CN110949374A - Automatic parallel parking path planning method based on two-section second-order Bezier curve - Google Patents

Automatic parallel parking path planning method based on two-section second-order Bezier curve Download PDF

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CN110949374A
CN110949374A CN201911113684.5A CN201911113684A CN110949374A CN 110949374 A CN110949374 A CN 110949374A CN 201911113684 A CN201911113684 A CN 201911113684A CN 110949374 A CN110949374 A CN 110949374A
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parking
track
vehicle
point
planning
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CN110949374B (en
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范琳
马世典
李玥
江浩斌
韩牟
方伟锋
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Jiangsu University
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Jiangsu University
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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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation

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  • Automation & Control Theory (AREA)
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Abstract

The invention discloses an automatic parallel parking path planning method based on two sections of second-order Bezier curves, which comprises the steps of obtaining target parking space information, determining a parking target position, establishing a global coordinate system by taking the parking target position as an original point, constructing a parking track segmentation judgment model to determine the segmentation number of a planned track, planning a first section of track ending position range, determining the starting point and the stopping point of each section of planned track and the position of a control point, carrying out path planning by using the second-order Bezier curves, monitoring at intervals, and adjusting the planned track by using a dynamic adjustment planning track method. The invention reduces the requirement on the initial pose of the vehicle to be parked and improves the environmental adaptability of the path planning method; the vehicle can be manually driven into a planned area through simple adjustment so as to reduce the cost, and the method can be applied to middle and low-grade vehicles; the control point of the parking track planning is easy to determine, the track generation algorithm is simple, and the path curvature is continuous; the correction difficulty of the track error is reduced, and the obstacle avoidance performance and the parking efficiency of the vehicle are improved.

Description

Automatic parallel parking path planning method based on two-section second-order Bezier curve
Technical Field
The invention relates to the technical field of automatic parking path planning, in particular to an automatic parallel parking path planning method based on two sections of second-order Bezier curves.
Background
The automatic parking system reduces the fatigue strength of the driver and the risk of vehicle damage to a certain extent, and saves the time of the driver. The automatic parking trajectory planning problem is an important part of an automatic parking system, and the main task of the automatic parking trajectory planning problem is to provide a series of speeds and steering wheel angles from an initial pose to a target pose for an intelligent driving vehicle in a parking scene, wherein the quality of the trajectory planning directly determines the quality of the parking system.
At present, various methods are researched at home and abroad aiming at the parking trajectory planning problem, wherein the various methods comprise curve fitting methods such as a spiral line, a polar spline and the like, and the trajectory planning is carried out by a simple geometric drawing method. The parking track planned by the three-order Bezier curve has the problems that control points are difficult to find, a track generation algorithm is complex, effective obstacle avoidance on a moving obstacle cannot be realized, and the like, and the actual track is difficult to dynamically adjust after errors occur between the actual track and the planned track; the method for planning the track by using the geometric construction method has the advantages of small application range, inflexibility, abrupt change of curvature and the like. Therefore, the parking trajectory planning method is accurate, flexible, simple and efficient and cannot be simultaneously satisfied.
Disclosure of Invention
Aiming at the existing problems, the invention provides an automatic parallel parking path planning method based on two sections of second-order Bezier curves, so that the path planning complexity and the correction difficulty of a track error are reduced, and meanwhile, the parking efficiency, the environmental adaptability of the path planning method and the effective obstacle avoidance performance of a moving obstacle are improved.
