CN111609866B - Intelligent driving path fitting tracking control method for park vehicles based on differential GPS - Google Patents
Intelligent driving path fitting tracking control method for park vehicles based on differential GPS Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
According to the intelligent driving path fitting tracking control method for the park vehicle based on the differential GPS, coordinate points are firstly collected on a park road, a path curve of vehicle driving is fitted according to the collected coordinate points, the shortest distance between the current position coordinates of the vehicle and the path curve is firstly calculated in the following vehicle driving path tracking control process, then whether the current position coordinates of the vehicle turn left or right is calculated, further the vehicle is controlled to turn left or right in proportion to the distance between the rotating angle and the path curve, automatic driving control of the vehicle in the park is achieved, and a control method with stable control and high precision is provided for automatic driving control of the vehicle in a fixed area.
Description
Technical Field
The invention relates to a vehicle intelligent driving path fitting tracking control method, in particular to a park vehicle intelligent driving path fitting tracking control method based on a differential GPS.
Background
The ultimate goal of intelligent vehicle technology research is to achieve unmanned vehicles. Unmanned means that the vehicle which reaches the target position by adopting a sensor mode on the basis of a computer is replaced by manual operation, and the unmanned vehicle has the advantages of high efficiency, high safety performance and high accuracy. The main problems faced by researchers at the present stage are not only improvement of safety and reliability, but also factors such as high research and development cost, and the like, which are bottleneck links for realizing application industrialization. At present, unmanned automobiles in China commonly adopt a GPS differential map and deep learning path algorithm, and the method can effectively plan paths, but the cost of hardware facilities and software development is greatly increased, and meanwhile, high maintenance cost is required to be paid, so that the method is a hindrance to popularization and popularization.
Disclosure of Invention
The invention provides a park vehicle intelligent driving path fitting tracking control method based on a differential GPS (global positioning system) for overcoming the defects of the technical problems.
The intelligent driving path fitting tracking control method for the park vehicle based on the differential GPS is characterized by comprising the following steps of: firstly, periodically collecting longitude and latitude coordinates on a park road at intervals, setting the collected coordinate points as n, and then converting the collected coordinate points based on a geodetic coordinate system into n plane coordinate points; then, the path curve of the park road is fitted by using n plane coordinate points, and then the shortest distance D of the current position coordinate of the vehicle from the path curve is calculated min Calculating the steering of a steering wheel of the vehicle according to the current position coordinate of the vehicle and the coordinate of the acquisition point closest to the current position of the vehicle on the path curve; finally, controlling the shortest distance D between the rotation angle of the vehicle and the curve of the vehicle and the path min Proportional left and right steering to control the autonomous driving of the vehicle on the campus road.
The intelligent driving path fitting tracking control method for the park vehicle based on the differential GPS is realized by the following steps:
a) Collecting path coordinate information, namely collecting coordinate points at intervals of 5m according to a sampling rule based on longitude and latitude coordinate information of points on a differential GPS collecting path, and collecting the coordinate points at intervals of 1m according to a linear segment, wherein the collected coordinate points are based on a geodetic coordinate system, the number of the collected coordinate points is set to be n, and P in the n coordinate points is calculated as the number of the collected coordinate points i The coordinates of the points are denoted as P i (B i ,L i ,H i )，i＝1,2,3,...,n；
b) Plane coordinate transformation, using Gaussian projection forward calculation formula (1), P i Geodetic coordinates P of points i (B i ,L i ,H i ) Conversion to plane coordinates P i (x i ,y i )：
