CN111854783B - Obstacle-detouring path planning method and device - Google Patents
Obstacle-detouring path planning method and device Download PDFInfo
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- CN111854783B CN111854783B CN202010570306.6A CN202010570306A CN111854783B CN 111854783 B CN111854783 B CN 111854783B CN 202010570306 A CN202010570306 A CN 202010570306A CN 111854783 B CN111854783 B CN 111854783B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
Abstract
The invention discloses a method and a device for planning obstacle detouring paths, which comprise the following steps: when an obstacle is detected in the driving process, acquiring the position information of the obstacle fed back by a sensing system; generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle; combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan; and displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle. The accuracy of obstacle avoidance is improved while the safety is improved.
Description
Technical Field
The invention relates to the technical field of movement planning, in particular to a method and a device for planning obstacle detouring paths.
Background
With the arrival of the network information era, a plurality of things can be done by people at home through a network, such as going out for sale, buying clothes on the treasure, and the like, after a user places an order at the treasure end, a merchant can contact an express company to carry out freight transportation, in some large logistics companies, in order to save time, usually a trailer is used for carrying out freight transportation, and certain specific application scenes, such as internal logistics transportation of an automobile production line, internal logistics transportation of an airport, and in the process of driving on an internal road, enough safety and reliability exist when an automatic vehicle needs to be driven to carry a plurality of pallets to drive under abnormal emergency conditions, at present, the pallets which are connected with vehicles in the world, rarely belong to the same-track pallets, namely, the pallets can keep the same driving track with a vehicle head, but the manufacturing cost is high, the application market is small, so that most logistics companies use common pallets, and the safety is reduced, when the trailer finds an obstacle in front of the trailer during driving, the existing obstacle detouring method generates an obstacle detouring path according to the length of a vehicle body and the position of the obstacle, but the method has the defect that whether the motion track of the tray is within a bearing range or not is not considered during obstacle detouring, namely, a carriage connected with the tray can not normally detour the obstacle and can even collide with the obstacle, and further serious traffic accidents occur.
Disclosure of Invention
For the displayed problems, the method is based on the fact that if an obstacle is detected in the driving process of the trailer, a vehicle obstacle-detouring path plan and a vehicle tray movement plan are generated according to position information of the obstacle, and then the vehicle obstacle-detouring path plan and the vehicle tray movement plan are combined to obtain a final target vehicle movement path plan.
An obstacle detour path planning method for a moving trailer, comprising the steps of:
when an obstacle is detected in the driving process, acquiring the position information of the obstacle fed back by a sensing system;
generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle;
combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan;
and displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle.
Preferably, when an obstacle is detected during driving, the acquiring of the position information of the obstacle fed back by the sensing system includes:
detecting the obstacle by using the sensing system, and acquiring the coordinate of the obstacle on the electronic map when the obstacle is detected;
determining whether the coordinates are located on a preset driving path or not according to the coordinates and the preset driving path in the electronic map;
if so, acquiring the position information of the barrier according to the coordinates and sending an alarm prompt;
and if not, continuously utilizing the sensing system to detect whether the obstacle is on the preset running path or not.
Preferably, the generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle includes:
acquiring contour information of the obstacle, wherein the contour information comprises the surface area of the obstacle;
acquiring body information of the trailer, wherein the body information comprises the length, the width and the spacing distance of each compartment of a vehicle;
acquiring road information of a current driving road where the trailer is located, wherein the road information comprises the road width of the current driving road;
and calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan.
Preferably, the step of combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with the vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, and selecting a target vehicle motion path plan by performing screening and calculation in the m final vehicle motion path plans according to preset conditions includes:
determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
combining the planned driving tracks of the m trailers and the tray rotating track corresponding to each planned driving track to generate the m final vehicle movement path plans;
determining whether the rotating track of each tray in each vehicle motion path plan meets a first preset condition of actual tray rotation;
judging whether each planned driving track in each vehicle movement path plan meets a second preset condition for completely avoiding the obstacle, wherein the preset condition comprises the first preset condition and the second preset condition;
deleting the first vehicle movement path plan which does not meet any preset condition of the first preset condition and the second preset condition;
acquiring a second vehicle movement path plan which simultaneously meets the first preset condition and a second preset condition, wherein the second vehicle movement path plan is a vehicle movement path plan except the first vehicle movement path plan in the m final vehicle movement path plans;
when the second vehicle moving path is planned to be multiple, calculating the second vehicle moving path plan, the outline information of the obstacle, the vehicle body information of the trailer and the road information to obtain multiple time lengths for bypassing the obstacle;
selecting a first time length with the shortest time length from a plurality of time lengths, and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
and confirming the target second vehicle motion path plan as the target vehicle motion path plan.