In order to achieve the purpose, the specific technical scheme of the invention is as follows: an automatic parallel parking path planning method based on two second-order Bezier curves comprises the following steps:
1) acquiring target parking space information, and acquiring the target parking space information by utilizing a vehicle-mounted ultrasonic radar, a laser radar, a visual sensor and a millimeter wave radar; the target parking space information comprises parking space length LcWidth L of parking spacekAnd the left upper part of the parking spaceAn angular position Z;
2) determining a parking target position D, wherein the parking target position D is a target position of a middle point of a rear shaft when a vehicle to be parked stops at a target parking space, is positioned on a longitudinal central axis of the target parking space and below a transverse central axis of the target parking space, and has a distance from the transverse central axis of the target parking space to the transverse central axis of the target parking space
Figure BDA0002273476230000011
Wherein L is the wheelbase of the vehicle to be parked;
3) constructing a global coordinate system XOY, wherein the origin of coordinates is a parking target position D, the X axis is the parking space width direction, the side of a vehicle to be parked is taken as the positive direction, the Y axis is the parking space length direction, and the forward driving direction of the vehicle is taken as the positive direction;
4) the vehicle-mounted information acquisition module and the data processing module are used for acquiring the position and the attitude of a vehicle to be parked and the positions of obstacles around the vehicle to be parked in real time, wherein the position and the attitude of the vehicle to be parked comprise a middle point position C of a rear shaft of the vehicle to be parked and a vehicle body attitude angle α of the vehicle to be parked, and the vehicle body attitude angle α is a rotating angle which is rotated from a Y shaft to a longitudinal shaft of the vehicle body in a counterclockwise way;
5) constructing a parking track sectional judgment model M;
6) judging whether a first section of parking track planning is needed according to the parking track subsection judgment model M, wherein the judgment method comprises the following steps: if the parking track is segmented, judging the ray L in the model M1And the circle S1Do not intersect with the ray L2At the circle S1If the lower sides are intersected, the first section of parking track planning is not needed, and the step 17) is turned; otherwise, planning a first parking track, and turning to the step 7);
7) determining a first parking track ending position area G;
8) judging the reverse extension line L of the longitudinal axis of the car body1Whether an intersecting line segment exists in the first parking track ending position area G or not is judged, if the intersecting line segment exists, the step 9) is carried out, otherwise, the vehicle pose is adjusted, and the step 8) is carried out;
9) determining a first control point P by a data processing module1Position, the first control point P1For the vehicle to be parked with the longitudinal axis of the body extending in the opposite direction1With the first section of parking track knotThe midpoint of the line segment intersected by the beam position region G;
10) determining a first section parking planning track end point P through a data processing module2A location;
11) determining an initial second control point adjacent area K;
12) according to the initial position P of the middle point of the rear axle of the vehicle to be parked0A first control point P1First segment parking planning trajectory end point P2Generating a first section of parking planning track based on a second-order Bezier curve, wherein the first section of parking planning track equation is as follows:
Figure BDA0002273476230000021
wherein B isx(d) Planning the abscissa of the trajectory for the first parking section, By(d) Planning a trajectory ordinate, P, for a first section of parking0xIs the abscissa, P, of the initial position of the midpoint of the rear axle of the vehicle to be parked0yIs the longitudinal coordinate, P, of the initial position of the middle point of the rear axle of the vehicle to be parked1xIs the first control point abscissa, P1yIs the first control point ordinate, P2xPlanning an end-of-trajectory abscissa, P, for the first parking segment2yPlanning an end point longitudinal coordinate of a track for the first section of parking;
13) the method comprises the following steps that a vehicle to be parked runs according to a first section of parking planning track, the distance delta X between the vehicle and an obstacle is detected every delta t time, the position error delta S (t) between an actual running track and the planning track and the position error delta α (t) between an actual vehicle body attitude angle and the planning track are detected and calculated, and the calculation formula of the position error delta S) t) between the actual running track and the planning track is as follows:
Figure BDA0002273476230000031
wherein, DeltaS (t) is the position error between the actual parking track and the planned track of the vehicle at the time t, x (t)sIs the abscissa of the actual parking position at time t, y (t)sIs the ordinate of the actual parking position at time t, x (t)gPlanning the abscissa of the parking position for time t, y (t)gIs tAnd calculating the error delta α (t) between the actual vehicle body attitude angle and the planned attitude angle according to the following formula:
Aα(t)＝|α(t)s-α(t)g|
wherein delta α (t) is the error between the actual vehicle body attitude angle and the planned attitude angle at the moment t, α (t)sFor the actual body attitude angle at time t, α (t)gPlanning a vehicle body attitude angle for the time t;
14) judging whether the second section of parking track planning can be carried out or not, wherein the judging method comprises the following steps: if the vehicle runs to a certain point along the first section of parking track, the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the area K adjacent to the initial second control point, the second section of parking track can be planned, and the step 17) is executed, otherwise, the next step is executed;
15) judging whether delta S (t) < H, delta α (t) < theta, delta X > X are simultaneously satisfied, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safety distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 13), otherwise, carrying out the next step;
16) dynamically adjusting a first section parking planning track;
17) determining the position P of the starting point of the second section of track, wherein the determining method comprises the following steps: if the first section of parking track is planned, the position P of the starting point of the second section of track is the position of the midpoint of the rear axle of the vehicle to be parked when the reverse extension line of the longitudinal axis of the vehicle body has an intersection with the adjacent area K of the initial second control point, otherwise, the position P of the starting point of the second section of track is the position of the midpoint of the initial rear axle of the vehicle to be parked;
18) determining a second control point position P3Second control point position P3The intersection point of the reverse extension line of the longitudinal axis of the vehicle body passing through the point P and the positive direction of the Y axis;
19) according to the starting point P and the second control point P of the second section of track3Generating a second section of parking planning track based on a second-order Bezier curve by using the parking target position point D, wherein the second section of parking planning track equation is as follows:
Figure BDA0002273476230000041
wherein C isx(d) Plan the abscissa of the trajectory for the second parking, Cy(d) Planning a trajectory ordinate, P, for a second parking segmentxFor the starting point abscissa, P, of the second track segmentyIs the ordinate of the starting point of the second segment of the track, P3xIs the abscissa, P, of the second control point3yIs the second control point ordinate, DxFor the abscissa of the parking target point, DyIs the longitudinal coordinate of the parking target position point;
20) the method comprises the following steps that a vehicle to be parked runs according to a second section of parking planning track, and the distance delta X between the vehicle and an obstacle, the position error delta S (t) between an actual running track and the planning track and the error delta α (t) between an actual vehicle body attitude angle and the planning attitude angle are detected and calculated;
21) judging whether the conditions of delta S (t) < H, delta α (t) < theta, delta X > X are met at the same time, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safe distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 23), otherwise, carrying out the next step;
22) dynamically adjusting a second section of parking planning track;
23) and the vehicle runs along the second section of parking planning track until reaching the parking target position, and the parking is finished.