Wherein the angles are radians, L "=l i -L 0 ，L 0 The central meridian longitude, N is the curvature radius of the ellipsoidal mortise ring, e is the first eccentricity of the ellipsoid, a and b are respectively the long and short radii of the ellipsoid, f is the ellipsoidal flat rate, and W is a first auxiliary coefficient;
a＝6378137.000m，
b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B，
x is the meridian arc length, which is calculated by the following formula:
wherein a is 0 ,a 2 ,a 4 ,a 6 Is a substantially constant calculated according to equation (3):
wherein m is 0 ,m 2 ,m 4 ,m 6 ,m 8 Is basically constant and is calculated according to the following formula:
c) Path curve fitting, wherein a certain acquired road coordinate point to be fitted is set as P in sequence 1 、P 2 、…、P n N coordinate points are added up, and n is more than 4; sequentially through the step b) to be converted into plane coordinatesFitting n discrete points to a curve in a planar coordinate system by using a least square method, wherein the fitted curve is represented by a unitary third equation function f n (x) Expressed as:
f n (x)＝ax 3 +bx 2 +cx+d (4)
in the formula (4), a, b, c, d is a coefficient of a fitting curve;
d) Path tracking, calculating the current position point P of the vehicle m (x m ,y m ) Shortest distance to path curve, set point P m (x m ,y m ) To path curve f n (x) And if the intersection point of the shortest path and the curve is P (x, y), the distance from the current position point to the path curve is as follows:
and (3) making:
L＝(x m -x) 2 +(y m -y) 2 (6)
the path equation will be preset:
y＝ax 3 +bx 2 +cx+d (7)
substituting into the formula (6), and simplifying to obtain:
the one-time derivation of x by equation (8) is simplified to obtain:
an approximate solution of equation L '=0 is found using newton's method:
and (3) making:
the iteration initial value is:
x 0 ＝x m -0.3 (11)
the iterative formula:
x n+1 ＝x n -f(x n )/f′(x n ) (12)
accuracy threshold 10 -12 The iteration number defines 100, assuming that the obtained approximation solution is x=x d Substituting into (7) to obtain a point P on the curve d (x d ,y d ) P is passed through d And (3) making a tangent line of the curve (7) by a point, wherein the slope of the obtained tangent line is as follows:
tanθ 1 ＝K (14)
record theta 2 For point P d (x d ,y d ) And point P m (x m ,y m ) The included angle between the connecting line between the two points and the vertical direction is obtained according to the rule that the sum of the internal angles of the triangles is equal to 180 DEG and the similar triangles: θ 1 ＝θ 2 ；
Obtaining the current position P of the vehicle according to the formula (5) m (x m ,y m ) The shortest distance to the curve is:
e) Vehicle direction control, calculating whether the current position of the vehicle is positioned on the left side or the right side of the path curve, P m (x m ,y m ) For the coordinates of the current position of the vehicle, P ' (x ', y ') is the fitted curve equation f n (x)＝ax 3 +bx 2 Distance P in the vehicle travel direction on +cx+d m (x m ,y m ) The nearest acquisition point coordinates will be x m Substituting the coordinates into the fitted curve equation to obtain a coordinate point P (x) m ,y)；θ 3 For point P m (x m ,y m ) The angle θ between the line connecting the two points with point P ' (x ', y ') and the x-axis 4 Is point P (x m An angle between the line between y) and the two points P ' (x ', y ') and the x-axis;
the θ is found by the equation (16), the equation (17) and the equation (18) 3 、θ 4 Corresponding arctangent values phid, phir; the calculation formula of the atan2 function is:
the calculation formulas of phid and phir are as follows:
phid＝atan2(y″-y m ,x″-x m ) (17)
phir＝atan2(y″-y,x″-x m ) (18)
the actual arctangent difference err_phi needs to be obtained by the formula (20) after the difference is obtained by the formula (19) because the quadrants of the coordinates may be different by the formula (16), the formula (17) and the formula (18) to obtain phid, phir:
err_phi＝phid-phir (19)
when err_phi is greater than 0, the current position of the vehicle is positioned at the left side of the path curve, the steering wheel is driven to the right, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven rightwards; when err_phi is smaller than 0, the current position of the vehicle is positioned on the right side of the path curve, the steering wheel is driven leftwards, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven leftwards; the steering wheel of the vehicle is adjusted periodically and continuously, so that the running path of the vehicle is controlled, and the automatic driving of the vehicle is realized.
