CN111152784B - A local path planning method for intelligent valet parking - Google Patents
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Abstract
本发明公开了一种智能代客泊车局部路径规划方法。包括出入库路径规划、路口直角转弯路径规划:根据计算得到的最小侧向距离、转向半径和碰撞风险,确定出入库控制点并生成出入库行驶轨迹;将已知全局路径中拐点作为一个控制点,然后根据车辆直角转弯的转向半径R′确定其余两个控制点,生成路口直角转弯行驶轨迹;最后进行避让障碍物路径规划。本发明针对智能代客泊车中的车辆出入库场景、直线行驶场景、路口转弯场景及车辆避障场景,分别设计了符合场景需求的局部路径规划方法,使得车辆能够成功抵达目标车位或顺利离开停车场。
The invention discloses a local path planning method for intelligent valet parking. Including inbound and outbound path planning, intersection right-angle turning path planning: According to the calculated minimum lateral distance, turning radius and collision risk, determine the inbound and outbound control points and generate the inbound and outbound driving trajectory; take the inflection point in the known global path as a control point , and then determine the remaining two control points according to the steering radius R′ of the vehicle turning at a right angle, and generate a right-angle turning driving trajectory at the intersection; finally, plan the path to avoid obstacles. The present invention designs a local path planning method that meets the requirements of the scene for the scene of vehicles entering and leaving the warehouse, the scene of straight-line driving, the scene of turning at an intersection and the scene of vehicle obstacle avoidance in the intelligent valet parking, so that the vehicle can successfully arrive at the target parking space or leave smoothly. PARKING LOT.
Description
技术领域technical field
本发明涉及智能代客泊车、路径规划等领域,尤其涉及智能代客泊车局部路径规划领域。The invention relates to the fields of intelligent valet parking, path planning and the like, in particular to the field of local path planning of intelligent valet parking.
背景技术Background technique
代客泊车是指智能车根据泊车指令自动从落客区驶入停车场内,并找到空车位进行泊车;当车发送召回指令后,车辆能够根据召回指令自动返回载客区,整个过程没有人的参与。局部路径规划技术是一项依赖传感器提供的环境信息并基于全局路径进行动态、实时的规划技术,是智能车自主系统的核心组成部分。它主要负责实时规划出一条安全、平滑的局部路径,以保证无人车行驶的安全性和稳定性。因此,局部路径规划技术的优劣直接影响整个自主系统的性能,故局部路径规划技术的研究对于代客泊车系统的实施具有重要意义。Valet parking means that the smart car automatically drives into the parking lot from the drop-off area according to the parking instruction, and finds an empty parking space for parking; when the vehicle sends the recall instruction, the vehicle can automatically return to the passenger area according to the recall instruction. There is no human involvement in the process. Local path planning technology is a dynamic and real-time planning technology that relies on the environmental information provided by sensors and based on the global path. It is the core component of the autonomous system of intelligent vehicles. It is mainly responsible for planning a safe and smooth local path in real time to ensure the safety and stability of unmanned vehicles. Therefore, the quality of local path planning technology directly affects the performance of the entire autonomous system, so the research of local path planning technology is of great significance for the implementation of valet parking system.
目前,学术界对于智能代客泊车局部路径规划方案较少,且现有的局部路径规划方案并不适用于智能代客泊车场景。At present, there are few local path planning schemes for intelligent valet parking in academia, and the existing partial path planning schemes are not suitable for intelligent valet parking scenarios.
发明内容SUMMARY OF THE INVENTION
针对上述现有技术存在的不足,本发明设计了一种智能代客泊车局部路径规划方案,针对车辆出库、直线行驶、路口转弯、车辆避障与入库分别进行相应的局部路径规划本方法,从而使车辆成功抵达目标车位或顺利离开停车场。该方案包括:1-1出入库路径规划、1-2路口直角转弯路径规划、1-3避让障碍物路径规划。Aiming at the above-mentioned shortcomings of the prior art, the present invention designs a local path planning scheme for intelligent valet parking, and performs corresponding local path planning schemes for vehicles leaving the warehouse, driving in a straight line, turning at intersections, avoiding obstacles and entering the warehouse. method, so that the vehicle successfully arrives at the target parking space or smoothly leaves the parking lot. The scheme includes: 1-1 access and exit path planning, 1-2 right-angle turning path planning at intersections, and 1-3 obstacle avoidance path planning.