Further, in the step 5), the method for constructing the parking trajectory segmentation judgment model M includes the following steps:
5.1) making a ray along the opposite direction of the longitudinal axis of the vehicle body from the midpoint of the rear axle of the vehicle to be parked, and recording the ray as L1；
5.2) taking a ray in the positive Y-axis direction from a point N away from the parking target position D in the positive Y-axis direction, and recording the ray as L2；
5.3) taking the Z point as the center of a circle as the radius
Figure BDA0002273476230000042
Circle S of1And W is the wheel tread of the vehicle to be parked.
Further, in the step 7), the method for determining the end position area G of the first parking trajectory includes the following steps:
7.1) passing through a point in the target parking space and on the positive direction of the Y axis, and making an included angle of α between the side where the vehicle to be parked and the positive direction of the Y axis2And is aligned with the circle s1Lower half tangent ray L3The point is the upper right corner point of the ending position area of the first parking track and is marked as D0；
7.2) the included angle between the positive direction of the Y axis and the side where the vehicle to be parked passes through the D point is α1Ray L of4(ii) a Ray L3、L4The intersection point is the upper left corner point of the first section parking track ending position area and is marked as a point Q;
7.3)D、D0and a triangular area formed by connecting lines of the three points Q is a first parking track ending position area G.
Further, in the step 10), the first parking planning trajectory end point P is obtained2The position determination method comprises the following steps:
10.1) first control Point P1Making a ray L parallel to the upper and lower boundary lines of the G region to the parking space side5、L6；
10.2) as L5、L6An angular bisector of an included angle between the two rays; recording the intersection point of the line and the right boundary of the end position area of the first parking track as an initial second control point P3′；
10.3) first control Point P1And an initial second control point P3' the midpoint of the connecting line is the end point P of the first section parking planning track2。
Further, in step 11), the method for determining the initial second control point vicinity area K is as follows: if P3y' -delta > 0, the initial second control point vicinity K is defined by point P3' is formed by adding line segments with length delta along positive and negative directions of Y axis respectively if P is3y' - δ ≦ 0, initial second control point vicinity K formed by point P3' to point P3' adding a line segment with the length delta along the positive direction of the Y axis; wherein P is3yIs an initial second control point P3' ordinate.
Further, in the step 16), the method for dynamically adjusting the first parking planning trajectory includes the following steps:
16.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 16.2), and if not, turning to the step 16.3);
16.2) acquiring the pose information of the vehicle to be parked and covering the original initial pose information of the vehicle to be parked, and turning to the step 5);
16.3) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Go to step 16.1).
Further, in the step 22), the second parking plan trajectory dynamic adjustment method includes the following steps:
22.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 22.2), otherwise, turning to the step 22.5);
22.2) if the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the second control point generation area, performing a step 22.3), otherwise, turning to 22.4); the second control point generating area is a line segment formed by one point in the positive direction of the Y axis with the distance from the zero point and the length;
22.3) obtaining the pose information of the vehicle to be parked and covering the pose information of the original P point, and turning to the step 18);
22.4) adjusting the pose of the vehicle to be parked, and turning to the step 22.1);
22.5) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Go to step 22.1).
