CN111994069A - Track preview calculation method and system in automatic parking control system - Google Patents
Track preview calculation method and system in automatic parking control system Download PDFInfo
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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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
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Abstract
The invention relates to a track preview calculation method and a track preview calculation system in an automatic parking control system, which comprise the following steps: storing the track point set into a track point set array, sequentially outputting subscripts to track points in the track point set array, dividing the track point set array into a forward point set array and a backward point set array, and initially setting a turn-back flag Turnback _ flag to be 0; traversing and calculating the nearest track point in the track point set array according to the current self-vehicle position to serve as a positioning point, selecting the next track point of the positioning point to serve as a pre-aiming point, and moving the vehicle to the pre-aiming point; and judging the position of the vehicle, and ending automatic parking if the vehicle reaches the final target frame. The preview point selection scheme provided by the invention does not introduce accumulated errors, can accurately judge the driving direction according to the relation of the track points, and greatly improves the accuracy of transverse control.
Description
Technical Field
The invention relates to the field of control in the field of automatic parking, in particular to a track preview calculation method and system in an automatic parking control system.
Background
After determining the parking path, the automatic parking system needs to ensure that the vehicle travels along the parking path, which is usually performed by a vehicle control module. The vehicle travels in a direction other than a speed. Correspondingly, the vehicle control module is divided into processes of longitudinal control and lateral control. Wherein the longitudinal control is mainly directed to the speed requirement and the lateral control is mainly directed to the direction requirement. The process of longitudinal control is relatively simple, while the complexity and accuracy of the lateral control process generally determines the performance of the entire vehicle control module.
The input to the lateral control is typically a set of trajectory points on the parking path. These trace points have pose attributes and are equidistant from each other. The lateral control addresses how to move from the current location point to the next point in the set of trajectory points. The existing calculation methods are generally: and matching the track points according to the moving distance of the vehicle. The matching mode is as follows: the track points are accumulated segment by segment from the starting point, so that if the distance range of the front track point and the rear track point corresponding to the starting point covers the moving distance of the vehicle, the front point is selected as a reference position, the curvature of a target position on the track is obtained by a linear difference method according to the moving distance, and then the horizontal and vertical coordinates of the target position are obtained according to the straight geometric relationship between the reference position and the target position. This method introduces cumulative errors in the travel distance, eventually leading to poor control performance.
Disclosure of Invention
The invention provides a track preview calculation method and a track preview calculation system in an automatic parking control system, which solve the problem that the traditional transverse control algorithm introduces the accumulated error of the moving distance and finally causes the deterioration of the control performance.
The invention provides a track preview calculation method in an automatic parking control system for solving the technical problem, which comprises the following steps:
s1, generating a track point set according to parking track information, storing the track point set into a track point set array, sequentially outputting subscripts to track points in the track point set array, dividing the track point set array into a forward point set array and a backward point set array, and initially setting a turn-back flag Turnback _ flag to be 0;
s2, according to the current position of the vehicle, calculating the nearest track point in the track point set array in a traversing manner to serve as a locating point, selecting the next track point of the locating point to serve as a pre-aiming point, and moving the vehicle to the pre-aiming point;
and S3, judging the position of the vehicle, and ending automatic parking when the vehicle reaches the final target frame.
Further, in the track preview calculation method in the automatic parking control system, in step S1, the subscript is a position where the track point is stored in the track point set array; and the track point data in the forward point set array is a positive value, and the track point data in the backward point set array is a negative value.
Further, in the track preview calculation method in the automatic parking control system according to the present invention, the specific step of dividing the track point set array into the forward point set array and the backward point set array in step S1 is as follows:
s11, marking the subscript output of the first track point in the track point set array as 0;
s12, traversing the track point set array, finding track points with opposite first data symbols, and outputting track point subscripts with opposite first data symbols as turn _ back _ index;
s13, outputting the last trace point index in the trace point set array as final _ index;
s14, the traversal range of the forward point set array is 0-turn _ back _ index, and the traversal range of the backward point set array is turn _ back _ index + 1-final _ index.
