CN112793562A - Automatic parking path planning and tracking control method, planning device, storage medium and computer equipment - Google Patents

Automatic parking path planning and tracking control method, planning device, storage medium and computer equipment Download PDF

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CN112793562A
CN112793562A CN202110146895.XA CN202110146895A CN112793562A CN 112793562 A CN112793562 A CN 112793562A CN 202110146895 A CN202110146895 A CN 202110146895A CN 112793562 A CN112793562 A CN 112793562A
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vehicle
parking
information
parking space
point
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CN112793562B (en
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罗浩如
杨旭
尤虎
罗杰
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Wuhan University of Technology WUT
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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
    • 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
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/201—Dimensions of vehicle
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a planning and tracking control method, a planning device, a storage medium and computer equipment for an automatic parking path. And the planning method adopts a preview tracking algorithm, closed-loop steering control and speed control, tracks points are tracked in a segmented manner, motion accumulated errors are eliminated in real time, and the track tracking precision is ensured. After parking, the distance deviation is not more than 20cm, the angle between the center of the vehicle body and the center line of the parking space is not more than 2 degrees, and the performance requirement of a parking system is completely met.

Description

Automatic parking path planning and tracking control method, planning device, storage medium and computer equipment
Technical Field
The invention relates to the technical field of automobile auxiliary driving, in particular to a planning and tracking control method, a planning device, a storage medium and computer equipment for an automatic parking path.
Background
With the rapid development of the automobile industry, the function of the automobile auxiliary driving is gradually improved; the automatic parking function is also one of the driving assistance functions of the automobile. The existing automatic parking system mainly comprises an environment sensing module, a control decision module and an execution module, and the parking process can be divided into 3 parts of parking space detection, trajectory planning and trajectory tracking.
At present, parking trajectory planning is realized by mainly decomposing a parking process into straight lines, arcs and curves according to a vehicle motion model and an ackermann corner principle, and a parking trajectory is formed by segmented splicing, so that a corresponding expected vehicle speed, an expected steering wheel corner and a corresponding gear are calculated. However, the existing parking path planning is mainly static planning, and the accuracy of the segmented trajectory is greatly influenced by boundary constraints, vehicle kinematic models and calibration parameters. Moreover, static planning cannot ensure that the parking trajectory is dynamically adjusted when the vehicle encounters an obstacle or the environmental conditions change during the parking process, and the failure rate of parking is high.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a planning and tracking control method, a planning device, a storage medium and a computer device for an automatic parking path, which can calculate a parking track in real time according to the real-time position and parking space information of a vehicle, vehicle dynamics constraint, parking boundary constraint and the like, and have high parking precision.
In order to solve the technical problems, the technical scheme adopted by the invention specifically comprises the following contents:
a planning and tracking control method for an automatic parking path comprises the following steps:
acquiring parking space information and vehicle information, wherein the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle;
processing the acquired data, calculating boundary constraint, calculating the actual positions of the target parking space and the current vehicle through coordinate conversion, and determining a target parking point;
obtaining a parking track according to the parking space information, the vehicle information and the obstacle information;
and controlling the vehicle by using a tracking algorithm to complete the tracking of the planned track.
Preferably, the obtaining of the parking trajectory according to the parking space information, the vehicle information, and the obstacle information includes:
determining a target parking point of the vehicle according to the vehicle information and the parking space information;
in a P coordinate system, determining a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method by taking the target parking point as a terminal point and the vehicle initial position as a starting point;
obtaining vehicle contour parameters according to the vehicle information;
obtaining a parking space boundary according to the parking space information;
sequentially carrying out boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirming the track curves which accord with the boundary constraint and the kinetic constraint as parking curves;
smoothing the parking curve by using a Bezier formula;
and (4) decomposing the motion information of the vehicle by utilizing the vehicle motion model aiming at the parking curve subjected to the smoothing treatment, so as to obtain a parking track.
Preferably, the determining the target parking spot of the vehicle according to the vehicle information and the parking spot information includes:
determining the center of a rear axle of the vehicle according to the length of the body of the vehicle, the width of the body of the vehicle, the front overhang length of the vehicle and the rear overhang length of the vehicle;
and determining the projection point of the center of the rear axle of the vehicle in the parking space when the vehicle is parked in the parking space according to the coordinates of the four vertexes of the parking space, wherein the projection point is the target parking point.