The invention reduces the requirement on the initial pose of the vehicle to be parked and improves the environmental adaptability of the path planning method; the vehicle can be manually driven into a planned area through simple adjustment so as to reduce the cost, and the method can be applied to middle and low-grade vehicles; the control point of the parking track planning is easy to determine, the track generation algorithm is simple, and the path curvature is continuous; the correction difficulty of the track error is reduced, and the obstacle avoidance performance and the parking efficiency of the vehicle are improved.
Drawings
Fig. 1 is a flowchart of an automatic parallel parking path planning method according to the present invention.
Fig. 2 is a schematic diagram of the area planning of the ending position of the first parking trajectory according to the present invention.
FIG. 3 is a schematic diagram of a complete parking trajectory in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, it should be noted that the technical solutions and design principles of the present invention are described in detail below only with one optimized technical solution, but the scope of the present invention is not limited thereto.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
A flow chart of an automatic parallel parking path planning method based on two second-order bezier curves is shown in fig. 1, and includes the following steps:
1) acquiring target parking space information, and acquiring the target parking space information by utilizing a vehicle-mounted ultrasonic radar, a laser radar, a visual sensor and a millimeter wave radar; wherein the target parking space information comprises the parking space length LcWidth L of parking spacekAnd the position Z of the upper left corner of the parking space;
2) determining a parking target position D, wherein the parking target position D is a target position of a middle point of a rear shaft when a vehicle to be parked stops at a target parking space, is positioned on a longitudinal central axis of the target parking space and below a transverse central axis of the target parking space, and has a distance from the transverse central axis of the target parking space to the transverse central axis of the target parking space
Figure BDA0002273476230000061
Wherein L is the wheelbase of the vehicle to be parked;
3) constructing a global coordinate system XOY, wherein the origin of coordinates is a parking target position D, the X axis is the parking space width direction, the side of a vehicle to be parked is taken as the positive direction, the Y axis is the parking space length direction, and the forward driving direction of the vehicle is taken as the positive direction;
4) the vehicle-mounted information acquisition module and the data processing module are used for acquiring the position and the attitude of the vehicle to be parked and the positions of obstacles around the vehicle to be parked in real time, wherein the position and the attitude of the vehicle to be parked comprise a middle point position C of a rear shaft of the vehicle to be parked and a vehicle body attitude angle α of the vehicle to be parked, and the vehicle body attitude angle α is a rotating angle which is rotated from a Y shaft to a longitudinal shaft of the vehicle body in a counterclockwise way;
5) the method for constructing the parking track segmentation judgment model M comprises the following steps:
5.1) making a ray along the opposite direction of the longitudinal axis of the vehicle body from the midpoint of the rear axle of the vehicle to be parked, and recording the ray as L1；
5.2) taking a ray in the positive Y-axis direction from a point N away from the parking target position D in the positive Y-axis direction, and recording the ray as L2(ii) a In the specific embodiment of the invention
Figure BDA0002273476230000071
5.3) taking the Z point as the center of a circle as the radius
Figure BDA0002273476230000072
Circle S of1Wherein W is the wheel tread of the vehicle to be parked;
6) judging whether a first section of parking track planning is needed according to the parking track subsection judgment model M, wherein the judgment method comprises the following steps: if the parking track is segmented, judging the ray L in the model M1And the circle S1Do not intersect with the ray L2At the circle S1If the lower sides are intersected, the first section of parking track planning is not needed, and the step 17) is turned; otherwise, planning a first parking track, and turning to the step 7);
7) determining a first parking track ending position area G, wherein the determination method comprises the following steps:
7.1) passing through a point in the target parking space and on the positive direction of the Y axis, and making an included angle of α between the side where the vehicle to be parked and the positive direction of the Y axis2And is aligned with the circle s1Lower half tangent ray L3The point is the upper right corner point of the ending position area of the first parking track and is marked as D0；
7.2) the included angle between the positive direction of the Y axis and the side where the vehicle to be parked passes through the D point is α1Ray L of4(ii) a Ray L3、L4The intersection point is the area of the end position of the first section of parking trackThe upper left corner point, denoted as point Q;
7.3)D、D0a triangular area formed by connecting lines of the three points Q is a first section parking track ending position area G;
the method can adjust α according to the actual situation of the environment around the parking space1And α2And α, and1≤α2the smaller the difference between the two, the larger the area of the end position of the first parking track, α in the embodiment of the invention1＝80°，α2＝90°；
8) Judging the reverse extension line L of the longitudinal axis of the vehicle body through the data processing module1Whether an intersecting line segment exists in the first parking track ending position area G or not is judged, if the intersecting line segment exists, the step 9) is carried out, otherwise, the vehicle pose is adjusted, and the step 8) is carried out;
