CN111746525B - Parking path planning method, device, equipment and storage medium - Google Patents
Parking path planning method, device, equipment and storage medium Download PDFInfo
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- CN111746525B CN111746525B CN202010648761.3A CN202010648761A CN111746525B CN 111746525 B CN111746525 B CN 111746525B CN 202010648761 A CN202010648761 A CN 202010648761A CN 111746525 B CN111746525 B CN 111746525B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
Abstract
The invention discloses a parking path planning method, device, equipment and storage medium, and belongs to the technical field of parking. The method comprises the steps of obtaining parking space information and vehicle information of a vehicle to be warehoused; determining a warehousing point set according to the parking space information and the vehicle information; screening target warehousing points from the warehousing point set; and generating a parking path of the vehicle to be parked based on the target parking point, and generating a parking track through the determined target parking point, so that the consumption of computing resources in the parking path optimization process is greatly reduced, and the parking efficiency is improved.
Description
Technical Field
The present invention relates to the field of parking technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a parking path.
Background
Most of the existing automatic parking systems adopt a framework of 'environment perception + path planning + tracking control'. Route planning is a crucial part of a parking system, and directly influences the performance of the parking system.
Currently, path planning algorithms mainly include three types: and (3) a path planning algorithm based on a typical geometric curve, wherein the typical geometric curve adopted comprises a DuBins Dubins curve, a B-spline curve, a clothoid curve and the like. Different types of curves connect the parking starting point and the parking ending point through respective specific analytical expressions. Among them, the Dubins curve can provide the path with the minimum length, the B-spline curve and the clothoid curve are focused on providing the path with continuous curvature, and the path planning method has poor flexibility and is not suitable for parking spaces of any size. The method is characterized in that an environment is gridded, a feasible path from a starting point to an end point is searched, and a final path is selected according to a certain standard. The method is suitable for parking spaces of different sizes, and compared with a path planning algorithm based on a geometric curve, the method has the advantages that the requirement on the parking space is lower, but the algorithm consumes more computing resources. The path planning algorithm based on the optimization theory combines the dynamic characteristics of the vehicle, necessary constraint conditions and planning targets are added on the basis of the vehicle kinematics model, the path planning is constructed into an optimization problem, and the method has the advantages of intuition, accuracy and objectivity. Theoretically, an optimal path can be found, but the optimization process consumes much computing resources.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a parking path planning method, a parking path planning device, parking path planning equipment and a parking path planning storage medium, and aims to solve the technical problem that in the prior art, a parking path optimization process consumes more computing resources, so that the parking efficiency is low.
In order to achieve the above object, the present invention provides a parking path planning method, including the steps of:
acquiring parking space information and vehicle information of a vehicle to be warehoused;
determining a warehousing point set according to the parking space information and the vehicle information;
screening target warehousing points from the warehousing point set;
and generating a parking path of the vehicle to be warehoused based on the target warehousing point.
Preferably, the step of determining a set of warehousing points according to the parking space information and the vehicle information comprises:
obtaining parking space angular points according to the parking space information, and obtaining preset reference points;
obtaining a first distance between the parking space corner point and the preset reference point according to the parking space corner point and the preset reference point;
obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and a preset reference point according to the vehicle corner point and the preset reference point;
determining the value range of the preset reference point according to the first distance and the second distance;
determining a warehousing point range based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference point;
and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set.
Preferably, the step of screening out the target warehousing points from the warehousing point set comprises:
acquiring position information and moving correction times of each warehousing point in the warehousing point set;
obtaining a preset central line of a parking space according to the parking space information;
obtaining a distance difference value according to the position information and the preset center line of the parking space;
and screening out target warehousing points from the warehousing point set based on the moving correction times and the distance difference.
Preferably, the step of generating the parking path of the vehicle to be warehoused based on the target warehousing point includes:
acquiring a starting point and a target parking point of the vehicle to be warehoused;
determining a backward track of the vehicle to be warehoused according to the warehousing starting point and the target warehousing point;
determining a correction track of the vehicle to be warehoused according to the target warehousing point and the target parking point;
and generating a parking path of the vehicle to be warehoused according to the retreating track and the corrected track.
Preferably, the step of determining the backward trajectory of the vehicle to be parked according to the parking starting point and the target parking point includes:
determining a first target reference point according to the target warehousing point, and determining a second target reference point according to the parking space information;
calculating target parameters according to the warehousing starting point, the first target reference point, the second target reference point and the vehicle information;
and determining the backward track of the vehicle to be warehoused based on the target parameters.
