CN111624988A - Planning method and device for U-turn path - Google Patents
Planning method and device for U-turn path Download PDFInfo
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Abstract
The invention discloses a planning method and a device of a turning path, relates to the field of computers, and aims to solve the problem of low manual turning efficiency. The method comprises the following steps: acquiring boundary information of a work land, initial path information for performing initial work on the work land and steering direction information; acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information; selecting a target steering mode from more than two preset steering modes according to the emergent point information, the incident point information, the steering direction information and a preset steering reference condition; and planning a turning path according to the target steering mode. The technical scheme of the invention can be applied to the field of automatic driving.
Description
Technical Field
The invention relates to the field of computers, in particular to a method and a device for planning a turning path.
Background
With the progress of scientific technology, the automatic driving technology has been widely applied to the agricultural field. In the operation process, the agricultural equipment can realize automatic driving operation through an automatic driving technology, so that the labor production efficiency is improved.
In the operation process of the agricultural machinery under the existing automatic driving condition, when a certain line of linear operation is completed, the agricultural machinery equipment needs to be steered to complete the next line of operation. The steering method provided by the prior art is as follows: firstly, stopping automatic driving; then, the operator performs manual steering; after the steering is completed, the automatic driving mode is started again to continue the work.
In the process of implementing the invention, the inventor finds that the steering method provided by the prior art needs artificial driving to complete, is low in efficiency, and can cause the problem of unsuccessful steering due to the influence of artificial driving experience and environment on people.
Disclosure of Invention
The embodiment of the invention provides a method and a device for planning a turning path, which aim to solve the problem of low efficiency of manual turning.
In order to solve the above problem, an embodiment of the present invention discloses a method for planning a u-turn path, including: acquiring boundary information of a work land, initial path information for performing initial work on the work land and steering direction information; acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information; selecting a target steering mode from more than two preset steering modes according to the emergent point information, the incident point information, the steering direction information and a preset steering reference condition; and planning a turning path according to the target steering mode.
Further, the boundary information is a set of two or more boundary points on the boundary of the work parcel, and the acquiring the boundary information of the work parcel includes: acquiring an included angle formed by three continuous boundary points from the boundary information; if the included angle is smaller than a preset included angle threshold value, deleting one boundary point in the middle of the three continuous boundary points from the boundary information; by analogy, traversing all boundary points in the boundary information to generate target boundary information; at this time, the acquiring of the exit point information and the incident point information according to the boundary information and the initial path information is replaced by: and acquiring emergent point information and incident point information according to the target boundary information and the initial path information.
Further, the acquiring of the exit point information and the incident point information according to the boundary information, the initial path information, and the steering direction information includes: acquiring a first operation path section formed by the last two initial operation points in the initial path information; extending the first operation path section, and acquiring intersection point information between boundaries formed by the first operation path section and the boundary information as the emergent point information; according to the steering direction information, second path information corresponding to a second path parallel to the initial path corresponding to the initial path information is obtained, wherein the second path information comprises a set of more than two operation points on the second path; acquiring a second operation path section formed by the first two operation points in the second path information; and reversely extending the second operation path section, and acquiring intersection point information between the second operation path section and the boundary as the incident point information.
Further, the obtaining, according to the steering direction information, second path information corresponding to a second path parallel to the initial path corresponding to the initial path information includes: according to the steering direction information, acquiring a second path parallel to the initial path by adopting a shuttle method, and acquiring second path information corresponding to the second path; or acquiring a second path parallel to the initial path by adopting a looping method according to the steering direction information, and acquiring second path information corresponding to the second path.
Further, the selecting a target turning mode from more than two preset turning modes according to the exit point information, the entrance point information, the turning direction information and a preset turning reference condition comprises: if the steering reference condition comprises high-precision equipment, retrieving a rotating direction mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information; or if the steering reference condition includes that no high-precision equipment is provided and the boundary of the operation land is a simple boundary, selecting a conventional steering mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information; alternatively, the first and second electrodes may be,
and if the steering reference condition comprises that no high-precision equipment is provided and the boundary of the operation land block is a complex boundary, selecting a Dubins steering mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information.
Further, the rotary steering manner is composed of a rotary arc section and a straight line section, wherein the rotary arc section comprises: three-stage convolution and two-stage convolution; the conventional steering manner includes: a pear-shaped steering mode, a U-shaped steering mode, an arc-shaped steering mode, a half-pear-shaped steering mode and a fishtail-shaped steering mode; the Dubins steering mode comprises the following steps: cleftSlineCleftSteering system, CleftSlineCrightSteering system, CrightSlineCleftSteering system, CrightSlineCrightSteering system, CrightCleftCrightSteering system and CleftCrightCleftA steering mode; wherein, CleftIn the form of a left-hand steering arc, CrightFor a rightwards-directed circular arc, SlineIs a straight line.
On the other hand, in order to solve the above problem, an embodiment of the present invention discloses a device for planning a u-turn path, including:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring boundary information of a working land, initial path information for performing initial work on the working land and steering direction information;
the second acquisition module is used for acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information acquired by the first acquisition module;
a third obtaining module, configured to select a target steering manner from more than two preset steering manners according to the exit point information and the incident point information obtained by the second obtaining module, the steering direction information obtained by the first obtaining module, and a preset steering reference condition;
and the path planning module is used for planning a turning path according to the target steering mode acquired by the third acquisition module.