Preferably, the vehicle contour parameter is a coordinate value of four vertexes of the vehicle with respect to a rear axle center of the vehicle.
Preferably, the method for controlling the vehicle by using the tracking algorithm to track the parking trajectory comprises the following steps:
the method comprises the steps that a vehicle is transversely controlled to obtain a steering wheel angle of the vehicle;
the method comprises the following steps of longitudinally controlling a vehicle to obtain a control mode, a longitudinal distance and a longitudinal speed control module of the vehicle;
and correcting the parking track according to the steering wheel angle, the control mode of the vehicle, the longitudinal distance and the longitudinal speed control module to obtain a parking path.
Preferably, the method for controlling the vehicle in the lateral direction to obtain the steering wheel angle of the vehicle includes:
determining secondary term and primary term coefficients of a pure tracking algorithm pre-aiming distance formula to be 1/6 and 1/5 respectively according to vehicle body parameters of the vehicle;
determining the pre-aiming distance of the tracking algorithm, obtaining a pre-aiming point, and the calculation formula of the pre-aiming distance ld is
Figure BDA0002930573460000031
Calculating the coordinate of the preview point in a vehicle coordinate system, wherein the vertical coordinate of the preview point in the vehicle coordinate system is preview deviation;
and (4) taking the preview deviation as a control quantity, and using a PID control algorithm to control the steering wheel rotation angle in a closed loop mode.
The invention also provides a planning device of the automatic parking path, which comprises an acquisition module and a path planning module, wherein the acquisition module acquires parking space information and vehicle information, and the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle; and the path planning module obtains a parking track according to the parking space information, the vehicle information and the obstacle information.
Preferably, the obtaining module includes a first obtaining unit, a first determining unit, a second determining unit, a third determining unit, a fourth determining unit and a smoothing unit, and the first obtaining unit determines a target parking spot of the vehicle according to the vehicle information and the parking space information; in a P coordinate system, the first determining unit determines a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method with the target parking point as a terminal point and the vehicle initial position as a starting point; the second determining unit obtains vehicle contour parameters according to the vehicle information; the third determining unit obtains the parking space boundary according to the parking space information; the fourth determining unit sequentially performs boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirms the track curves which accord with the boundary constraint and the kinetic constraint as parking curves; the smoothing unit performs smoothing on the parking curve by using a Bezier formula.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the planning method.
The invention also provides a computer device comprising a memory and a processor connected to the memory, the memory storing a computer program which, when executed by the processor, implements the steps of the planning method.
Compared with the prior art, the invention has the beneficial effects that:
the automatic parking path planning and tracking control method provided by the invention adopts a dynamic parking track planning method, updates the parking track in real time according to the positioning information and the barrier information, and is suitable for various parking environments to the maximum extent on the premise of meeting boundary constraint and vehicle dynamics constraint. And the planning method adopts a preview tracking algorithm, closed-loop steering control and speed control, tracks points are tracked in a segmented manner, motion accumulated errors are eliminated in real time, and the track tracking precision is ensured. After parking, the distance deviation is not more than 20cm, the angle between the center of the vehicle body and the center line of the parking space is not more than 2 degrees, and the performance requirement of a parking system is completely met.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is an environment diagram of an application of the automatic parking path planning and tracking control method according to the preferred embodiment;
FIG. 2 is a flow chart illustrating a method for automated parking path planning and tracking control in accordance with a preferred embodiment;
fig. 3 is a block diagram showing the configuration of an automatic parking path planning apparatus according to a preferred embodiment;
FIG. 4 is a block diagram of the architecture of the computer apparatus of the preferred embodiment;
FIG. 5 is a parameter diagram of parking space information;
wherein the reference symbols of the various drawings are:
1. a terminal; 2. a server; 3. an acquisition module; 4. a path planning module; 5. a first acquisition unit; 6. a first determination unit; 7. a second determination unit; 8. a third determination unit; 9. a fourth determination unit; 10. and a smoothing unit.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments is as follows:
example one
Fig. 1 is an application environment diagram of a method for planning and tracking an automatic parking path according to the present invention, where the method for planning and tracking an automatic parking path is applied to a system for planning an automatic parking path, the system for planning an automatic parking path includes a terminal 1 and a server 2, the terminal 1 and the server 2 are connected via a network, the terminal 1 may be a desktop terminal or a mobile terminal, the mobile terminal may be at least one of a mobile phone, a tablet computer, a laptop computer, a portable wearable device, and the like, and the server 2 may be implemented by an independent server or a server cluster composed of a plurality of servers.