Further, in the track preview calculation method in the automatic parking control system according to the present invention, a specific formula for traversing and calculating the nearest track point in step S2 is as follows:
min(k)＝Min{min_distance(i)}
wherein i represents a subscript of a certain track point on the track, traj.x (i) represents an abscissa of the track point i, traj.y (i) represents an ordinate of the track point i, current.x represents an abscissa of the current position of the vehicle, and current.y represents a ordinate of the current position of the vehicle; and after traversing all the track points, taking the minimum value min (k), wherein the track point with the subscript of k +1 is the pre-aiming point.
Further, in the track preview calculation method in the automatic parking control system according to the present invention, the specific steps of determining the position of the vehicle in step S3, and ending the automatic parking if the vehicle reaches the final target frame include:
s31, judging the value of the turn-back flag Turnback _ flag, if the Turnback _ flag is larger than 0, selecting the backward point set array to traverse the track point, otherwise, selecting the forward point set array to traverse the track point;
s32, judging the values of the subscript preview _ index of the pre-aiming point and the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to turn _ back _ index and the current vehicle speed RealSpeed is 0, setting the value of the turn-back flag Turnback _ flag to be 1, indicating that the vehicle reaches a middle target frame currently, entering the step S33, and otherwise, returning to the step S2;
and S33, judging the subscript preview _ index of the pre-aiming point and the value of the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to final _ index and the current vehicle speed RealSpeed is 0, setting the value of a turn-back flag Turnback _ flag to be 2, indicating that the vehicle reaches a final target frame currently, ending automatic parking, and otherwise, returning to the step S2.
Further, the track preview calculation system in the automatic parking control system comprises the following modules:
the system comprises a track point set array generating module, a track point set generating module and a return point set generating module, wherein the track point set generating module is used for generating a track point set according to parking track information, storing the track point set into a track point set array, sequentially outputting subscripts to track points in the track point set array, dividing the track point set array into a forward point set array and a backward point set array, and initially setting a return flag Turnback _ flag to be 0;
the pre-aiming point generating module is used for calculating the nearest track point in the track point set array in a traversing manner according to the current self-vehicle position to serve as a positioning point, selecting the next track point of the positioning point to serve as a pre-aiming point, and moving the vehicle to the pre-aiming point;
and the vehicle position judging module is used for judging the position of the vehicle, and ending automatic parking if the vehicle reaches the final target frame.
Further, in the track preview calculation system in the automatic parking control system, the subscript in the track point set array generation module is the position of the track point stored in the track point set array; and the track point data in the forward point set array is a positive value, and the track point data in the backward point set array is a negative value.
Further, in the trajectory preview calculation system in the automatic parking control system according to the present invention, the dividing of the trajectory point set array into the forward point set array and the backward point set array in the trajectory point set array generation module is specifically realized by the following sub-modules:
the initial track point marking submodule is used for marking the subscript output of a first track point in the track point set array as 0;
the middle point marking submodule is used for traversing the track point set array, finding track points with opposite first data symbols and outputting and marking the track point subscripts with opposite first data symbols as turn _ back _ index;
a finishing point marking submodule for outputting the last track point index in the track point set array as final _ index;
and the array dividing submodule is used for dividing the traversal range of the forward point set array into 0 to turn _ back _ index, and the traversal range of the backward point set array into turn _ back _ index +1 to final _ index.
Further, in the track preview calculation system in the automatic parking control system according to the present invention, a specific formula for calculating the closest track point in a traversal manner in the preview point generation module is as follows:
min(k)＝Min{min_distance(i)}
wherein i represents a subscript of a certain track point on the track, traj.x (i) represents an abscissa of the track point i, traj.y (i) represents an ordinate of the track point i, current.x represents an abscissa of the current position of the vehicle, and current.y represents a ordinate of the current position of the vehicle; and after traversing all the track points, taking the minimum value min (k), wherein the track point with the subscript of k +1 is the pre-aiming point.
