CN111152784A - Intelligent passenger-riding parking local path planning method - Google Patents

Intelligent passenger-riding parking local path planning method Download PDF

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CN111152784A
CN111152784A CN202010014206.5A CN202010014206A CN111152784A CN 111152784 A CN111152784 A CN 111152784A CN 202010014206 A CN202010014206 A CN 202010014206A CN 111152784 A CN111152784 A CN 111152784A
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path
warehousing
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CN111152784B (en
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华蕾
江浩斌
周新宸
余路洋
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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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • 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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  • Transportation (AREA)
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Abstract

The invention discloses an intelligent passenger-assistant parking local path planning method. The method comprises the following steps of warehouse entry and exit path planning and intersection quarter turn path planning: determining a warehousing control point and generating a warehousing driving track according to the minimum lateral distance, the steering radius and the collision risk obtained by calculation; taking an inflection point in a known global path as a control point, and then determining the other two control points according to the turning radius R' of the right-angle turning of the vehicle to generate a right-angle turning driving track of the intersection; and finally, planning a path for avoiding the obstacle. The invention respectively designs a local path planning method meeting scene requirements aiming at a vehicle warehouse-in and warehouse-out scene, a straight-line driving scene, an intersection turning scene and a vehicle obstacle avoidance scene in intelligent passenger-replacing parking, so that a vehicle can successfully arrive at a target parking space or smoothly leave a parking lot.