As shown in fig. 2, in an embodiment, the present invention provides a method for planning and tracking an automatic parking path, which is described by taking the method as an example applied to the server 2 in fig. 1, and includes:
acquiring parking space information and vehicle information, wherein the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle;
processing the acquired data, calculating boundary constraint, calculating the actual positions of the target parking space and the current vehicle through coordinate conversion, and determining a target parking point;
obtaining a parking track according to the parking space information, the vehicle information and the obstacle information;
and controlling the vehicle by using a tracking algorithm to complete the tracking of the planned track.
Specifically, as shown in fig. 5, for the parking space as an example, A, B, C, D represents four vertices of the parking space, and A, B, C, D represents coordinates of the four vertices in the world coordinate system as (x)A,yA)、(xB，yB)、(xC，yC) And (x)D，yD) Then, the calculation formula of the width Wid of the parking space is: wid ═ xB-xA＝xC-xD(ii) a The calculation formula of the depth Dep of the parking space is as follows: dep ═ yD-yA＝yC-yB。
Preferably, the obtaining of the parking trajectory according to the parking space information, the vehicle information, and the obstacle information includes:
determining a target parking point of the vehicle according to the vehicle information and the parking space information; target parking spot coordinate x in geodetic coordinate systemO＝Wid/2＝(xB-xA)/2，yO＝Dep-ld-ls＝(xB-xA)/2-lr-ls(ii) a Wherein lrFor rear overhang length of vehicle, |sAnd reserving a safety distance for the rear.
In the P coordinate system, a trajectory curve combination between the target parking point and the vehicle initial position is determined by using a Dubins path planning method with the target parking point as an end point and the vehicle initial position as a start point, specifically, a CSC type (i.e., curve + straight line + curve) combination is used, assuming that the start point is s ═ (x ═ c)s,ysα 1), end point g ═ xg,ygα 2), minimum turning radius rminThen, the calculation formulas of the three paths are respectively:
Figure BDA0002930573460000061
Figure BDA0002930573460000062
Figure BDA0002930573460000063
then path LCSC＝p1+p2+p3。
Obtaining vehicle contour parameters according to the vehicle information;
obtaining a parking space boundary according to the parking space information;
sequentially carrying out boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirming the track curves which accord with the boundary constraint and the kinetic constraint as parking curves;
smoothing the parking curve by using a Bezier formula;
and (4) decomposing the motion information of the vehicle by utilizing the vehicle motion model aiming at the parking curve subjected to the smoothing treatment, so as to obtain a parking track.
Specifically, the point vector on the path curve at any time is (x)r(t),yr(t, α), wherein xr(t) is a railTrace abscissa, yrAnd (t) is a track ordinate, and alpha is a track tangential angle. If the central point of the rear axle of the vehicle tracks the path curve, the coordinate of the central point of the rear axle of the vehicle at any moment, namely the point coordinate on the curve, does not consider the sideslip of the vehicle at low speed according to the kinematic equation of the vehicle, and then the following steps are provided:
Figure BDA0002930573460000071
Figure BDA0002930573460000072
wherein, L is the wheel base of the front and rear axles of the vehicle, V is the vehicle speed (uniform speed), and beta is the steering angle of the front wheels.