9) determining a first control point P by a data processing module1Position, wherein the first control point P1For the vehicle to be parked with the longitudinal axis of the body extending in the opposite direction1The middle point of a line segment intersecting with the first parking track ending position area G;
10) determining a first section parking planning track end point P through a data processing module2Position, first segment parking plan trajectory end point P2The determination method comprises the following steps:
10.1) first control Point P1Making a ray L parallel to the upper and lower boundary lines of the G region to the parking space side5、L6；
10.2) as L5、L6An angular bisector of an included angle between the two rays; recording the intersection point of the line and the right boundary of the end position area of the first parking track as an initial second control point P3′；
10.3) first control Point P1And an initial second control point P3' the midpoint of the connecting line is the end point P of the first section parking planning track2；
11) Determining an initial second control point vicinity K, wherein if P3y' -delta > 0, the initial second control point vicinity K is defined by point P3' is formed by adding line segments with length delta along positive and negative directions of Y axis respectively if P is3y′-δ≤0The initial second control point vicinity K is defined by the point P3' to point P3' adding a line segment with the length delta along the positive direction of the Y axis; wherein P is3yIs an initial second control point P3' ordinate; in the specific embodiment of the invention
Figure BDA0002273476230000081
12) According to the initial position P of the middle point of the rear axle of the vehicle to be parked0A first control point P1First segment parking planning trajectory end point P2Generating a first section of parking planning track based on a second-order Bezier curve, wherein the first section of parking planning track equation is as follows:
Figure BDA0002273476230000082
wherein B isx(d) Planning the abscissa of the trajectory for the first parking section, By(d) Planning a trajectory ordinate, P, for a first section of parking0xIs the abscissa, P, of the initial position of the midpoint of the rear axle of the vehicle to be parked0yIs the longitudinal coordinate, P, of the initial position of the middle point of the rear axle of the vehicle to be parked1xIs the first control point abscissa, P1yIs the first control point ordinate, P2xPlanning an end-of-trajectory abscissa, P, for the first parking segment2yPlanning an end point longitudinal coordinate of a track for the first section of parking;
13) the method comprises the following steps that a vehicle to be parked runs according to a first section of parking planning track, the distance delta X between the vehicle and an obstacle is detected every delta t time, and the position error delta S (t) between the actual running track and the planning track and the position error delta α (t) between the actual vehicle body attitude angle and the planning track are detected and calculated, wherein the calculation formula of the position error delta S (t) between the actual running track and the planning track is as follows:
Figure BDA0002273476230000083
wherein, DeltaS (t) is the position error between the actual parking track and the planned track of the vehicle at the time t, x (t)sIs the abscissa of the actual parking position at time t, y (t)sIs the ordinate of the actual parking position at time t, x (t)gPlanning the abscissa of the parking position for time t, y (t)gAnd the calculation formula of the error delta α (t) between the actual vehicle body attitude angle and the planned attitude angle is as follows:
Δα(t)＝|α(t)s-α(t)g|
wherein delta α (t) is the error between the actual vehicle body attitude angle and the planned attitude angle at the moment t, α (t)sFor the actual body attitude angle at time t, α (t)gPlanning a vehicle body attitude angle for the time t;
14) judging whether the second section of parking track planning can be carried out or not, wherein the judging method comprises the following steps: if the vehicle runs to a certain point along the first section of parking track, the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the area K adjacent to the initial second control point, the second section of parking track can be planned, and the step 17) is executed, otherwise, the next step is executed;
15) judging whether the conditions of delta S (t) < H, delta α (t) < theta, delta X > X are met at the same time, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safety distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 13), otherwise, carrying out the next step;
16) the method for dynamically adjusting the first section parking planning track comprises the following steps:
16.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 16.2), and if not, turning to the step 16.3);
16.2) acquiring the pose information of the vehicle to be parked and covering the original initial pose information of the vehicle to be parked, and turning to the step 5);
16.3) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Turning to step 16.1);
17) determining the position P of the starting point of the second section of track, wherein the determining method comprises the following steps: if the first section of parking track is planned, the position P of the starting point of the second section of track is the position of the midpoint of the rear axle of the vehicle to be parked when the reverse extension line of the longitudinal axis of the vehicle body has an intersection with the adjacent area K of the initial second control point, otherwise, the position P of the starting point of the second section of track is the position of the midpoint of the initial rear axle of the vehicle to be parked;