Further, the boundary information is a set of two or more boundary points on the boundary of the work parcel, and the first obtaining module includes:
the first obtaining submodule is used for obtaining an included angle formed by three continuous boundary points from the boundary information;
a deleting submodule, configured to delete a boundary point in the middle of the three consecutive boundary points from the boundary information if the included angle obtained by the first obtaining submodule is smaller than a preset included angle threshold;
the generating submodule is used for traversing all boundary points in the boundary information by adopting the deleting submodule in the same way to generate target boundary information;
at this time, the second obtaining module is further configured to obtain information of an exit point and information of an entrance point according to the target boundary information and the initial path information.
Further, the initial path information is a set of two or more initial operation points recorded during an initial operation, and the second obtaining module includes:
the second obtaining submodule is used for obtaining a first operation path section formed by the last two initial operation points in the initial path information;
a third obtaining submodule, configured to extend the first operation path segment obtained by the second obtaining submodule, and obtain intersection point information between boundaries formed by the first operation path segment and the boundary information as the exit point information;
a fourth obtaining sub-module, configured to obtain, according to the steering direction information, second path information corresponding to a second path that is parallel to an initial path corresponding to the initial path information, where the second path information includes a set of two or more operation points on the second path;
a fifth obtaining submodule, configured to obtain a second operation path segment formed by the first two operation points in the second path information obtained by the second obtaining submodule;
and the sixth obtaining submodule is used for reversely prolonging the second operation path section obtained by the fifth obtaining submodule, and obtaining intersection point information between the second operation path section and the boundary as the incident point information.
Further, the fourth obtaining sub-module includes:
the first obtaining unit is used for obtaining a second path parallel to the initial path by adopting a shuttle method according to the steering direction information and obtaining second path information corresponding to the second path; alternatively, the first and second electrodes may be,
and the second acquisition unit is used for acquiring a second path parallel to the initial path by adopting a looping method according to the steering direction information and acquiring second path information corresponding to the second path.
Further, the third obtaining module includes:
a seventh obtaining sub-module, configured to, if the steering reference condition includes a device with high accuracy, retrieve a rotation direction manner as a target steering manner from the two or more steering manners according to the exit point information, the entrance point information, and the steering direction information; alternatively, the first and second electrodes may be,
an eighth obtaining sub-module, configured to select a conventional steering manner as a target steering manner from the two or more steering manners according to the exit point information, the incident point information, and the steering direction information if the steering reference condition includes that no high-precision device is provided and the boundary of the work parcel is a simple boundary; alternatively, the first and second electrodes may be,
and the ninth acquisition submodule is used for selecting a Dubins steering mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information if the steering reference condition includes that no high-precision equipment is provided and the boundary of the operation land block is a complex boundary.
Compared with the prior art, according to the technical scheme provided by the embodiment of the invention, firstly, the information of the emergent point and the information of the incident point can be obtained according to the boundary information, the information of the initial path and the information of the steering direction, and no association limitation exists between the emergent point and the incident point, so that the technical scheme provided by the embodiment of the invention has stronger applicability and is not limited by factors such as the shape of a working land; secondly, the target steering mode can be selected from more than two preset steering modes according to the information of the emergent point, the information of the incident point, the steering direction information and the preset steering reference condition, so that the technical scheme provided by the embodiment of the invention can automatically select the optimal target steering mode according to the actual requirement, and the problems that the ground is required to be steered too much due to improper steering modes, or the ground cannot be turned around flexibly on an irregular boundary, or only linear operation cannot be performed, or the turning mode generates huge loss on a high-precision instrument, and the like are solved. The technical scheme provided by the embodiment of the invention has the advantages that the whole process is automatically completed, the method is an important supplement of the application of the automatic driving technology in the operation field, and the problems of automatic driving terminal, low turning efficiency and the like caused by manual participation of operators when turning around in the automatic driving process in the prior art are solved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a flowchart of a method for planning a u-turn path according to an embodiment of the present invention;
fig. 2 is a flowchart of step 101 in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 3 is a flowchart of step 102 in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 4 is a schematic diagram of exit point information and incident point information obtained when an initial path is a straight line in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 5 is a schematic diagram of exit point information and incident point information obtained when an initial path is a curve in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 6 is a schematic diagram illustrating that an operation mode in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1 is a shuttle method;
fig. 7 is a schematic diagram of a method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1, in which an operation mode is a relay method;
fig. 8 is a schematic diagram of a U-shaped turning manner in the method for planning a U-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 9 is a schematic view of an arcuate turning manner in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 10 is a schematic view of a pear-shaped turning manner in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 11 is a schematic diagram of a half-pear-shaped turning manner in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 12 is a schematic view of a fishtail turning manner in the method for planning a u-turn path according to the embodiment of the invention shown in fig. 1;
fig. 13 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionleftSlineCleftA schematic turning mode;
fig. 14 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionleftSlineCrightA schematic turning mode;
fig. 15 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionrightSlineCleftA schematic turning mode;
fig. 16 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionrightSlineCrightA schematic turning mode;