Preferably, the displaying the movement path plan of the target vehicle and performing voice navigation according to the movement path plan of the target vehicle includes:
determining the motion trail of the trailer according to the target vehicle motion path plan;
detecting whether the motion trail has the condition of road concavity and unevenness;
if yes, sending a deceleration reminding;
otherwise, voice navigation is carried out according to the motion trail.
Preferably, the method further comprises:
determining the initial speed and acceleration of the trailer according to the target vehicle motion path plan;
calculating a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
detecting a second speed of the trailer in real time when the trailer starts to move according to the movement path plan of the target vehicle;
confirming whether the real-time second speed is equal to the real-time first speed;
and sending out a speed-up or speed-down prompt when the real-time second speed is not equal to the real-time first speed.
An obstacle detour path planning apparatus for a moving trailer, the apparatus comprising:
the acquisition module is used for acquiring the position information of the obstacle fed back by the sensing system when the obstacle is detected in the driving process;
the generating module is used for generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle;
the selection module is used for combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with the vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, and screening and calculating the m final vehicle motion path plans according to preset conditions to select a target vehicle motion path plan;
and the display module is used for displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle.
Preferably, the obtaining module includes:
the first detection submodule is used for detecting the obstacle by using the sensing system, and acquiring the coordinate of the obstacle on the electronic map when the obstacle is detected;
the first confirming submodule is used for confirming whether the coordinates are located on a preset driving path or not according to the coordinates and the preset driving path in the electronic map;
the alarm sub-module is used for acquiring the position information of the barrier according to the coordinates and sending an alarm prompt when the confirming sub-module confirms that the coordinates are located on the preset running path;
when the confirming submodule confirms that the coordinates are not located on the preset driving path, the detecting submodule is continuously utilized to detect whether an obstacle is located on the preset driving path;
the generation module comprises:
the first acquisition submodule is used for acquiring the contour information of the obstacle, and the contour information comprises the surface area of the obstacle;
the second acquisition submodule is used for acquiring the body information of the trailer, and the body information comprises the length of the vehicle, the width of the vehicle and the spacing distance of each carriage;
the third acquisition submodule is used for acquiring road information of a current driving road where the trailer is located, and the road information comprises the road width of the current driving road;
and the first calculation submodule is used for calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan.
Preferably, the selection module includes:
the first determining submodule is used for determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
a generation submodule for combining the planned travel trajectories of the m trailers and the tray rotation trajectory corresponding to each planned travel trajectory to generate the m final vehicle motion path plans;
the second determining submodule is used for determining whether the rotating track of each tray in each vehicle motion path plan meets a first preset condition of actual tray rotation;
the judging submodule is used for judging whether each planned driving track in each vehicle motion path plan meets a second preset condition for completely avoiding the obstacle, and the preset conditions comprise the first preset condition and the second preset condition;
the deleting submodule is used for planning and deleting a first vehicle movement path which does not meet any preset condition of the first preset condition and the second preset condition;
a fourth obtaining sub-module, configured to obtain a second vehicle movement path plan that satisfies the first preset condition and a second preset condition at the same time, where the second vehicle movement path plan is a vehicle movement path plan other than the first vehicle movement path plan in the m final vehicle movement path plans;
the second calculation submodule is used for calculating the second vehicle movement path plan, the outline information of the obstacle, the body information of the trailer and the road information when the second vehicle movement path plan is multiple, and obtaining multiple time lengths for bypassing the obstacle;
the selection submodule is used for selecting a first time length with the shortest time length from a plurality of time lengths and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
the second confirming submodule is used for confirming the target second vehicle motion path plan as the target vehicle motion path plan;
the display module includes:
the third determining submodule is used for determining the motion trail of the trailer according to the motion path plan of the target vehicle;
the second detection submodule is used for detecting whether the motion trail has the condition that the road is concave and uneven;
the reminding sub-module is used for sending a deceleration reminding when the second detection sub-module detects that the road is concave and uneven in the motion track;
and the navigation sub-module is used for carrying out voice navigation according to the motion track when the second detection sub-module detects that the motion track has no condition that the road is concave and uneven.