Preferably, the step of determining the backward trajectory of the vehicle to be warehoused based on the target parameters includes:
obtaining a curve equation according to the target parameter;
determining target path points based on the curve equation, and generating a curve path according to the target path points;
and taking the curve path as a backward track of the vehicle to be warehoused.
Preferably, after the step of generating the parking path of the vehicle to be warehoused according to the back trajectory and the corrected trajectory, the method further comprises:
acquiring a current course angle and current correction times when the vehicle to be warehoused is subjected to vehicle body posture correction;
when the current correction times reach a correction time threshold value, judging whether the current course angle meets a preset condition;
and if the current course angle does not meet the preset condition, replanning the parking path.
In order to achieve the above object, the present invention further provides a parking path planning device, including:
the acquisition module is used for acquiring parking space information and vehicle information of a vehicle to be warehoused;
the calculation module is used for determining a warehousing point set according to the parking space information and the vehicle information;
the screening module is used for screening target warehousing points from the warehousing point set;
and the generating module is used for generating the parking path of the vehicle to be warehoused based on the target warehousing point.
In addition, to achieve the above object, the present invention also provides a parking path planning apparatus including: a memory, a processor and a parking path planning program stored on the memory and executable on the processor, the parking path planning program being configured to implement the steps of the parking path planning method as described above.
In addition, to achieve the above object, the present invention also provides a storage medium having a parking path planning program stored thereon, where the parking path planning program, when executed by a processor, implements the steps of the parking path planning method as described above.
The method comprises the steps of obtaining parking space information and vehicle information of a vehicle to be warehoused; determining a warehousing point set according to the parking space information and the vehicle information; screening target warehousing points from the warehousing point set; and generating a parking path of the vehicle to be parked based on the target parking point, and generating a parking track through the determined target parking point, so that the consumption of computing resources in the parking path optimization process is reduced, and the parking efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a parking path planning apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a parking path planning method according to a first embodiment of the present invention;
fig. 3 is a schematic diagram illustrating screening of target warehousing points in an embodiment of the parking path planning method of the present invention;
FIG. 4 is a flowchart illustrating a parking path planning method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a determination of a set of warehousing points in an embodiment of the parking path planning method of the present invention;
FIG. 6 is a flowchart illustrating a parking path planning method according to a third embodiment of the present invention;
fig. 7 is a schematic diagram of a parking starting point, a target parking point and a target parking point in an embodiment of the parking path planning method of the present invention;
fig. 8 is a schematic diagram of a backward trajectory in an embodiment of the parking path planning method according to the present invention;
FIG. 9 is a schematic diagram illustrating a corrected trajectory according to an embodiment of the parking path planning method of the present invention;
fig. 10 is a block diagram showing the configuration of the parking path planning apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a parking path planning apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the parking path planning apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the parking path planning apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a parking path planning program.
In the parking path planning apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the parking path planning apparatus according to the present invention may be provided in the parking path planning apparatus, and the parking path planning apparatus calls the parking path planning program stored in the memory 1005 through the processor 1001 and executes the parking path planning method according to the embodiment of the present invention.
An embodiment of the present invention provides a parking path planning method, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a parking path planning method according to the present invention.
In this embodiment, the parking path planning method includes the following steps:
step S10: and acquiring parking space information and vehicle information of the vehicle to be warehoused.
It should be noted that, the execution main body of the embodiment may be a vehicle-mounted computer terminal, and may also be other devices that can achieve the same or similar functions.
In this embodiment, the acquired parking space information and the vehicle information of the vehicle to be parked are acquired by a sensing module on the vehicle to be parked, the sensing module includes an environment monitoring sensor, a vehicle body sensing sensor and the like, the parking space information includes the size of the parking space, the position of each parking space angular point and the like, and the vehicle information includes the width of the vehicle, the wheelbase of the vehicle, the front overhang length of the vehicle, the position of each vehicle angular point and the like.
Step S20: and determining a warehousing point set according to the parking space information and the vehicle information.
It should be noted that, in this embodiment, a parking process of a vehicle is divided into a backward process and a correction process, the backward process is a process in which the vehicle parks from a starting point to a parking point, the correction process is a trajectory correction process performed after the vehicle reaches the parking point, and in order to ensure safety of the vehicle in the parking process, the vehicle cannot collide with a boundary of a parking space in the backward process, in this embodiment, a distance margin is left between the vehicle and the boundary of the parking space in the backward process by determining the parking point.
