CN110576848A - Dynamic path planning method and device - Google Patents
Dynamic path planning method and device Download PDFInfo
- Publication number
- CN110576848A CN110576848A CN201910797242.0A CN201910797242A CN110576848A CN 110576848 A CN110576848 A CN 110576848A CN 201910797242 A CN201910797242 A CN 201910797242A CN 110576848 A CN110576848 A CN 110576848A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- point
- target
- controlling
- pause
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000005065 mining Methods 0.000 claims description 67
- 238000004590 computer program Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 101100537937 Caenorhabditis elegans arc-1 gene Proteins 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a method and a device for dynamic path planning, wherein the method comprises the following steps: acquiring an intersection point A of a preset path of a vehicle and a target course, wherein the target course is a parking direction of the vehicle at a target parking point P; after the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P by a first fixed turning angle, and controlling the front wheels of the vehicle to reverse from the pause point B to a point C where the direction of the body of the vehicle is consistent with the target heading by a second fixed turning angle; and controlling the vehicle to reverse from the point C to the target stop point P. The technical scheme of the invention can provide more reasonable and intelligent dynamic path planning for the driving process of the vehicle.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a dynamic path planning method and device.
Background
In intelligent driving, dynamic planning of a path plays a crucial role in the driving process. The existing path planning only can provide an optimal path from a starting point to a terminal point, and the specific parking state of a vehicle is not considered in the acquisition process of the optimal path, so that a more reasonable and accurate driving path is difficult to provide.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for dynamic path planning, which can provide a reasonable and accurate driving path.
In a first aspect, an embodiment of the present invention provides a method for dynamic path planning, including: acquiring an intersection point A of a preset path of the vehicle and a target course, wherein the target course is a parking direction of the vehicle at a target parking point P; after the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P by a first fixed turning angle, and controlling the front wheels of the vehicle to run backwards to a point C, wherein the direction of the body of the vehicle is consistent with the target course, from the pause point B by a second fixed turning angle; and controlling the vehicle to run backwards from the point C to the target stop point P.
In some embodiments of the present invention, controlling the front wheels of the vehicle to travel to the pause point B in a direction away from the target stop point P by a first fixed turning angle includes: determining a pause point B according to a course deviation alpha and a transverse deviation x of the vehicle in the process of driving in the direction departing from the target stop point P, wherein the course deviation alpha is an included angle between the vehicle body direction of the vehicle and the target course, and the transverse deviation x is a distance between the vehicle and the target course; the front wheels of the vehicle are controlled to travel to a point of pause B at a first fixed angle of rotation.
In some embodiments of the present invention, determining the point of pause B based on the heading deviation α and the lateral deviation x of the vehicle during travel in a direction away from the target stop point P comprises: and determining whether the course deviation alpha and the transverse deviation x meet a formula x ═ R ═ tan (alpha/2) × sin alpha, and if so, determining that the positions corresponding to the course deviation alpha and the transverse deviation x are pause points B, wherein R is a preset turning radius.
In some embodiments of the present invention, controlling the front wheels of the vehicle to reverse from the pause point B to the point C where the body direction of the vehicle coincides with the target heading direction at the second fixed turning angle includes: determining a second fixed corner according to the preset radius R; and controlling the front wheels of the vehicle to reverse from the pause point B to the point C at a second fixed turning angle.
In some embodiments of the present invention, controlling the vehicle to reverse from point C to the target stop point P comprises: and controlling the front wheels of the vehicle to reversely run to the target stop point P at a rotation angle of 0.
In certain embodiments of the invention, the method of the first aspect further comprises: and acquiring a preset path through acquisition equipment, wherein the preset path comprises a main road, and the acquisition equipment comprises GPS positioning equipment.
In certain embodiments of the invention, the vehicle is an unmanned mining vehicle.
In a second aspect, an embodiment of the present invention provides an apparatus for dynamic path planning, including: the acquisition module is used for acquiring an intersection point A of a preset path of the vehicle and a target course, wherein the target course is a parking direction of the vehicle at a target parking point P; and the control module is used for controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P at a first fixed rotation angle after the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to run backwards to a point C where the direction of the body of the vehicle is consistent with the target course from the pause point B at a second fixed rotation angle, and controlling the vehicle to run backwards to the target stop point P from the point C.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the method for dynamic path planning according to the first aspect.
in a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor; a memory for storing processor executable instructions, wherein the processor is adapted to perform the method of dynamic path planning as described in the first aspect above.