Further, in the trajectory preview calculation system in the automatic parking control system according to the present invention, the determining of the position of the vehicle in the vehicle position determining module is specifically implemented by the following sub-modules if the vehicle reaches the final target frame:
the moving direction judgment submodule is used for judging the value of the turn-back flag Turnback _ flag, if the Turnback _ flag is larger than 0, the backward point set array is selected for traversal, and if not, the forward point set array is selected for traversal;
the intermediate target frame judgment sub-module is used for judging the values of the subscript preview _ index of the pre-aiming point and the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to turn _ back _ index and the current vehicle speed RealSpeed is 0, the value of the turn-back mark Turnback _ flag is set to be 1, the fact that the vehicle currently reaches an intermediate target frame is indicated, the vehicle enters the final target frame judgment sub-module, and if not, the value returns to the pre-aiming point generation module;
and the final target frame judgment sub-module is used for judging the subscript preview _ index of the pre-aiming point and the value of the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to final _ index and the current vehicle speed RealSpeed is 0, setting the value of the turn-back flag Turnback _ flag to be 2, indicating that the vehicle currently reaches the final target frame, ending automatic parking, and otherwise, returning to the pre-aiming point generation module.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a precalibration calculation mode without error accumulation, which reduces errors in calculating transverse deviation and course deviation, thereby achieving the effect of improving the accuracy of a transverse control algorithm.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a technical flow chart of the method of the present invention;
FIG. 2 is a plan view of the vehicle movement for the method of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, which is a technical flowchart of the method of the present invention, the method for calculating the track preview in the automatic parking control system according to the present invention includes the following steps:
s1, a decision planning module plans a piece of track information capable of being parked according to the position information and parking space information of a vehicle, generates a track point set according to the track information, stores the track point set into a track point set array, sequentially outputs subscripts to track points in the track point set array, divides the track point set array into a forward point set array and a backward point set array, and initially sets a turn-back flag Turnback _ flag to be 0;
s2, according to the current position of the vehicle, calculating the nearest track point in the track point set array in a traversing manner to be used as a locating point, and selecting the next track point of the locating point to be used as a pre-aiming point;
s3, judging the position of the vehicle according to the subscript of the preview point, and ending automatic parking if the vehicle reaches the final target frame; in the process of automatic parking, an intermediate target frame and a final target frame are provided, a vehicle can shift gears after driving to the intermediate target frame according to a certain gear and then can drive to the final target frame from the intermediate target frame, and when the vehicle drives to the intermediate target frame and the speed of the vehicle is 0, the planned trajectory of a backward section needs to be switched.
In step S1, the trajectory point set is output by the decision planning module, and the decision planning module plans a parking path according to the information input by the sensing module. Usually, the sensing module identifies parking space line information and space information between parking spaces identified by ultrasonic waves through a camera, and then information is fused to obtain accurate parking spaces which are sent to the decision planning module. And planning a parking track according to the pose information and parking space information of the self vehicle by decision planning, wherein the track information is usually output in a point set form.
The index, i.e. the position where the data is stored in the array in step S1, takes the natural integer N (0,1,2,3,4,5 … … N, N +1 represents the total number of elements in the array). The subscript of the track point representing the intermediate target frame is identified by turn _ back _ index, and the subscript of the track point representing the final target frame is identified by final _ index; and the track point data in the forward point set array is a positive value, and the track point data in the backward point set array is a negative value.
The specific steps of dividing the trajectory point set array into a forward point set array and a backward point set array in step S1 are as follows:
s11, marking the subscript output of the first track point in the track point set array as 0;
s12, traversing the track point set array, finding track points with opposite first data symbols, and outputting track point subscripts with opposite first data symbols as turn _ back _ index;
s13, outputting the last trace point index in the trace point set array as final _ index;
s14, the traversal range of the forward point set array is 0-turn _ back _ index, and the traversal range of the backward point set array is turn _ back _ index + 1-final _ index.
The specific formula for calculating the closest track point in the traversal manner in step S2 is as follows:
min(k)＝Min{min_distance(i)}
wherein i represents a subscript of a certain track point on the track, traj.x (i) represents an abscissa of the track point i, traj.y (i) represents an ordinate of the track point i, current.x represents an abscissa of the current position of the vehicle, and current.y represents a ordinate of the current position of the vehicle; and after traversing all the track points, taking the minimum value min (k), wherein the track point with the subscript of k +1 is the pre-aiming point.