In specific implementation, the distance between the vehicle angular point and the parking space boundary can be calculated according to the parking space information and the vehicle information, the condition to be met by the warehousing point determination is that the distance between the vehicle angular point and the parking space boundary is not less than 0, and in an actual situation, a plurality of warehousing points meeting the condition exist, so that a warehousing point set can be obtained.
Step S30: and screening out target warehousing points from the warehousing point set.
It should be noted that the warehousing points in the warehousing point set can ensure that the vehicle does not collide with the parking space boundary, the warehousing points represent the positions of the vehicles when entering the parking spaces, the vehicles need to perform trajectory correction after reaching the warehousing points, and the vehicle body state is adjusted to the standard parking state, while in actual situations, the correction times required for adjusting the vehicle body state to the standard parking state at different warehousing points of the vehicles are different, in order to reduce consumption of computing resources, the correction times required for performing trajectory correction at the target warehousing points of the vehicles are the minimum, and in addition, the screening of the target warehousing points also needs to ensure that the distance difference between the target warehousing points and the parking space center line is the minimum.
In a specific implementation, the step of screening the target warehousing points from the warehousing point set includes: acquiring position information and moving correction times of each warehousing point in the warehousing point set; obtaining a preset central line of a parking space according to the parking space information; obtaining a distance difference value according to the position information and the preset center line of the parking space; and screening out target warehousing points from the warehousing point set based on the moving correction times and the distance difference.
In this embodiment, the position information of each warehousing point is acquired from the warehousing point set, the moving correction times of each warehousing point can be obtained through simulation, and a mature computer is adopted in this embodimentThe simulation technology further includes obtaining a preset center line of the parking space according to the parking space information, and calculating distance differences according to the position information of each warehousing point and the preset center line of the parking space, as shown in fig. 3, where L is the preset center line, A, B, C is the warehousing point, and the distance differences between the warehousing point A, B, C and the preset center line L are d1、d2、d3The target warehousing point can be screened from the warehousing point set based ON the moving correction times and the distance difference values of the warehousing points, the screening process specifically includes calculating scores of the warehousing points according to the weight values corresponding to the moving correction times and the weight values corresponding to the distance difference values, for example, the weight values corresponding to the moving correction times are p, the weight values corresponding to the distance difference values are q, the moving correction times of the warehousing points M are OM, the distance difference values are LM, the moving correction times of the warehousing points N are ON, the distance difference values are LN, the scores of the warehousing points M are p × OM + q × LM, the scores of the warehousing points N are p × ON + q × LN, and the target warehousing points are N if p × OM + q × LM is larger than p × ON + q × LN.
It should be noted that the determination of the warehousing point in this embodiment is an offline optimization, which is performed before the vehicle performs the parking operation, and the target warehousing point is not changed during the process of starting the parking operation.
Step S40: and generating a parking path of the vehicle to be warehoused based on the target warehousing point.
In specific implementation, after the target warehousing point is determined, the parking track of the vehicle to be warehoused is generated based on the warehousing point, the number of correction times required for parking the vehicle according to the parking track is the minimum, and consumption of computing resources can be reduced.
In the embodiment, parking space information and vehicle information of a vehicle to be warehoused are obtained; determining a warehousing point set according to the parking space information and the vehicle information; screening target warehousing points from the warehousing point set; and generating a parking path of the vehicle to be parked based on the target parking point, and generating a parking track through the determined target parking point, so that the consumption of computing resources in the parking path optimization process is greatly reduced, and the parking efficiency is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a parking path planning method according to a second embodiment of the present invention.
Based on the first embodiment, the step S20 in this embodiment includes:
step S201: and obtaining a parking space angular point according to the parking space information, and obtaining a preset reference point.
In this embodiment, after the parking space information is obtained, the parking space corner point may be obtained according to the parking space information, and a preset reference point is obtained at the same time, where the preset reference point is used to calculate a value range of the warehousing point, as shown in fig. 5, where the preset reference point is C0And m and n are two angular points of the parking space.
Step S202: and obtaining a first distance between the parking space angular point and the preset reference point according to the parking space angular point and the preset reference point.