The beneficial effects of the invention are as follows: according to the intelligent driving path fitting tracking control method for the park vehicle based on the differential GPS, coordinate points are firstly collected on a park road, a path curve of vehicle driving is fitted according to the collected coordinate points, the shortest distance between the current position coordinates of the vehicle and the path curve is firstly calculated in the following vehicle driving path tracking control process, then whether the current position coordinates of the vehicle turn left or right is calculated, further the vehicle is controlled to turn left or right in proportion to the distance between the rotating angle and the path curve, automatic driving control of the vehicle in the park is achieved, and a control method with stable control and high precision is provided for automatic driving control of the vehicle in a fixed area.
Drawings
FIG. 1 is a schematic diagram of the shortest distance between the current position of the vehicle and a path curve in the present invention;
fig. 2 is a schematic diagram of the steering direction calculation of the current position of the vehicle in the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The intelligent driving path fitting tracking control method for the park vehicle based on the differential GPS is realized by the following steps:
a) Collecting path coordinate information, namely collecting coordinate points at intervals of 5m according to a sampling rule based on longitude and latitude coordinate information of points on a differential GPS collecting path, and collecting the coordinate points at intervals of 1m according to a linear segment, wherein the collected coordinate points are based on a geodetic coordinate system, the number of the collected coordinate points is set to be n, and P in the n coordinate points is calculated as the number of the collected coordinate points i The coordinates of the points are denoted as P i -B i ,L i ,H i )，i＝1,2,3,...,n；
b) Plane coordinate transformation, using Gaussian projection forward calculation formula (1), P i Geodetic coordinates P of points i (B i ,L i ,H i ) Conversion to plane coordinates P i (x i ,y i )：
Wherein the angles are radians, l' =L i -L 0 ，L 0 The central meridian longitude, N is the curvature radius of the ellipsoidal mortise ring, e is the first eccentricity of the ellipsoid, a and b are respectively the long and short radii of the ellipsoid, f is the ellipsoidal flat rate, and W is a first auxiliary coefficient;
a＝6378137.000m，
b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B，
x is the meridian arc length, which is calculated by the following formula:
wherein a is 0 ,a 2 ,a 4 ,a 6 Is a substantially constant calculated according to equation (3):
wherein m is 0 ,m 2 ,m 4 ,m 6 ,m 8 Is basically constant and is calculated according to the following formula:
c) Path curve fitting, wherein a certain acquired road coordinate point to be fitted is set as P in sequence 1 、P 2 、…、P n N coordinate points are added up, and n is more than 4; sequentially converting into plane coordinates in the step b), and fitting n discrete points into one strip by using a least square method in a plane coordinate systemCurve, fitted curve using a unitary third equation function f n (x) Expressed as:
f n (x)＝ax 3 +bx 2 +cx+d (4)
in the formula (4), a, b, c, d is a coefficient of a fitting curve;
d) Path tracking, calculating the current position point P of the vehicle m (x m ,y m ) Shortest distance to path curve, set point P m (x m ,y m ) To path curve f n (x) And if the intersection point of the shortest path and the curve is P (x, y), the distance from the current position point to the path curve is as follows:
and (3) making:
L＝(x m -x) 2 +(y m -y) 2 (6)
the path equation will be preset:
y＝ax 3 +bx 2 +cx+d (7)
substituting into the formula (6), and simplifying to obtain:
the one-time derivation of x by equation (8) is simplified to obtain:
an approximate solution of equation L '=0 is found using newton's method:
and (3) making:
the iteration initial value is:
x 0 ＝x m -0.3 (11)
the iterative formula:
x n+1 ＝x n -f(x n )/f′(x n ) (12)
accuracy threshold 10 -12 The iteration number defines 100, assuming that the obtained approximation solution is x=x d Substituting into (7) to obtain a point P on the curve d (x d ,y d ) P is passed through d And (3) making a tangent line of the curve (7) by a point, wherein the slope of the obtained tangent line is as follows:
tanθ 1 ＝K (14)
record theta 2 For point P d (x d ,y d ) And point P m (x m ,y m ) The included angle between the connecting line between the two points and the vertical direction is obtained according to the rule that the sum of the internal angles of the triangles is equal to 180 DEG and the similar triangles: θ 1 ＝θ 2 ；