Preferably, the determining the target parking spot of the vehicle according to the vehicle information and the parking spot information includes:
determining the rear axle center of the vehicle according to the length of the vehicle body, the width of the vehicle body, the front overhang length of the vehicle and the rear overhang length of the vehicle, and particularly, taking the outer center of the left front wheel as an origin, determining the coordinate x of the rear axle pointr＝LC/2，yr＝Ll-Lr-LfWherein L isCIs the width of the vehicle, LlIs the vehicle length, Lr、LfThe rear suspension and the front suspension of the vehicle are respectively long;
and determining the projection point of the center of the rear axle of the vehicle in the parking space when the vehicle is parked in the parking space according to the coordinates of the four vertexes of the parking space, wherein the projection point is the target parking point.
Preferably, the vehicle contour parameter is a coordinate value of four vertexes of the vehicle with respect to a rear axle center of the vehicle.
Preferably, the method for controlling the vehicle by using the tracking algorithm to track the parking trajectory comprises the following steps:
the method comprises the steps that a vehicle is transversely controlled to obtain a steering wheel angle of the vehicle;
the method comprises the following steps of longitudinally controlling a vehicle to obtain a control mode, a longitudinal distance and a longitudinal speed control module of the vehicle;
and correcting the parking track according to the steering wheel angle, the control mode of the vehicle, the longitudinal distance and the longitudinal speed control module to obtain a parking path.
Preferably, the method for controlling the vehicle in the lateral direction to obtain the steering wheel angle of the vehicle includes:
determining a quadratic term coefficient A and a primary term coefficient B of a pure tracking algorithm pre-aiming distance formula according to vehicle body parameters of the vehicle as 1/6 and 1/5 respectively, wherein during specific calculation:
Figure BDA0002930573460000081
wherein, amaxFor maximum deceleration, in this case, 3m/s ^ 2; b is reaction time, and the value of B in the invention is 0.2 s.
Determining the pre-aiming distance of the tracking algorithm, obtaining a pre-aiming point, and the calculation formula of the pre-aiming distance ld is
Figure BDA0002930573460000082
Specifically, Cons is typically the minimum turning radius r of the vehicleminThe invention adopts an engineering method to calibrate Cons, and the Cons is obtained by real vehicle test calibration of vehicle motion tracks in different stages for different parking space forms, different parking in and parking out modes;
calculating the coordinate of the preview point in a vehicle coordinate system, wherein the vertical coordinate of the preview point in the vehicle coordinate system is preview deviation, specifically, converting the coordinate of the preview point in a geodetic coordinate system into the vehicle coordinate system through rotation and translation change, and the coordinate conversion formula is as follows:
Figure BDA0002930573460000083
wherein: x 'and y' are coordinates of the pre-aiming point in the transformed vehicle coordinate system, xlp、ylpIs the coordinate of the pre-aiming point in the geodetic coordinate system, theta is the rotation angle of the coordinate, xcar ycarFor vehicles sitting in geodetic coordinatesMarking; y' is the preview deviation
Taking the preview deviation as a control quantity, and using a PID control algorithm to control the steering wheel corner in a closed loop mode, specifically, calculating the wheel corner of the vehicle to be parked through PID according to the preview deviation, wherein the calculation formula of the wheel corner is as follows:
Figure BDA0002930573460000084
wherein: deltawheelIs the wheel angle; err is the preview offset; kp is the proportional control coefficient; kd is a differential control coefficient;
the requested steering wheel angle can be obtained by looking up the table according to the wheel angle.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Example two
As shown in fig. 3, the present embodiment provides a planning device for an automatic parking path, including an obtaining module 3 and a path planning module 4, where the obtaining module 3 obtains parking space information and vehicle information, the parking space information includes coordinates of four vertices of a parking space, and the vehicle information includes an initial position coordinate of a vehicle, a parking manner of the vehicle, a vehicle body length of the vehicle, a vehicle body width of the vehicle, a front overhang length of the vehicle, and a rear overhang length of the vehicle; and the path planning module 4 obtains a parking track according to the parking space information, the vehicle information and the obstacle information.