The embodiment of the invention provides a method and a device for dynamic path planning, which are used for determining a turning point A, B by utilizing the starting point position information and the end point position information of a vehicle and the target course information of the vehicle when the vehicle stops at the end point, so that more reasonable and intelligent dynamic path planning can be provided for the driving process of the vehicle.
drawings
Fig. 1 is a schematic architecture diagram of a system for dynamic path planning according to an exemplary embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating a method for dynamic path planning according to an embodiment of the present invention.
Fig. 3 is a scene diagram illustrating a dynamic path planning process according to an exemplary embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a dynamic path planning process according to an exemplary embodiment of the present invention.
Fig. 5 is a graph showing the relationship x- α when R is 14.2 according to an exemplary embodiment of the present invention.
Fig. 6 is a flowchart illustrating a method for dynamic path planning according to another embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a dynamic path planning apparatus according to an embodiment of the present invention.
Fig. 8 is a block diagram illustrating an electronic device for dynamic path planning according to an exemplary embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The dynamic path planning method provided by the embodiment of the invention can be used for unmanned vehicles, such as passenger vehicles or mining vehicles.
Taking an unmanned mining vehicle as an example, the terminal position of the mining vehicle can be a loading area or an unloading area. When the end location of the mining vehicle is a loading zone, the start location of the mining vehicle may be an unloading zone or other location of a mine zone; when the end location of the mining vehicle is an unloading zone, the start location of the mining vehicle may be a loading zone or other location of a mine zone.
The parking state of the mining vehicle at the end position should be that the head of the mining vehicle is far away from the loading area or the unloading area, and the tail of the mining vehicle is close to the loading area or the unloading area, so that the mining vehicle needs to perform a reverse operation (or back running) in the process of reaching the end position from the starting position. The existing path planning method can only give a driving path according to a starting position and an end position, and does not consider the parking state of the mining vehicle at the end position. Namely, the existing path planning method does not consider the self heading (the direction of the tail of the vehicle pointing to the head of the vehicle) of the mining vehicle, and the provided path does not include a reverse path, so that more reasonable and intelligent path planning is difficult to provide.
Fig. 1 is a schematic architecture diagram of a system for dynamic path planning according to an exemplary embodiment of the present invention, which illustrates an application scenario for dynamically planning a driving path of a terminal. As shown in fig. 1, the system includes a server 10 and a terminal 20. The terminal 20 may be a passenger car, a mining vehicle, or the like.
In an exemplary scenario, the server 10 may obtain start point position information and end point position information of the terminal 20, and parking state information of the terminal 20 at the end point position (i.e., a heading of the terminal 20 at the end point position), and perform dynamic path planning on the terminal 20 according to the start point position information, the end point position information, and the parking state information. Here, the start point position information and the end point position information may be expressed in terms of latitude and longitude.
The server 10 may be a server independent from the terminal 20, or may be a server integrated with the terminal 20.
It should be noted that the above application scenarios are only presented to facilitate understanding of the spirit and principles of the present invention, and the embodiments of the present invention are not limited thereto. Rather, embodiments of the present invention may be applied to any scenario where it may be applicable.
Fig. 2 is a schematic flow chart illustrating a method for dynamic path planning according to an embodiment of the present invention. As shown in fig. 2, the method includes the following.
110: and acquiring an intersection point A of the preset path of the vehicle and a target course, wherein the target course is the parking direction of the vehicle at the position of the target parking point P.
The execution subject of the method may be the server in fig. 1. In particular, the vehicle may be a passenger car, a mining vehicle, or the like. The preset path may be a path given by the server according to the start point position information and the end point position information of the vehicle.
In one embodiment, the vehicle is a passenger car, and the server may give the preset path using a Baidu map or a Gade map based on the start point position information and the end point position information.