fig. 17 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionrightCleftCrightA schematic turning mode;
fig. 18 is a diagram of a method for planning a u-turn path, C, shown in fig. 1 according to an embodiment of the present inventionleftCrightCleftA schematic turning mode;
fig. 19 is a schematic three-stage rotation diagram in the method for planning a u-turn path according to the embodiment of the invention shown in fig. 1;
fig. 20 is a schematic two-stage rotation diagram 1 in the method for planning a u-turn path according to the embodiment of the invention shown in fig. 1;
fig. 21 is a schematic two-stage rotation diagram 2 in the method for planning a u-turn path according to the embodiment of the invention shown in fig. 1;
fig. 22 is a schematic diagram illustrating that, in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1, when an initial path is a straight line, a u-turn path is planned in a Dubins steering manner;
fig. 23 is a schematic diagram illustrating that, in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1, when an initial path is a curve, a u-turn path is planned in a Dubins steering manner;
fig. 24 is a comparison diagram of u-turn path planning performed in a conventional steering mode and a Dubins steering mode when an initial path is a straight line in the u-turn path planning method according to the embodiment of the present invention shown in fig. 1;
fig. 25 is a comparison diagram of u-turn path planning performed in a conventional steering mode and a Dubins steering mode when an initial path is a curve in the u-turn path planning method according to the embodiment of the present invention shown in fig. 1;
fig. 26 is a schematic diagram of a minimum turn-around path in the method for planning a turn-around path according to the embodiment of the present invention shown in fig. 1;
fig. 27 is a schematic diagram of a u-turn path generated by a turning manner under different angles of an exit point and angles of an incident point in the method for planning a u-turn path according to the embodiment of the present invention shown in fig. 1;
fig. 28 is a schematic diagram of a turning path and curvature under different turning modes in the method for planning a turning path according to the embodiment of the present invention shown in fig. 1;
fig. 29 is a schematic structural diagram of a u-turn path planning apparatus according to an embodiment of the present invention;
fig. 30 is a schematic structural diagram of a first obtaining module 2901 in the u-turn path planning apparatus according to the embodiment of the present invention shown in fig. 29;
fig. 31 is a schematic structural diagram of a second obtaining module 2902 in the u-turn path planning apparatus according to the embodiment of the present invention shown in fig. 29;
FIG. 32 is a block diagram illustrating a fourth acquisition submodule 3103 of the second acquisition module 2902 shown in FIG. 31;
fig. 33 is a schematic structural diagram of a third obtaining module 2903 in the u-turn path planning apparatus according to the embodiment of the present invention shown in fig. 29.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to solve the problem of low efficiency of manual turning around, the embodiment of the invention provides a method and a device for planning a turning-around path.
As shown in fig. 1, a method for planning a u-turn path according to an embodiment of the present invention includes:
In this embodiment, the boundary information of the work place may be obtained by the vehicle actually traveling along the boundary of the work place, or may be obtained by mapping the work place, or may be obtained by other means, which is not described herein again; the initial path information is obtained by an operator manually driving the vehicle to perform an initial work.
The boundary information described in this embodiment is specifically a set of two or more boundary points on the boundary of the work block, that is, the boundary information P ═ P1,P2,…,PkIn which P iskK is the k boundary point, k is more than 2; the initial path information described in this embodiment is a set of two or more initial operation points, that is, the initial path information T ═ T1,T2,…,TkIn which T iskIs the kth initial operating point, and k is more than or equal to 2; the steering information described in this embodiment includes left or right, and the steering direction may be set according to the position of the initial path on the work land, for example: when the initial path is located on the left side of the operation land, the steering direction information is set to the right, and conversely, when the initial path is located on the right side of the operation land, the steering direction information is set to the left, which is not described herein.
Further, in order to reduce the calculation amount of the u-turn path planning, in this embodiment, as shown in fig. 2, the acquiring, in step 101, the boundary information of the work parcel may specifically include:
In the present embodiment, the boundary information P ═ { P ═ P1,P2,…,PkIn which P isk Step 201, for the kth boundary point, acquires three consecutive boundary points from the boundary information, which are: pi-1、PiAnd Pi+1And an included angle α between them is calculated by the following formulas (1) to (3)i。
PiPi-1＝(x(Pi-1)-x(Pi),y(Pi-1)-y(Pi)) (1)
PiPi+1＝(x(Pi+1)-x(Pi),y(Pi+1)-y(Pi)) (2)
Wherein, x (P)i-1)、x(Pi) And x (P)i+1) Are respectively Pi-1、PiAnd Pi+1Abscissa of (a), y (P)i-1)、y(Pi) And y (P)i+1) Are respectively Pi-1、PiAnd Pi+1The ordinate of (c).
In step 202, if the included angle is smaller than the preset included angle threshold, deleting the middle one of the three continuous boundary points from the boundary information.
In this embodiment, an included angle threshold of 3 ° may be preset if α is determined in step 201i<If 3 deg., delete Pi。
It should be noted that, in this embodiment, the included angle threshold is only taken as 3 degrees for example, and in an actual use process, the included angle threshold may be set as needed, which is not described herein again.
And step 203, by analogy, traversing all boundary points in the boundary information to generate target boundary information.
At this time, the target boundary information obtained in step 203 is the boundary information described in step 101.
The boundary point information can be diluted through the steps shown in fig. 2, redundant information is deleted on the premise that the accuracy of the boundary point information is ensured, the calculation complexity of the whole u-turn path planning can be simplified, and the calculation efficiency is improved.
And 102, acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information.
Specifically, as shown in fig. 3, step 102 may include:
In the present embodiment, the initial path information T ═ T1,T2,…,TkIn which T iskIs the k-th initial operation point, k is 2 when the initial path is a straight line, and k is a curved line when the initial path is a curved line>2。
The last two initial operation points a and b in the initial path information, the first operation path segment is Line (P)a,Pb) Wherein P isa＝Tk-1,Pb＝Tk。
In this embodiment, the exit point information may include coordinates and an angle of the exit point, and the step 302 may specifically obtain the exit point information through the following formulas (4) and (5):
Line(Pa,Pb)∩{P1,P2,…,Pk}＝Pstart(4)
wherein, PstartAs coordinates of the point of departure, thetastartIs the angle of the point of departure.
In the present embodiment, step 303 may acquire the second path information by equations (6) and (7) as follows:
T'＝T±R*η (6)
wherein, R is the vertical distance between the second path and the initial path, η is the normal vector of the initial path, and T' is the second path information.
In the present embodiment, the initial path information T '═ T'1,T'2,…,T'kIn which, T'kIs the k-th operation point.