As a further preferable scheme, the acquiring module 3 includes a first acquiring unit 5, a first determining unit 6, a second determining unit 7, a third determining unit 8, a fourth determining unit 9 and a smoothing processing unit 10, and the first acquiring unit 5 determines a target parking point of the vehicle according to the vehicle information and the parking space information; in a P coordinate system, the first determining unit 6 determines a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method with the target parking point as a terminal point and the vehicle initial position as a starting point; the second determining unit 7 obtains vehicle contour parameters according to vehicle information; the third determining unit 8 obtains the parking space boundary according to the parking space information; the fourth determining unit 9 sequentially performs boundary constraint verification and dynamics constraint verification on the trajectory curves in the trajectory curve combination according to the vehicle contour parameters and the parking space boundaries, and confirms the trajectory curves which accord with the boundary constraint and the dynamics constraint as parking curves; the smoothing unit 10 performs smoothing processing on the parking curve using the bezier formula.
It should be noted that all or part of the modules in the automatic parking path planning apparatus may be implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
EXAMPLE III
The present embodiment provides a computer device, which may be a server, as shown in fig. 4, and includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing operation behavior data, commodity information data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. Which computer program, when being executed by a processor, carries out the steps of the method of finding an item.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In other embodiments, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
acquiring parking space information and vehicle information, wherein the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle; obtaining a parking track according to the parking space information, the vehicle information and the obstacle information; and controlling the vehicle by using a tracking algorithm to realize the tracking of the parking track.
In some other embodiments, the processor, when executing the computer program, implements the step of obtaining the parking trajectory according to the parking space information, the vehicle information, and the obstacle information, and specifically includes the following steps: determining a target parking point of the vehicle according to the vehicle information and the parking space information; in a P coordinate system, determining a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method by taking the target parking point as a terminal point and the vehicle initial position as a starting point; obtaining vehicle contour parameters according to the vehicle information; obtaining a parking space boundary according to the parking space information; sequentially carrying out boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirming the track curves which accord with the boundary constraint and the kinetic constraint as parking curves; smoothing the parking curve by using a Bezier formula; and (4) decomposing the motion information of the vehicle by utilizing the vehicle motion model aiming at the parking curve subjected to the smoothing treatment, so as to obtain a parking track.
In some other embodiments, the processor, when executing the computer program, performs the step of determining the target parking point of the vehicle according to the vehicle information and the parking space information, specifically including the following steps: determining the center of a rear axle of the vehicle according to the length of the body of the vehicle, the width of the body of the vehicle, the front overhang length of the vehicle and the rear overhang length of the vehicle; and determining the projection point of the center of the rear axle of the vehicle in the parking space when the vehicle is parked in the parking space according to the coordinates of the four vertexes of the parking space, wherein the projection point is the target parking point.
In some other embodiments, the processor, when executing the computer program, implements the step of controlling the vehicle by using a tracking algorithm to implement tracking of the parking trajectory, and specifically includes the following steps: the method comprises the steps that a vehicle is transversely controlled to obtain a steering wheel angle of the vehicle; the method comprises the following steps of longitudinally controlling a vehicle to obtain a control mode, a longitudinal distance and a longitudinal speed control module of the vehicle; and correcting the parking track according to the steering wheel angle, the control mode of the vehicle, the longitudinal distance and the longitudinal speed control module to obtain a parking path.
In some other embodiments, the step of performing lateral control on the vehicle to obtain the steering wheel angle of the vehicle when the processor executes the computer program specifically includes the following steps: determining secondary term and primary term coefficients of a pure tracking algorithm pre-aiming distance formula to be 1/6 and 1/5 respectively according to vehicle body parameters of the vehicle; determining the pre-aiming distance of the tracking algorithm, obtaining a pre-aiming point, and the calculation formula of the pre-aiming distance ld is
Figure BDA0002930573460000111
Calibrating Cons by adopting an engineering method, and obtaining the Cons through real vehicle test calibration of vehicle motion tracks in different stages for different parking space forms, different parking in and parking out modes; calculating the coordinate of the preview point in a vehicle coordinate system, wherein the vertical coordinate of the preview point in the vehicle coordinate system is preview deviation; and (4) taking the preview deviation as a control quantity, and using a PID control algorithm to control the steering wheel rotation angle in a closed loop mode.
Example four
The present embodiments provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: acquiring parking space information and vehicle information, wherein the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle; obtaining a parking track according to the parking space information, the vehicle information and the obstacle information; and controlling the vehicle by using a tracking algorithm to realize the tracking of the parking track.
