CN110696819A - Automatic parking path planning method and system - Google Patents
Automatic parking path planning method and system Download PDFInfo
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- CN110696819A CN110696819A CN201911055116.4A CN201911055116A CN110696819A CN 110696819 A CN110696819 A CN 110696819A CN 201911055116 A CN201911055116 A CN 201911055116A CN 110696819 A CN110696819 A CN 110696819A
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
Abstract
The invention relates to an automatic parking path planning method and system, wherein the method carries out path planning based on the combination of circular arcs and straight lines of geometric information, and comprises the following steps: 1) acquiring library position information; 2) identifying the type of the parking space, if the parking space is vertical parking, executing the step 3), and if the parking space is parallel parking, executing the step 4); 3) judging whether a primary warehousing condition is met, if so, performing primary warehousing planning, and if not, starting vertical parking and re-planning based on a vertical parking constraint equation; 4) and realizing parallel parking planning based on a parallel parking constraint equation. Compared with the prior art, the method can realize vertical automatic parking planning and horizontal automatic parking planning of horizontal and longitudinal decoupling and space saving by calculating the running time information given to the system under the condition of no path with time information.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking path planning method and system.
Background
Automatic parking plays an important role in the unmanned link. Many intelligent parking lot applications such as automatic charging, dynamic scheduling, etc. rely on their implementation. In this link, the path plan is greatly different from the path plan on a general road. Generally, the goal of path planning is to expect that a vehicle runs smoothly and at a high speed in a relatively large space, the motion in a plurality of adjacent periods often takes information such as curvature change, transverse displacement change and the like as optimization indexes of smoothness, the vehicle does not have an accurate target, and only needs to continuously move towards a virtual target of each planning period in a trend. However, automatic parking is quite different, and it is often desired that the vehicle performs multiple forward and backward movements in a small space, and the use of the space makes the steering of the vehicle always in a full-rudder limit state.
The existing automatic parking system has the following defects:
1. the planned path is strongly related to time, and errors generated in the vehicle running process cannot be eliminated in time;
2. the traditional path planning algorithm can not well meet the space economy while decoupling the transverse and longitudinal control problems. Therefore, it is necessary to develop a new automatic parking system.
Disclosure of Invention
The present invention is directed to provide an automatic parking path planning method and system for overcoming the above-mentioned drawbacks of the prior art.
The purpose of the invention can be realized by the following technical scheme:
an automatic parking path planning method, which carries out path planning based on the combination of circular arcs and straight lines of geometric information, comprises the following steps:
1) acquiring library position information;
2) identifying the type of the parking space, if the parking space is vertical parking, executing the step 3), and if the parking space is parallel parking, executing the step 4);
3) judging whether a primary warehousing condition is met, if so, performing primary warehousing planning, and if not, starting vertical parking and re-planning based on a vertical parking constraint equation;
4) and realizing parallel parking planning based on a parallel parking constraint equation.
Further, the library position information is obtained through a look-around camera and an ultrasonic radar.
Further, the primary warehousing condition is as follows:
wherein a first constraint indicates that the vehicle centerline is tangent to the depot centerline l and a second constraint indicates that the vehicle cannot be brought into contact with the depot access point P0(x0,y0) The third constraint represents that the vehicle is parallel to the garage position and the tail of the vehicle cannot exceed the boundary of the garage position after parking is finished, the fourth constraint represents that the left rear angle of the vehicle cannot collide with the garage position in the driving process, and the fifth constraint represents the constraint of the minimum turning radius of the vehicle;
P0、P1、P2、P3four corner points of the bin, P0And P3Is the entrance of the garage, R is the instantaneous turning radius of the vehicle, RminIndicating the minimum turning radius, whIndicates a vehicle width of half a vehicle, LrIndicating the length from the rear peripheral axis of the vehicle to the rear of the vehicle, RrrThe turning radius of the rear left corner of the vehicle with respect to the instant rotation center P of the vehicle is shown.
Further, the vertical parking constraint equation is as follows:
wherein x isg,ygCoordinates of the final parking completion end point, xt,ytIs a tangent point of the final parking and warehousing path tangent to the warehouse location central line lfinalIs an adjustable threshold value, RminIndicating the minimum turning radius, RfDenotes the radius of the advancing circle, RbDenotes the radius of the receding circle, xf,yfIs the coordinate of the center of the advancing circle, and theta is the included angle between the side surface of the library position and the positive direction of the X axis.