In another embodiment, the vehicle is a mining vehicle, and the position information of each main road in the mining area can be collected through the collecting equipment. After the server acquires the starting point position information and the end point position information of the mining vehicle, the starting point position information and the end point position information are matched with the position information of each main road to give an optimal preset path (such as a path with the shortest length). The acquisition device in this embodiment may be a GPS positioning device.
For convenience of description, the following describes the embodiment of the present invention in detail with the vehicle being a mining vehicle.
The end position of the mining vehicle is indicated by a target stop point P. The direction of the tail of the mining vehicle pointing to the head of the mining vehicle is the heading of the mining vehicle, and the heading of the mining vehicle changes along with the change of the driving direction in the driving process of the mining vehicle. The heading of the mining vehicle when the mining vehicle stops at the target stop point P is a target heading (or stopping direction).
When the terminal point is the loading area, the volume of the materials in the loading area is gradually reduced along with the increase of the loading times, and the target stop point P of the mining vehicle is also gradually changed. In one embodiment, the materials in the loading area are loaded onto the mining vehicle through an electric shovel of an excavator, and the electric shovel of the excavator can acquire the position information of the target stop point P and send the position information of the target stop point P to the server, so that the server dynamically plans the driving path of the mining vehicle. The position information of the target stop point P acquired by the excavator's electric shovel may include coordinates of the target stop point P and a heading of the vehicle at the target stop point P.
When the terminal point is the unloading area, the volume of the materials in the unloading area is gradually increased along with the increase of the unloading times, and the target stop point P of the mining vehicle is also gradually changed. In one embodiment, materials on the mining vehicle are unloaded to the unloading area through an electric shovel of the excavator, the electric shovel of the excavator can acquire position information of the target stop point P and send the position information of the target stop point P to the server, so that the server dynamically plans a driving path of the mining vehicle. In another embodiment, position information of a boundary line of the unloading area may be acquired by the boundary acquisition device, so that the mining vehicle moves a certain distance along the boundary line each time for parking unloading. The boundary acquisition device may be a GPS positioning device or the like.
It should be noted that the excavator's electric shovel may include a position sensor, and position information of the target stop point P is acquired by the position sensor.
120: after the vehicle passes through the intersection point A, the front wheels of the vehicle are controlled to run to a pause point B in a direction away from the target stop point P by a first fixed turning angle, and the front wheels of the vehicle are controlled to run backwards to a point C in which the direction of the body of the vehicle is consistent with the target heading direction from the pause point B by a second fixed turning angle.
Specifically, after the preset path (or the collection path) is obtained, the server may obtain an intersection point of the target heading and the preset path. And when the intersection point of the target course and the preset path is one, the intersection point is the intersection point A. When the intersection points of the target heading and the preset path are multiple, the intersection point closest to the target stop point P can be used as the intersection point a.
When the front wheels pass through the intersection point A, the server controls the front wheels of the mining vehicle to rotate by a certain angle, so that the front wheels of the mining vehicle run along the direction departing from the target stop point P by a first fixed corner after the mining vehicle passes through the intersection point A. The intersection point a is regarded as a turning point, and the first fixed rotation angle may be greater than 0 degrees and smaller than 90 degrees.
referring to fig. 3, the front wheel of the mining vehicle travels to the pause point B at a first fixed rotation angle, the server controls the mining vehicle to stop, controls the front wheel of the mining vehicle to return to a position where the rotation angle is 0 degrees, further controls the front wheel to rotate a second fixed rotation angle in a direction opposite to the first fixed rotation angle, and controls the mining vehicle to reverse until the heading of the mining vehicle is consistent with the target heading, that is, the point C in fig. 3. The pause point B is regarded as a turning point, and the second fixed rotation angle may be greater than 0 degrees and smaller than 90 degrees.
In an embodiment, the position information of the pause point B and the size of the second fixed turning angle may be preset, or may be determined according to the size of the first fixed turning angle and the target heading.
130: and controlling the vehicle to run backwards from the point C to the target stop point P.
And at the point C, the server controls the front wheel of the mining vehicle to return to the position with the rotation angle of 0, and controls the mining vehicle to move backwards to the target stop point P.