The first two initial operation points in the second path information are a and b, and the second operation path segment is Line (P'a,P'b) Wherein，P'a＝T'1,P'b＝T'2。
And 305, reversely extending the second operation path segment, and acquiring intersection point information between the second operation path segment and the boundary as incident point information.
In this embodiment, the incident point information may include coordinates and an angle of an incident point, and the step 305 may specifically obtain the incident point information through the following formulas (8) and (9):
Line(P'a,P'b)∩{P1,P2,…,Pk}＝Pend(8)
wherein, PendAs coordinates of the point of incidence, θendIs the angle of the point of incidence.
Fig. 4 is a schematic diagram of the exit point information and the entrance point information obtained through the steps shown in fig. 3 when the initial path is a straight line, and fig. 5 is a schematic diagram of the exit point information and the entrance point information obtained through the steps shown in fig. 3 when the initial path is a curved line.
As can be seen from fig. 4 and 5, the technical solution provided by the embodiment of the present invention has no association limitation between the exit point and the incident point, so that the technical solution provided by the embodiment of the present invention has stronger adaptability and is not limited by factors such as the shape of the operation land.
Further, in the present embodiment, the normal work mode includes a shuttle method as shown in fig. 6 — traveling from the current work line to the next line without jumping; and, as shown in fig. 7, the double-row method, i.e., the operation is switched from the first row to the middle row and then back to the second row, so as to complete the whole operation in a reciprocating manner.
Depending on the operation mode, step 303 may further include: according to the steering direction information, acquiring a second path parallel to the initial path by adopting a shuttle method, and acquiring second path information corresponding to the second path; or, according to the steering direction information, acquiring a second path parallel to the initial path by using a looping method, and acquiring second path information corresponding to the second path.
It should be further noted that, if the incident point obtained in step 305 is empty, that is, equation (9) has no intersection point, the u-turn path planning may be ended, and the operation is completed.
And 103, selecting a target steering mode from more than two preset steering modes according to the emergent point information, the incident point information, the steering direction information and preset steering reference conditions.
In this embodiment, step 103 may include:
1. and if the turning reference condition comprises that the high-precision equipment is not provided and the boundary of the operation land is a simple boundary, selecting a conventional turning mode from more than two turning modes as a target turning mode according to the emergent point information, the incident point information and the turning direction information.
2. And if the steering reference condition comprises that the boundary of the working land block is a complex boundary without high-precision equipment, selecting a Dubins steering mode from more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information.
3. And if the steering reference condition comprises equipment with high precision, retrieving the rotating direction mode from more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information.
It should be noted that, this embodiment does not limit the specific content of the steering reference condition, in the actual using process, the steering reference condition may further include information such as the operation width and the turning radius, and the specific content of the steering reference condition may be set according to the actual operation requirement, which is not described here any more.
In order to make the above three implementations of step 103 more clearly understood by those skilled in the art, the following are described separately:
(1) the target steering mode is a conventional steering mode
In the present embodiment, the conventional steering manner may include: a U-turn as shown in fig. 8, an arcuate turn as shown in fig. 9, a pear-turn as shown in fig. 10, a semi-pear-turn as shown in fig. 11, and a fishtail as shown in fig. 12, etc.
The U-shaped steering mode is suitable for the condition that width is 2 r; the bow-shaped steering mode is suitable for the condition that the width is more than 2 r; the pear-shaped steering mode and the half pear-shaped steering mode are both suitable for the condition that the width is less than 2 r; the fishtail steering mode is suitable for the condition that width is less than r. Wherein width is the operation width, and r is the turning radius.
The fishtail steering method is suitable for driving assistance or a scene that a vehicle achieves full control, and can save land to the maximum extent by using the fishtail steering method when a complicated land boundary and the turning width of the ground is too small.
In summary, according to the features of the conventional steering manners shown in fig. 8 to 12, step 103 may further select a more suitable steering manner from the conventional steering manners according to the information of the operation width, the turning radius, and the like included in the steering reference condition.
(2) The target steering mode is a Dubins steering mode
In this embodiment, the Dubins steering manner may include: as shown in FIG. 13CleftSlineCleftSteering system, C shown in FIG. 14leftSlineCrightSteering system, C shown in FIG. 15rightSlineCleftSteering system, C shown in FIG. 16rightSlineCrightSteering system, C shown in FIG. 17rightCleftCrightSteering system and C shown in FIG. 18leftCrightCleftA steering mode; wherein, CleftIn the form of a left-hand steering arc, CrightFor a rightwards-directed circular arc, SlineIs a straight line.
The Dubins steering mode is suitable for the exit point and the entrance point of a complex ground boundary, and has the flexibility that no additional limitation is imposed on the exit point and the entrance point, no limitation that the entrance point and the exit point must be opposite to each other by 180 degrees and be parallel to the position of the ground boundary is imposed. The total path lengths under different steering can be calculated by giving the positions and angles of the emergent point and the incident point, the shortest path is selected as a steering mode, and the generated path meets the requirement of the minimum turning radius.
In summary, according to the features of the Dubins steering manners shown in fig. 13 to 18, step 103 may further select a steering manner with the shortest path from the Dubins steering manners according to the exit point information (specifically, the position information and the angle information), the entrance point information (specifically, the position information and the angle information), and the steering direction information.
(3) The target steering mode is a rotary steering mode
In the present embodiment, the curvature of the path in the convolution steering mode is in a linear relationship with the length of the convolution path, and the generation mode is in communication with the Dubins steering mode, which mainly uses the circular arc plus the straight line segment for steering, and the convolution steering mode mainly uses the combination of the convolution arc segment and the straight line segment. Wherein, the circular arc section includes again: a three-segment convolution as shown in figure 19; and two-step backspin as shown in figures 20 and 21.