Further, the parallel parking constraint equation is as follows:
wherein x isg,ygCoordinates of final parking completion end point, RminIndicates minimum turning radius, LfIndicating the centre of the rear periphery of the vehicle to the headLength, δ represents the minimum distance of the vehicle from the side of the garage, x0,y0For library bit entry point P0Coordinate of (a), xoffset、whDenotes the vehicle width of half a vehicle, xs1,ys1、xs2,ys2、xs3,ys3The centers of three arcs are respectively used for parking in parallel, and theta is the included angle between the side surface of the storehouse position and the positive direction of the X axis.
The invention also provides an automatic parking path planning system, which carries out path planning based on the combination of the circular arc and the straight line of the geometric information, and comprises the following steps:
the storage position information acquisition module is used for acquiring storage position information;
the garage type identification module is used for identifying whether the garage position type is vertical parking or parallel parking;
the vertical parking module responds when the output of the garage type identification module is vertical parking and is used for judging whether primary parking conditions are met or not, if yes, primary parking planning is carried out, and if not, vertical parking replanning is started based on a vertical parking constraint equation;
and the parallel parking module responds when the output of the garage type identification module is parallel parking and is used for realizing parallel parking planning based on a parallel parking constraint equation.
Further, the library position information is obtained through a look-around camera and an ultrasonic radar.
Further, the primary warehousing condition is as follows:
wherein a first constraint indicates that the vehicle centerline is tangent to the depot centerline l and a second constraint indicates that the vehicle cannot be brought into contact with the depot access point P0(x0,y0) The third constraint represents that the vehicle is parallel to the garage position and the tail of the vehicle cannot exceed the boundary of the garage position after parking is finished, the fourth constraint represents that the left rear angle of the vehicle cannot collide with the garage position in the driving process, and the fifth constraint represents the constraint of the minimum turning radius of the vehicle;
P0、P1、P2、P3four corner points of the bin, P0And P3Is the entrance of the garage, R is the instantaneous turning radius of the vehicle, RminIndicating the minimum turning radius, whIndicates a vehicle width of half a vehicle, LrIndicating the length from the rear peripheral axis of the vehicle to the rear of the vehicle, RrrThe turning radius of the rear left corner of the vehicle with respect to the instant rotation center P of the vehicle is shown.
Further, the vertical parking constraint equation is as follows:
wherein x isg,ygCoordinates of the final parking completion end point, xt,ytIs a tangent point of the final parking and warehousing path tangent to the warehouse location central line lfinalIs an adjustable threshold value, RminIndicating the minimum turning radius, RfDenotes the radius of the advancing circle, RbDenotes the radius of the receding circle, xf,yfIs the coordinate of the center of the advancing circle, and theta is the included angle between the side surface of the library position and the positive direction of the X axis.
Further, the parallel parking constraint equation is as follows:
wherein x isg,ygCoordinates of final parking completion end point, RminIndicates minimum turning radius, LfThe length from the rear peripheral axle center of the vehicle to the head of the vehicle is shown, delta represents the minimum distance between the vehicle and the side edge of the garage position, and x0,y0For library bit entry point P0Coordinate of (a), xoffset、whDenotes the vehicle width of half a vehicle, xs1,ys1、xs2,ys2、xs3,ys3The centers of three arcs are respectively used for parking in parallel, and theta is the included angle between the side surface of the storehouse position and the positive direction of the X axis.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention only uses 360-degree looking around and ultrasonic radar in the aspect of the sensor, and forms a set of automatic parking system which can be independently established.
2. Conventional path planning should be a function of position and time, x (t), y (t), so decoupling velocity does not add complexity. The invention aims to provide time information for the operation of a system by path estimation under the condition that a vehicle has no path with time information, and the path estimation converts a past time path to a vehicle body coordinate at the current time by a positioning system.