The embodiment of the invention provides a dynamic path planning method, which determines a turning point A, B by utilizing the starting point position information and the end point position information of a vehicle and the target course information of the vehicle when the vehicle stops at the end point, thereby providing more reasonable and intelligent dynamic path planning for the driving process of the vehicle.
controlling 120 the front wheels of the vehicle to travel to the pause point B in a direction away from the target stop point P at a first fixed turn angle, according to an embodiment of the invention, includes: determining a pause point B according to a course deviation alpha and a transverse deviation x of the vehicle in the process of driving in the direction departing from the target stop point P, wherein the course deviation alpha is an included angle between the vehicle body direction of the vehicle and the target course, and the transverse deviation x is a distance between the vehicle and the target course; the front wheels of the vehicle are controlled to travel to a point of pause B at a first fixed angle of rotation.
Specifically, in the process that the mining vehicle runs from the intersection point a to the pause point B, the front wheel of the mining vehicle is in a state of keeping a first fixed turning angle, the vertical distance (lateral deviation) between the mining vehicle and the target heading is gradually increased, and the included angle (heading deviation) between the heading of the mining vehicle and the target heading is gradually reduced.
Because the tire of the mining vehicle has larger size and strong rigidity, the tire can be approximately treated as a rigid body when running at low speed. Therefore, the effect of the tire cornering phenomenon of the vehicle on the mining vehicle is not significant. When the mining vehicle runs at a low speed, the motion trail of the mining vehicle under the fixed front wheel steering angle is arc-shaped.
Referring to fig. 4, when the front wheel of the mining vehicle travels from intersection a to pause point B at any angle, the travel trajectory is arc 1. When the front wheel of the mining vehicle runs from the pause point B to the point C at a second fixed turning angle, the running track is an arc 2. The circle on which the arc 1 is positioned is tangent to the circle on which the arc 2 is positioned at the point B.
According to an embodiment of the present invention, the radius of the circle where the arc 2 is located may be preset in advance, that is, the preset turning radius R. Referring to fig. 4, the length of the line segment DB may be expressed as
And DB is R tan DOB (alpha/2), wherein O is the center of the circle where the circular arc 2 is located, and D is the intersection point of the angular bisector of the BOC and the straight line where the target course is located, namely the intersection point of the tangent of the circular arc 2 at the pause point B and the straight line where the target course is located.
The lateral deviation x can be expressed as
x＝DB*sinα，
The following relation is satisfied between the transverse deviation x and the course deviation alpha
x＝R*tan(α/2)*sinα。
Taking the preset turning radius R as 14.2 as an example, the variation relationship between x and α is shown in fig. 5.
Specifically, after the preset turning radius R is fixed, the server may monitor the lateral deviation x and the heading deviation α of the mining vehicle during the driving of the mining vehicle from the intersection point a in the direction away from the target stop point P. And when the transverse deviation x and the heading deviation alpha meet the formula x ═ R ═ tan (alpha/2) × sin alpha, controlling the mining vehicle to stop, wherein the stop position is a pause point B.
And at the pause point B, the server can control the mining vehicle to adjust the rotation angle of the front wheel to return to 0 degree, further determine a second fixed rotation angle according to the preset turning radius R, control the mining vehicle to adjust the front wheel to rotate the second fixed rotation angle, and move backwards from the pause point B to the point C. The first fixed corner is opposite in direction to the second fixed corner.
In this embodiment, the heading of the mining vehicle at the intersection point a may be perpendicular to the target heading, or may not be perpendicular, that is, the heading deviation of the mining vehicle at the intersection point a may be between 0 and 180 degrees. Along with the change of the first fixed rotation angle and the change of the course deviation at the intersection point A, the position of the pause point B also changes correspondingly.
further, when the mining vehicle reverses to the point C, the server controls the mining vehicle to adjust the rotation angle of the front wheel to return to 0 degree, and then controls the mining vehicle to reverse from the point C to the target stop point P.
According to the dynamic path planning method provided by the embodiment of the invention, the front wheel steering angle when the vehicle reverses is determined through the preset turning radius, the pause point B is determined according to the transverse deviation and the course deviation when the vehicle forwards, and the vehicle is controlled to reverse to the target course from the pause point B through the determined front wheel steering angle, so that a more intelligent and accurate dynamic path planning process can be realized.