Preferably, the apparatus further comprises:
the determining module is used for determining the initial speed and the acceleration of the trailer according to the movement path plan of the target vehicle;
the calculation module is used for calculating a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
the detection module is used for detecting a second speed of the trailer in real time when the trailer starts to move according to the movement path planning of the target vehicle;
a confirmation module for confirming whether the real-time second speed is equal to the real-time first speed;
and the reminding module is used for sending speed-up or speed-down reminding when the confirming module confirms that the real-time second speed is not equal to the real-time first speed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a flowchart illustrating a method for planning a barrier-circumventing path according to the present invention;
fig. 2 is another work flow diagram of a barrier detour path planning method provided by the present invention;
fig. 3 is an effect diagram of a barrier-detouring path planning method provided by the present invention;
fig. 4 is an algorithm screenshot of a barrier-circumventing path planning method provided by the present invention;
fig. 5 is a screenshot of an optimized motion curve of an obstacle detouring path planning method according to the present invention;
fig. 6 is a structural diagram of an obstacle detouring path planning apparatus according to the present invention;
fig. 7 is another structural diagram of an obstacle detouring path planning apparatus according to the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
With the arrival of the network information era, a plurality of things can be done by people at home through a network, such as going out for sale, buying clothes on the treasure, and the like, after a user places an order at the treasure end, a merchant can contact an express company to carry out freight transportation, in some large logistics companies, in order to save time, usually a trailer is used for carrying out freight transportation, and certain specific application scenes, such as internal logistics transportation of an automobile production line, internal logistics transportation of an airport, and in the process of driving on an internal road, enough safety and reliability exist when an automatic vehicle needs to be driven to carry a plurality of pallets to drive under abnormal emergency conditions, at present, the pallets which are connected with vehicles in the world, rarely belong to the same-track pallets, namely, the pallets can keep the same driving track with a vehicle head, but the manufacturing cost is high, the application market is small, so that most logistics companies use common pallets, and the safety is reduced, when the trailer finds an obstacle in front of the trailer during driving, the existing obstacle detouring method generates an obstacle detouring path according to the length of a vehicle body and the position of the obstacle, but the method has the defect that whether the motion track of the tray is within a bearing range or not is not considered during obstacle detouring, namely, a carriage connected with the tray can not normally detour the obstacle and can even collide with the obstacle, and further serious traffic accidents occur. In order to solve the above problems, the present embodiment discloses a method for generating a vehicle obstacle detouring path plan and a vehicle tray movement plan according to position information of an obstacle if the obstacle is detected during trailer driving, and then combining the vehicle obstacle detouring path plan and the vehicle tray movement plan to obtain a final target vehicle movement path plan.
An obstacle detouring path planning method for a moving trailer, as shown in fig. 1, comprises the following steps:
s101, when an obstacle is detected in a driving process, acquiring position information of the obstacle fed back by a sensing system;
step S102, generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle;
step S103, combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan;
s104, displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle;
in this embodiment, m is a positive integer greater than or equal to 2, that is, at least two vehicle obstacle-detouring path plans and at least two vehicle tray movement plans are generated, and the vehicle obstacle-detouring path plan and the vehicle tray movement plan are combined to determine whether the movement track of the tray during the trailer movement is within the bearing range, for example: the rotation angle of the corresponding tray of the trailer in the current vehicle obstacle detouring path plan is 20 degrees, but the whole trailer cannot realize complete obstacle detouring under the rotation angle of the tray of 20 degrees, so that the preset conditions are utilized for screening to obtain the target vehicle motion path plan, and then the user is instructed and navigated according to the target vehicle motion path plan.
The working principle of the technical scheme is as follows: when an obstacle is detected in the driving process, acquiring the position information of the obstacle fed back by a sensing system; generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle; combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan; and displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle.
The beneficial effects of the above technical scheme are: the vehicle tray motion planning is added when the vehicle motion path planning is generated, so that the influence of the tray on the vehicle motion path is considered in the whole obstacle detouring process, the final target vehicle motion path planning is more perfect, the problem caused by all phonemes is avoided, the problem that in the prior art, because whether the motion track of the tray is in a bearing range is not considered in the obstacle detouring process, namely, a carriage connected with the tray can not normally detour the obstacle or even collide with the obstacle, so that serious traffic accidents occur is solved, the safety is improved, and the obstacle detouring accuracy is improved.
