CN112590775A - Automatic parking method and device, vehicle and storage medium - Google Patents
Automatic parking method and device, vehicle and storage medium Download PDFInfo
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- CN112590775A CN112590775A CN202011534468.0A CN202011534468A CN112590775A CN 112590775 A CN112590775 A CN 112590775A CN 202011534468 A CN202011534468 A CN 202011534468A CN 112590775 A CN112590775 A CN 112590775A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Abstract
The invention discloses an automatic parking method, an automatic parking device, a vehicle and a storage medium. The method comprises the following steps: acquiring the position of an obstacle around a vehicle, and determining a drivable area by combining the contour radius of the vehicle; determining a candidate path set including candidate path segments within the vehicle travelable region; determining a target path with the current position of the vehicle as a starting point and a target position as a terminal point according to the candidate path set; and controlling the vehicle to perform parking operation according to the target path. The invention solves the problem that most of the existing vehicle path planning technologies aim at structural road design and are not suitable for automatic parking working conditions, forms a drivable area by excluding barrier areas which may influence the vehicle safety, searches a plurality of candidate path sections between the current position and the target position of the vehicle in the drivable area, and finally determines an optimal parking route, thereby realizing the effect that the vehicle can safely carry out automatic parking along a smooth route.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle design, in particular to an automatic parking method, an automatic parking device, a vehicle and a storage medium.
Background
For an automatically driven vehicle, in the process of achieving automatic parking of the vehicle, a collision-free path needs to be planned for the vehicle in a drivable area, so that the vehicle can safely reach a preset parking space.
Most of the existing automatic driving vehicle path planning technologies are designed for structured roads. The structured road refers to a road with clear road boundary lines and lane lines, such as an urban road or an expressway. Just because the structured road has the road indication line as the reference path, the path planning algorithm for the structured road also has strong dependence on the road indication line. In addition, since the vehicle basically has no operation of backing up when running on the structured road, the route planning algorithm designed for the structured road mostly assumes that the vehicle only runs forward. For the above two reasons, the path planning algorithm designed for the structured road is not suitable for automatic parking of vehicles.
From a certain point of view, the automatic parking condition of the automatic driving vehicle is very similar to the condition of the service type mobile robot, and the path planning scenes of the automatic driving vehicle and the service type mobile robot are both open spaces with obstacles and without reference lines. However, most of the service-type mobile robots adopt a two-wheel differential structure, and there is no limitation on the minimum turning radius during path planning, but the autonomous vehicles are limited by the minimum turning radius, so that a path planning algorithm designed for the service-type mobile robots cannot be applied to the autonomous vehicles to achieve a good effect.
Disclosure of Invention
The invention provides an automatic parking method, an automatic parking device, a vehicle and a storage medium, which are used for realizing automatic and accurate parking of the vehicle.
In a first aspect, an embodiment of the present invention provides an automatic parking method, including:
acquiring the position of an obstacle around a vehicle, and determining a drivable area by combining the contour radius of the vehicle;
determining a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable region;
determining a target path with the current position as a starting point and a target position as an end point according to the candidate path set;
and controlling the vehicle to perform parking operation according to the target path.
Optionally, the obtaining the obstacle position of the obstacle around the vehicle, and determining the travelable region by combining the contour radius of the vehicle includes:
determining a parking area of the vehicle according to the current position and the target position, and constructing a grid map in the parking area;
obtaining the position of an obstacle of the obstacle around the vehicle, and marking the grid where the position of the obstacle is located as an obstacle grid;
acquiring the contour radius of the vehicle, and marking the grids with the distance from the obstacle grids smaller than the contour radius as the grid for forbidding driving;
and determining grids except the obstacle grid and the no-driving grid in the grid map as drivable grids, and forming a drivable area by the drivable grids.
Optionally, the determining, in the vehicle travelable region, a candidate path set including candidate path segments based on the current position and the target position of the vehicle includes:
determining the current position of the vehicle as a target expansion point, performing path expansion by taking the target expansion point as a starting point, and expanding at least one candidate path section with a preset arc length in the vehicle travelable area;
evaluating each candidate path segment based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, and adding each candidate path segment to a candidate path set;
screening expandable points from the terminal points of the candidate path segments, and adding the expandable points to an expandable point set;
and determining an expandable point corresponding to the candidate evaluation value with the highest value from the expandable point set as a candidate expansion point, and re-determining the candidate expansion point as a target expansion point for path expansion until the candidate path set comprises candidate path segments passing through the target position of the vehicle.
Optionally, the performing the path expansion by using the target expansion point as a starting point, and expanding at least one candidate path segment with a preset arc length in the vehicle travelable area includes:
determining a vehicle center line of the vehicle at the target expansion point, and expanding to obtain expansion arcs with preset arc lengths corresponding to different preset curvature radii by taking the vehicle center line as a tangent line and the target expansion point as a starting point;
and when all grids in which the expanded arc is positioned are the traversable grids, determining the expanded arc as a candidate path segment.