In most cases, the conventional steering mode and the Dubins steering mode can meet the operation requirement, however, for high-precision equipment or part of machine parts steering with the vehicle and part of operation, the control precision is strict, and the steering with continuous curvature can better deal with the problems. Both conventional steering mode and Dubins steering satisfy the steering curvature constraint, however, the curvature value is not continuous. Under the condition of discontinuous curvature, certain precision deviation exists in the control, and when the plug-in equipment is carried to turn, the plug-in equipment is easily abraded and extruded, so that the damage rate of the equipment is increased. And the specific curvature of the U-turn path generated by the rotary steering mode is continuous, so that the requirement of high-precision equipment can be met.
In summary, according to the characteristics of the turning manners shown in fig. 19 to 21, step 103 may further select a more suitable turning manner from the turning manners according to the exit point information (specifically, the position information and the angle information), the incident point information (specifically, the position information and the angle information), and the turning direction information.
And 104, planning a turning path according to the target steering mode.
(1) The target steering mode is a conventional steering mode
The present embodiment is described by taking as an example a conventional steering manner as a pear-shaped steering manner as shown in fig. 10:
in the present embodiment, the operator model of the pear-shaped turning manner is shown by the following formula (10):
α in the formula (10) is the included angle between the initial operation set and the boundary, the track point of the turn can be calculated according to the formula (10), and the whole turn comprises Poa，Pob，PocTurning by an arc with a center. The key points of the start-stop circular arc can be obtained by simple geometric relation calculation, and then each steering arc angle is obtained through arc tangent to generate a U-turn path.
In this embodiment, the pear-shaped turning manner is suitable for the case where the width is less than twice the turning radius, and the outgoing point and the incoming point of the turning intersect with the ground boundary on the same side. Other steering modes are similar to the pear-shaped steering mode and can be decomposed into steering arcs and straight lines, and the steering arcs and the straight lines are not described in detail herein.
(2) The target steering mode is a Dubins steering mode
The present embodiment adopts the Dubins steering mode as C shown in FIG. 18leftCrightCleftThe following description will be made by taking the steering system as an example:
CleftCrightCleftthe operator model of the steering system is shown in the following equation (11):
wherein L isens-eTo divert Euclidean distance values, θ, of the point of departure and point of incidencestart,θendAre respectively asAngle of exit angle and angle of incidence, mod (θ)x2 π) is p θxAnd 2 pi is removed to obtain the residue. According to the calculation method of the formula (11), all the trajectory estimations satisfying the minimum turning radius are processed in a case where the trajectory estimation is normalized to a unit steering circle (that is, the steering circle radius is 1), and further, the length of each segment can be calculated by mod (θ)xAnd 2 pi), and after a unit steering circle steering path is obtained, performing inverse normalization to generate a U-turn path. Other steering forms are similar to the above, and only slight differences exist in the generated steering, which is not described herein.
In order to make those skilled in the art more clearly understand the beneficial effects of the u-turn path planning using the Dubins steering method according to the embodiment of the present invention, as shown in fig. 22, when the initial path is a straight line, C using the Dubins steering method is from the start point to the end1rightCleftCrightThe steering mode has the effect equal to the pear-shaped steering of the conventional steering; c Using Dubins steering from Start Point to end2leftSlineCrightThe steering mode has the effect equal to the half-pear-shaped steering of the conventional steering; c Using Dubins steering from Start Point to end3leftSlineCrightIn the steering mode, the tail right steering distance is very short, the steering mode mainly comprises a left steering and a straight line segment, and compared with the conventional steering mode, the steering mode has the advantages that the driving path is shorter, and the occupied steering space is smaller. As shown in fig. 23, when the initial path is a curve, the angles from the start point to the end1-3 exit point and the incident point are {38.5890, -31.4110}, {98.589, -21.4110}, { -21.4110,28.5890}, respectively, under such a condition, the conventional steering manner cannot obtain a better steering path, and the u-turn path shown in fig. 23 can be obtained by using the Dubins steering manner, so as to achieve the purpose of planning the u-turn path more flexibly.
Further, fig. 24 is a comparison diagram of u-turn path planning performed by the conventional steering manner and the Dubins steering manner when the initial path is a straight line, and for the case that the initial path is a straight line, the total length of the u-turn path planned by the conventional steering manner is 99.38% of the total length of the u-turn path planned by the Dubins steering manner, and the linear distance value from the start-end point is 99.02% of the conventional steering manner; fig. 25 is a comparison diagram of u-turn path planning performed by the conventional steering method and the Dubins steering method when the initial path is a curve, and for the case where the initial path is a curve, the total length of the u-turn path planned by the conventional steering method is 102.21% of the total length of the u-turn path planned by the Dubins steering method, and the linear distance value from the start-end point is 96.31% of the linear distance value of the conventional steering method. As can be seen from fig. 24 and 25, the u-turn path planned by the conventional steering method is not greatly different from the u-turn path planned by the Dubins steering method in the case where the initial path is a straight line, and the u-turn path planned by the Dubins steering method is smoother in the case where the initial path is a curved line.
(3) The target steering mode is a rotary steering mode
In the present embodiment, a three-stage convolution as shown in fig. 19 is taken as an example to explain the convolution steering system:
as shown in FIG. 19, each of the orbital arc segments includes three rotational portions, denoted by PoThe radius of the inner circle is the minimum steering radius, so that the steering curvature of the rotating curve does not exceed the constrained steering curvature.