In one embodiment, when an obstacle is detected during driving, acquiring position information of the obstacle fed back by a sensing system, including:
detecting an obstacle by using a sensing system, and acquiring the coordinate of the obstacle on the electronic map when the obstacle is detected;
determining whether the coordinates are located on a preset driving path or not according to the coordinates and the preset driving path in the electronic map;
if so, acquiring position information of the barrier according to the coordinates and sending an alarm prompt;
otherwise, the sensing system is continuously utilized to detect whether the obstacle is on the preset driving path.
The beneficial effects of the above technical scheme are: because the sensing system detects the obstacles in an all-around manner, when the obstacles are detected, whether the obstacles are on the preset driving path of the trailer is determined, the situation that the obstacles are not on the preset driving path but give an alarm to a user can be avoided, and the experience of the user is improved.
In one embodiment, as shown in fig. 2, generating m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan based on the position information of the obstacle includes:
step S201, obtaining outline information of the obstacle, wherein the outline information comprises the surface area of the obstacle;
step S202, obtaining body information of a trailer, wherein the body information comprises the length, width and spacing distance of each compartment of a vehicle;
step S203, acquiring road information of a current driving road where the trailer is located, wherein the road information comprises the road width of the current driving road;
step S204, calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan;
in the embodiment, m vehicle obstacle detouring path plans can be calculated through the contour information of the obstacle, the vehicle length and the vehicle width of the vehicle and the road width of the current running road, the rotating angle range of each tray can be determined through the spacing distance of each carriage, and then each tray rotates in real time according to the m vehicle obstacle detouring path plans in the obstacle detouring process to generate m vehicle tray motion plans corresponding to the m vehicle obstacle detouring path plans.
The beneficial effects of the above technical scheme are: the contour information of the obstacle, the body information of the trailer and the road information can be obtained to calculate and generate m vehicle obstacle-detouring path plans and vehicle tray movement plans more accurately, and sufficient data support is provided for the vehicle obstacle-detouring path plans and the vehicle tray movement plans.
In one embodiment, combining each vehicle obstacle detouring path plan of the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, performing screening and calculation in the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan, including:
determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
combining the planned driving tracks of the m trailers and the tray rotating track corresponding to each planned driving track to generate m final vehicle movement path plans;
determining whether the rotating track of each tray in the movement path planning of each vehicle meets a first preset condition of actual tray rotation;
judging whether each planned driving track in each vehicle movement path plan meets a second preset condition for completely avoiding the obstacle, wherein the preset condition comprises a first preset condition and a second preset condition;
deleting the first vehicle movement path plan which does not meet any preset condition of the first preset condition and the second preset condition;
acquiring a second vehicle movement path plan which simultaneously meets a first preset condition and a second preset condition, wherein the second vehicle movement path plan is a vehicle movement path plan except the first vehicle movement path plan in the m final vehicle movement path plans;
when the second vehicle moving path is planned to be multiple, calculating the second vehicle moving path plan, the outline information of the obstacle, the vehicle body information of the trailer and the road information to obtain multiple time lengths for bypassing the obstacle;
selecting a first time length with the shortest time length from the plurality of time lengths, and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
confirming the target second vehicle movement path plan as a target vehicle movement path plan;
in this embodiment, the first preset condition is that the rotation angle of the tray is between 0 ° and 180 °, it is determined whether the rotation trajectory of the tray in each vehicle tray motion plan is within the angle range, if not, the vehicle tray motion plan and the corresponding vehicle obstacle-detouring path plan are not within a theoretically feasible range, and the vehicle tray motion plan and the corresponding vehicle obstacle-detouring path plan that satisfy the above condition are deleted, where the second preset condition for completely avoiding the obstacle is: is completely out of contact with the obstacle and is within the range of the width of the current driving road minus the width of the obstacle,
the beneficial effects of the above technical scheme are: the obstacle detouring scheme with the shortest time and the most effective obstacle detouring scheme can be obtained, the success of obstacle detouring and the safety of a trailer are guaranteed to the greatest extent, and the occurrence of major traffic accidents is avoided.
In one embodiment, displaying a target vehicle movement path plan and performing voice navigation according to the target vehicle movement path plan includes:
determining the motion trail of the trailer according to the motion path planning of the target vehicle;
detecting whether the motion trail has the condition of road concavity and unevenness;
if yes, sending a deceleration reminding;
otherwise, voice navigation is carried out according to the motion track.
The beneficial effects of the above technical scheme are: can be to the timely warning that sends of emergency situation, improved trailer driver's alertness to the emergence of accident has further been avoided. The safety is improved.