Fig. 6 is a flowchart illustrating a method for dynamic path planning according to another embodiment of the present invention. The embodiment shown in fig. 6 is a specific example of the embodiment shown in fig. 2, and in order to avoid redundancy, the same is not specifically explained. As shown in fig. 6, the method includes the following.
210: the start point position information of the vehicle and the position information of the target stop point P are acquired.
The target stop point P is the end position of the vehicle. The starting point position information and the position information of the target stop point P can be acquired by a GPS positioning device. The course information of the vehicle in the driving process can be acquired through the image acquisition equipment or other modes.
220: and acquiring a preset path according to the starting point position information and the position information of the target stop point P.
230: and acquiring an intersection point A of the preset path and the target course.
The process of acquiring the preset path and the process of determining the intersection point a may refer to the description in the embodiment of fig. 2, and are not described herein again.
240: and controlling the vehicle to travel to the intersection point A along a preset path.
250: the vehicle is controlled to travel from the intersection point a in a direction away from the target stop point P at a first fixed angle of rotation.
The first fixed rotation angle may be preset or random, and the present invention is not limited thereto.
260: and judging whether the lateral deviation x and the heading deviation alpha of the vehicle meet x ═ R × (alpha/2) × sin alpha.
R is a preset turning radius, specifically, a turning radius at which the vehicle is running backward to the target stop point P.
During the forward driving of the front wheel of the vehicle from the intersection point a at the first fixed turning angle, if the lateral deviation x and the heading deviation α of the vehicle satisfy the formula x ═ R ═ tan (α/2) × sin α, execution is 270, and if not, execution is continued to 250.
270: and controlling the vehicle to reverse at a second fixed rotation angle.
Specifically, a point at which the lateral deviation x and the heading deviation α satisfy x ═ R × tan (α/2) × sin α is the pause point B. At the pause point B, the server may control the vehicle to stop, shift reverse, and reverse at a second fixed angle.
280: and judging whether the course of the vehicle is consistent with the target course.
And in the process that the front wheel of the vehicle backs at the second fixed rotation angle, the heading of the vehicle is continuously changed and gradually approaches to the target heading, if the heading of the vehicle is consistent with the target heading, 290 is executed, and if the heading of the vehicle is not consistent with the target heading, 270 is continuously executed.
290: and controlling the vehicle to reversely run to the target stop point P.
And in the process that the vehicle backs up from the pause point B, the point where the heading of the vehicle is consistent with the target heading is the point C. At this time, the server may control the rotation angle of the front wheels to return to 0 degrees and control the vehicle to reverse to the target stop point P.
Fig. 7 is a schematic structural diagram of an apparatus 700 for dynamic path planning according to an embodiment of the present invention. As shown in fig. 7, the apparatus 700 includes: an acquisition module 710 and a control module 720.
The obtaining module 710 is configured to obtain an intersection point a between a preset path of the vehicle and a target heading, where the target heading is a stopping direction of the vehicle at a position of a target stopping point P. The control module 720 is configured to control the front wheel of the vehicle to travel to the pause point B in a direction away from the target stop point P by a first fixed turning angle after the vehicle passes through the intersection point a, control the front wheel of the vehicle to reverse from the pause point B to a point C where a body direction of the vehicle coincides with the target heading direction by a second fixed turning angle, and control the vehicle to reverse from the point C to the target stop point P.
The embodiment of the invention provides a dynamic path planning device, which determines a turning point A, B by utilizing the starting point position information and the end point position information of a vehicle and the target course information of the vehicle when the vehicle stops at the end point, thereby providing more reasonable and intelligent dynamic path planning for the driving process of the vehicle.
According to an embodiment of the present invention, the control module 720 is configured to determine the pause point B according to a heading deviation α and a lateral deviation x of the vehicle during driving in a direction away from the target stop point P, where the heading deviation α is an included angle between a vehicle body direction of the vehicle and the target heading, and the lateral deviation x is a distance between the vehicle and the target heading; the front wheels of the vehicle are controlled to travel to a point of pause B at a first fixed angle of rotation.