3. The invention can realize the vertical automatic parking plan and the horizontal automatic parking plan with the functions of transverse and longitudinal decoupling and space saving.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of an initial position of a vehicle in an embodiment;
FIG. 3 is a schematic diagram of a first parking and backing plan of the vertical parking in the embodiment;
FIG. 4 is a schematic diagram of vertical parking replanning in an embodiment;
fig. 5 is a schematic diagram of a parallel parking plan in an embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The invention provides an automatic parking path planning method, an operation flow chart is shown in figure 1, and the method carries out path planning based on the combination of circular arcs and straight lines of geometric information. The set speed per hour of the vehicle is 2-5km/h, so that the dynamic model of the vehicle can be ignored and only the kinematic model is used. The vehicle parking path planning by using the geometric characteristics simultaneously comprises two situations of vertical parking and lateral parking.
As shown in fig. 1, the environment sensing module is the information of the library locations identified by the look-around and the ultrasonic radar. Unlike path planning during normal driving, parking planning is only task-driven, and the vehicle can be planned once only when the vehicle triggers a re-planning condition, which generally occurs when the vehicle is switched between forward and backward, or final attitude adjustment is performed when the vehicle approaches completion. The reason for this is that most vehicles are in a relatively limited state during parking, and if the error due to vehicle control is almost impossible to eliminate in time by adjusting the plan. Here, to facilitate system independence, visual SLAM or differential GPS positioning is optionally shown in dashed lines in the fusion module.
1. Real-time path estimation
During normal vehicle travel, the plan is driven by two modes, time and event. The time frequency is generally set to be more than 1s according to the speed and the road condition so as to ensure the smoothness of the vehicle, and the events mainly comprise tasks of changing the future path condition, such as lane changing, overtaking, traffic light stopping and the like driven by a state machine. For the vehicle control module, real-time reception of high frequency is required, which is typically 30ms, of a path coordinate sequence relative to the vehicle coordinate system at each moment. It is therefore necessary to convert the low frequency path into a real time path. The path estimation converts the past time path to the body coordinates at the current time by the positioning system. The route estimation method for providing route time information is specifically shown in formula (1).
Wherein R is a 2 × 2 dimensional rotation matrix
T is a 2X 1-dimensional translation matrix [ Δ X, Δ Y]T，p(xn,yn) Representing a path of n points. Generally, the module records all updated records within 5 seconds, and in practical application, only a cycle number needs to be input to obtain the path condition at a certain past moment.
2. Description of the parameters
As shown in fig. 2, the vehicle is approximated as a rectangle. w is ahTo representSemi-vehicle width, Lf,LrThe lengths from the rear peripheral axle center of the vehicle to the head and the tail of the vehicle are respectively shown, four gray circular arcs in the figure are the running tracks of four virtual vertexes of the vehicle under the condition of fixing the steering wheel corner, Rfl,Rfr,Rrl,RrrRespectively representing the turning radius of four virtual fixed points corresponding to the instant rotation center P of the vehicle for judging whether the vehicle can be put in storage at one time, RminIndicating a minimum turning radius. According to the inherent mechanical characteristics of the vehicle, Rfl,Rfr,Rrl,RrrThe calculation of (c) can be given by equation (2).
Wherein, R is the instantaneous turning radius of the vehicle and can be calculated by the current steering wheel turning angle. It is obvious that the maximum radius swept during travel of the vehicle is RflAnd the minimum radius is R-w at the right rear wheel (inner wheel)h. To avoid the case where the denominator is zero, the curvature is defined here as:
whether parking vertically or in parallel, the initial relative positional relationship of the vehicle and the garage space may be represented by FIG. 2. Wherein (x)i,yi) And i is 0,1,2,3, which represents 4 corner points of the identified bin, and satisfies 0 and 3 as bin entries, and 0,1,2,3 are arranged clockwise. Theta is 1, and the included angle between the connecting line of the 0 point and the positive direction of the X axis. Respectively representing the lengths of the opening and the other side of the library position, and setting a threshold value through common sense to distinguish vertical and parallel library positions (given in the library position identification module), (x)m,ym) Is the coordinate of the center point of the opening.
3. Vertical parking one-time warehousing judgment
In order to save the lateral running space of the vehicle, the default vehicle advances in a straight line before the first reversing. If it is required to ensure successful warehousing and no collision with the warehouse location, the formula (3) is required to be satisfied, and the schematic diagram is shown in fig. 3.