In some other embodiments, the computer program is executed by the processor to implement the step of obtaining the parking trajectory according to the parking space information, the vehicle information, and the obstacle information, and specifically includes the following steps: determining a target parking point of the vehicle according to the vehicle information and the parking space information; in a P coordinate system, determining a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method by taking the target parking point as a terminal point and the vehicle initial position as a starting point; obtaining vehicle contour parameters according to the vehicle information; obtaining a parking space boundary according to the parking space information; sequentially carrying out boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirming the track curves which accord with the boundary constraint and the kinetic constraint as parking curves; smoothing the parking curve by using a Bezier formula; and (4) decomposing the motion information of the vehicle by utilizing the vehicle motion model aiming at the parking curve subjected to the smoothing treatment, so as to obtain a parking track.
In some other embodiments, the computer program is executed by the processor to implement the step of determining the target parking point of the vehicle according to the vehicle information and the parking space information, and specifically includes the following steps: determining the center of a rear axle of the vehicle according to the length of the body of the vehicle, the width of the body of the vehicle, the front overhang length of the vehicle and the rear overhang length of the vehicle; and determining the projection point of the center of the rear axle of the vehicle in the parking space when the vehicle is parked in the parking space according to the coordinates of the four vertexes of the parking space, wherein the projection point is the target parking point.
In some other embodiments, the computer program executed by the processor performs the step of controlling the vehicle by using the tracking algorithm to track the parking trajectory, and specifically includes the following steps: the method comprises the steps that a vehicle is transversely controlled to obtain a steering wheel angle of the vehicle; the method comprises the following steps of longitudinally controlling a vehicle to obtain a control mode, a longitudinal distance and a longitudinal speed control module of the vehicle; and correcting the parking track according to the steering wheel angle, the control mode of the vehicle, the longitudinal distance and the longitudinal speed control module to obtain a parking path.
In some other embodiments, the computer program is executed by the processor to perform the step of performing lateral control on the vehicle to obtain the steering wheel angle of the vehicle, and specifically includes the following steps: determining secondary term and primary term coefficients of a pure tracking algorithm pre-aiming distance formula to be 1/6 and 1/5 respectively according to vehicle body parameters of the vehicle; determining the pre-aiming distance of the tracking algorithm, obtaining a pre-aiming point, and the calculation formula of the pre-aiming distance ld is
Figure BDA0002930573460000131
Calibrating Cons by adopting an engineering method, and obtaining the Cons through real vehicle test calibration of vehicle motion tracks in different stages for different parking space forms, different parking in and parking out modes; calculating the coordinate of the preview point in a vehicle coordinate system, wherein the vertical coordinate of the preview point in the vehicle coordinate system is preview deviation; and (4) taking the preview deviation as a control quantity, and using a PID control algorithm to control the steering wheel rotation angle in a closed loop mode.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, database, or other medium used in the embodiments provided herein may include non-volatile memory and/or volatile memory, wherein: (1) non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory; (2) volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (10)

1. A planning and tracking control method for an automatic parking path is characterized by comprising the following steps:
acquiring parking space information and vehicle information, wherein the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle;
processing the acquired data, calculating boundary constraint, calculating the actual positions of the target parking space and the current vehicle through coordinate conversion, and determining a target parking point;
obtaining a parking track according to the parking space information, the vehicle information and the obstacle information;
and controlling the vehicle by using a tracking algorithm to complete the tracking of the planned track.
2. The automatic parking path planning and tracking control method according to claim 1, wherein the parking space information and vehicle information acquisition includes the steps of:
the method comprises the steps that parking space information is obtained through a cloud server side, wherein the information comprises coordinates of four vertexes of a parking space and a parking mode instruction;
the vehicle information of the vehicle stored in the local storage medium is read, and the vehicle information comprises the length, the width, the front overhang length, the rear overhang length and the like of the vehicle.