Description

Intelligent passenger-riding parking local path planning method
Technical Field
The invention relates to the fields of intelligent passenger-assistant parking, path planning and the like, in particular to the field of intelligent passenger-assistant parking local path planning.
Background
The passenger-replacing parking refers to that the intelligent vehicle automatically drives into a parking lot from a passenger dropping area according to a parking instruction, and finds an empty parking space for parking; after the vehicle sends the recall instruction, the vehicle can automatically return to the passenger carrying area according to the recall instruction, and no person participates in the whole process. The local path planning technology is a dynamic and real-time planning technology which depends on environmental information provided by a sensor and is based on a global path, and is a core component of an intelligent vehicle autonomous system. The method is mainly responsible for planning a safe and smooth local path in real time so as to ensure the safety and stability of unmanned vehicle driving. Therefore, the quality of the local path planning technology directly influences the performance of the whole autonomous system, so that the research of the local path planning technology has important significance for the implementation of the passenger-replacing parking system.
At present, the academic community has few local path planning schemes for intelligent passenger-assisted parking, and the existing local path planning schemes are not suitable for intelligent passenger-assisted parking scenes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs an intelligent partial path planning scheme for passenger-assistant parking, and the method is used for respectively carrying out corresponding partial path planning on the vehicle leaving the garage, straight running, intersection turning, obstacle avoidance and garage entry, so that the vehicle can successfully arrive at a target parking space or smoothly leave the parking lot. The scheme comprises the following steps: 1-1 route planning of entering and exiting a warehouse, 1-2 route planning of right-angle turning at an intersection and 1-3 route planning of avoiding obstacles.
The 1-1 warehouse-in and warehouse-out path planning steps are as follows:
1-1-1 calculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure BDA0002358250640000011
Figure BDA0002358250640000012
Wherein R isVIs the minimum steering radius, W, of the vehicle itselfVWidth, W, of the vehiclePThe space width, α', is the safe distance between the side rear corner and the space edge during the process of vehicle entering or exiting the garage.
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2＝0
wherein L isV-RThe actual lateral distance of the vehicle when the vehicle is safely stored in and out is obtained.
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
Figure BDA0002358250640000021
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, α' of the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the LRIs the road width.
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+LV-R)、A2(WP/2,LP+LV-R)、A3(WP/2,LP-R+LV-R)、A4(WPα' + L) where LPThe parking space length is α' and the safety distance between the rear side of the vehicle and the edge of the parking space after the vehicle is parked in the garage;
2) based on a second order Bezier curve and a control point A1、A2、A3Generating a vehicle in-out garage curve track:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4
the method for planning the right-angle turning path at the intersection 1-2 comprises the following steps:
1-2-1 takes the inflection point in the known global path as a control point B1(a, b) and then determining the remaining according to the turning radius R' of the quarter turn of the vehicleTwo control points B2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]
the 1-3 avoiding barrier path planning steps are as follows:
1-3-1, the length from the middle point of a rear axle of the vehicle to the front end of the vehicle is increased at one end of the obstacle close to the vehicle, and the width of two side edges of the obstacle is respectively increased by the length of a half vehicle body. Meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
1-3-2 selecting obstacle avoidance starting point C based on broken line path of obstacle avoidance drawn by path search algorithm1Contact point C of front end of obstacle2Turning point C at the corner of the obstacle3And obstacle avoidance completion point C4And as a control point of a third-order Bezier curve, planning a driving path for avoiding the obstacle:
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]
the invention has the following technical effects: the invention respectively designs a local path planning method meeting scene requirements aiming at a vehicle warehouse-in and warehouse-out scene, a straight-line driving scene, an intersection turning scene and a vehicle obstacle avoidance scene in intelligent passenger-replacing parking, so that a vehicle can successfully arrive at a target parking space or smoothly leave a parking lot.
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FIG. 1 is a schematic diagram of the process of the present invention;
FIG. 2 is a schematic diagram of an in-out warehouse routing according to the present invention;
FIG. 3 is a cross quarter turn path diagram of the present invention;
FIG. 4 is a diagram of an obstacle avoidance path of the present invention;
Detailed Description
In order that the technical features, objects, and effects of the present invention may be more clearly understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings;
as shown in fig. 1, an embodiment of the present invention provides an intelligent plan for local paths of passenger car parking, and the method includes three plans, i.e., a route planning for warehousing and warehousing, a route planning for right-angle turning at an intersection, and a route planning for avoiding obstacles. And after the intelligent vehicle drives into the parking lot, available parking space information and entrance global path information are acquired. And analyzing the path information at the next moment based on the information, judging the road type and carrying out corresponding local path planning. And when the vehicle runs to the tail end of the local path, analyzing the next global path, and repeating the process until the intelligent vehicle reaches the target site and finishes parking or smoothly leaves the parking lot.
The three local path planning methods are as follows:
1) vehicle in-out garage path planning
As shown in fig. 2, a vehicle is put in storage as an example. First, the vehicle turns to the radius R according to the vehicle itselfVVehicle width WVWidth W of parking spacePActual lateral distance L of warehouse entryV-RAnd the safe distance α' between the side rear corner and the parking space edge of the vehicle in the process of entering and exiting the garage, and calculating the minimum side distance of the vehicle in the safe garage
Figure BDA0002358250640000031
And a garage turning radius R. Then, judging whether the head of the vehicle and front side road teeth of the garage have collision risks or not; if no risk exists, determining a warehousing control point A1、A2、A3And A4Generating a vehicle warehousing curve track T1(x) And a warehousing linear trajectory T2(x) In that respect The vehicle leaving process is consistent with the vehicle entering process.
The method comprises the following specific steps:
1-1-1 meterCalculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure BDA0002358250640000032
As shown in FIG. 2, it can be known from Pythagorean theorem
BD2+CD2＝CB2(1)
Namely:
(R-WP/2)2+(R-LV-R)2＝(R-WV/2-α′)2，R>RV(2)
wherein L isV-RThe actual lateral distance of the vehicle when the vehicle is safely stored in and out is obtained. From monotonicity to obtain LV-RThe minimum lateral distance of the vehicle when the vehicle is safely stored and released can be calculated when the minimum turning radius of the vehicle is taken in the formula
Figure BDA0002358250640000041
Namely:
Figure BDA0002358250640000042
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
when the lateral distance of the vehicle is judged to be larger than the minimum lateral distance, the steering radius of the vehicle can be calculated according to the current lateral distance.
Expanding equation (2) yields:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2＝0(4)
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
after the vehicle meets the minimum lateral distance, the situation that the front side of the vehicle collides with opposite road teeth or an obstacle during parking still possibly occurs, and after the turning radius of the vehicle is calculated, the maximum lateral distance of the driving area of the vehicle during parking needs to be calculated and compared with the road width.
The farthest distance L from the circle center B to the front side of the vehicle in the steering processmaxComprises the following steps:
Figure BDA0002358250640000043
in order to ensure that the front side of the vehicle is not in danger of collision, the following requirements are met:
Lmax-CD+α″<LR(6)
from equations (5) and (6), we can derive:
Figure BDA0002358250640000044
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, α' of the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the LRIs the road width.
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+h)、A2(WP/2,LP+h)、A3(WP/2,LP-R+h)、A4(WP,α″′+l)；
2) Based on a second order Bezier curve and a control point A1、A2、A3Generating a vehicle in-out garage curve track:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4
2) intersection quarter turn path planning
As shown in FIG. 3, the inflection point in the known global path is taken as a control point B1Then root ofDetermining a control point B according to the turning radius R' of the quarter turn of the vehicle2And B2(namely the other two points of the right-angled triangle formed by the right-angled turn), and then generating a right-angled turn driving track T of the intersection3(y)。
The method comprises the following specific steps:
1-2-1 takes the inflection point in the known global path as a control point B1(a, B), and then determining the remaining two control points B according to the turning radius R' of the right-angle turn of the vehicle2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]
3) obstacle avoidance path planning
Fig. 4 is a path diagram of the obstacle avoidance system, wherein the length from the midpoint of the rear axle of the vehicle to the front end of the vehicle is added to one end of the obstacle close to the vehicle, and the width of two side edges of the obstacle is respectively added by the length of half of the vehicle body. Meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
selecting an obstacle avoidance starting point C based on a broken line path of the obstacle avoidance drawn by a path search algorithm1Contact point C of front end of obstacle2Turning point C at the corner of the obstacle3And obstacle avoidance completion point C4Planning a driving path T for avoiding the barrier as a control point of a third-order Bezier curve4(z)：
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (4)