In one embodiment, the method further comprises:
determining the initial speed and acceleration of the trailer according to the movement path plan of the target vehicle;
calculating a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
detecting a second speed of the trailer in real time when the trailer starts to move according to the movement path planning of the target vehicle;
confirming whether the real-time second speed is equal to the real-time first speed;
and sending out a speed-up or speed-down prompt when the real-time second speed is not equal to the real-time first speed.
The beneficial effects of the above technical scheme are: the obstacle detouring method can detour the obstacle according to the specified speed planned by the moving path of the target vehicle, and if the second speed is not equal to the first speed, the obstacle cannot be effectively detoured, so that the fault tolerance rate of the whole process is reduced, and the safety is further improved.
For example, as shown in fig. 3, when the unmanned autonomous vehicle detects an obstacle in front, the position of the obstacle is acquired by the sensing system, then the optimal vehicle motion path plan is obtained according to the position of the obstacle and the length, the width, the spacing distance of each compartment and the road information of the current driving road of the unmanned automatic driving vehicle, when the unmanned vehicle runs to a distance which is long away from the body of the obstacle vehicle, the unmanned vehicle starts to turn to a road without obstacles, when the tail of the unmanned vehicle turns to the road with obstacles, the unmanned automatic driving vehicle continues to run on the road without the obstacle until the vehicle tail turns to the road with the obstacle again when crossing the plane where the obstacle is located, and the obstacle is bypassed when the vehicle tail turns to the road with the obstacle, and the unmanned automatic driving vehicle keeps running straight.
In one embodiment, the sensing system is firstly received to feed back the outline coordinates of the obstacle, then the obstacle detouring path curve is calculated by using a specific algorithm in fig. 4 according to the outline coordinates of the obstacle, the distance is about 1m and the error range is not more than 0.2m when the vehicle passes through the obstacle is guaranteed, the distance is about 1m and the error range is not more than 0.2m when the tray moves along with the vehicle and passes through the obstacle is guaranteed according to Matlab modeling processing, as shown in fig. 5, the obstacle detouring curve at a specified speed is fitted by a polynomial of the highest degree of 5, and the optimized motion curve is used as the basis of the motion path planning of the anthropomorphic driving of each tray to plan the obstacle detouring path.
The beneficial effects of the above technical scheme are: the obstacle-detouring traveling device is provided with 1-4 trays, and can realize obstacle-detouring traveling under the specified interval of 1m + -0.2m required by the specification. Aiming at the tray with different tracks and the case that the tray is not successful at home and abroad, the function described by the invention can be realized, and the dynamic self-adaptive obstacle-avoiding method of the tray can change the automatic driving vehicle into an industrialized automatic product, so that the automatic driving vehicle can provide strict test data in the transverse and longitudinal directions, thereby proving that the automatic driving vehicle has high reliability and repeatability and meeting the related technical requirement (precision reliability requirement) necessary for a strict industrial product.
The embodiment also discloses an obstacle detouring path planning device, which is used for a trailer in driving, and as shown in fig. 6, the device comprises:
the acquisition module 601 is configured to acquire position information of an obstacle fed back by a sensing system when the obstacle is detected in a driving process;
a generating module 602, configured to generate m vehicle obstacle crossing path plans and a vehicle tray motion plan corresponding to each vehicle obstacle crossing path plan based on the position information of the obstacle;
the selection module 603 is configured to combine each vehicle obstacle detouring path plan of the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, perform screening and calculation in the m final vehicle motion path plans according to preset conditions, and select a target vehicle motion path plan;
and the display module 604 is configured to display the movement path plan of the target vehicle and perform voice navigation according to the movement path plan of the target vehicle.
In one embodiment, the obtaining module includes:
the first detection submodule is used for detecting the obstacles by using the sensing system and acquiring the coordinates of the obstacles on the electronic map when the obstacles are detected;
the first confirming submodule is used for confirming whether the coordinates are located on the preset driving path according to the coordinates and the preset driving path in the electronic map;
the alarm submodule is used for acquiring the position information of the barrier according to the coordinates and sending an alarm prompt when the confirmation submodule confirms that the coordinates are located on the preset driving path;
when the confirming submodule confirms that the coordinates are not located on the preset running path, the detecting submodule is continuously used for detecting whether an obstacle is located on the preset running path or not;
a generation module comprising:
the first acquisition submodule is used for acquiring the contour information of the obstacle, and the contour information comprises the surface area of the obstacle;
the second acquisition submodule is used for acquiring the body information of the trailer, and the body information comprises the length of the vehicle, the width of the vehicle and the spacing distance of each carriage;
the third acquisition submodule is used for acquiring the road information of the current driving road where the trailer is located, and the road information comprises the road width of the current driving road;
and the first calculation submodule is used for calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan.