3. The automatic parking path planning and tracking control method according to claim 2, wherein data processing and calculation are performed according to vehicle information and parking space information, and determining the target parking point of the vehicle includes the steps of:
determining the center of a rear axle of the vehicle according to the length of the body of the vehicle, the width of the body of the vehicle, the front overhang length of the vehicle and the rear overhang length of the vehicle;
and determining the projection point of the center of the rear axle of the vehicle in the parking space when the vehicle is parked in the parking space according to the coordinates of the four vertexes of the parking space, wherein the projection point is the target parking point.
4. The automatic parking path planning and tracking control method according to claim 3, wherein a parking trajectory is obtained based on the parking space information, the vehicle information, and the obstacle information, comprising the steps of:
determining a target parking point of the vehicle according to the vehicle information and the parking space information;
in a P coordinate system, determining a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method by taking the target parking point as a terminal point and the vehicle initial position as a starting point;
obtaining vehicle contour parameters according to the vehicle information;
obtaining a parking space boundary according to the parking space information;
sequentially carrying out boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirming the track curves which accord with the boundary constraint and the kinetic constraint as parking curves;
smoothing the parking curve by using a Bezier formula;
and (4) decomposing the motion information of the vehicle by utilizing the vehicle motion model aiming at the parking curve subjected to the smoothing treatment, so as to obtain a parking track.
5. The automatic parking path planning and tracking control method according to claim 4, wherein the vehicle is controlled by a tracking algorithm, and the tracking of the parking trajectory comprises the following steps:
the method comprises the steps that a vehicle is transversely controlled to obtain a steering wheel angle of the vehicle;
the method comprises the following steps of longitudinally controlling a vehicle to obtain a control mode, a longitudinal distance and a longitudinal speed control module of the vehicle;
and correcting the parking track according to the steering wheel angle, the control mode of the vehicle, the longitudinal distance and the longitudinal speed control module to obtain a parking path.
6. The automatic parking path planning and tracking control method according to claim 5, wherein the step of controlling the vehicle in the lateral direction to obtain the steering wheel angle of the vehicle comprises the steps of:
determining secondary term and primary term coefficients of a pure tracking algorithm pre-aiming distance formula to be 1/6 and 1/5 respectively according to vehicle body parameters of the vehicle;
determining the pre-aiming distance of the tracking algorithm, obtaining a pre-aiming point, and the calculation formula of the pre-aiming distance ld is
Figure FDA0002930573450000021
Calculating the coordinate of the preview point in a vehicle coordinate system, wherein the vertical coordinate of the preview point in the vehicle coordinate system is preview deviation;
and (4) taking the preview deviation as a control quantity, and using a PID control algorithm to control the steering wheel rotation angle in a closed loop mode.
7. The automatic parking path planning device is characterized by comprising an acquisition module and a path planning module, wherein the acquisition module acquires parking space information and vehicle information, and the parking space information comprises coordinates of four vertexes of a parking space; the vehicle information comprises initial position coordinates of the vehicle, a parking mode of the vehicle, a body length of the vehicle, a body width of the vehicle, a front overhang length of the vehicle and a rear overhang length of the vehicle; and the path planning module obtains a parking track according to the parking space information, the vehicle information and the obstacle information.
8. The planning device according to claim 5, wherein the obtaining module includes a first obtaining unit, a first determining unit, a second determining unit, a third determining unit, a fourth determining unit and a smoothing unit, the first obtaining unit determines a target parking spot of the vehicle according to the vehicle information and the parking space information; in a P coordinate system, the first determining unit determines a track curve combination between a target parking point and a vehicle initial position by using a Dubins path planning method with the target parking point as a terminal point and the vehicle initial position as a starting point; the second determining unit obtains vehicle contour parameters according to the vehicle information; the third determining unit obtains the parking space boundary according to the parking space information; the fourth determining unit sequentially performs boundary constraint verification and kinetic constraint verification on the track curves in the track curve combination according to the vehicle contour parameters and the parking space boundaries, and confirms the track curves which accord with the boundary constraint and the kinetic constraint as parking curves; the smoothing unit performs smoothing on the parking curve by using a Bezier formula.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the planning method according to any one of claims 1 to 6.
10. A computer arrangement, characterized by comprising a memory and a processor connected to the memory, the memory storing a computer program which, when executed by the processor, carries out the steps of the planning method according to any one of claims 1-6.
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