Wherein a first constraint indicates that the vehicle centerline is tangent to the depot centerline l and a second constraint indicates that the vehicle cannot be brought into contact with the depot access point P0And the third constraint represents that the vehicle is parallel to the garage position and the tail of the vehicle cannot exceed the boundary of the garage position after parking is finished, the fourth constraint represents that the left rear corner of the vehicle cannot collide with the garage position in the driving process, and the fifth constraint represents the constraint of the minimum turning radius of the vehicle.
4. Vertical parking re-planning
If the parking can not be finished once, backing up once is firstly carried out, and when the vehicle collides with a garage position or the obstacle is detected by the ultrasonic waves at the left rear part for more than 2 seconds, forward adjustment is needed. The invention takes one forward adjustment and one backward adjustment as a complete calculation process, starts the re-planning as long as the vehicle judges the event needing to be forwarded in real time, and repeatedly executes the steps until the parking is finally finished.
As shown in FIG. 4, the forward and backward paths are formed by two tangent circles, the purple circle is a forward circle with a center and a radius of Pf(xf,yf) And RfThe blue circle is a receding circle, and the center and the radius of the receding circle are respectively Pb(xb,yb) And Rb. From the tangent relation, the following constraints can be obtained:
fixing R when solving circle center coordinatef,xb,yb,RbThese four variables are given in particular by equation (5).
Wherein x isg,ygCoordinates of the final parking completion end point, xt,ytWarehousing path and warehouse for final parkingTangent point of tangent to line lfinalThe threshold value, which is adjustable, is determined by the size of the vehicle and the distance of the vehicle head from the garage opening after parking is desired. It should be noted that there are two sets of solutions to this equation that need to be validated against the relative position from the garage. Determining the position of the two circles enables the final parking path to be determined.
5. Parallel parking plan
Parallel parking requires maximum saving of longitudinal space in the parking space, Ps1,Ps2,Ps3The circle centers of the yellow arc, the purple arc and the blue arc are respectively represented, and the minimum turning radius of the vehicle is adopted. Parallel parking does not need to carry out primary storage judgment, and the rest is similar to vertical path planning, and the following constraint equation is solved:
where δ represents the minimum distance of the vehicle from the side of the garage, xoffset、whDenotes the vehicle width of half a vehicle, xs1,ys1、xs2,ys2、xs3,ys3The centers of three arcs are respectively used for parking in parallel, and theta is the included angle between the side surface of the storehouse position and the positive direction of the X axis.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concept of the present invention should be within the protection scope determined by the present invention.
Claims (10)
1. An automatic parking path planning method is characterized in that the method carries out path planning based on the combination of circular arcs and straight lines of geometric information, and comprises the following steps:
1) acquiring library position information;
2) identifying the type of the parking space, if the parking space is vertical parking, executing the step 3), and if the parking space is parallel parking, executing the step 4);
3) judging whether a primary warehousing condition is met, if so, performing primary warehousing planning, and if not, starting vertical parking and re-planning based on a vertical parking constraint equation;
4) and realizing parallel parking planning based on a parallel parking constraint equation.
2. The automated parking path planning method according to claim 1, wherein the garage position information is obtained by a look-around camera and an ultrasonic radar.
3. The automatic parking path planning method according to claim 1, wherein the primary parking condition is:
wherein a first constraint indicates that the vehicle centerline is tangent to the depot centerline l and a second constraint indicates that the vehicle cannot be brought into contact with the depot access point P0(x0,y0) The third constraint represents that the vehicle is parallel to the garage position and the tail of the vehicle cannot exceed the boundary of the garage position after parking is finished, the fourth constraint represents that the left rear angle of the vehicle cannot collide with the garage position in the driving process, and the fifth constraint represents the constraint of the minimum turning radius of the vehicle;
P0、P1、P2、P3four corner points of the bin, P0And P3Is the entrance of the garage, R is the instantaneous turning radius of the vehicle, RminIndicating the minimum turning radius, whIndicates a vehicle width of half a vehicle, LrIndicating the length from the rear peripheral axis of the vehicle to the rear of the vehicle, RrrThe turning radius of the rear left corner of the vehicle with respect to the instant rotation center P of the vehicle is shown.