In one embodiment, the selection module includes:
the first determining submodule is used for determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
the generation submodule is used for combining the planned driving tracks of the m trailers and the tray rotating track corresponding to each planned driving track to generate m final vehicle movement path plans;
the second determining submodule is used for determining whether the rotating track of each tray in each vehicle motion path plan meets a first preset condition of actual tray rotation;
the judging submodule is used for judging whether each planned driving track in each vehicle motion path plan meets a second preset condition for completely avoiding the obstacle, and the preset conditions comprise a first preset condition and a second preset condition;
the deleting submodule is used for planning and deleting a first vehicle movement path which does not meet any preset condition of a first preset condition and a second preset condition;
the fourth obtaining submodule is used for obtaining a second vehicle movement path plan which simultaneously meets the first preset condition and the second preset condition, and the second vehicle movement path plan is a vehicle movement path plan except the first vehicle movement path plan in the m final vehicle movement path plans;
the second calculation submodule is used for calculating the second vehicle movement path plan, the outline information of the obstacles, the body information of the trailer and the road information when the second vehicle movement path plan is multiple, and obtaining multiple time lengths for bypassing the obstacles;
the selection submodule is used for selecting a first time length with the shortest time length from the plurality of time lengths and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
the second confirming submodule is used for confirming the target second vehicle movement path plan as the target vehicle movement path plan;
a display module, comprising:
the third determining submodule is used for determining the motion trail of the trailer according to the motion path planning of the target vehicle;
the second detection submodule is used for detecting whether the motion trail has the condition that the road is concave and uneven;
the reminding sub-module is used for sending deceleration reminding when the second detection sub-module detects that the road is concave and uneven in the motion track;
and the navigation sub-module is used for carrying out voice navigation according to the motion track when the second detection sub-module detects that no road is concave and uneven in the motion track.
In one embodiment, as shown in fig. 7, the above apparatus further comprises:
a determining module 701, configured to determine a starting speed and an acceleration of the trailer according to the target vehicle motion path plan;
a calculating module 702, configured to calculate a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
the detection module 703 is configured to detect a second speed of the trailer in real time when the trailer starts to move according to the movement path plan of the target vehicle;
a determining module 704 for determining whether the real-time second speed is equal to the real-time first speed;
and the reminding module 705 is configured to send a speed-up or speed-down reminder when the determining module determines that the real-time second speed is not equal to the real-time first speed.
It will be understood by those skilled in the art that the first and second terms of the present invention refer to different stages of application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. An obstacle detour path planning method for a traveling trailer, comprising the steps of:
when an obstacle is detected in the driving process, acquiring the position information of the obstacle fed back by a sensing system;
generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle;
combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan;
displaying the movement path plan of the target vehicle and carrying out voice navigation according to the movement path plan of the target vehicle;
combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, screening and calculating the m final vehicle motion path plans according to preset conditions, and selecting a target vehicle motion path plan, wherein the method comprises the following steps:
determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
combining the planned driving tracks of the m trailers and the tray rotating track corresponding to each planned driving track to generate the m final vehicle movement path plans;
determining whether the rotating track of each tray in each vehicle motion path plan meets a first preset condition of actual tray rotation;
judging whether each planned driving track in each vehicle movement path plan meets a second preset condition for completely avoiding the obstacle, wherein the preset condition comprises the first preset condition and the second preset condition;
deleting the first vehicle movement path plan which does not meet any preset condition of the first preset condition and the second preset condition;
acquiring a second vehicle movement path plan which simultaneously meets the first preset condition and a second preset condition, wherein the second vehicle movement path plan is a vehicle movement path plan except the first vehicle movement path plan in the m final vehicle movement path plans;
when the second vehicle moving path is planned to be multiple, calculating the second vehicle moving path plan, the outline information of the obstacle, the vehicle body information of the trailer and the road information to obtain multiple time lengths for bypassing the obstacle;
selecting a first time length with the shortest time length from a plurality of time lengths, and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
and confirming the target second vehicle motion path plan as the target vehicle motion path plan.