18) determining a second control point position P3Second control point position P3The intersection point of the reverse extension line of the longitudinal axis of the vehicle body passing through the point P and the positive direction of the Y axis;
19) according to the starting point P and the second control point P of the second section of track3Generating a second section of parking planning track based on a second-order Bezier curve by using the parking target position point D, wherein the second section of parking planning track equation is as follows:
Figure BDA0002273476230000101
wherein C isx(d) Plan the abscissa of the trajectory for the second parking, Cy(d) Planning a trajectory ordinate, P, for a second parking segmentxFor the starting point abscissa, P, of the second track segmentyIs the ordinate of the starting point of the second segment of the track, P3xIs the abscissa, P, of the second control point3yIs the second control point ordinate, DxFor the abscissa of the parking target point, DyIs the longitudinal coordinate of the parking target position point;
20) the method comprises the following steps that a vehicle to be parked runs according to a second section of parking planning track, and the distance delta X between the vehicle and an obstacle, the position error delta S (t) between an actual running track and the planning track and the error delta α (t) between an actual vehicle body attitude angle and the planning attitude angle are detected and calculated;
21) judging whether the conditions of delta S (t) < H, delta α (t) < theta, delta X > X are met at the same time, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safe distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 23), otherwise, carrying out the next step;
22) and dynamically adjusting a second section of parking planning track, wherein the specific method for dynamically adjusting the second section of parking planning track comprises the following steps:
22.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 22.2), otherwise, turning to the step 22.5);
22.2) if the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the second control point generation area, performing a step 22.3), otherwise, turning to 22.4); the second control point generating area is a line segment formed by one point in the positive direction of the Y axis with the distance from the zero point being E and one point in the positive direction of the Y axis with the distance from the zero point being F;
in the specific embodiment of the invention
Figure BDA0002273476230000102
22.3) obtaining the pose information of the vehicle to be parked and covering the pose information of the original P point, and turning to the step 18);
22.4) adjusting the pose of the vehicle to be parked, and turning to the step 22.1);
22.5) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Go to step 22.1);
23) and the vehicle runs along the second section of parking planning track until reaching the parking target position, and the parking is finished.

Claims (8)

1. An automatic parallel parking path planning method based on two sections of second-order Bezier curves is characterized by comprising the following steps:
1) acquiring target parking space information, and acquiring the target parking space information by utilizing a vehicle-mounted ultrasonic radar, a laser radar, a visual sensor and a millimeter wave radar; the target parking space information comprises parking space length LcWidth L of parking spacekAnd the position Z of the upper left corner of the parking space;
2) determining a parking target position D, namely a target position of a middle point of a rear shaft when a vehicle to be parked stops at a target parking space, wherein the parking target position D is positioned on a longitudinal central axis of the target parking space and below a transverse central axis of the target parking space, and the distance from the parking target position to the transverse central axis of the target parking space is equal to
Figure FDA0002273476220000011
Wherein L is the wheelbase of the vehicle to be parked;
3) constructing a global coordinate system XOY, wherein the origin of coordinates is a parking target position D, the X axis is the parking space width direction, the side of a vehicle to be parked is taken as the positive direction, the Y axis is the parking space length direction, and the forward driving direction of the vehicle is taken as the positive direction;
4) the vehicle-mounted information acquisition module and the data processing module are used for acquiring the position and the attitude of a vehicle to be parked and the positions of obstacles around the vehicle to be parked in real time, wherein the position and the attitude of the vehicle to be parked comprise a middle point position C of a rear shaft of the vehicle to be parked and a vehicle body attitude angle α of the vehicle to be parked, and the vehicle body attitude angle α is a rotating angle which is rotated from a Y shaft to a longitudinal shaft of the vehicle body in a counterclockwise way;
5) constructing a parking track sectional judgment model M;
6) judging whether a first parking track is required to be planned according to the parking track subsection judgment model M, and turning to the step 7) if the first parking track is required to be planned; otherwise go to step 17);
7) determining a first parking track ending position area G;
8) judging the reverse extension line L of the longitudinal axis of the car body1Whether an intersecting line segment exists in the first parking track ending position area G or not is judged, if the intersecting line segment exists, the step 9) is carried out, otherwise, the vehicle pose is adjusted, and the step 8) is carried out;
9) determining a first control point P by a data processing module1Position, the first control point P1For the vehicle to be parked with the longitudinal axis of the body extending in the opposite direction1The middle point of a line segment intersecting with the first parking track ending position area G;