Obtaining a U-turn path in a three-segment convolution mode through the following formulas (12) to (15):
calculated by equation (12), from PstartBegin to travel along a clothoid curve
A distance value, wherein the steering angle of the vehicle ismaxUntil the vehicle approaches P1The position of (a). From P1To P2To constrain the radius of curvature kmaxPerforming arc turning and finally turning from P2By unit steering anglemaxTo the point of termination.
The three-segment type revolving arc segment steering needs to meet the related constraint condition, namely the steering angle of the steering starting point and the steering stopping point>θlim. When 0 is present<<θlimAt this time, the three-segment clothoid curve cannot form a travelable path, and at this time, a u-turn path planning can be performed by using the two-segment clothoid curve as shown in fig. 20.
Specifically, as shown in FIG. 20, when 0<<θlimIn the meantime, a reverse path exists, and the vehicle cannot effectively run, so that a new vehicle steering degree is defined as follows:
and (4) generating a U-turn path under the new steering degree calculated by the formula (16), wherein the curvature value of the U-turn path meets the relevant constraint.
Further, there is a path of minimum turning around in the turning manner, as shown in fig. 26, the turning is composed of three turning arc segments and a straight line segment, and the turning manner of this type requires the minimum turning width when turning around the same boundary, i.e. the vertical distance of the turning path from the turning edge is shortest compared with other manners.
As shown in fig. 27, the u-turn paths generated by the cyclotron steering mode under different exit point angles and entrance point angles have the same flexibility as the u-turn paths generated by the Dubins steering mode compared to the u-turn paths generated by the conventional steering mode.
Through the above technical solution, step 104 may perform reasonable u-turn path planning according to the target steering manner.
Further, generally oneThe intersection points of the operation lines and the boundary are two head-tail points, and after one turning is finished, the exit point is changed into different intersection points of the line where the previous incident point is located when the next turning is carried out (namely, the previous incident point is the head intersection point, and the next turning exit point is the tail intersection point). T ═ T calculated by equations (6) and (7)1,T2,…,TkAnd (4) deviating r along the normal vector direction to obtain a next parallel line set T 'by the normal vector η, calculating the intersection point of T' and the boundary, and calculating the distance to obtain the incidence point of the next steering.
In order to make the effect of the method for planning a u-turn path provided by the embodiment of the present invention more clear to those skilled in the art, the present embodiment takes a shuttle method as shown in fig. 6 as an example to describe the situations of different turning manners.
FIG. 28 is a schematic view of the turning path and curvature under different steering modes, with an initial parameter Pstart＝[0,0,π/2],Pend＝[5,0,-π/2]And minR is 8, and width is 5, wherein minR is the minimum turning radius, and width is the operation width. And calculating to obtain different steering paths and the steering curvature change conditions thereof. And counting different steering path parameters to obtain the following table 1:
TABLE 1 different steering mode path parameter table
As can be seen from table 1, in the shuttle mode of operation, the minimum overall ground turn path length is at a maximum of 2.05 times the conventional turn path, and the required ground width is 0.89 times the conventional turn path. The total length of the rotary steering path is 1.32 times of that of the conventional steering path, the width of the ground is 1.43 times, and the ratio of the Dubins steering path is 1.01 times and 1 time. The Dubins steering path is better able to meet the generalized operating requirements without failure activity.
At the same time, in order to maximize the land utilization as much as possible, a casing method as shown in fig. 7 may be selected for the operation mode. The steering mode is mainly arcuate steering.
Compared with the prior art, according to the technical scheme provided by the embodiment of the invention, firstly, the information of the emergent point and the information of the incident point can be obtained according to the boundary information, the information of the initial path and the information of the steering direction, and no association limitation exists between the emergent point and the incident point, so that the technical scheme provided by the embodiment of the invention has stronger applicability and is not limited by factors such as the shape of a working land; secondly, the target steering mode can be selected from more than two preset steering modes according to the information of the emergent point, the information of the incident point, the steering direction information and the preset steering reference condition, so that the technical scheme provided by the embodiment of the invention can automatically select the optimal target steering mode according to the actual requirement, and the problems that the ground is required to be steered too much due to improper steering modes, or the ground cannot be turned around flexibly on an irregular boundary, or only linear operation cannot be performed, or the turning mode generates huge loss on a high-precision instrument, and the like are solved. The technical scheme provided by the embodiment of the invention has the advantages that the whole process is automatically completed, the method is an important supplement of the application of the automatic driving technology in the operation field, and the problems of automatic driving terminal, low turning efficiency and the like caused by manual participation of operators when turning around in the automatic driving process in the prior art are solved.
As shown in fig. 29, an embodiment of the present invention further provides a device for planning a u-turn path, including:
a first acquisition module 2901 configured to acquire boundary information of a work place, initial path information for performing an initial work on the work place, and steering direction information;
a second obtaining module 2902, configured to obtain information of an outgoing point and information of an incoming point according to the boundary information, the initial path information, and the steering direction information obtained by the first obtaining module 2901;
a third obtaining module 2903, configured to select a target turning manner from more than two preset turning manners according to the exit point information and the entrance point information obtained by the second obtaining module 2902, the turning direction information obtained by the first obtaining module 2901, and a preset turning reference condition;
a path planning module 2904, configured to plan a u-turn path according to the target steering manner acquired by the third acquiring module 2903.
Further, the boundary information is a set of two or more boundary points on the boundary of the work land block, as shown in fig. 30, the first obtaining module 2901 includes:
a first obtaining sub-module 3001, configured to obtain an included angle formed by three consecutive boundary points from the boundary information;
a deleting submodule 3002, configured to delete a middle boundary point of the three consecutive boundary points from the boundary information if the included angle obtained by the first obtaining submodule 3001 is smaller than a preset included angle threshold;
the generating submodule 3003 is configured to traverse all boundary points in the boundary information by the deleting submodule 3002 in the same manner, and generate target boundary information;
then, the second obtaining module 2902 is further configured to obtain the departure point information and the entrance point information according to the target boundary information and the initial path information.