2. The obstacle detouring path planning method according to claim 1, wherein the obtaining of the position information of the obstacle fed back by the sensing system when the obstacle is detected during the driving process comprises:
detecting the obstacle by using the sensing system, and acquiring the coordinate of the obstacle on the electronic map when the obstacle is detected;
determining whether the coordinates are located on a preset driving path or not according to the coordinates and the preset driving path in the electronic map;
if so, acquiring the position information of the barrier according to the coordinates and sending an alarm prompt;
and if not, continuously utilizing the sensing system to detect whether the obstacle is on the preset running path or not.
3. The obstacle detouring path planning method according to claim 1, wherein the generating m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan based on the position information of the obstacle comprises:
acquiring contour information of the obstacle, wherein the contour information comprises the surface area of the obstacle;
acquiring body information of the trailer, wherein the body information comprises the length, the width and the spacing distance of each compartment of a vehicle;
acquiring road information of a current driving road where the trailer is located, wherein the road information comprises the road width of the current driving road;
and calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan.
4. The obstacle detour path planning method of claim 1, wherein the displaying the target vehicle movement path plan and the voice navigating according to the target vehicle movement path plan comprises:
determining the motion trail of the trailer according to the target vehicle motion path plan;
detecting whether the motion trail has the condition of road concavity and unevenness;
if yes, sending a deceleration reminding;
otherwise, voice navigation is carried out according to the motion trail.
5. The barrier-detoured path planning method according to claim 1, further comprising:
determining the initial speed and acceleration of the trailer according to the target vehicle motion path plan;
calculating a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
detecting a second speed of the trailer in real time when the trailer starts to move according to the movement path plan of the target vehicle;
confirming whether the real-time second speed is equal to the real-time first speed;
and sending out a speed-up or speed-down prompt when the real-time second speed is not equal to the real-time first speed.
6. An obstacle detour path planning apparatus for a moving trailer, the apparatus comprising:
the acquisition module is used for acquiring the position information of the obstacle fed back by the sensing system when the obstacle is detected in the driving process;
the generating module is used for generating m vehicle obstacle-detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle-detouring path plan based on the position information of the obstacle;
the selection module is used for combining each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans with the vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan to generate m final vehicle motion path plans, and screening and calculating the m final vehicle motion path plans according to preset conditions to select a target vehicle motion path plan;
the display module is used for displaying the movement path planning of the target vehicle and carrying out voice navigation according to the movement path planning of the target vehicle;
the selection module comprises:
the first determining submodule is used for determining planned driving tracks of m trailers and a tray rotating track corresponding to each planned driving track according to each vehicle obstacle detouring path plan and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan in the m vehicle obstacle detouring path plans;
a generation submodule for combining the planned travel trajectories of the m trailers and the tray rotation trajectory corresponding to each planned travel trajectory to generate the m final vehicle motion path plans;
the second determining submodule is used for determining whether the rotating track of each tray in each vehicle motion path plan meets a first preset condition of actual tray rotation;
the judging submodule is used for judging whether each planned driving track in each vehicle motion path plan meets a second preset condition for completely avoiding the obstacle, and the preset conditions comprise the first preset condition and the second preset condition;
the deleting submodule is used for planning and deleting a first vehicle movement path which does not meet any preset condition of the first preset condition and the second preset condition;
a fourth obtaining sub-module, configured to obtain a second vehicle movement path plan that satisfies the first preset condition and a second preset condition at the same time, where the second vehicle movement path plan is a vehicle movement path plan other than the first vehicle movement path plan in the m final vehicle movement path plans;
the second calculation submodule is used for calculating the second vehicle movement path plan, the outline information of the obstacle, the body information of the trailer and the road information when the second vehicle movement path plan is multiple, and obtaining multiple time lengths for bypassing the obstacle;
the selection submodule is used for selecting a first time length with the shortest time length from a plurality of time lengths and determining a target second vehicle movement path plan corresponding to the first time length according to the first time length;
the second confirming submodule is used for confirming the target second vehicle motion path plan as the target vehicle motion path plan;
the display module includes:
the third determining submodule is used for determining the motion trail of the trailer according to the motion path plan of the target vehicle;
the second detection submodule is used for detecting whether the motion trail has the condition that the road is concave and uneven;
the reminding sub-module is used for sending a deceleration reminding when the second detection sub-module detects that the road is concave and uneven in the motion track;
and the navigation sub-module is used for carrying out voice navigation according to the motion track when the second detection sub-module detects that the motion track has no condition that the road is concave and uneven.