Optionally, the evaluating each candidate path segment based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment includes:
for each candidate path segment, determining at least one evaluation parameter of the candidate path segment, the evaluation parameter comprising a total path length parameter, a target distance parameter, a path direction change parameter, an obstacle distance parameter and/or a curvature change parameter;
and acquiring evaluation weights corresponding to the evaluation parameters, and performing weighted summation on the evaluation parameters based on the evaluation weights to obtain candidate evaluation values corresponding to the candidate path segments.
Optionally, the screening an expandable point from the end points of each candidate path segment includes:
for the end point of each candidate path segment, determining whether an inextensible point and an extensible point do not exist in a grid where the end point is located, and if so, determining that the end point is an extensible point; if not, then,
and determining whether an inextensible point does not exist in the grid where the end point is located and the candidate evaluation value corresponding to the existing extensible point is smaller than the candidate evaluation value corresponding to the end point, and if so, determining that the end point is the extensible point.
Optionally, the determining, according to the candidate route set, a target route with the current position as a starting point and a target position as an end point includes:
taking the candidate path segment passing through the target position as a target path segment to perform backtracking operation, and searching and expanding the target candidate path segment of the target path segment;
re-determining the target candidate path segment as a target path segment, performing backtracking operation, and searching a next target candidate path segment until the starting point of the target candidate path segment is the current position;
and enabling each searched target candidate path segment and the candidate path segment passing through the target position to form a target path.
In a second aspect, an embodiment of the present invention further provides an automatic parking device, including:
the driving area determining module is used for acquiring the positions of obstacles around the vehicle and determining a driving area by combining the contour radius of the vehicle;
a candidate path set determination module configured to determine a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable region;
a target path determining module, configured to determine, according to the candidate path set, a target path with the current position as a starting point and a target position as an end point;
and the parking operation module is used for controlling the vehicle to perform parking operation according to the target path.
In a third aspect, an embodiment of the present invention further provides a computer device, including:
one or more controllers;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more controllers, the one or more controllers implement the automatic parking method according to any embodiment of the invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for automatic parking according to any of the embodiments of the present invention.
The invention determines a drivable area by acquiring the position of an obstacle around a vehicle, determining a candidate path set comprising candidate path segments by combining the contour radius of the vehicle, determining a target path taking the current position as a starting point and the target position as a terminal point according to the candidate path set, and controlling the vehicle to park according to the target path, thereby solving the problems that most of the existing vehicle path planning technologies are designed aiming at a structured road and are not suitable for the automatic parking working condition of the vehicle, forming the drivable area in which the vehicle can run by excluding the obstacle region which possibly influences the safety of the vehicle, searching a plurality of candidate path segments between the current position and the target position of the vehicle in the drivable area to form the candidate path set, and finally determining an optimal parking route from the candidate path set, the effect that the vehicle can safely and automatically park along a smooth route is achieved.
Drawings
Fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a method for determining a contour radius of a vehicle in an automatic parking method according to an embodiment of the present invention;
fig. 3 is a flowchart of an automatic parking method according to a second embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a principle of determining a drivable area in an automatic parking method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an automatic parking method according to a second embodiment of the present invention;
fig. 6 is a block diagram illustrating a structure of an automatic parking apparatus according to a third embodiment of the present invention;
fig. 7 is a block diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is automatically and accurately parked, and the method may be executed by an automatic parking apparatus, and the apparatus may be implemented by software and/or hardware.
For an autonomous vehicle, in order to achieve automatic parking of the vehicle, a collision-free path needs to be planned for the autonomous vehicle between a current position of the vehicle and a predetermined parking position, so that the autonomous vehicle can safely and efficiently reach the predetermined parking position. For the requirement, firstly, a target position to be reached by the parking operation and an obstacle position around the vehicle are determined through data collected by a vehicle sensor, and then path planning is carried out in a driving space, so that the automatic parking operation of the vehicle is realized. The invention is not the focus of the invention on how to determine the target position of parking and the position of an obstacle, and the invention focuses on the path planning part of parking.
A path planning scheme for parking in automatic driving is mainly to plan a path which accords with vehicle kinematic constraints and does not cause the vehicle to collide with obstacles from the current position and posture of the vehicle, and the planned path can be generally represented by a series of path points or path segments. After the path planning is completed, the vehicle is controlled by the path following algorithm and the bottom controller to sequentially track and execute the planned path points or path segments so as to complete the automatic parking task of the vehicle. The autonomous vehicle is present in a three-dimensional space during automatic parking, but is used for driving the vehicle close to the ground, so that the running environment of the vehicle can be simplified into a two-dimensional plane, and the states of the vehicle and the destination can be represented by a position quantity and an orientation angle.