Further, the initial path information is a set of two or more initial operation points recorded during an initial operation, as shown in fig. 31, the second obtaining module 2902 includes:
a second obtaining sub-module 3101, configured to obtain a first work path segment formed by the last two initial work points in the initial path information;
a third obtaining sub-module 3102 configured to extend the first work path segment obtained by the second obtaining sub-module 3101, and obtain intersection information between boundaries formed by the boundary information as the exit point information;
a fourth obtaining sub-module 3103, configured to obtain, according to the steering direction information, second path information corresponding to a second path parallel to the initial path corresponding to the initial path information, where the second path information includes a set of two or more operation points on the second path;
a fifth obtaining sub-module 3104, configured to obtain a second work path segment formed by the first two work points in the second path information obtained by the fourth obtaining sub-module 3103;
a sixth obtaining sub-module 3105, configured to perform reverse extension on the second work path segment obtained by the fifth obtaining sub-module 3104, and obtain intersection point information between the second work path segment and the boundary as the incident point information.
Further, as shown in fig. 32, the fourth obtaining sub-module 3103 includes:
a first obtaining unit 3201, configured to obtain, according to the steering direction information, a second path parallel to the initial path by using a shuttle method, and obtain second path information corresponding to the second path; alternatively, the first and second electrodes may be,
a second obtaining unit 3202, configured to obtain, according to the steering direction information, a second path parallel to the initial path by using a looping method, and obtain second path information corresponding to the second path.
Further, as shown in fig. 33, the third obtaining module 2903 includes:
a seventh obtaining sub-module 3301, configured to, if the steering reference condition includes a device with high accuracy, retrieve a turning direction from the two or more turning manners as a target turning manner according to the exit point information, the entrance point information, and the turning direction information; alternatively, the first and second electrodes may be,
an eighth obtaining sub-module 3302, configured to select, if the steering reference condition includes that there is no high-precision device and the boundary of the work parcel is a simple boundary, a conventional steering manner as a target steering manner from the two or more steering manners according to the exit point information, the incident point information, and the steering direction information; alternatively, the first and second electrodes may be,
a ninth obtaining sub-module 3303, configured to select a Dubins steering manner as a target steering manner from the two or more steering manners according to the exit point information, the entrance point information, and the steering direction information if the steering reference condition includes that no high-precision equipment is provided and the boundary of the work parcel is a complex boundary.
The specific implementation scheme of the u-turn path planning device provided by the embodiment of the present invention may be described in the method for planning a u-turn path provided by the embodiment of the present invention, and is not described herein again.
Compared with the prior art, according to the technical scheme provided by the embodiment of the invention, firstly, the information of the emergent point and the information of the incident point can be obtained according to the boundary information, the information of the initial path and the information of the steering direction, and no association limitation exists between the emergent point and the incident point, so that the technical scheme provided by the embodiment of the invention has stronger applicability and is not limited by factors such as the shape of a working land; secondly, the target steering mode can be selected from more than two preset steering modes according to the information of the emergent point, the information of the incident point, the steering direction information and the preset steering reference condition, so that the technical scheme provided by the embodiment of the invention can automatically select the optimal target steering mode according to the actual requirement, and the problems that the ground is required to be steered too much due to improper steering modes, or the ground cannot be turned around flexibly on an irregular boundary, or only linear operation cannot be performed, or the turning mode generates huge loss on a high-precision instrument, and the like are solved. The technical scheme provided by the embodiment of the invention has the advantages that the whole process is automatically completed, the method is an important supplement of the application of the automatic driving technology in the operation field, and the problems of automatic driving terminal, low turning efficiency and the like caused by manual participation of operators when turning around in the automatic driving process in the prior art are solved.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Embodiments of the invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above detailed description is provided for the picture calling method and device provided by the present invention, and a specific example is applied in the description to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A method for planning a U-turn path is characterized by comprising the following steps:
acquiring boundary information of a work land, initial path information for performing initial work on the work land and steering direction information;
acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information;
selecting a target steering mode from more than two preset steering modes according to the emergent point information, the incident point information, the steering direction information and a preset steering reference condition;
and planning a turning path according to the target steering mode.
2. The method of claim 1, wherein the boundary information is a set of two or more boundary points on the boundary of the work parcel, and the obtaining the boundary information of the work parcel comprises:
acquiring an included angle formed by three continuous boundary points from the boundary information;
if the included angle is smaller than a preset included angle threshold value, deleting one boundary point in the middle of the three continuous boundary points from the boundary information;
by analogy, traversing all boundary points in the boundary information to generate target boundary information;
at this time, the acquiring of the exit point information and the incident point information according to the boundary information and the initial path information is replaced by:
and acquiring emergent point information and incident point information according to the target boundary information and the initial path information.
3. The method according to claim 1, wherein the initial path information is a set of two or more initial operation points recorded during an initial operation, and the obtaining of the exit point information and the incident point information according to the boundary information, the initial path information, and the steering direction information comprises:
acquiring a first operation path section formed by the last two initial operation points in the initial path information;
extending the first operation path section, and acquiring intersection point information between boundaries formed by the first operation path section and the boundary information as the emergent point information;
according to the steering direction information, second path information corresponding to a second path parallel to the initial path corresponding to the initial path information is obtained, wherein the second path information comprises a set of more than two operation points on the second path;
acquiring a second operation path section formed by the first two operation points in the second path information;
and reversely extending the second operation path section, and acquiring intersection point information between the second operation path section and the boundary as the incident point information.