10) determining a first section parking planning track end point P through a data processing module2A location;
11) determining an initial second control point adjacent area K;
12) according to the initial position P of the middle point of the rear axle of the vehicle to be parked0A first control point P1First segment parking planning trajectory end point P2Generating a first section of parking planning track based on a second-order Bezier curve, wherein the first section of parking planning track equation is as follows:
Figure FDA0002273476220000012
wherein B isx(d) Planning the abscissa of the trajectory for the first parking section, By(d) Planning a trajectory ordinate, P, for a first section of parking0xIs the abscissa, P, of the initial position of the midpoint of the rear axle of the vehicle to be parked0yIs the longitudinal coordinate, P, of the initial position of the middle point of the rear axle of the vehicle to be parked1xIs the first control point abscissa, P1yIs the first control point ordinate, P2xPlanning an end-of-trajectory abscissa, P, for the first parking segment2yPlanning an end point longitudinal coordinate of a track for the first section of parking;
13) the method comprises the following steps that a vehicle to be parked runs according to a first section of parking planning track, the distance delta X between the vehicle and an obstacle is detected every delta t time, the position error delta S (t) between an actual running track and the planning track and the position error delta α (t) between an actual vehicle body attitude angle and the planning track are detected and calculated, and the calculation formula of the position error delta S (t) between the actual running track and the planning track is as follows:
Figure FDA0002273476220000021
wherein, DeltaS (t) is the position error between the actual parking track and the planned track of the vehicle at the time t, x (t)sIs the abscissa of the actual parking position at time t, y (t)sIs the ordinate of the actual parking position at time t, x (t)gPlanning the abscissa of the parking position for time t, y (t)gAnd the calculation formula of the error delta α (t) between the actual vehicle body attitude angle and the planned attitude angle is as follows:
Δα(t)＝|α(t)s-α(t)g|
wherein delta α (t) is the error between the actual vehicle body attitude angle and the planned attitude angle at the moment t, α (t)sFor the actual body attitude angle at time t, α (t)gPlanning a vehicle body attitude angle for the time t;
14) judging whether the second section of parking track planning can be carried out or not, wherein the judging method comprises the following steps: if the vehicle runs to a certain point along the first section of parking track, the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the area K adjacent to the initial second control point, the second section of parking track can be planned, and the step 17) is executed, otherwise, the next step is executed;
15) judging whether delta S (t) < H, delta α (t) < theta, delta X > X are simultaneously satisfied, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safety distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 13), otherwise, turning to the step 16);
16) dynamically adjusting a first section parking planning track;
17) determining the position P of the starting point of the second section of track, wherein the determining method comprises the following steps: if the first section of parking track is planned, the position P of the starting point of the second section of track is the position of the midpoint of the rear axle of the vehicle to be parked when the reverse extension line of the longitudinal axis of the vehicle body has an intersection with the adjacent area K of the initial second control point, otherwise, the position P of the starting point of the second section of track is the position of the midpoint of the initial rear axle of the vehicle to be parked;
18) determining a second control point position P3Second control point position P3The intersection point of the reverse extension line of the longitudinal axis of the vehicle body passing through the point P and the positive direction of the Y axis;
19) according to the starting point P and the second control point P of the second section of track3Generating a second section of parking planning track based on a second-order Bezier curve by using the parking target position point D, wherein the second section of parking planning track equation is as follows:
Figure FDA0002273476220000031
wherein C isx(d) Plan the abscissa of the trajectory for the second parking, Cy(d) Planning a trajectory ordinate, P, for a second parking segmentxFor the starting point abscissa, P, of the second track segmentyIs the ordinate of the starting point of the second segment of the track, P3xIs the abscissa, P, of the second control point3yIs the second control point ordinate, DxFor the abscissa of the parking target point, DyIs the longitudinal coordinate of the parking target position point;
20) the method comprises the following steps that a vehicle to be parked runs according to a second section of parking planning track, and the distance delta X between the vehicle and an obstacle, the position error delta S (t) between an actual running track and the planning track and the error delta α (t) between an actual vehicle body attitude angle and the planning attitude angle are detected and calculated;
21) judging whether delta S (t) < H, delta α (t) < theta, delta X > X are simultaneously satisfied, wherein H is a track position error threshold, theta is a track angle error threshold, and X is a safety distance threshold, if yes, the planned track does not need to be adjusted, and turning to the step 23), otherwise, turning to the step 22);
22) dynamically adjusting a second section of parking planning track;
23) and the vehicle runs along the second section of parking planning track until reaching the parking target position, and the parking is finished.