The chassis of the automatic driving vehicle is of an Ackerman structure, and when the vehicle runs, the vehicle can move forwards or backwards along circular arcs with different radiuses by changing the rotating angle of the front wheel of the vehicle, wherein when the vehicle runs along a straight line, the vehicle can be understood to run along the circular arc with infinite radiuses. For an ackerman chassis vehicle, the kinematic constraints are mainly two points: 1. because of the limitation of the front wheel steering angle, the arc curvature radius of the vehicle cannot be smaller than a certain value, namely the vehicle has the minimum turning radius; 2. because the angle of the rear wheel is fixed, the vehicle can only run along the direction of the center line of the vehicle body, namely the vehicle cannot transversely move.
As can be seen from the above description, the parking path planning problem of an autonomous vehicle can be described as: a curve with a curvature radius which is constantly larger than a certain value and can not collide with an obstacle is planned from a starting point pose to an end point pose on a two-dimensional plane with the obstacle.
For such a problem, if the obstacle is not considered, the simplest solution is to solve directly with the Reeds-Shepp curve. The Reeds-Shepp curve can obtain the shortest driving path between any two positions by splicing circular arcs and straight lines with fixed radiuses, but the pure Reeds-Shepp curve does not consider the existence of obstacles. In order to achieve the purpose of bypassing obstacles, the obstacle avoidance and parking can be achieved through a mode of a Reeds-Shepp curve and a random search tree, although the obstacle avoidance and parking can be achieved through the solution, the Reeds-Shepp curve uses the splicing of an arc with a fixed radius and a straight line, and a steering wheel can only be in a dead state and a swing state when a vehicle tracks a formed path, so that the vehicle swings in a large amplitude during running, frequent forward and backward switching can be generated by combining the random search tree, and the driving feeling is poor. In addition, the resulting curve is sometimes closer to the obstacle, and the vehicle has a greater risk of collision.
Another classical algorithm for parking is the hybrid a algorithm, which finds parking paths by combining graph search and search trees with the Reeds-Shepp curves, and the algorithm no longer generates paths that are limited to arcs and lines of a particular radius. However, the algorithm does not consider the continuity of the curvature much, and the problem of the vehicle suddenly turning the steering wheel still occurs. In addition, as with the method of randomly searching the tree and adding the Reeds-Shepp curve, the route obtained by the algorithm may be too close to the obstacle, and the safety of vehicle driving is low.
The invention provides a path planning method for automatic parking, aiming at the defects of the prior art, which can plan a smooth and safe parking path which accords with the kinematic constraint of a vehicle body by simultaneously considering the comfort and the safety of vehicle driving.
As shown in fig. 1, the method specifically includes the following steps:
and step 110, acquiring the positions of obstacles around the vehicle, and determining a drivable area by combining the contour radius of the vehicle.
The position of the obstacle may be understood as geographical position information of the obstacle, or may be relative position information of the obstacle with respect to the vehicle. A travelable area is understood to be an area in which the vehicle can move freely in the vicinity of the parking area.
Fig. 2 is a schematic diagram illustrating a principle of determining a vehicle contour radius in an automatic parking method according to an embodiment of the present invention. As shown in fig. 2, the outer contour of the vehicle can be simplified into a closed figure formed by two semicircles and two straight lines, so that the distance from each point on the outer contour of the vehicle to the connecting line of the centers of the two semicircles is equal to the radius of the semicircle. Through the simplification, when whether the vehicle collides with the obstacle or not is detected, whether the distance from a point on a connecting line of the circle centers of the two semicircles to the obstacle near the vehicle is smaller than the radius of the semicircles or not is detected, and if the distance is not smaller than the radius of the semicircles, the fact that the vehicle does not collide with the obstacle is indicated. In this embodiment, the radius of the semicircle may be a half of the width of the vehicle, and is recorded as the contour radius of the vehicle.
Specifically, when the vehicle has a parking demand, the positions of obstacles around the vehicle can be acquired through the collector on the vehicle, and the acquisition range can be determined according to the performance of the vehicle collector and also can be determined according to the approximate driving range of the current parking. After the position of the obstacle is obtained, the areas near the obstacle and within the vehicle contour radius of the obstacle can be used as areas where the vehicle cannot run, and other areas can be determined as travelable areas.
The current position may be understood as the position information of the vehicle at the current time. The target position can be understood as the position information which is finally required to be reached by the vehicle parking this time. In the present embodiment, the current position and the target position refer not only to the position coordinates on the two-dimensional plane but also to the vehicle orientation of the vehicle on the position coordinates. A candidate route segment may be understood as a certain segment of a route that the vehicle may travel when moving to the target position within the travelable area.
Specifically, after the travelable area of the vehicle is determined, paths on which the vehicle can travel can be searched in a segmented manner in the travelable area between the current position of the vehicle and the target position of the vehicle, all the searched path segments are marked as candidate path segments, and all the candidate path segments form a candidate path set. It can be understood that the candidate path set necessarily includes a candidate path segment passing through the current location and a candidate path segment passing through the target location, and in addition, a plurality of candidate path segments that can be connected may also be necessarily selected from the candidate path set, and the connected path segments may connect the current location and the target location of the vehicle.