所述的1-1出入库路径规划步骤如下:The 1-1 inbound and outbound path planning steps are as follows:
1-1-1计算车辆安全出入库时的最小侧向距离 1-1-1 Calculate the minimum lateral distance when vehicles enter and exit the warehouse safely
其中,RV为车辆自身的最小转向半径、WV为车辆的宽度、WP为车位宽度、α′为车辆在出入库过程中侧后角与车位边缘之间的安全距离。Among them, R V is the minimum turning radius of the vehicle itself, W V is the width of the vehicle, W P is the width of the parking space, and α′ is the safety distance between the side rear corner and the edge of the parking space during the process of entering and leaving the garage.
1-1-2计算车辆出入库转向半径R:1-1-2 Calculate the turning radius R of the vehicle entering and leaving the warehouse:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2=0R 2 +[(W V +2α′)-(2L VR +W P )]R+(L VR ) 2 +W P 2 /4-(W V /2+α′) 2 =0
其中,LV-R为车辆安全出入库时的实际侧向距离。Among them, L VR is the actual lateral distance when the vehicle enters and exits the warehouse safely.
1-1-3判断车辆头部与库位前侧路牙是否有碰撞风险:1-1-3 Determine whether there is a risk of collision between the head of the vehicle and the front side curb of the warehouse:
其中,LV为车辆宽度、l为车辆后轴中点到车辆后轮廓线的距离、α″车辆在出入库过程中前侧角与车位前侧路牙之间的安全距离、LR为道路宽度。Among them, L V is the width of the vehicle, l is the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, α″ is the safety distance between the front side angle of the vehicle and the front side curb of the parking space during the process of entering and leaving the garage, and LR is the road width.
1-1-4计算出入库控制点坐标并生成出入库轨迹:1-1-4 Calculate the coordinates of the inbound and outbound control points and generate the inbound and outbound trajectory:
1)出入库控制点坐标为A1(WP/2+R,LP+LV-R)、A2(WP/2,LP+LV-R)、A3(WP/2,LP-R+LV-R)、A4(WP,α″′+l);其中LP为车位长度、α″′车辆入库后车辆后侧与库位边缘之间的安全距离;1) The coordinates of the inbound and outbound control points are A 1 (W P /2+R,L P +L VR ), A 2 (W P /2,L P +L VR ), A 3 (W P /2,L P -R+L VR ), A 4 (W P ,α″′+l); where L P is the length of the parking space, the safety distance between the rear side of the vehicle and the edge of the storage space after the α″′ vehicle is stored;
2)基于二阶贝塞尔曲线与控制点A1、A2、A3的坐标生成车辆出入库曲线轨迹:2) Based on the second-order Bezier curve and the coordinates of the control points A 1 , A 2 , and A 3 , the vehicle entry and exit curve trajectory is generated:
T1(x)=(1-x2)A1+2x(1-x)A2+x2A3,x∈[0,1]T 1 (x)=(1-x 2 )A 1 +2x(1-x)A 2 +x 2 A 3 , x∈[0,1]
3)基于一阶贝塞尔曲线与控制点A3、A4生成车辆出入库直线轨迹:3) Based on the first-order Bezier curve and the control points A 3 , A 4 , the straight line trajectory of vehicles entering and leaving the warehouse is generated:
T2(x)=(1-x)A3+xA4 T 2 (x)=(1-x)A 3 +xA 4
所述的1-2路口直角转弯路径规划步骤如下:The steps for planning the right-angle turn path at the 1-2 intersection are as follows:
1-2-1将已知全局路径中拐点作为一个控制点B1(a,b),然后根据车辆直角转弯的转向半径R′确定其余两个控制点B2(a-R′,b)、B2(a,b-R′);1-2-1 Take the inflection point in the known global path as a control point B 1 (a,b), and then determine the remaining two control points B 2 (aR',b), B according to the steering radius R' of the vehicle turning at a right angle 2 (a,bR′);
1-2-2基于二阶贝塞尔曲线与控制点B1、B2、B3的坐标生成路口直角转弯行驶轨迹:1-2-2 Based on the second-order Bezier curve and the coordinates of the control points B 1 , B 2 , and B 3 , generate a right-angle turn driving trajectory at the intersection:
T3(y)=(1-y2)B1+2y(1-y)B2+y2B3,y∈[0,1]T 3 (y)=(1-y 2 )B 1 +2y(1-y)B 2 +y 2 B 3 , y∈[0,1]
所述的1-3避让障碍物路径规划步骤如下:The steps of 1-3 obstacle avoidance path planning are as follows:
1-3-1将障碍物靠近车辆的一端增加一个车辆后轴中点至车辆前端的长度,障碍物两个侧边的宽度分别增加半个车身的长度。同时,为了保证行驶安全性,在障碍物的前端和侧边分别增加一定的安全距离,以此保证最终生成的路径满足实际车辆与障碍物之间的距离要求;1-3-1 Add a length from the midpoint of the rear axle of the vehicle to the front end of the vehicle from the end of the obstacle close to the vehicle, and increase the width of the two sides of the obstacle by half the length of the vehicle body. At the same time, in order to ensure the driving safety, a certain safety distance is added to the front and side of the obstacle, so as to ensure that the final generated path meets the distance requirements between the actual vehicle and the obstacle;