2. The method for planning the automatic parallel parking path based on the two-segment second-order bezier curve as claimed in claim 1, wherein in the step 5), the method for constructing the parking trajectory segmentation judgment model M comprises the following steps:
5.1) making a ray along the opposite direction of the longitudinal axis of the vehicle body from the midpoint of the rear axle of the vehicle to be parked, and recording the ray as L1；
5.2) taking a ray in the positive Y-axis direction from a point N away from the parking target position D in the positive Y-axis direction, and recording the ray as L2；
5.3) taking the Z point as the center of a circle as the radius
Figure FDA0002273476220000032
Circle S of1And W is the wheel tread of the vehicle to be parked.
3. The method for planning an automatic parallel parking path based on two segments of second-order bezier curves according to claim 1, wherein in the step 6), the method for determining whether the first parking trajectory planning is required is: if the parking track is segmented, judging the ray L in the model M1And the circle S1Do not intersect with the ray L2At the circle S1And if the lower sides are intersected, the first section of parking track planning is not needed, otherwise, the first section of parking track planning is needed.
4. The method for automatic parallel parking path planning based on two segments of second-order bezier curves according to claim 1, wherein in the step 7), the method for determining the first parking trajectory end position region G comprises the following steps:
7.1) passing in the target parking space andat one point in the positive Y-axis direction, the included angle between the side where the vehicle to be parked and the positive Y-axis direction is α2And is aligned with the circle s1Lower half tangent ray L3The point is the upper right corner point of the ending position area of the first parking track and is marked as D0；
7.2) the included angle between the positive direction of the Y axis and the side where the vehicle to be parked passes through the D point is α1Ray L of4(ii) a Ray L3、L4The intersection point is the upper left corner point of the first section parking track ending position area and is marked as a point Q;
7.3)D、D0and a triangular area formed by connecting lines of the three points Q is a first parking track ending position area G.
5. The method for automatic parallel parking path planning based on two segments of second-order bezier curves according to claim 1, wherein in step 10), the first segment parking planning trajectory end point P2The position determination method comprises the following steps:
10.1) first control Point P1Making a ray L parallel to the upper and lower boundary lines of the G region to the parking space side5、L6；
10.2) as L5、L6An angular bisector of an included angle between the two rays; recording the intersection point of the line and the right boundary of the end position area of the first parking track as an initial second control point P3′；
10.3) first control Point P1And an initial second control point P3' the midpoint of the connecting line is the end point P of the first section parking planning track2。
6. The method for automatic parallel parking path planning based on two second-order bezier curves according to claim 1, wherein in step 11), the method for determining the initial second control point vicinity K is as follows: if P3y' -delta > 0, the initial second control point vicinity K is defined by point P3' is formed by adding line segments with length delta along positive and negative directions of Y axis respectively if P is3y' - δ ≦ 0, initial second control point vicinity K formed by point P3' to point P3' adding a line segment with the length delta along the positive direction of the Y axis; wherein P is3yIs an initial second control point P3' ordinate.
7. The method for automatic parallel parking path planning based on two segments of second-order bezier curves according to claim 1, wherein in the step 16), the method for dynamically adjusting the first segment of parking planning trajectory comprises the following steps:
16.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 16.2), and if not, turning to the step 16.3);
16.2) acquiring the pose information of the vehicle to be parked and covering the original initial pose information of the vehicle to be parked, and turning to the step 5);
16.3) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Go to step 16.1).
8. The method for automatic parallel parking path planning based on two segments of second-order bezier curves according to claim 1, wherein in the step 22), the method for dynamically adjusting the second segment of parking planning trajectory comprises the following steps:
22.1) judging whether the distance between the vehicle and the obstacle is greater than a preset safe distance threshold value X, if so, turning to the step 22.2), otherwise, turning to the step 22.5);
22.2) if the reverse extension line of the longitudinal axis of the vehicle body has an intersection point with the second control point generation area, performing a step 22.3), otherwise, turning to 22.4); the second control point generating area is a line segment formed by one point in the positive direction of the Y axis with the distance from the zero point and the length;
22.3) obtaining the pose information of the vehicle to be parked and covering the pose information of the original P point, and turning to the step 18);
22.4) adjusting the pose of the vehicle to be parked, and turning to the step 22.1);
22.5) the parked vehicle is offset to the side away from the obstacle by an offset angle of α0Go to step 22.1).
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CN116653931B (en) * 2023-08-01 2024-02-23 禾昆科技(北京)有限公司 Vehicle parking control method, device, electronic equipment and computer readable medium
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CN117184060B (en) * 2023-11-08 2024-01-30 新石器慧通（北京）科技有限公司 Track correction method and device, unmanned vehicle and storage medium

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