4. The automated parking path planning method according to claim 1, wherein the vertical parking constraint equation is:
wherein x isg,ygCoordinates of the final parking completion end point, xt,ytIs a tangent point of the final parking and warehousing path tangent to the warehouse location central line lfinalIs an adjustable threshold value, RminIndicating the minimum turning radius, RfDenotes the radius of the advancing circle, RbDenotes the radius of the receding circle, xf,yfIs the coordinate of the center of the advancing circle, and theta is the included angle between the side surface of the library position and the positive direction of the X axis.
5. The automated parking path planning method according to claim 1, wherein the parallel parking constraint equation is:
wherein x isg,ygCoordinates of final parking completion end point, RminIndicates minimum turning radius, LfThe length from the rear peripheral axle center of the vehicle to the head of the vehicle is shown, delta represents the minimum distance between the vehicle and the side edge of the garage position, and x0,y0For library bit entry point P0Coordinate of (a), xoffset、whDenotes the vehicle width of half a vehicle, xs1,ys1、xs2,ys2、xs3,ys3The centers of three arcs are respectively used for parking in parallel, and theta is the included angle between the side surface of the storehouse position and the positive direction of the X axis.
6. An automatic parking path planning system for performing path planning based on a combination of circular arcs and straight lines of geometric information, comprising:
the storage position information acquisition module is used for acquiring storage position information;
the garage type identification module is used for identifying whether the garage position type is vertical parking or parallel parking;
the vertical parking module responds when the output of the garage type identification module is vertical parking and is used for judging whether primary parking conditions are met or not, if yes, primary parking planning is carried out, and if not, vertical parking replanning is started based on a vertical parking constraint equation;
and the parallel parking module responds when the output of the garage type identification module is parallel parking and is used for realizing parallel parking planning based on a parallel parking constraint equation.
7. The automated parking path planning system according to claim 6, wherein the garage position information is obtained by a look-around camera and an ultrasonic radar.
8. The automatic parking path planning system according to claim 6, wherein the primary entry condition is:
wherein a first constraint indicates that the vehicle centerline is tangent to the depot centerline l and a second constraint indicates that the vehicle cannot be brought into contact with the depot access point P0(x0,y0) The third constraint represents that the vehicle is parallel to the garage position and the tail of the vehicle cannot exceed the boundary of the garage position after parking is finished, the fourth constraint represents that the left rear angle of the vehicle cannot collide with the garage position in the driving process, and the fifth constraint represents the constraint of the minimum turning radius of the vehicle;
P0、P1、P2、P3four corner points of the bin, P0And P3Is the entrance of the garage, R is the instantaneous turning radius of the vehicle, RminIndicating the minimum turning radius, whIndicates a vehicle width of half a vehicle, LrIndicating the length from the rear peripheral axis of the vehicle to the rear of the vehicle, RrrThe turning radius of the rear left corner of the vehicle with respect to the instant rotation center P of the vehicle is shown.
9. The automated parking path planning system of claim 6 wherein the vertical parking constraint equation is:
wherein x isg,ygCoordinates of the final parking completion end point, xt,ytIs a tangent point of the final parking and warehousing path tangent to the warehouse location central line lfinalIs an adjustable threshold value, RminIndicating the minimum turning radius, RfDenotes the radius of the advancing circle, RbDenotes the radius of the receding circle, xf,yfIs the coordinate of the center of the advancing circle, and theta is the included angle between the side surface of the library position and the positive direction of the X axis.
10. The automated parking path planning system of claim 6 wherein the parallel parking constraint equation is:
wherein x isg,ygCoordinates of final parking completion end point, RminIndicates minimum turning radius, LfThe length from the rear peripheral axle center of the vehicle to the head of the vehicle is shown, delta represents the minimum distance between the vehicle and the side edge of the garage position, and x0,y0For library bit entry point P0Coordinate of (a), xoffset、whDenotes the vehicle width of half a vehicle, xs1,ys1、xs2,ys2、xs3,ys3The centers of three arcs are respectively used for parking in parallel, and theta is the included angle between the side surface of the storehouse position and the positive direction of the X axis.
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| CN114255594B (en) * | 2021-12-28 | 2024-03-15 | 吉林大学 | Autonomous passenger parking motion planning and motion control method |
| CN114261388A (en) * | 2022-02-23 | 2022-04-01 | 吉林大学 | Anthropomorphic automatic parking path planning method |
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