1-3-2基于路径搜索算法规划出的避障碍物的折线路径,选择避障起始点C1、障碍物前端的接触点C2、障碍物拐角处的转向点C3、避障完成点C4作为三阶贝塞尔曲线的控制点,规划出避让障碍物行驶路径:1-3-2 Based on the polygonal path of obstacle avoidance planned by the path search algorithm, select the starting point C1 of obstacle avoidance, the contact point C2 of the front end of the obstacle, the turning point C3 at the corner of the obstacle, and the completion point of obstacle avoidance C 4 is used as the control point of the third-order Bezier curve to plan the driving path to avoid obstacles:
T4(z)=C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3,z∈[0,1]T 4 (z)=C 1 (1-z) 3 +3C 2 (1-z) 2 z+3C 3 (1-z)z 2 +C 4 z 3 , z∈[0,1]
本发明具有以下技术效果:本发明针对智能代客泊车中的车辆出入库场景、直线行驶场景、路口转弯场景及车辆避障场景,分别设计了符合场景需求的局部路径规划方法,使得车辆能够成功抵达目标车位或顺利离开停车场,本发明尤其适用于智能代客泊车场景。The present invention has the following technical effects: the present invention respectively designs a local path planning method that meets the requirements of the scene for the scene of vehicles entering and leaving the warehouse, the scene of straight-line driving, the scene of turning at the intersection and the scene of vehicle obstacle avoidance in the intelligent valet parking, so that the vehicle can Successfully arriving at the target parking space or successfully leaving the parking lot, the present invention is especially suitable for intelligent valet parking scenarios.
附图说明Description of drawings
图1为本发明的方法示意图;Fig. 1 is the method schematic diagram of the present invention;
图2为本发明的出入库路径规划图;Fig. 2 is the storage and exit path planning diagram of the present invention;
图3为本发明的路口直角转弯路径图;Fig. 3 is an intersection right-angle turn path diagram of the present invention;
图4为本发明的避让障碍物路径图;Fig. 4 is the obstacle avoidance path diagram of the present invention;
具体实施方式Detailed ways
为了对本发明的技术特征、目的和效果有更加清楚的理解,下面将参照附图更详细的描述本发明的示例性实施例;In order to have a clearer understanding of the technical features, objects and effects of the present invention, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings;
如图1所示,本发明实施例提供了一种智能代客泊车局部路径规划方案,该方法包括出入库路径规划、路口直角转弯路径规划、避让障碍物路径规划三种规划方案。智能车驶入停车场后,获取可用车位信息、入场全局路径信息。基于该信息智能车对下一时刻的路径信息进行分析,判断出道路类型并进行相应的局部路径规划。当车辆行驶至局部路径末端时,开始对接下来的全局路径进行分析,重复上述过程直至智能车抵达目标地点并完成泊车或顺利离开停车场。As shown in FIG. 1 , an embodiment of the present invention provides a local path planning scheme for intelligent valet parking. The method includes three planning schemes: inbound and outbound path planning, intersection right-angle turning path planning, and obstacle avoidance path planning. After the smart car enters the parking lot, it obtains information on available parking spaces and global route information for admission. Based on this information, the smart car analyzes the path information at the next moment, determines the road type and performs corresponding local path planning. When the vehicle reaches the end of the local path, it starts to analyze the next global path, and the above process is repeated until the smart car reaches the target location and completes parking or leaves the parking lot smoothly.
上述三种局部路径规划方法如下:The above three local path planning methods are as follows:
1)车辆出入库路径规划1) Vehicle in and out path planning
如图2所示,以车辆入库为例。首先,车辆根据车辆自身转向半径RV、车辆宽度WV、车位宽度WP、入库实际侧向距离LV-R和车辆在出入库过程中侧后角与车位边缘之间的安全距离α′,计算出车辆安全入库的最小侧向距离和入库转向半径R。然后,判断车辆头部与库位前侧路牙是否有碰撞风险;若无风险,则确定入库控制点A1、A2、A3和A4,生成车辆入库曲线轨迹T1(x)和入库直线轨迹T2(x)。车辆出库过程与入库过程一致。As shown in Figure 2, take the vehicle warehousing as an example. First of all, according to the vehicle's own turning radius R V , vehicle width W V , parking space width W P , the actual lateral distance L VR of the vehicle and the safety distance α′ between the side rear corner and the edge of the parking space in the process of entering and leaving the vehicle, Calculate the minimum lateral distance for safe storage of vehicles and the inbound turning radius R. Then, determine whether there is a collision risk between the head of the vehicle and the front side curb of the storage position; if there is no risk, determine the storage control points A 1 , A 2 , A 3 and A 4 , and generate the vehicle storage curve trajectory T 1 (x ) and the incoming straight line trajectory T 2 (x). The vehicle outbound process is the same as the inbound process.