According to an embodiment of the present invention, the control module 720 is configured to determine whether the heading deviation α and the lateral deviation x satisfy a formula x ═ R ═ tan (α/2) × sin α, and if so, determine that a position corresponding to the heading deviation α and the lateral deviation x is a pause point B, where R is a preset turning radius.
According to an embodiment of the present invention, the control module 720 is configured to determine a second fixed turning angle according to the preset radius R; and controlling the front wheels of the vehicle to reverse from the pause point B to the point C at a second fixed turning angle.
The control module 720 is configured to control the front wheels of the vehicle to reverse to the target stopping point P at 0 degrees, according to an embodiment of the present invention.
According to an embodiment of the present invention, the obtaining module 710 is further configured to obtain a preset path through a collecting device, where the preset path includes a main road, and the collecting device includes a GPS positioning device.
According to an embodiment of the invention, the vehicle is an unmanned mining vehicle.
It should be understood that, the operations and functions of the obtaining module 710 and the control module 720 in the above embodiments may refer to the descriptions in the method for dynamic path planning provided in fig. 2 and fig. 6, and are not described herein again to avoid repetition.
Fig. 8 is a block diagram illustrating an electronic device 800 for dynamic path planning according to an exemplary embodiment of the invention.
Referring to fig. 8, electronic device 800 includes a processing component 810 that further includes one or more processors, and memory resources, represented by memory 820, for storing instructions, such as applications, that are executable by processing component 810. The application programs stored in memory 820 may include one or more modules that each correspond to a set of instructions. Further, the processing component 810 is configured to execute instructions to perform the method of dynamic path planning described above.
The electronic device 800 may also include a power supply component configured to perform power management of the electronic device 800, a wired or wireless network interface configured to connect the electronic device 800 to a network, and an input-output (I/O) interface. The electronic device 800 may be operated based on an operating system stored in the memory 820, such as Windows ServerTM，Mac OS XTM，UnixTM，LinuxTM，FreeBSDTMor the like.
A non-transitory computer readable storage medium having instructions stored thereon that, when executed by a processor of the electronic device 800, enable the electronic device 800 to perform a method of dynamic path planning, comprising: acquiring an intersection point A of a preset path of the vehicle and a target course, wherein the target course is a parking direction of the vehicle at a target parking point P; after the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P by a first fixed turning angle, and controlling the front wheels of the vehicle to run backwards to a point C, wherein the direction of the body of the vehicle is consistent with the target course, from the pause point B by a second fixed turning angle; and controlling the vehicle to run backwards from the point C to the target stop point P.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program check codes, such as a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that the terms "first," "second," "third," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention.
Claims (10)
1. A method of dynamic path planning, comprising:
Acquiring an intersection point A of a preset path of a vehicle and a target course, wherein the target course is a parking direction of the vehicle at a target parking point P;
After the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P by a first fixed turning angle, and controlling the front wheels of the vehicle to reverse from the pause point B to a point C where the direction of the body of the vehicle is consistent with the target heading by a second fixed turning angle;
And controlling the vehicle to reverse from the point C to the target stop point P.
2. The method according to claim 1, wherein said controlling the front wheels of the vehicle to travel to a pause point B in a direction away from the target stop point P by a first fixed turning angle comprises:
determining the pause point B according to a course deviation alpha and a transverse deviation x of the vehicle in the process of driving in the direction departing from the target stop point P, wherein the course deviation alpha is an included angle between the vehicle body direction of the vehicle and the target course, and the transverse deviation x is a distance between the vehicle and the target course;
And controlling the front wheels of the vehicle to run to the pause point B at the first fixed turning angle.
3. The method according to claim 2, wherein said determining the point of pause B as a function of a heading deviation a and a lateral deviation x of the vehicle during travel in a direction away from the target stop point P comprises:
Determining whether the course deviation alpha and the transverse deviation x satisfy a formula
x＝R*tan(α/2)*sinα，
And if so, determining that the position corresponding to the course deviation alpha and the transverse deviation x is the pause point B, wherein R is a preset turning radius.
4. The method of claim 3, wherein said controlling the front wheels of the vehicle to reverse from the point of pause B to a point C where the body direction of the vehicle coincides with the target heading at a second fixed turn angle comprises:
Determining the second fixed corner according to the preset radius R;
and controlling the front wheels of the vehicle to reverse from the pause point B to the point C at the second fixed turning angle.