Before the distance calculation, a rectangular coordinate system of a plane where a top view of the parking space corresponding to the vehicle is located is constructed, where the rectangular coordinate system is as shown in fig. 5, and x ismAnd xnRespectively, the abscissa of the parking point m and the abscissa of the parking point n, and the first distance between the parking corner point and the preset reference point can be calculated according to the constructed rectangular coordinate system, which is illustrated by taking the parking space corner point n in fig. 5 as an example, and the coordinate of the parking corner point n is (x)n,yn) The coordinate of the preset reference point is C0(xco,yco) Obtaining a first distance
Step S203: and obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and the preset reference point according to the vehicle corner point and the preset reference point.
It should be noted that, as shown in fig. 5, A, B, C, D are four corner points of the vehicle, E is a center point of the rear axle of the vehicle, and the corner point B of the vehicle in fig. 5 is taken as an example to illustrate that the second distance is the second distance
Wherein W is the vehicle width, L is the vehicle wheelbase, LfThe vehicle front overhang length, the vehicle width, the vehicle wheelbase and the vehicle front overhang length can be obtained from vehicle information, and R is a preset reference point C0The distance from the center point E of the rear axle of the vehicle, and the coordinate of the center point E of the rear axle of the vehicle is (x)E,yEAnd) can obtain
Step S204: and determining the value range of the preset reference point according to the first distance and the second distance.
In one embodiment, dc is provided to ensure that the vehicle does not collide with the parking space boundary during the backward movement0n-RfMore than or equal to 0, x can be obtainedc0And yc0I.e. the value range of the preset reference point.
Step S205: and determining the range of the warehousing point based on the preset relation between the preset reference point and the warehousing point and the value range of the preset reference point.
It should be noted that the step of moving the vehicle back to the garage entry point is substantially to move the center point of the rear axle of the vehicle to the garage entry point, so that the garage entry point is represented by the center point E of the rear axle of the vehicle, and the preset relationship between the preset reference point and the garage entry point is Xco＝XE-Rminsin(θE)，Yco＝YE+Rmincos(θE)，θEAs a body attitude value, thetaEIn the range of 0 DEG to 30 DEG RminMinimum turning radius, R, of the vehicleminDetermining x based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference pointEAnd yEI.e. the range of warehousing points.
In addition, the range of the parking point also ensures that other vehicle angular points do not collide with the parking space boundary, namely xA≤xn,xC≤xn,xD≤xn,yD≥ycurb,xA、xC、xDRespectively, the abscissa, y, of the corner point A, C, D of the vehicleDAs ordinate, y, of the vehicle corner point DcurbAnd the vertical coordinate is corresponding to the boundary of the parking space.
Step S206: and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set.
In this embodiment, a plurality of warehousing points can be acquired according to the warehousing point range, so that a warehousing point set can be obtained.
According to the embodiment, the parking space angular points are obtained according to the parking space information, and the preset reference points are obtained;
obtaining a first distance between the parking space corner point and the preset reference point according to the parking space corner point and the preset reference point; obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and a preset reference point according to the vehicle corner point and the preset reference point; determining the value range of the preset reference point according to the first distance and the second distance; determining a warehousing point range based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference point; and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set, determining the value range of a preset reference point through the first distance and the second distance, and determining the warehousing point range according to the value range of the preset reference point to obtain the warehousing point set, so that the warehousing points can be more accurately obtained, the parking efficiency is further improved, and the consumption of computing resources is reduced.
Referring to fig. 6, fig. 6 is a flowchart illustrating a parking path planning method according to a third embodiment of the present invention.
Based on the first embodiment or the second embodiment, a third embodiment of the parking path planning method according to the present invention is provided.
Taking the first embodiment as an example for explanation, the step S40 in this embodiment includes:
step S401: and acquiring a starting point and a target parking point of the vehicle to be warehoused.
In this embodiment, a starting point and a target parking point of a vehicle to be parked are obtained, as shown in fig. 7, the starting point is S, the target parking point is f, the target parking point is preferably on a parking space center line, and p is the target parking point.
Step S402: and determining the back track of the vehicle to be warehoused according to the warehousing starting point and the target warehousing point.
In specific implementation, after the warehousing starting point and the target warehousing point are determined, a backward trajectory of the vehicle to be warehoused can be determined, and sp is the backward trajectory as shown in fig. 7.
In a specific implementation, the step of determining the backward trajectory of the vehicle to be parked according to the parking starting point and the target parking point includes: determining a first target reference point according to the target warehousing point, and determining a second target reference point according to the parking space information; calculating target parameters according to the warehousing starting point, the first target reference point, the second target reference point and the vehicle information; and determining the backward track of the vehicle to be warehoused based on the target parameters.