And step 130, determining a target path with the current position as a starting point and the target position as an end point according to the candidate path set.
The target route may be understood as a route to be traveled by the vehicle when the parking operation is performed.
Specifically, the candidate path set includes a plurality of candidate path segments, a plurality of candidate path segments that can communicate the current position and the target position of the vehicle can be selected from the candidate path set, and the selected candidate path segments are spliced into a complete path, that is, the starting point of the path is the current position of the vehicle, the end point is the target position of the vehicle, and the path is the target path required by the current parking. If there are several different sets of candidate path segments that can connect the current position of the vehicle and the target position, a set of candidate path segments with the most smooth spliced path can be selected from the several sets of candidate path segments, and the path formed by splicing the set of candidate path segments is regarded as the target path.
And step 140, controlling the vehicle to park according to the target path.
Specifically, after the target path is searched, the vehicle is controlled to run along the target path, and the parking operation is completed.
The technical scheme of the embodiment includes that a drivable area is determined by obtaining the position of an obstacle of the obstacle around a vehicle, combining the contour radius of the vehicle, a candidate path set comprising candidate path segments is determined in the drivable area of the vehicle based on the current position and the target position of the vehicle, a target path with the current position as a starting point and the target position as an end point is determined according to the candidate path set, the vehicle is controlled to perform parking operation according to the target path, the problem that most of the conventional vehicle path planning technologies are designed aiming at a structured road and are not suitable for the automatic parking condition of the vehicle is solved, the drivable area where the vehicle can travel is formed by excluding the area of the obstacle which may affect the safety of the vehicle, a plurality of candidate path segments between the current position and the target position of the vehicle are searched in the drivable area to form the candidate path set, and finally an optimal parking route is determined from the candidate path set, the effect that the vehicle can safely and automatically park along a smooth route is achieved.
Example two
Fig. 3 is a flowchart of an automatic parking method according to a second embodiment of the present invention. The embodiment further optimizes the automatic parking method on the basis of the embodiment.
As shown in fig. 3, the method specifically includes:
and step 210, determining a parking area of the vehicle according to the current position and the target position, and constructing a grid map in the parking area.
The parking area may be understood as an approximate area range required for the vehicle to park this time. For example, if the target location is 3 meters ahead of the current location, then the parking area may be an area 5 meters ahead of the vehicle, 2 meters behind the vehicle, and 2 meters to the left and right.
Specifically, when the vehicle has a parking demand, the parking target position which is manually input can be received, or the target position which can be parked can be determined according to the surrounding environment information of the vehicle. Through the acquired current position and the target position of the vehicle, an area which the vehicle may travel in the parking operation can be divided, and the area is used as a parking area. After the parking area is determined, a grid can be constructed in the parking area to form a grid map.
And step 220, acquiring the obstacle position of the obstacle around the vehicle, wherein the grid where the obstacle position is marked is an obstacle grid.
The grid of the obstacle can be understood as a grid representing the position of the obstacle in the grid map.
Specifically, the position of the obstacle can be projected into a grid map according to the obstacle information detected by the vehicle collector, and the grid on which the obstacle is projected is marked as an obstacle grid, which indicates that the obstacle exists at the position of the obstacle grid on the actual ground.
And step 230, acquiring the contour radius of the vehicle, and marking the grids which are less than the contour radius from the obstacle grids as the grid for forbidding driving.
The no-driving grid can be understood as an area where the vehicle cannot drive in the parking process, and if the vehicle drives in the no-driving area, a large collision risk exists.
Specifically, in the process of planning the parking path, the vehicle is generally regarded as a mass point to move, and the vehicle has a certain volume space, so that a dangerous area where the obstacle is located can be enlarged, the vehicle and the obstacle are prevented from colliding, namely, the vicinity of the obstacle grid is also divided into the dangerous area, and the vehicle is prohibited from entering. In this embodiment, the contour radius of the vehicle may be selected as the extended distance, and all the grids having a distance from the obstacle grid smaller than the contour radius may be marked as the no-driving grids. When calculating the distance of each grid, the center position coordinates of each grid can be taken, and the distance between the center coordinates of the two grids can be calculated respectively.
And 240, determining grids except the obstacle grid and the no-driving grid in the grid map as driving-capable grids, and forming a driving-capable area by the driving-capable grids.
Specifically, in the grid map, since there is little possibility of collision when the vehicle travels on the grid other than the obstacle grid and the no-travel grid, the grid other than the obstacle grid and the no-travel grid in the grid map can be used as the travel-enabled grid, and all the travel-enabled grids constitute the travel-enabled area.
Fig. 4 is a schematic diagram illustrating the principle of determining a drivable area in an automatic parking method according to a second embodiment of the present invention. As shown in fig. 4, after the obstacle grid is determined, a circle may be drawn with the center of the grid of the obstacle grid as a dot and the radius of the outline of the vehicle as a radius, and the grid with the center of the grid within the circle is marked as a no-driving grid, so that the grids other than the obstacle grid and the no-driving grid are drivable grids.