5. the method according to any one of claims 1 to 4, wherein said controlling the vehicle to reverse from the C point to the target stop point P comprises:
and controlling the front wheels of the vehicle to reversely run to the target stop point P at a rotation angle of 0.
6. The method of any of claims 1 to 4, further comprising:
And acquiring the preset path through acquisition equipment, wherein the preset path comprises a main road, and the acquisition equipment comprises GPS positioning equipment.
7. The method according to any one of claims 1 to 4, characterized in that the vehicle is an unmanned mining vehicle.
8. An apparatus for dynamic path planning, comprising:
The system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring an intersection point A of a preset path of a vehicle and a target course, and the target course is a parking direction of the vehicle at a target parking point P;
And the control module is used for controlling the front wheels of the vehicle to run to a pause point B in a direction departing from the target stop point P by a first fixed turning angle after the vehicle passes through the intersection point A, controlling the front wheels of the vehicle to reverse from the pause point B to a point C, wherein the direction of the body of the vehicle is consistent with the target course, and controlling the vehicle to reverse from the point C to the target stop point P.
9. a computer-readable storage medium, the storage medium storing a computer program for performing the method of dynamic path planning of any of the preceding claims 1 to 7.
10. An electronic device, comprising:
A processor;
A memory for storing the processor-executable instructions,
Wherein the processor is configured to perform the method of dynamic path planning of any of the preceding claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797242.0A CN110576848A (en) | 2019-08-27 | 2019-08-27 | Dynamic path planning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910797242.0A CN110576848A (en) | 2019-08-27 | 2019-08-27 | Dynamic path planning method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110576848A true CN110576848A (en) | 2019-12-17 |
Family
ID=68811993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910797242.0A Pending CN110576848A (en) | 2019-08-27 | 2019-08-27 | Dynamic path planning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110576848A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111583691A (en) * | 2020-04-23 | 2020-08-25 | 北京踏歌智行科技有限公司 | Cluster type barrier synchronization method |
| CN113581198A (en) * | 2021-06-24 | 2021-11-02 | 安徽海博智能科技有限责任公司 | Unmanned mine car parking control method based on parking control point |
| WO2021228147A1 (en) * | 2020-05-15 | 2021-11-18 | 长沙智能驾驶研究院有限公司 | Mine car transportation and driving control method and device, and mine car and storage medium |
| CN114038203A (en) * | 2022-01-12 | 2022-02-11 | 成都四方伟业软件股份有限公司 | Curve fitting method and device for two-point intersection lane in traffic simulation |
| CN117537841A (en) * | 2023-12-08 | 2024-02-09 | 北京斯年智驾科技有限公司 | Reversing path generation method and system for automatic driving vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001018821A (en) * | 1999-07-02 | 2001-01-23 | Honda Motor Co Ltd | Automatic steering apparatus for vehicle |
| WO2008129958A1 (en) * | 2007-04-18 | 2008-10-30 | Aisin Seiki Kabushiki Kaisha | Parking support device |
| CN101751039A (en) * | 2008-12-19 | 2010-06-23 | 株式会社丰田自动织机 | Parking assist apparatus |
| CN102971202A (en) * | 2010-06-29 | 2013-03-13 | 丰田自动车株式会社 | Parking assistance apparatus |
| CN106458212A (en) * | 2014-06-30 | 2017-02-22 | 日立汽车系统株式会社 | Parking trajectory calculation device and parking trajectory calculation method |
| CN106585627A (en) * | 2016-11-07 | 2017-04-26 | 纵目科技（上海）股份有限公司 | Parking auxiliary system and automobile |
| CN107856667A (en) * | 2017-11-08 | 2018-03-30 | 科大讯飞股份有限公司 | Auxiliary parking system and method |
-
2019
- 2019-08-27 CN CN201910797242.0A patent/CN110576848A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001018821A (en) * | 1999-07-02 | 2001-01-23 | Honda Motor Co Ltd | Automatic steering apparatus for vehicle |