1. An intelligent passenger-riding parking local path planning method is characterized by comprising the following steps:
1-1 in-out warehouse path planning: firstly, the minimum lateral distance of the vehicle when the vehicle is safely stored and exported is calculated
Figure FDA0002358250630000011
Then obtaining the turning radius R of the vehicle entering and exiting the garage, and judging whether the head of the vehicle and front side road teeth of the garage have collision risks or not; finally, calculating coordinates of the warehousing control points and generating warehousing and ex-warehousing tracks;
1-2 planning right-angle turning paths at intersections: taking an inflection point in a known global path as a control point, and then determining the other two control points according to the turning radius R' of the right-angle turning of the vehicle; then generating a right-angle turning driving track of the intersection;
1-3 avoiding the path planning of the barrier.
2. The method for planning the local path of the intelligent passenger car park according to claim 1, wherein the 1-1 route planning for entering and exiting the parking lot specifically comprises the following steps:
1-1-1 calculating the minimum lateral distance of the vehicle when the vehicle is safely stored and exported
Figure FDA0002358250630000012
Figure FDA0002358250630000013
Wherein R isVIs the minimum steering radius, W, of the vehicle itselfVWidth, W, of the vehiclePThe parking space width is α', and the safety distance between the side rear corner and the parking space edge is obtained when the vehicle enters or exits the garage;
1-1-2, calculating the vehicle warehousing and ex-warehousing steering radius R:
Figure FDA0002358250630000015
wherein L isV-RThe actual lateral distance of the vehicle when the vehicle is safely put in and out of a warehouse is obtained;
1-1-3, judging whether the head of the vehicle and front side road teeth of the storage position have collision risks:
Figure FDA0002358250630000014
wherein L isVThe width of the vehicle, the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, α' of the safety distance between the front side angle of the vehicle and the front side curb of the parking space in the process of getting in and out of the garage, and the LRIs the road width;
1-1-4, calculating coordinates of warehousing control points and generating warehousing and ex-warehousing tracks:
1) coordinates of the warehousing and ex-warehousing control point are A1(WP/2+R,LP+LV-R)、A2(WP/2,LP+LV-R)、A3(WP/2,LP-R+LV-R)、A4(WPα' + L), where LPThe parking space length is α' and the safety distance between the rear side of the vehicle and the edge of the parking space after the vehicle is parked in the garage;
2) based on a second order Bezier curve and a control point A1、A2、A3Coordinate generating vehicleVehicle entrance and exit curve trajectory:
T1(x)＝(1-x2)A1+2x(1-x)A2+x2A3，x∈[0,1]
3) based on a first order Bezier curve and a control point A3、A4Generating a vehicle in-out straight track:
T2(x)＝(1-x)A3+xA4。
3. the method for planning the local path of the intelligent passenger car park according to claim 1, wherein the specific steps of planning the right-angle turning path at the intersection 1-2 are as follows:
1-2-1 takes the inflection point in the known global path as a control point B1(a, B), and then determining the remaining two control points B according to the turning radius R' of the right-angle turn of the vehicle2(a-R′,b)、B2(a,b-R′)；
1-2-2 based on a second order Bezier curve and a control point B1、B2、B3Generating a right-angle turning driving track of the intersection:
T3(y)＝(1-y2)B1+2y(1-y)B2+y2B3，y∈[0,1]。
4. the method for planning the local path of the intelligent passenger car park as claimed in claim 1, wherein the 1-3 obstacle avoidance path planning comprises the following specific steps:
1-3-1, increasing the length from the middle point of a rear axle of the vehicle to the front end of the vehicle from one end of the obstacle close to the vehicle, and respectively increasing the width of two side edges of the obstacle by the length of a half vehicle body; meanwhile, in order to ensure the driving safety, certain safety distances are respectively added at the front end and the side edge of the barrier, so that the finally generated path is ensured to meet the distance requirement between the actual vehicle and the barrier;
1-3-2 selecting obstacle avoidance starting point C based on broken line path of obstacle avoidance drawn by path search algorithm1Contact point C of front end of obstacle2Turning point at the corner of an obstacleC3And obstacle avoidance completion point C4And as a control point of a third-order Bezier curve, planning a driving path for avoiding the obstacle:
T4(z)＝C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3，z∈[0,1]。
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