And step 250, determining the current position of the vehicle as a target expansion point, performing path expansion by taking the target expansion point as a starting point, and expanding at least one candidate path section with a preset arc length in the vehicle travelable area.
The target extension point can be understood as an extension starting point in the primary path extension.
Specifically, the first path expansion may be performed using the current position of the vehicle as a target expansion point, and several candidate path segments may be expanded to different angles in front of or behind the vehicle using the current position as a starting point. It is understood that the angle of the extension candidate path segment must not be smaller than the minimum turning angle of the vehicle. After expansion, the current location may also be placed into the non-expandable point set.
Optionally, the expanding the candidate path segment may be implemented by: determining a vehicle center line of the vehicle at a target expansion point, and expanding to obtain expansion arcs with preset arc lengths corresponding to different preset curvature radii by taking the vehicle center line as a tangent line and the target expansion point as a starting point; and when all grids in which the expanded arc is positioned are the travelable grids, determining the expanded arc as the candidate path segment.
For example, fig. 5 is a schematic diagram of an automatic parking method according to a second embodiment of the present invention. As shown in fig. 5, the position 10 is the current position of the vehicle, and starting from the position 10, the vehicle forward direction and backward direction may be extended by a corresponding number of arcs in several given curvature semi-radial directions, and the arc length of the extended arc may be preset.
And step 260, evaluating each candidate path segment based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, and adding each candidate path segment to the candidate path set.
Here, the candidate evaluation value may be understood as a measure of the value of utilization of the candidate path segment.
Specifically, when each candidate path segment is obtained by expansion, the candidate path segment may be evaluated, and the obtained candidate evaluation value is used to measure whether to continue expanding the path on the candidate path segment. Each candidate path segment may be added to the candidate path set after obtaining the corresponding candidate evaluation value.
Alternatively, the determination of the candidate evaluation value may be achieved by: for each candidate path segment, determining at least one evaluation parameter of the candidate path segment, the evaluation parameter comprising a path total length parameter, a target distance parameter, a path direction change parameter, an obstacle distance parameter and/or a curvature change parameter; and acquiring evaluation weights corresponding to the evaluation parameters, and performing weighted summation on the evaluation parameters based on the evaluation weights to obtain candidate evaluation values corresponding to the candidate path segments.
Specifically, the evaluation function may be used to evaluate the quality of each candidate path segment. And finally, multiplying each evaluation parameter by the corresponding evaluation weight to calculate the weighted sum of the evaluation parameters, thereby obtaining the candidate evaluation value corresponding to the candidate path segment. For example, the evaluation parameters may include a total path length parameter, a target distance parameter, a path direction change parameter, an obstacle distance parameter, and a curvature change parameter. The total path length parameter is determined by total path length cost scoring, and the longer the length of the accumulated path is, the higher the cost is, and the lower the total path length parameter value is; the target distance parameter is determined by target distance cost grading, and the longer the distance from the target position is, the higher the cost is, and the lower the target distance parameter value is; the path direction change parameters are determined by path direction change cost scores, the more times the path direction is changed, the higher the cost is, namely, the cost is increased when the forward and backward switching is carried out each time, and the lower the path direction change parameter values are; the barrier distance parameter is determined by the barrier distance cost score, and the shorter the distance from the barrier, the larger the cost, the lower the barrier distance parameter value; the curvature change parameter is determined by the curvature change cost score, and the more the curvature change times, the higher the cost, that is, the cost is increased when the curvature radius is switched every time, and the lower the curvature change parameter value is.
The expandable point is understood to be a point at which path expansion can be performed as an expansion starting point.
Specifically, after the path is continuously expanded, there may be a situation that the expanded path returns to the vicinity of the previous candidate path segment, and at this time, it is not suitable to continue expanding the new path on the basis of the path segment, so that it is necessary to exclude the similar path segment and select the optimal path segment on the other candidate path segments for path expansion.
Optionally, the determination of the scalable point may be implemented by: determining whether the grid in which the end point is located does not have an unexpanded point and an expandable point or not aiming at the end point of each candidate path segment, and if so, determining the end point to be an expandable point; otherwise, determining whether an inextensible point does not exist in the grid where the end point is located and the candidate evaluation value corresponding to the existing extensible point is smaller than the candidate evaluation value corresponding to the end point, and if so, determining that the end point is the extensible point.
Specifically, if the grid in which the end point of the candidate path segment is located already has an inextensible point, then the end point of the candidate path segment is also added to the inextensible point set; if the grid of the end point of the candidate path segment already has an expandable point, the candidate evaluation value of the candidate path segment and the candidate evaluation value corresponding to the expandable point can be compared in size, and if the candidate evaluation value of the candidate path segment is large in value, the expandable point can be replaced, namely, the previous expandable point in the grid is moved to the non-expandable point set, and the end point of the candidate path segment is determined to be the expandable point and added to the expandable point set; if the grid in which the end point of the candidate path segment is located does not have any non-expandable point or expandable point, the end point of the candidate path segment can be determined as an expandable point and added to the expandable point set.