具体步骤如下:Specific steps are as follows:
1-1-1计算车辆安全出入库时的最小侧向距离 1-1-1 Calculate the minimum lateral distance when vehicles enter and exit the warehouse safely
如图2所示,由勾股定理可知As shown in Figure 2, it can be known from the Pythagorean theorem
BD2+CD2=CB2 (1)BD 2 +CD 2 =CB 2 (1)
即:which is:
(R-WP/2)2+(R-LV-R)2=(R-WV/2-α′)2,R>RV (2)(RW P /2) 2 +(RL VR ) 2 =(RW V /2-α′) 2 , R>R V (2)
其中,LV-R为车辆安全出入库时的实际侧向距离。由单调性可得LV-R与R呈正相关,因此上式中当取车辆的最小转弯半径时,可计算出车辆安全出入库时的最小侧向距离即:Among them, L VR is the actual lateral distance when the vehicle enters and exits the warehouse safely. From the monotonicity, it can be obtained that L VR and R are positively correlated. Therefore, when the minimum turning radius of the vehicle is taken in the above formula, the minimum lateral distance of the vehicle when entering and leaving the warehouse can be calculated. which is:
1-1-2计算车辆出入库转向半径R:1-1-2 Calculate the turning radius R of the vehicle entering and leaving the warehouse:
当判断车辆的侧向距离大于最小侧向距离时,即可根据当前的侧向距离计算出车辆的转向半径。When it is determined that the lateral distance of the vehicle is greater than the minimum lateral distance, the steering radius of the vehicle can be calculated according to the current lateral distance.
将公式(2)展开可得:Expand formula (2) to get:
R2+[(WV+2α′)-(2LV-R+WP)]R+(LV-R)2+WP 2/4-(WV/2+α′)2=0(4)R 2 +[(W V +2α′)-(2L VR +W P )]R+(L VR ) 2 +W P 2 /4-(W V /2+α′) 2 =0(4)
1-1-3判断车辆头部与库位前侧路牙是否有碰撞风险:1-1-3 Determine whether there is a risk of collision between the head of the vehicle and the front side curb of the warehouse:
车辆在满足了最小侧向距离后,仍然有可能出现在泊入过程中,车辆前侧与对向路牙或障碍物发生碰撞的情况,在计算车辆转向半径后,需要对泊车过程中的车辆行驶区域的最大侧向距离进行计算,并与道路宽度进行比较。After the vehicle meets the minimum lateral distance, it is still possible that the front side of the vehicle collides with the opposite curb or obstacle during the parking process. The maximum lateral distance of the vehicle travel area is calculated and compared to the road width.
转向过程中,圆心B到车辆前侧的最远距离Lmax为:During the turning process, the farthest distance L max from the center B to the front side of the vehicle is:
为了保证车辆前侧不发生碰撞危险,需要满足:In order to ensure that there is no danger of collision on the front side of the vehicle, it is necessary to meet:
Lmax-CD+α″<LR (6)L max -CD+α″<L R (6)
由公式(5)和公式(6)可得:From formula (5) and formula (6), we can get:
其中,LV为车辆宽度、l为车辆后轴中点到车辆后轮廓线的距离、α″车辆在出入库过程中前侧角与车位前侧路牙之间的安全距离、LR为道路宽度。Among them, L V is the width of the vehicle, l is the distance from the midpoint of the rear axle of the vehicle to the rear contour line of the vehicle, α″ is the safety distance between the front side angle of the vehicle and the front side curb of the parking space during the process of entering and leaving the garage, and LR is the road width.