The specific steps of determining the position of the vehicle according to the subscript of the preview point in step S3, and ending the automatic parking if the vehicle reaches the final target frame are as follows:
s31, judging the value of the turn-back flag Turnback _ flag, if the Turnback _ flag is larger than 0, selecting a backward point set array to traverse, and otherwise selecting a forward point set array to traverse;
s32, judging the values of the subscript preview _ index of the pre-aiming point and the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to turn _ back _ index and the current vehicle speed RealSpeed is 0, setting the value of the turn-back flag Turnback _ flag to be 1, indicating that the vehicle reaches a middle target frame currently, entering the step S34, and otherwise, returning to the step S2;
and S33, judging the subscript preview _ index of the pre-aiming point and the value of the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to final _ index and the current vehicle speed RealSpeed is 0, setting the value of a turn-back flag Turnback _ flag to be 2, indicating that the vehicle reaches a final target frame currently, ending automatic parking, and otherwise, returning to the step S2.
Please refer to fig. 2, which is a moving plan view of the vehicle according to the method of the present invention. The complete planning track of the automatic parking is composed of a forward track point set and a backward track point set, the forward section point set and the backward section point set are opposite in data sign, and the point sets are overlapped near a middle target frame. In the process of automatic parking, an intermediate target frame and a final target frame are provided, a vehicle can shift gears after driving to the intermediate target frame according to a certain gear and then can drive to the final target frame from the intermediate target frame, and when the vehicle drives to the intermediate target frame and the speed of the vehicle is 0, the planned trajectory of a backward section needs to be switched. The track preview algorithm searches the closest point on the planned track according to the traversal of the position of the self-vehicle, and the next point of the point on the track is taken as a preview point to be output. Ideally, the car is on a track point, but actually, the car is near a certain track point, and the algorithm is to find the track point closest to the car and then output the value of the next point.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A track preview calculation method in an automatic parking control system is characterized by comprising the following steps:
s1, generating a track point set according to parking track information, storing the track point set into a track point set array, sequentially outputting subscripts to track points in the track point set array, dividing the track point set array into a forward point set array and a backward point set array, and initially setting a turn-back flag Turnback _ flag to be 0;
s2, according to the current position of the vehicle, calculating the nearest track point in the track point set array in a traversing manner to serve as a locating point, selecting the next track point of the locating point to serve as a pre-aiming point, and moving the vehicle to the pre-aiming point;
and S3, judging the position of the vehicle, and ending automatic parking when the vehicle reaches the final target frame.
2. The track preview calculation method in an automatic parking control system according to claim 1, wherein the subscript in step S1 is a position where the track point is stored in the track point set array; and the track point data in the forward point set array is a positive value, and the track point data in the backward point set array is a negative value.
3. The track preview calculation method in the automatic parking control system according to claim 1, wherein the step S1 of dividing the track point set array into a forward point set array and a backward point set array comprises the following specific steps:
s11, marking the subscript output of the first track point in the track point set array as 0;
s12, traversing the track point set array, finding track points with opposite first data symbols, and outputting track point subscripts with opposite first data symbols as turn _ back _ index;
s13, outputting the last trace point index in the trace point set array as final _ index;
s14, the traversal range of the forward point set array is 0-turn _ back _ index, and the traversal range of the backward point set array is turn _ back _ index + 1-final _ index.
4. The method for calculating the pre-address of the track in the automatic parking control system according to claim 1, wherein the specific formula for traversing and calculating the nearest track point in step S2 is as follows:
min(k)＝Min{min_distance(i)}
wherein i represents a subscript of a certain track point on the track, traj.x (i) represents an abscissa of the track point i, traj.y (i) represents an ordinate of the track point i, current.x represents an abscissa of the current position of the vehicle, and current.y represents a ordinate of the current position of the vehicle; and after traversing all the track points, taking the minimum value min (k), wherein the track point with the subscript of k +1 is the pre-aiming point.
5. The method according to claim 3, wherein the specific steps of determining the position of the vehicle in step S3, and ending the automatic parking if the vehicle reaches the final target frame are:
s31, judging the value of the turn-back flag Turnback _ flag, if the Turnback _ flag is larger than 0, selecting the backward point set array to traverse the track point, otherwise, selecting the forward point set array to traverse the track point;
s32, judging the values of the subscript preview _ index of the pre-aiming point and the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to turn _ back _ index and the current vehicle speed RealSpeed is 0, setting the value of the turn-back flag Turnback _ flag to be 1, indicating that the vehicle reaches a middle target frame currently, entering the step S33, and otherwise, returning to the step S2;
and S33, judging the subscript preview _ index of the pre-aiming point and the value of the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to final _ index and the current vehicle speed RealSpeed is 0, setting the value of a turn-back flag Turnback _ flag to be 2, indicating that the vehicle reaches a final target frame currently, ending automatic parking, and otherwise, returning to the step S2.