Further, the determination process of the retreating track is shown in fig. 8, and the first target reference point is O1I is the target warehousing point, R1＝Rmin，RminIs the minimum turning radius of the vehicle, and the coordinates of the target garage entry point i are (x)i,yi) A known value, and O1In the same vertical direction as i, O can be obtained1Has the coordinates of (x)i,yi+R1) The second target reference point is O2，O2Is a parking space corner point, so that O can be determined according to parking space information2May calculate a target parameter theta based on the warehoused starting point, the first target reference point, the second target reference point and the vehicle informationmaxFrom the graph shown in fig. 8, the following equation can be obtained,
θmax+β+γ＝π/2，(R3-R2)cosθmax+d＝R3；
wherein, beta is arccos (R)1/|O1O|)，R1＝Rmin，|O1O|＝R1(|O1O2|)/(R1+R2)，
Wherein R isminMinimum turning radius, R, of the vehicle2W is vehicle width, RminAnd W can be extracted from the vehicle information, O is O1And O2A reference point, | O, on the straight line1O2I is the first target reference point O1To a second target reference point O2Distance between, γ and | O1O2L can be obtained according to the obtained first target reference point O1And a second target reference point O2D is the relative lateral distance between the initial position of the vehicle and the parking space, can be determined according to the warehousing starting point, and the known parameters are substituted into the equation to obtain theta through calculationmaxThe backward trajectory of the vehicle to be warehoused may be determined based on the target parameters.
In a specific implementation, the step of determining the backward trajectory of the vehicle to be warehoused based on the target parameter includes: obtaining a curve equation according to the target parameter; determining target path points based on the curve equation, and generating a curve path according to the target path points; and taking the curve path as a backward track of the vehicle to be warehoused.
It should be noted that in this embodiment, the retreat path includes three segments including the arc L1Straight line L2And the arc L3As shown in fig. 8, the target parameter θ is obtainedmaxThen, L can be calculated according to the related mathematical theorem1、L2、L3Respectively corresponding curve equations, and calculating tangent points i between the curves based on the curve equations corresponding to the curves1、i2、i3Tangent point i1、i2、i3I, i is the target path point1、i2、i3The resulting curve was taken as the retreat trajectory.
Step S403: and determining the corrected track of the vehicle to be warehoused according to the target warehousing point and the target parking point.
In the present embodiment, after the target garage-in point and the target parking point are determined, a corrected trajectory of the vehicle to be parked may be determined, where pf is the corrected trajectory as shown in fig. 7.
In the concrete implementation, the minimum turning radius of the vehicle is taken as an arc for correction, and as shown in FIG. 9, the corrected track of the vehicle is taken as an arc Pf0-PfiAnd Pb0-Pbi，RminFor minimum turning radius of vehicle, in RminBuilding a circular trajectory for the radius, CrAnd CfThe circle center of the circular track is obtained, and the analytic expression of the circular arc obtained based on the mathematical formula is the correction track.
Step S404: and generating a parking path of the vehicle to be warehoused according to the retreat track and the corrected track.
In this embodiment, a trajectory formed by the backward trajectory and the corrected trajectory is a parking path of the vehicle to be parked.
Further, after the step S404, the method further includes:
step S405: and acquiring the current course angle and the current correction times when the vehicle to be warehoused is subjected to vehicle body posture correction.
It should be noted that, when the vehicle body posture is corrected in the parking space, the lateral movement distance of the central point of the rear axle of the vehicle is very small in the whole process, the heading angle of the vehicle can be corrected to a large extent, the current heading angle of the vehicle to be warehoused can be obtained according to the analytic formula of the arc obtained by correcting the trajectory in the parking space, and the correction times when the vehicle body posture is corrected by the vehicle to be warehoused are obtained at the same time.
Step S406: and when the current correction times reach a correction time threshold value, judging whether the current course angle meets a preset condition.
It is easy to understand that, in practical situations, the number of times of correcting the body posture of the vehicle in the parking space needs to be limited within a certain number, and the unlimited correction obviously does not accord with the practical parking situation, and in the implementation, the current correction number is limited by a correction number threshold value.
Further, the key of the correction of the vehicle body posture is to correct the heading angle of the vehicle, so that the correction of the current heading angle needs to be completed when the current correction frequency reaches the correction frequency threshold, and meanwhile, in order to ensure that the vehicle to be warehoused is in the standard vehicle body posture after the vehicle stops, the current heading angle needs to be judged, the current heading angle is ensured to meet the preset condition, the preset condition is that the angle range of the heading angle is 0-30 degrees, for example, the correction frequency threshold is 5, and then when the current correction frequency is 5, whether the current heading angle is in the range of 0-30 degrees is judged.