7. The obstacle detour path planning device of claim 6, wherein the obtaining module comprises:
the first detection submodule is used for detecting the obstacle by using the sensing system, and acquiring the coordinate of the obstacle on the electronic map when the obstacle is detected;
the first confirming submodule is used for confirming whether the coordinates are located on a preset driving path or not according to the coordinates and the preset driving path in the electronic map;
the alarm sub-module is used for acquiring the position information of the barrier according to the coordinates and sending an alarm prompt when the confirming sub-module confirms that the coordinates are located on the preset running path;
when the confirming submodule confirms that the coordinates are not located on the preset driving path, the detecting submodule is continuously utilized to detect whether an obstacle is located on the preset driving path;
the generation module comprises:
the first acquisition submodule is used for acquiring the contour information of the obstacle, and the contour information comprises the surface area of the obstacle;
the second acquisition submodule is used for acquiring the body information of the trailer, and the body information comprises the length of the vehicle, the width of the vehicle and the spacing distance of each carriage;
the third acquisition submodule is used for acquiring road information of a current driving road where the trailer is located, and the road information comprises the road width of the current driving road;
and the first calculation submodule is used for calculating according to the contour information of the obstacle, the body information of the trailer and the road information to generate m vehicle obstacle detouring path plans and a vehicle tray motion plan corresponding to each vehicle obstacle detouring path plan.
8. The obstacle detour path planning apparatus of claim 6, further comprising:
the determining module is used for determining the initial speed and the acceleration of the trailer according to the movement path plan of the target vehicle;
the calculation module is used for calculating a real-time first speed of the trailer in the whole obstacle detouring process according to the initial speed and the acceleration;
the detection module is used for detecting a second speed of the trailer in real time when the trailer starts to move according to the movement path planning of the target vehicle;
a confirmation module for confirming whether the real-time second speed is equal to the real-time first speed;
and the reminding module is used for sending speed-up or speed-down reminding when the confirming module confirms that the real-time second speed is not equal to the real-time first speed.
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| DE102010025612A1 (en) * | 2010-06-30 | 2011-03-10 | Daimler Ag | Method for warning driver of towing vehicle with trailer before collision with stationary obstacles on driving route with curve, involves sending signal and/or carrying out interference when wheel of axle of vehicle is approximated to range |
| US9164955B2 (en) * | 2013-02-04 | 2015-10-20 | Ford Global Technologies | Trailer active back-up assist with object avoidance |
| BR112015028757B1 (en) * | 2013-05-15 | 2022-03-15 | Volvo Truck Corporation | Method to assist the reversing of an articulated vehicle |
| CN103941737A (en) * | 2014-05-09 | 2014-07-23 | 济南大学 | Motion planning and controlling method for tractor-trailer mobile robot in complex environment |
| US9849878B2 (en) * | 2016-02-26 | 2017-12-26 | GM Global Technology Operations LLC | System and method for providing a corrected lane following path through a curve for trailering vehicles |
| US20170349213A1 (en) * | 2016-06-02 | 2017-12-07 | GM Global Technology Operations LLC | System And Method For Displaying A Forward Drive Trajectory, Providing A Jackknifing Warning And Providing A Trailer Turn Aid |
| US10775805B2 (en) * | 2016-08-26 | 2020-09-15 | Crown Equipment Limited | Materials handling vehicle path validation and dynamic path modification |
| CA3187819C (en) * | 2016-08-26 | 2023-10-03 | Crown Equipment Corporation | Materials handling vehicle obstacle scanning tools |
| DE102017108659A1 (en) * | 2017-04-24 | 2018-10-25 | Schiller Automatisierungstechnik Gmbh | Automatic and collaborative supply system |
| CN112061718B (en) * | 2019-06-10 | 2022-03-15 | 李志鹏 | Control method of intelligent tray and intelligent tray |
| CN110962846B (en) * | 2019-12-23 | 2021-05-18 | 潍柴动力股份有限公司 | Vehicle steering anti-collision method and device |
| CN110979321B (en) * | 2019-12-30 | 2021-03-19 | 北京深测科技有限公司 | Obstacle avoidance method for unmanned vehicle |
| CN111256719B (en) * | 2020-02-18 | 2022-02-22 | 北京九曜智能科技有限公司 | Obstacle detouring method and device |
| US11619943B2 (en) * | 2020-03-20 | 2023-04-04 | Tusimple, Inc. | Optimal path library for local path planning of an autonomous vehicle |
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