And step 280, determining the expandable point corresponding to the candidate evaluation value with the highest value from the expandable point set as a candidate expansion point, and re-determining the candidate expansion point as a target expansion point for path expansion until the candidate path set comprises the candidate path section passing through the target position of the vehicle.
Specifically, after one path expansion is completed, an expandable point corresponding to a candidate evaluation value with the highest value can be determined from the expandable point set as a starting point of a new path expansion, and a next path expansion is performed until an expanded candidate path segment passes through a target position.
And 290, performing backtracking operation by using the candidate path segment passing through the target position as a target path segment, and searching a target candidate path segment of the expanded target path segment.
Specifically, the candidate path segment determined by each path expansion is expanded on the basis of the candidate path segment, so that the previous candidate path segment can be searched by backtracking from the candidate path segment passing through the target position.
Specifically, each candidate path segment that can connect the current position and the target position can be obtained by searching step by step through backtracking operation.
Specifically, the optimal parking target path can be obtained by connecting the searched path sections through backtracking.
And step 2120, controlling the vehicle to park according to the target path.
The technical scheme of the embodiment includes that a parking area of a vehicle is determined, a grid map is constructed in the parking area, a drivable area is determined by combining the positions of obstacles around the vehicle and the contour radius of the vehicle, path expansion is performed in the drivable area of the vehicle by taking the current position of the vehicle as a target expansion point, at least one candidate path segment with a preset arc length is expanded in the drivable area of the vehicle, each candidate path segment is evaluated based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, expandable points are screened out from end points of each candidate path segment, an expandable point corresponding to a candidate evaluation value with the highest value is determined from an expandable point set to serve as a starting point of a new round of path expansion, path expansion is performed again until the candidate path set comprises a candidate path segment passing through the target position of the vehicle, and then, taking the candidate path section passing through the target position as a target path section to perform backtracking operation, searching each candidate path section connecting the current position and the target position to form a target path, and controlling the vehicle to perform parking operation according to the target path, thereby solving the problem that most of the existing vehicle path planning technologies are not suitable for the automatic parking working condition of the vehicle aiming at the structural road design, forming a travelable area where the vehicle can travel by excluding an obstacle region which possibly influences the safety of the vehicle, searching a plurality of candidate path sections between the current position and the target position of the vehicle in the travelable area to form a candidate path set, and finally determining an optimal parking path from the candidate path set, thereby realizing the effect that the vehicle can safely perform automatic parking along a smooth path.
EXAMPLE III
The automatic parking device provided by the embodiment of the invention can execute the automatic parking method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Fig. 6 is a block diagram of an automatic parking apparatus according to a third embodiment of the present invention, and as shown in fig. 6, the apparatus includes: a travelable region determination module 310, a candidate path set determination module 320, a target path determination module 330, and a park operation module 340.
The travelable region determining module 310 is configured to obtain obstacle positions of obstacles around the vehicle, and determine a travelable region by combining the contour radius of the vehicle.
A candidate path set determination module 320, configured to determine a candidate path set including candidate path segments based on the current location and the target location of the vehicle within the vehicle travelable region.
And a target path determining module 330, configured to determine, according to the candidate path set, a target path with the current position as a starting point and a target position as an end point.
And the parking operation module 340 is configured to control the vehicle to perform a parking operation according to the target path.
The technical scheme of the embodiment includes that a drivable area is determined by obtaining the position of an obstacle of the obstacle around a vehicle, combining the contour radius of the vehicle, a candidate path set comprising candidate path segments is determined in the drivable area of the vehicle based on the current position and the target position of the vehicle, a target path with the current position as a starting point and the target position as an end point is determined according to the candidate path set, the vehicle is controlled to perform parking operation according to the target path, the problem that most of the conventional vehicle path planning technologies are designed aiming at a structured road and are not suitable for the automatic parking condition of the vehicle is solved, the drivable area where the vehicle can travel is formed by excluding the area of the obstacle which may affect the safety of the vehicle, a plurality of candidate path segments between the current position and the target position of the vehicle are searched in the drivable area to form the candidate path set, and finally an optimal parking route is determined from the candidate path set, the effect that the vehicle can safely and automatically park along a smooth route is achieved.
Optionally, the travelable region determining module 310 is specifically configured to:
determining a parking area of the vehicle according to the current position and the target position, and constructing a grid map in the parking area;
obtaining the position of an obstacle of the obstacle around the vehicle, and marking the grid where the position of the obstacle is located as an obstacle grid;
acquiring the contour radius of the vehicle, and marking the grids with the distance from the obstacle grids smaller than the contour radius as the grid for forbidding driving;
and determining grids except the obstacle grid and the no-driving grid in the grid map as drivable grids, and forming a drivable area by the drivable grids.