4. The method according to claim 3, wherein the acquiring, based on the steering direction information, second path information corresponding to a second path that is parallel to an initial path corresponding to the initial path information comprises:
according to the steering direction information, acquiring a second path parallel to the initial path by adopting a shuttle method, and acquiring second path information corresponding to the second path; alternatively, the first and second electrodes may be,
and acquiring a second path parallel to the initial path by adopting a looping method according to the steering direction information, and acquiring second path information corresponding to the second path.
5. The method according to claim 1, wherein the selecting a target turning manner from more than two preset turning manners according to the emergence point information and the incidence point information, the turning direction information and a preset turning reference condition comprises:
if the steering reference condition comprises high-precision equipment, retrieving a rotating direction mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information; alternatively, the first and second electrodes may be,
if the turning reference condition comprises that no high-precision equipment is provided and the boundary of the operation land is a simple boundary, selecting a conventional turning mode from the more than two turning modes as a target turning mode according to the emergent point information, the incident point information and the turning direction information; alternatively, the first and second electrodes may be,
and if the steering reference condition comprises that no high-precision equipment is provided and the boundary of the operation land block is a complex boundary, selecting a Dubins steering mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information.
6. The method of claim 5,
the rotary steering mode is formed by combining a rotary arc section and a straight line section, wherein the rotary arc section comprises: three-stage convolution and two-stage convolution;
the conventional steering manner includes: a pear-shaped steering mode, a U-shaped steering mode, an arc-shaped steering mode, a half-pear-shaped steering mode and a fishtail-shaped steering mode;
the Dubins steering mode comprises the following steps: cleftSlineCleftSteering system, CleftSlineCrightSteering system, CrightSlineCleftSteering system, CrightSlineCrightSteering system, CrightCleftCrightSteering system and CleftCrightCleftA steering mode; wherein, CleftIn the form of a left-hand steering arc, CrightFor a rightwards-directed circular arc, SlineIs a straight line.
7. A planning device for a u-turn path is characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring boundary information of a working land, initial path information for performing initial work on the working land and steering direction information;
the second acquisition module is used for acquiring emergent point information and incident point information according to the boundary information, the initial path information and the steering direction information acquired by the first acquisition module;
a third obtaining module, configured to select a target steering manner from more than two preset steering manners according to the exit point information and the incident point information obtained by the second obtaining module, the steering direction information obtained by the first obtaining module, and a preset steering reference condition;
and the path planning module is used for planning a turning path according to the target steering mode acquired by the third acquisition module.
8. The apparatus of claim 7, wherein the boundary information is a set of two or more boundary points on the boundary of the work lot, and the first obtaining module comprises:
the first obtaining submodule is used for obtaining an included angle formed by three continuous boundary points from the boundary information;
a deleting submodule, configured to delete a boundary point in the middle of the three consecutive boundary points from the boundary information if the included angle obtained by the first obtaining submodule is smaller than a preset included angle threshold;
the generating submodule is used for traversing all boundary points in the boundary information by adopting the deleting submodule in the same way to generate target boundary information;
at this time, the second obtaining module is further configured to obtain information of an exit point and information of an entrance point according to the target boundary information and the initial path information.
9. The apparatus according to claim 7, wherein the initial path information is a set of two or more initial operation points recorded at the time of an initial operation, and the second obtaining module comprises:
the second obtaining submodule is used for obtaining a first operation path section formed by the last two initial operation points in the initial path information;
a third obtaining submodule, configured to extend the first operation path segment obtained by the second obtaining submodule, and obtain intersection point information between boundaries formed by the first operation path segment and the boundary information as the exit point information;
a fourth obtaining sub-module, configured to obtain, according to the steering direction information, second path information corresponding to a second path that is parallel to an initial path corresponding to the initial path information, where the second path information includes a set of two or more operation points on the second path;
a fifth obtaining submodule, configured to obtain a second operation path segment formed by the first two operation points in the second path information obtained by the fourth obtaining submodule;
and the sixth obtaining submodule is used for reversely prolonging the second operation path section obtained by the fifth obtaining submodule, and obtaining intersection point information between the second operation path section and the boundary as the incident point information.
10. The apparatus of claim 9, wherein the fourth acquisition submodule comprises:
the first obtaining unit is used for obtaining a second path parallel to the initial path by adopting a shuttle method according to the steering direction information and obtaining second path information corresponding to the second path; alternatively, the first and second electrodes may be,
and the second acquisition unit is used for acquiring a second path parallel to the initial path by adopting a looping method according to the steering direction information and acquiring second path information corresponding to the second path.
11. The apparatus of claim 7, wherein the third obtaining module comprises:
a seventh obtaining sub-module, configured to, if the steering reference condition includes a device with high accuracy, retrieve a rotation direction manner as a target steering manner from the two or more steering manners according to the exit point information, the entrance point information, and the steering direction information; alternatively, the first and second electrodes may be,
an eighth obtaining sub-module, configured to select a conventional steering manner as a target steering manner from the two or more steering manners according to the exit point information, the incident point information, and the steering direction information if the steering reference condition includes that no high-precision device is provided and the boundary of the work parcel is a simple boundary; alternatively, the first and second electrodes may be,
and the ninth acquisition submodule is used for selecting a Dubins steering mode from the more than two steering modes as a target steering mode according to the emergent point information, the incident point information and the steering direction information if the steering reference condition includes that no high-precision equipment is provided and the boundary of the operation land block is a complex boundary.
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| CN117629221A (en) * | 2023-12-01 | 2024-03-01 | 上海联适导航技术股份有限公司 | Diagonal harrowing path planning method |
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