As shown in fig. 1, a schematic diagram of the shortest distance between the current position of the vehicle and the path curve in the present invention is given;
obtaining the current position P of the vehicle according to the formula (5) m (x m ,y m ) The shortest distance to the curve is:
e) Vehicle direction control, calculating whether the current position of the vehicle is positioned on the left side or the right side of the path curve, P m (x m ,y m ) For the coordinates of the current position of the vehicle, P ' - (x ', y ') is the fitted curve equation f n (x)＝ax 3 +bx 2 Distance P in the vehicle travel direction on +cx+d m (x m ,y m ) The nearest acquisition point coordinates will be x m Substituting the coordinates into the fitted curve equation to obtain a coordinate point P (x) m ,y)；θ 3 For point P m (x m ,y m ) The angle θ between the line connecting the two points with point P ' (x ', y ') and the x-axis 4 Is point P (x m An angle between the line between y) and the two points P ' (x ', y ') and the x-axis;
the θ is found by the equation (16), the equation (17) and the equation (18) 3 、θ 4 Corresponding arctangent values phid, phir; the calculation formula of the atan2 function is:
the calculation formulas of phid and phir are as follows:
phid＝atan2(y″-y m ,x″-x m ) (17)
phir＝atan2(y″-y,x″-x m ) (18)
the actual arctangent difference err_phi needs to be obtained by the formula (20) after the difference is obtained by the formula (19) because the quadrants of the coordinates may be different by the formula (16), the formula (17) and the formula (18) to obtain phid, phir:
err_phi＝phid-phir (19)
as shown in fig. 2, a schematic diagram of the steering direction calculation of the current position of the vehicle in the present invention is given;
when err_phi is greater than 0, the current position of the vehicle is positioned at the left side of the path curve, the steering wheel is driven to the right, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven rightwards; when err_phi is smaller than 0, the current position of the vehicle is positioned on the right side of the path curve, the steering wheel is driven leftwards, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven leftwards; the steering wheel of the vehicle is adjusted periodically and continuously, so that the running path of the vehicle is controlled, and the automatic driving of the vehicle is realized.
Claims (1)
1. The intelligent driving path fitting tracking control method for the park vehicles based on the differential GPS is characterized by comprising the following steps of: firstly, periodically collecting longitude and latitude coordinates on a park road at intervals, setting the collected coordinate points as n, and then converting the collected coordinate points based on a geodetic coordinate system into n plane coordinate points; then, the path curve of the park road is fitted by using n plane coordinate points, and then the shortest distance D of the current position coordinate of the vehicle from the path curve is calculated min Calculating the steering of a steering wheel of the vehicle according to the current position coordinate of the vehicle and the coordinate of the acquisition point closest to the current position of the vehicle on the path curve; finally, controlling the shortest distance D between the rotation angle of the vehicle and the curve of the vehicle and the path min Proportional left and right steering to control the autonomous driving of the vehicle on the campus road;
the method is realized by the following steps:
a) Collecting path coordinate information, namely collecting coordinate points at intervals of 5m according to a sampling rule based on longitude and latitude coordinate information of points on a differential GPS collecting path, and collecting the coordinate points at intervals of 1m according to a linear segment, wherein the collected coordinate points are based on a geodetic coordinate system, the number of the collected coordinate points is set to be n, and P in the n coordinate points is calculated as the number of the collected coordinate points i The coordinates of the points are denoted as P i (B i ,L i ,H i )，i＝1,2,3,...,n；
b) Plane coordinate transformation, using Gaussian projection forward calculation formula (1), P i Geodetic coordinates P of points i (B i ,L i ,H i ) Conversion to plane coordinates P i (x i ,y i )：
Wherein the angles are radians, L "=l i -L 0 ，L 0 Is the longitude of the central meridian, N is the curvature radius of the ellipsoidal unitary circle, e is the first eccentricity of the ellipsoid,a and b are respectively the long and short radii of the ellipsoid, f is the oblate of the ellipsoid, and W is a first auxiliary coefficient;