Step S407: and if the current course angle does not meet the preset condition, replanning the parking path.
In the specific implementation, if the current course angle is not within the range of 0-30 degrees, the current course angle is judged to be not in accordance with the preset condition, at the moment, the posture of the vehicle body is not in accordance with the requirement, and the parking path needs to be re-planned.
In the embodiment, a starting point and a target parking point of the vehicle to be warehoused are obtained; determining a backward track of the vehicle to be warehoused according to the warehousing starting point and the target warehousing point; determining a correction track of the vehicle to be warehoused according to the target warehousing point and the target parking point; generating a parking path of the vehicle to be warehoused according to the retreating track and the corrected track, determining the parking path of the vehicle to be warehoused by determining the retreating track and the corrected track, acquiring a current course angle and current correction times when the vehicle body posture of the vehicle to be warehoused is corrected, judging whether the current course angle meets a preset condition when the current correction times reaches a correction time threshold, and if the current course angle does not meet the preset condition, replanning the parking path, so that the consumption of computing resources is reduced, the parking path planning efficiency is improved, meanwhile, judging by combining the current correction times and the current course angle of the vehicle to be warehoused, replanning the parking path according to a judgment result, and the precision of parking path planning is higher.
Furthermore, an embodiment of the present invention further provides a storage medium, in which a parking path planning program is stored, and the parking path planning program, when executed by a processor, implements the steps of the parking path planning method described above.
Referring to fig. 10, fig. 10 is a block diagram illustrating a parking path planning apparatus according to a first embodiment of the present invention.
As shown in fig. 10, a parking path planning apparatus according to an embodiment of the present invention includes:
the acquisition module 10 is configured to acquire parking space information and vehicle information of a vehicle to be parked.
In this embodiment, the acquired parking space information and the vehicle information of the vehicle to be parked are acquired by a sensing module on the vehicle to be parked, the sensing module includes an environment monitoring sensor, a vehicle body sensing sensor and the like, the parking space information includes the size of the parking space, the position of each parking space angular point and the like, and the vehicle information includes the width of the vehicle, the wheelbase of the vehicle, the front overhang length of the vehicle, the position of each vehicle angular point and the like.
And the calculation module 20 is configured to determine a warehousing point set according to the parking space information and the vehicle information. It should be noted that, in this embodiment, a parking process of a vehicle is divided into a backward process and a correction process, the backward process is a process in which the vehicle parks from a starting point to a parking point, and the correction process is a track correction process performed after the vehicle reaches the parking point, and in order to ensure safety of the vehicle in the parking process, the vehicle cannot collide with a boundary of a parking space in the backward process, in this embodiment, a distance margin is left between the vehicle and the boundary of the parking space in the backward process by determining the parking point.
In specific implementation, the distance between the vehicle angular point and the parking space boundary can be calculated according to the parking space information and the vehicle information, the condition to be met by the determination of the warehousing points is that the distance between the vehicle angular point and the parking space boundary is not less than 0, and in an actual situation, a plurality of warehousing points meeting the condition exist, so that a warehousing point set can be obtained.
And the screening module is used for screening the target warehousing points from the warehousing point set.
It should be noted that the warehousing points in the warehousing point set can ensure that the vehicle does not collide with the parking space boundary, the warehousing points represent the positions of the vehicles when entering the parking spaces, the vehicles need to perform trajectory correction after reaching the warehousing points, and the vehicle body state is adjusted to the standard parking state, while in actual situations, the correction times required for adjusting the vehicle body state to the standard parking state at different warehousing points of the vehicles are different, in order to reduce consumption of computing resources, the correction times required for performing trajectory correction at the target warehousing points of the vehicles are the minimum, and in addition, the screening of the target warehousing points also needs to ensure that the distance difference between the target warehousing points and the parking space center line is the minimum.
In a specific implementation, the step of screening the target warehousing points from the warehousing point set includes: acquiring position information and moving correction times of each warehousing point in the warehousing point set; obtaining a preset central line of a parking space according to the parking space information; obtaining a distance difference value according to the position information and the preset center line of the parking space; and screening out target warehousing points from the warehousing point set based on the moving correction times and the distance difference.