Optionally, the candidate path set determining module 320 includes:
the candidate path segment expansion unit is used for determining that the current position of the vehicle is a target expansion point, performing path expansion by taking the target expansion point as a starting point, and expanding at least one candidate path segment with a preset arc length in the vehicle travelable area;
a candidate evaluation value determining unit, configured to evaluate each candidate path segment based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, and add each candidate path segment to a candidate path set;
an expandable point determining unit, configured to screen an expandable point from end points of each candidate path segment, and add the expandable point to an expandable point set;
and the target expansion point determining unit is used for determining an expandable point corresponding to the candidate evaluation value with the highest value from the expandable point set as a candidate expansion point, and re-determining the candidate expansion point as a target expansion point for path expansion until the candidate path set comprises a candidate path segment passing through the target position of the vehicle.
Optionally, the candidate path segment extension unit is specifically configured to:
determining a vehicle center line of the vehicle at the target expansion point, and expanding to obtain expansion arcs with preset arc lengths corresponding to different preset curvature radii by taking the vehicle center line as a tangent line and the target expansion point as a starting point;
and when all grids in which the expanded arc is positioned are the traversable grids, determining the expanded arc as a candidate path segment.
Optionally, the candidate evaluation value determining unit is specifically configured to:
for each candidate path segment, determining at least one evaluation parameter of the candidate path segment, the evaluation parameter comprising a total path length parameter, a target distance parameter, a path direction change parameter, an obstacle distance parameter and/or a curvature change parameter;
and acquiring evaluation weights corresponding to the evaluation parameters, and performing weighted summation on the evaluation parameters based on the evaluation weights to obtain candidate evaluation values corresponding to the candidate path segments.
Optionally, the expandable point determining unit is specifically configured to:
for the end point of each candidate path segment, determining whether an inextensible point and an extensible point do not exist in a grid where the end point is located, and if so, determining that the end point is an extensible point; if not, then,
and determining whether an inextensible point does not exist in the grid where the end point is located and the candidate evaluation value corresponding to the existing extensible point is smaller than the candidate evaluation value corresponding to the end point, and if so, determining that the end point is the extensible point.
Optionally, the target path determining module 330 is specifically configured to:
taking the candidate path segment passing through the target position as a target path segment to perform backtracking operation, and searching and expanding the target candidate path segment of the target path segment;
re-determining the target candidate path segment as a target path segment, performing backtracking operation, and searching a next target candidate path segment until the starting point of the target candidate path segment is the current position;
and enabling each searched target candidate path segment and the candidate path segment passing through the target position to form a target path.
The technical scheme of the embodiment includes that a parking area of a vehicle is determined, a grid map is constructed in the parking area, a drivable area is determined by combining the positions of obstacles around the vehicle and the contour radius of the vehicle, path expansion is performed in the drivable area of the vehicle by taking the current position of the vehicle as a target expansion point, at least one candidate path segment with a preset arc length is expanded in the drivable area of the vehicle, each candidate path segment is evaluated based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, expandable points are screened out from end points of each candidate path segment, an expandable point corresponding to a candidate evaluation value with the highest value is determined from an expandable point set to serve as a starting point of a new round of path expansion, path expansion is performed again until the candidate path set comprises a candidate path segment passing through the target position of the vehicle, and then, taking the candidate path section passing through the target position as a target path section to perform backtracking operation, searching each candidate path section connecting the current position and the target position to form a target path, and controlling the vehicle to perform parking operation according to the target path, thereby solving the problem that most of the existing vehicle path planning technologies are not suitable for the automatic parking working condition of the vehicle aiming at the structural road design, forming a travelable area where the vehicle can travel by excluding an obstacle region which possibly influences the safety of the vehicle, searching a plurality of candidate path sections between the current position and the target position of the vehicle in the travelable area to form a candidate path set, and finally determining an optimal parking path from the candidate path set, thereby realizing the effect that the vehicle can safely perform automatic parking along a smooth path.
Example four
Fig. 7 is a block diagram illustrating a vehicle according to a fourth embodiment of the present invention, as shown in fig. 7, the vehicle includes a controller 410, a memory 420, an input device 430, and an output device 440; the number of controllers 410 in the vehicle may be one or more, and one controller 410 is illustrated in fig. 7; the controller 410, the memory 420, the input device 430, and the output device 440 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 7.