6. A trajectory preview calculation system in an automatic parking control system is characterized by comprising the following modules:
the system comprises a track point set array generating module, a track point set generating module and a return point set generating module, wherein the track point set generating module is used for generating a track point set according to parking track information, storing the track point set into a track point set array, sequentially outputting subscripts to track points in the track point set array, dividing the track point set array into a forward point set array and a backward point set array, and initially setting a return flag Turnback _ flag to be 0;
the pre-aiming point generating module is used for calculating the nearest track point in the track point set array in a traversing manner according to the current self-vehicle position to serve as a positioning point, selecting the next track point of the positioning point to serve as a pre-aiming point, and moving the vehicle to the pre-aiming point;
and the vehicle position judging module is used for judging the position of the vehicle, and ending automatic parking if the vehicle reaches the final target frame.
7. The trajectory preview calculation system for an automatic parking control system according to claim 6, wherein the subscript in the trajectory point set array generation module is a position where the trajectory point is stored in the trajectory point set array; and the track point data in the forward point set array is a positive value, and the track point data in the backward point set array is a negative value.
8. The trajectory preview calculation system for an automatic parking control system according to claim 6, wherein the dividing of the trajectory point set array into a forward point set array and a backward point set array in the trajectory point set array generation module is implemented by the following sub-modules:
the initial track point marking submodule is used for marking the subscript output of a first track point in the track point set array as 0;
the middle point marking submodule is used for traversing the track point set array, finding track points with opposite first data symbols and outputting and marking the track point subscripts with opposite first data symbols as turn _ back _ index;
a finishing point marking submodule for outputting the last track point index in the track point set array as final _ index;
and the array dividing submodule is used for dividing the traversal range of the forward point set array into 0 to turn _ back _ index, and the traversal range of the backward point set array into turn _ back _ index +1 to final _ index.
9. The trajectory preview calculation system for the automatic parking control system according to claim 6, wherein the specific formula for calculating the nearest trajectory point in a traversal manner in the preview point generation module is as follows:
min(k)＝Min{min_distance(i)}
wherein i represents a subscript of a certain track point on the track, traj.x (i) represents an abscissa of the track point i, traj.y (i) represents an ordinate of the track point i, current.x represents an abscissa of the current position of the vehicle, and current.y represents a ordinate of the current position of the vehicle; and after traversing all the track points, taking the minimum value min (k), wherein the track point with the subscript of k +1 is the pre-aiming point.
10. The trajectory preview calculation system of an automatic parking control system according to claim 8, wherein the determining the position of the vehicle in the vehicle position determining module, and ending the automatic parking if the vehicle reaches the final target frame is implemented by the following sub-modules:
the moving direction judgment submodule is used for judging the value of the turn-back flag Turnback _ flag, if the Turnback _ flag is larger than 0, the backward point set array is selected for traversal, and if not, the forward point set array is selected for traversal;
the intermediate target frame judgment sub-module is used for judging the values of the subscript preview _ index of the pre-aiming point and the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to turn _ back _ index and the current vehicle speed RealSpeed is 0, the value of the turn-back mark Turnback _ flag is set to be 1, the fact that the vehicle currently reaches an intermediate target frame is indicated, the vehicle enters the final target frame judgment sub-module, and if not, the value returns to the pre-aiming point generation module;
and the final target frame judgment sub-module is used for judging the subscript preview _ index of the pre-aiming point and the value of the current vehicle speed RealSpeed, if the subscript preview _ index of the pre-aiming point is greater than or equal to final _ index and the current vehicle speed RealSpeed is 0, setting the value of the turn-back flag Turnback _ flag to be 2, indicating that the vehicle currently reaches the final target frame, ending automatic parking, and otherwise, returning to the pre-aiming point generation module.
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| CN112572417A (en) * | 2020-12-11 | 2021-03-30 | 武汉乐庭软件技术有限公司 | Gear pre-judging method and device in automatic parking control system and storage device |
| CN114148320A (en) * | 2021-12-08 | 2022-03-08 | 华人运通(上海)自动驾驶科技有限公司 | Path tracking control method and device |
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