In this embodiment, position information of each warehousing point is obtained from a warehousing point set, and the number of times of moving correction of each warehousing point can be obtained through simulation, a mature computer simulation technique is adopted in this embodiment, further, a preset center line of a parking space can be obtained according to parking space information, and a distance difference can be calculated according to the position information of each warehousing point and the preset center line of the parking space, as shown in fig. 3, L is a preset center line, A, B, C is a warehousing point, and the distance difference between the warehousing point A, B, C and the preset center line L is d respectively1、d2、d3The target warehousing points can be screened from the warehousing point set based on the moving correction times and the distance difference values of the warehousing points, the screening process specifically comprises the step of calculating scores of the warehousing points according to the weight values corresponding to the moving correction times and the weight values corresponding to the distance difference values, for example, the moving correction times are p, the distance difference values are q, the moving correction times of the warehousing points M are OM, the distance difference values are LM, and the moving correction of the warehousing points N is performed for understandingIf the positive times are ON and the distance difference value is LN, the score of the M point of the warehousing point is p × OM + q × LM, the score of the N point of the warehousing point is p × ON + q × LN, and if the p × OM + q × LM is larger than the p × ON + q × LN, the target warehousing point is N.
It should be noted that the determination of the garage entry point in this embodiment is an offline optimization, which is performed before the vehicle performs the parking operation, and the target garage entry point is not changed during the process of starting the parking operation.
And the generating module 40 is configured to generate a parking path of the vehicle to be warehoused based on the target warehousing point. In specific implementation, after the target warehousing point is determined, the parking track of the vehicle to be warehoused is generated based on the warehousing point, the number of correction times required for parking the vehicle according to the parking track is the minimum, and consumption of computing resources can be reduced.
In the embodiment, parking space information and vehicle information of a vehicle to be warehoused are obtained; determining a warehousing point set according to the parking space information and the vehicle information; screening target warehousing points from the warehousing point set; and generating a parking path of the vehicle to be parked based on the target parking point, and generating a parking track through the determined target parking point, so that the consumption of computing resources in the parking path optimization process is reduced, and the parking efficiency is improved.
In an embodiment, the calculation module 20 is further configured to obtain a parking space corner according to the parking space information, and obtain a preset reference point; obtaining a first distance between the parking space corner point and the preset reference point according to the parking space corner point and the preset reference point; obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and a preset reference point according to the vehicle corner point and the preset reference point; determining the value range of the preset reference point according to the first distance and the second distance; determining a warehousing point range based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference point; and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set.
In an embodiment, the screening module 30 is further configured to obtain location information and moving correction times of each warehousing point in the warehousing point set; obtaining a preset central line of a parking space according to the parking space information; obtaining a distance difference value according to the position information and the preset center line of the parking space; and screening out target warehousing points from the warehousing point set based on the moving correction times and the distance difference.
In an embodiment, the generating module 40 is further configured to obtain a starting point and a target parking point of the vehicle to be parked; determining a backward track of the vehicle to be warehoused according to the warehousing starting point and the target warehousing point; determining a correction track of the vehicle to be warehoused according to the target warehousing point and the target parking point; and generating a parking path of the vehicle to be warehoused according to the retreat track and the corrected track.
In an embodiment, the generating module 40 is further configured to determine a first target reference point according to the target parking spot, and determine a second target reference point according to the parking spot information; calculating target parameters according to the warehousing starting point, the first target reference point, the second target reference point and the vehicle information; and determining the backward track of the vehicle to be warehoused based on the target parameters.
In an embodiment, the generating module 40 is further configured to obtain a curve equation according to the target parameter; determining target path points based on the curve equation, and generating a curve path according to the target path points; and taking the curve path as a backward track of the vehicle to be warehoused.
In an embodiment, the generating module 40 is further configured to obtain a current heading angle and a current correction frequency when the vehicle to be warehoused performs vehicle body posture correction; when the current correction times reach a correction time threshold value, judging whether the current course angle meets a preset condition; and if the current course angle does not meet the preset condition, replanning the parking path.
The parking path planning device provided by the invention adopts all technical schemes of all the embodiments, so that the parking path planning device at least has all the beneficial effects brought by the technical schemes of the embodiments, and the details are not repeated.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in the embodiment may be referred to a parking path planning method provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A parking path planning method, characterized by comprising:
acquiring parking space information and vehicle information of a vehicle to be warehoused;
determining a warehousing point set according to the parking space information and the vehicle information;
screening target warehousing points from the warehousing point set;
generating a parking path of the vehicle to be warehoused based on the target warehousing point;
the step of determining a set of warehousing points according to the parking space information and the vehicle information comprises:
obtaining parking space angular points according to the parking space information, and obtaining preset reference points;
obtaining a first distance between the parking space corner point and the preset reference point according to the parking space corner point and the preset reference point;
obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and a preset reference point according to the vehicle corner point and the preset reference point;
determining the value range of the preset reference point according to the first distance and the second distance;
determining a warehousing point range based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference point;
and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set.