1-1-4计算出入库控制点坐标并生成出入库轨迹:1-1-4 Calculate the coordinates of the inbound and outbound control points and generate the inbound and outbound trajectory:
1)出入库控制点坐标为A1(WP/2+R,LP+h)、A2(WP/2,LP+h)、A3(WP/2,LP-R+h)、A4(WP,α″′+l);1) The coordinates of the inbound and outbound control points are A 1 (W P /2+R,L P +h), A 2 (W P /2,L P +h), A 3 (W P /2,L P -R +h), A 4 (W P ,α″′+l);
2)基于二阶贝塞尔曲线与控制点A1、A2、A3的坐标生成车辆出入库曲线轨迹:2) Based on the second-order Bezier curve and the coordinates of the control points A 1 , A 2 , and A 3 , the vehicle entry and exit curve trajectory is generated:
T1(x)=(1-x2)A1+2x(1-x)A2+x2A3,x∈[0,1]T 1 (x)=(1-x 2 )A 1 +2x(1-x)A 2 +x 2 A 3 , x∈[0,1]
3)基于一阶贝塞尔曲线与控制点A3、A4生成车辆出入库直线轨迹:3) Based on the first-order Bezier curve and the control points A 3 , A 4 , the straight line trajectory of vehicles entering and leaving the warehouse is generated:
T2(x)=(1-x)A3+xA4 T 2 (x)=(1-x)A 3 +xA 4
2)路口直角转弯路径规划2) Right-angle turn path planning at intersections
如图3所示,将已知全局路径中拐点作为一个控制点B1,然后根据车辆直角转弯的转向半径R′确定控制点B2和B2(即为直角转弯形成的直角三角形的另外两个点),然后生成路口直角转弯行驶轨迹T3(y)。As shown in Fig. 3, the inflection point in the known global path is taken as a control point B 1 , and then the control points B 2 and B 2 (that is, the other two parts of the right triangle formed by the right-angle turn) are determined according to the steering radius R' of the vehicle at a right angle. points), and then generate a right-angle turn driving trajectory T 3 (y) at the intersection.
具体步骤如下:Specific steps are as follows:
1-2-1将已知全局路径中拐点作为一个控制点B1(a,b),然后根据车辆直角转弯的转向半径R′确定其余两个控制点B2(a-R′,b)、B2(a,b-R′);1-2-1 Take the inflection point in the known global path as a control point B 1 (a,b), and then determine the remaining two control points B 2 (aR',b), B according to the steering radius R' of the vehicle turning at a right angle 2 (a,bR′);
1-2-2基于二阶贝塞尔曲线与控制点B1、B2、B3的坐标生成路口直角转弯行驶轨迹:1-2-2 Based on the second-order Bezier curve and the coordinates of the control points B 1 , B 2 , and B 3 , generate a right-angle turn driving trajectory at the intersection:
T3(y)=(1-y2)B1+2y(1-y)B2+y2B3,y∈[0,1]T 3 (y)=(1-y 2 )B 1 +2y(1-y)B 2 +y 2 B 3 , y∈[0,1]
3)避让障碍物路径规划3) Path planning to avoid obstacles
图4为本发明的避让障碍物路径图,将障碍物靠近车辆的一端增加一个车辆后轴中点至车辆前端的长度,障碍物两个侧边的宽度分别增加半个车身的长度。同时,为了保证行驶安全性,在障碍物的前端和侧边分别增加一定的安全距离,以此保证最终生成的路径满足实际车辆与障碍物之间的距离要求;4 is the obstacle avoidance path diagram of the present invention, the end of the obstacle close to the vehicle is increased by a length from the midpoint of the rear axle of the vehicle to the front end of the vehicle, and the width of the two sides of the obstacle is increased by half the length of the vehicle body. At the same time, in order to ensure the driving safety, a certain safety distance is added to the front and side of the obstacle, so as to ensure that the final generated path meets the distance requirements between the actual vehicle and the obstacle;
基于路径搜索算法规划出的避障碍物的折线路径,选择避障起始点C1、障碍物前端的接触点C2、障碍物拐角处的转向点C3、避障完成点C4作为三阶贝塞尔曲线的控制点,规划出避让障碍物行驶路径T4(z):Based on the broken line path of obstacle avoidance planned by the path search algorithm, the starting point C1 of obstacle avoidance, the contact point C2 of the front end of the obstacle, the turning point C3 at the corner of the obstacle, and the completion point C4 of obstacle avoidance are selected as the third -order The control points of the Bezier curve, planning out the obstacle avoidance path T 4 (z):
T4(z)=C1(1-z)3+3C2(1-z)2z+3C3(1-z)z2+C4z3,z∈[0,1]T 4 (z)=C 1 (1-z) 3 +3C 2 (1-z) 2 z+3C 3 (1-z)z 2 +C 4 z 3 , z∈[0,1]
在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms 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.
尽管已经示出和描述了本发明的实施例,本领域的普通技术人员可以理解:在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由权利要求及其等同物限定。Although embodiments of the present 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 in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.
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