；
Thetai_ARC1: the attitude angle of first segment circular arc starting point；
Xf_ARC1: the X-coordinate of first segment circular arc terminating point；
Yf_ARC1: the y-coordinate of first segment circular arc terminating point；
Thetaf_ARC1: the attitude angle of first segment circular arc terminating point；
Xi_B: the X-coordinate of spline curve starting point；
Yi_B: the y-coordinate of spline curve starting point；
Thetai_B: the attitude angle of spline curve starting point；
Δ theta: the angle interval of sampling；
X_ARC1(i): i-th x coordinate is inserted into first segment circular arc；
Y_ARC1(i): i-th y-coordinate is inserted into first segment circular arc；
Theta_ARC1(i): i-th attitude angle being inserted into first segment circular arc.
6. a kind of device for guaranteeing vehicle start position posture restraint in automatic parking path planning, which is characterized in that in sample
One section of circular arc determined by vehicle least radius of initial point position polishing of curve, the phase contact of the circular arc and spline curve
Place, first derivative is continuous, which is 0.
7. a kind of device for guaranteeing vehicle kinematics constraint when ajusting vehicle body in automatic parking path planning, which is characterized in that
In one section of circular arc determined by vehicle least radius of terminating point position polishing of spline curve, which connects with spline curve
At point, first derivative is continuous, which is 0.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123942A (en) * | 2019-12-30 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | Method and device for generating spline path of AGV (automatic guided vehicle) and AGV |
| CN111290410A (en) * | 2020-05-11 | 2020-06-16 | 南京楚航科技有限公司 | Millimeter wave radar-based automatic ship berthing and departing system and method |
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