2. The parking path planning method according to claim 1, wherein the step of screening out the target garage entry point from the garage entry point set includes:
acquiring position information and moving correction times of each warehousing point in the warehousing point set;
obtaining a preset parking space central line according to the parking space information;
obtaining a distance difference value according to the position information and the preset center line of the parking space;
and screening out target warehousing points from the warehousing point set based on the moving correction times and the distance difference.
3. The parking path planning method according to claim 1 or 2, wherein the step of generating the parking path of the vehicle to be warehoused based on the target warehousing point includes:
acquiring a starting point and a target parking point of the vehicle to be warehoused;
determining a backward track of the vehicle to be warehoused according to the starting point and the target warehousing point;
determining a correction track of the vehicle to be warehoused according to the target warehousing point and the target parking point;
and generating a parking path of the vehicle to be warehoused according to the retreat track and the corrected track.
4. The parking path planning method according to claim 3, wherein the step of determining the back track of the vehicle to be warehoused according to the starting point and the target warehousing point comprises:
determining a first target reference point according to the target warehousing point, and determining a second target reference point according to the parking space information;
calculating a target parameter through the starting point, the first target reference point, the second target reference point and the vehicle information;
and determining the backward track of the vehicle to be warehoused based on the target parameters.
5. The parking path planning method according to claim 4, wherein the step of determining the back track of the vehicle to be warehoused based on the target parameter includes:
obtaining a curve equation according to the target parameter;
determining target path points based on the curve equation, and generating a curve path according to the target path points;
and taking the curve path as a backward track of the vehicle to be warehoused.
6. The parking path planning method according to claim 3, wherein, after the step of generating the parking path of the vehicle to be warehoused according to the back trajectory and the corrected trajectory, the method further comprises:
acquiring a current course angle and current correction times when the vehicle to be warehoused is subjected to vehicle body posture correction;
when the current correction times reach a correction time threshold value, judging whether the current course angle meets a preset condition;
and if the current course angle does not accord with the preset condition, replanning the parking path.
7. A parking path planning apparatus, characterized by comprising:
the acquisition module is used for acquiring parking space information and vehicle information of a vehicle to be warehoused;
the calculation module is used for determining a warehousing point set according to the parking space information and the vehicle information;
the screening module is used for screening target warehousing points from the warehousing point set;
the generating module is used for generating a parking path of the vehicle to be warehoused based on the target warehousing point;
the calculation module is further used for obtaining parking space angular points according to the parking space information and obtaining preset reference points; obtaining a first distance between the parking space corner point and the preset reference point according to the parking space corner point and the preset reference point; obtaining a vehicle corner point according to the vehicle information, and obtaining a second distance between the vehicle corner point and a preset reference point according to the vehicle corner point and the preset reference point; determining the value range of the preset reference point according to the first distance and the second distance; determining a warehousing point range based on a preset relation between a preset reference point and a warehousing point and a value range of the preset reference point; and selecting a plurality of warehousing points from the warehousing point range to obtain a warehousing point set.
8. A parking path planning apparatus characterized by comprising: a memory, a processor and a parking path planning program stored on the memory and running on the processor, the parking path planning program being configured to implement the steps of the parking path planning method according to any one of claims 1 to 6.
9. A storage medium, characterized in that the storage medium has stored thereon a parking path planning program which, when executed by a processor, implements the steps of the parking path planning method according to any one of claims 1 to 6.
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| CN114763133A (en) * | 2021-01-11 | 2022-07-19 | 长沙智能驾驶研究院有限公司 | Vehicle parking planning method, device, equipment and computer storage medium |
| CN112937557B (en) * | 2021-03-09 | 2022-08-12 | 东风汽车集团股份有限公司 | Curvature control-based passenger-riding parking path planning method and system |
| CN113370970B (en) * | 2021-06-28 | 2022-09-09 | 东风汽车集团股份有限公司 | Automatic parking method and device for parking in adjacent parking space |
| CN114030463A (en) * | 2021-11-23 | 2022-02-11 | 上海汽车集团股份有限公司 | Path planning method and device of automatic parking system |
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