| WO2008129958A1 (en) * | 2007-04-18 | 2008-10-30 | Aisin Seiki Kabushiki Kaisha | Parking support device |
| CN101751039A (en) * | 2008-12-19 | 2010-06-23 | 株式会社丰田自动织机 | Parking assist apparatus |
| CN102971202A (en) * | 2010-06-29 | 2013-03-13 | 丰田自动车株式会社 | Parking assistance apparatus |
| CN106458212A (en) * | 2014-06-30 | 2017-02-22 | 日立汽车系统株式会社 | Parking trajectory calculation device and parking trajectory calculation method |
| CN106585627A (en) * | 2016-11-07 | 2017-04-26 | 纵目科技（上海）股份有限公司 | Parking auxiliary system and automobile |
| CN107856667A (en) * | 2017-11-08 | 2018-03-30 | 科大讯飞股份有限公司 | Auxiliary parking system and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111583691A (en) * | 2020-04-23 | 2020-08-25 | 北京踏歌智行科技有限公司 | Cluster type barrier synchronization method |
| CN111583691B (en) * | 2020-04-23 | 2021-08-20 | 北京踏歌智行科技有限公司 | Cluster type barrier synchronization method |
| WO2021228147A1 (en) * | 2020-05-15 | 2021-11-18 | 长沙智能驾驶研究院有限公司 | Mine car transportation and driving control method and device, and mine car and storage medium |
| CN113581198A (en) * | 2021-06-24 | 2021-11-02 | 安徽海博智能科技有限责任公司 | Unmanned mine car parking control method based on parking control point |
| CN113581198B (en) * | 2021-06-24 | 2022-08-05 | 安徽海博智能科技有限责任公司 | Unmanned mine car parking control method based on parking control point |
| CN114038203A (en) * | 2022-01-12 | 2022-02-11 | 成都四方伟业软件股份有限公司 | Curve fitting method and device for two-point intersection lane in traffic simulation |
| CN117537841A (en) * | 2023-12-08 | 2024-02-09 | 北京斯年智驾科技有限公司 | Reversing path generation method and system for automatic driving vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110576848A (en) | Dynamic path planning method and device | |
| US20210291901A1 (en) | Trailer backup assist curvature control | |
| US10114378B2 (en) | Automatic guidance system with stability control for an agricultural vehicle | |
| US8645015B2 (en) | Semiautomatic parking machine | |
| CN108463690B (en) | Evaluating U-turn feasibility | |
| US8489283B2 (en) | Parallel parking assistant system and method thereof | |
| US11874660B2 (en) | Redundant lateral velocity determination and use in secondary vehicle control systems | |
| CN108873902A (en) | A kind of long-range control method and device of unmanned mine vehicle | |
| CN112277931B (en) | Vertical parking trajectory generation method and device, vehicle and storage medium | |
| US10684773B2 (en) | Mobile device interface for trailer backup-assist | |
| US11358640B2 (en) | Parking assistance device | |
| US20210214008A1 (en) | Transverse steering method and transverse steering device for moving a vehicle into a target position, and vehicle for this purpose | |
| JP2022535653A (en) | How to determine an allowable vehicle state space for articulated vehicles | |
| CN112433531A (en) | Trajectory tracking method and device for automatic driving vehicle and computer equipment | |
| CN111634331B (en) | Steering control method, device and system for automatic driving vehicle | |
| KR20220017481A (en) | Road Model Manifold for 2D Trajectory Planner | |
| CN111443705A (en) | In-vehicle processing device and control method for in-vehicle processing device | |
| CN115303262A (en) | Vehicle control method, device, terminal device and computer readable storage medium | |
| US9925978B2 (en) | Vehicle pivot technique | |
| CN115768679A (en) | Method for determining a replacement trajectory, computer program product, parking assistance system and vehicle | |
| CN110733568B (en) | Steering method and system of crawler-type unmanned rescue vehicle and storage medium | |
| US10775804B1 (en) | Optical array sensor for use with autonomous vehicle control systems | |
| US20220315028A1 (en) | Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle | |
| CN115243960B (en) | Method for operating a vehicle, parking assistance system and vehicle | |
| CN114506314A (en) | Vehicle parallel parking method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191217 |