The memory 420 serves as a computer-readable storage medium, and may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking method in the embodiment of the present invention (e.g., the travelable region determination module 310, the candidate path set determination module 320, the target path determination module 330, and the parking operation module 340 in the automatic parking apparatus). The controller 410 executes various functional applications and data processing of the vehicle by executing software programs, instructions, and modules stored in the memory 420, that is, implements the automatic parking method described above.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the controller 410, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle. The output device 440 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for automatic parking, the method including:
acquiring the position of an obstacle around a vehicle, and determining a drivable area by combining the contour radius of the vehicle;
determining a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable region;
determining a target path with the current position as a starting point and a target position as an end point according to the candidate path set;
and controlling the vehicle to perform parking operation according to the target path.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the automatic parking method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the automatic parking device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic parking method, comprising:
acquiring the position of an obstacle around a vehicle, and determining a drivable area by combining the contour radius of the vehicle;
determining a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable region;
determining a target path with the current position as a starting point and a target position as an end point according to the candidate path set;
and controlling the vehicle to perform parking operation according to the target path.
2. The automatic parking method according to claim 1, wherein the acquiring obstacle positions of obstacles around the vehicle and determining a travelable area in conjunction with the contour radius of the vehicle includes:
determining a parking area of the vehicle according to the current position and the target position, and constructing a grid map in the parking area;
obtaining the position of an obstacle of the obstacle around the vehicle, and marking the grid where the position of the obstacle is located as an obstacle grid;
acquiring the contour radius of the vehicle, and marking the grids with the distance from the obstacle grids smaller than the contour radius as the grid for forbidding driving;
and determining grids except the obstacle grid and the no-driving grid in the grid map as drivable grids, and forming a drivable area by the drivable grids.
3. The automatic parking method according to claim 2, wherein the determining a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable area includes:
determining the current position of the vehicle as a target expansion point, performing path expansion by taking the target expansion point as a starting point, and expanding at least one candidate path section with a preset arc length in the vehicle travelable area;
evaluating each candidate path segment based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each candidate path segment, and adding each candidate path segment to a candidate path set;
screening expandable points from the terminal points of the candidate path segments, and adding the expandable points to an expandable point set;
and determining an expandable point corresponding to the candidate evaluation value with the highest value from the expandable point set as a candidate expansion point, and re-determining the candidate expansion point as a target expansion point for path expansion until the candidate path set comprises candidate path segments passing through the target position of the vehicle.
4. The automatic parking method according to claim 3, wherein the expanding a path from the target expansion point to at least one candidate path segment of a preset arc length within the vehicle travelable area comprises:
determining a vehicle center line of the vehicle at the target expansion point, and expanding to obtain expansion arcs with preset arc lengths corresponding to different preset curvature radii by taking the vehicle center line as a tangent line and the target expansion point as a starting point;
and when all grids in which the expanded arc is positioned are the traversable grids, determining the expanded arc as a candidate path segment.
5. The automatic parking method according to claim 3, wherein the evaluating each of the candidate path segments based on a preset evaluation rule to obtain a candidate evaluation value corresponding to each of the candidate path segments comprises:
for each candidate path segment, determining at least one evaluation parameter of the candidate path segment, the evaluation parameter comprising a total path length parameter, a target distance parameter, a path direction change parameter, an obstacle distance parameter and/or a curvature change parameter;
and acquiring evaluation weights corresponding to the evaluation parameters, and performing weighted summation on the evaluation parameters based on the evaluation weights to obtain candidate evaluation values corresponding to the candidate path segments.
6. The method for automatic parking according to claim 3, wherein the screening of the expandable point from the end points of each of the candidate path segments comprises:
for the end point of each candidate path segment, determining whether an inextensible point and an extensible point do not exist in a grid where the end point is located, and if so, determining that the end point is an extensible point; if not, then,
and determining whether an inextensible point does not exist in the grid where the end point is located and the candidate evaluation value corresponding to the existing extensible point is smaller than the candidate evaluation value corresponding to the end point, and if so, determining that the end point is the extensible point.
7. The automatic parking method according to claim 3, wherein the determining a target route with the current position as a starting point and a target position as an ending point according to the candidate route set comprises:
taking the candidate path segment passing through the target position as a target path segment to perform backtracking operation, and searching and expanding the target candidate path segment of the target path segment;
re-determining the target candidate path segment as a target path segment, performing backtracking operation, and searching a next target candidate path segment until the starting point of the target candidate path segment is the current position;
and enabling each searched target candidate path segment and the candidate path segment passing through the target position to form a target path.
8. An automatic parking device, comprising:
the driving area determining module is used for acquiring the positions of obstacles around the vehicle and determining a driving area by combining the contour radius of the vehicle;
a candidate path set determination module configured to determine a candidate path set including candidate path segments based on a current position and a target position of the vehicle within the vehicle travelable region;
a target path determining module, configured to determine, according to the candidate path set, a target path with the current position as a starting point and a target position as an end point;
and the parking operation module is used for controlling the vehicle to perform parking operation according to the target path.
9. A vehicle, characterized in that the vehicle comprises:
one or more controllers;
a memory for storing one or more programs;
when executed by the one or more controllers, cause the one or more controllers to implement the method for automatic parking according to any one of claims 1 to 7.
10. A storage medium containing computer-executable instructions for performing the method for automatic parking according to any one of claims 1 to 7 when executed by a computer processor.
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