a＝6378137.000m，
b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B i ，
x is the meridian arc length, which is calculated by the following formula:
wherein a is 0 ，a 2 ，a 4 ，a 6 Is a substantially constant calculated according to equation (3):
wherein m is 0 ，m 2 ，m 4 ，m 6 ，m 8 Is basically constant and is calculated according to the following formula:
c) Path curve fitting, wherein a certain acquired road coordinate point to be fitted is set as P in sequence 1 、P 2 、...、P n N coordinate points are added up, and n is more than 4; sequentially converting into plane coordinates in the step b), fitting n discrete points into a curve by using a least square method in the plane coordinates, wherein the fitted curve is obtained by using a unitary third powerPath function f n (x) Expressed as:
f n (x)＝ax 3 +bx 2 +cx+d (4)
in the formula (4), a, b, c, d is a coefficient of a fitting curve;
d) Path tracking, calculating the current position point P of the vehicle m (x m ，y m ) Shortest distance to path curve, set point P m (x m ，y m ) To path curve f n (x) And if the intersection point of the shortest path and the curve is P (x, y), the distance from the current position point to the path curve is as follows:
and (3) making:
L＝(x m -x) 2 +(y m -y) 2 (6)
the path equation will be preset:
y＝ax 3 +bx 2 +cx+d (7)
substituting into the formula (6), and simplifying to obtain:
the one-time derivation of x by equation (8) is simplified to obtain:
an approximate solution of equation L '=0 is found using newton's method:
and (3) making:
the iteration initial value is:
x 0 ＝x m -0.3 (11)
the iterative formula:
x n+1 ＝x n -f(x n )/f′(x n ) (12)
accuracy threshold 10 -12 The iteration number defines 100, assuming that the obtained approximation solution is x=x d Substituting into (7) to obtain a point P on the curve d (x d ，y d ) P is passed through d And (3) making a tangent line of the curve (7) by a point, wherein the slope of the obtained tangent line is as follows:
tanθ 1 ＝K (14)
record theta 2 For point P d (x d ，y d ) And point P m (x m ，y m ) The included angle between the connecting line between the two points and the vertical direction is obtained according to the rule that the sum of the internal angles of the triangles is equal to 180 DEG and the similar triangles: θ 1 ＝θ 2 ；
Obtaining the current position P of the vehicle according to the formula (5) m (x m ，y m ) The shortest distance to the curve is:
e) Vehicle direction control, calculating whether the current position of the vehicle is positioned on the left side or the right side of the path curve, P m (x m ，y m ) For the coordinates of the current position of the vehicle, P ' (x ', y ') is the fitted curve equation f n (x)＝ax 3 +bx 2 Distance P in the vehicle travel direction on +cx+d m (x m ，y m ) The nearest acquisition point coordinates will be x m Substituting the coordinates into the fitted curve equation to obtain a coordinate point P (x) m ，y)；θ 3 For point P m (x m ，y m ) The angle θ between the line connecting the two points with point P ' (x ', y ') and the x-axis 4 Is point P (x m Y) and point P "(x",y') an angle between the line between the two points and the x-axis;
the θ is found by the equation (16), the equation (17) and the equation (18) 3 、θ 4 Corresponding arctangent values phid, phir; the calculation formula of the atan2 function is:
the calculation formulas of phid and phir are as follows:
phid＝a tan2(y″-y m ，x″-x m ) (17)
phir＝a tan2(y″-y，x″-x m ) (18)
the actual arctangent difference err_phi needs to be obtained by the formula (20) after the difference is obtained by the formula (19) because the quadrants of the coordinates may be different by the formula (16), the formula (17) and the formula (18) to obtain phid, phir:
err_phi＝phid-phir (19)
when err_phi is greater than 0, the current position of the vehicle is positioned at the left side of the path curve, the steering wheel is driven to the right, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven rightwards; when err_phi is smaller than 0, the current position of the vehicle is positioned on the right side of the path curve, the steering wheel is driven leftwards, and the rotating angle of the steering wheel is equal to the distance D between the vehicle and the path curve min In proportion, the vehicle is driven leftwards; the steering wheel of the vehicle is adjusted periodically and continuously, so that the running path of the vehicle is controlled, and the automatic driving of the vehicle is realized.
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