CN113295169B - Path planning method for automatic driving device - Google Patents
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Abstract
The application provides a path planning method of an automatic running device, which comprises the following steps: s1, planning a prepositive point which goes to a target point and a driving path thereof and moving; s2, judging whether the deviation between the actual arrival point and the front point meets the standard, if so, executing the step S3, and if not, jumping to the step S1; s3, planning and driving to the target point from the current position in a straight line. The problem that the precision of the existing automatic running device for going to the destination is affected by the change of the position of the starting point or the end point is solved.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a path planning method of an automatic driving device.
Background
At present, unmanned devices are widely applied to factories, such as AGVs, unmanned forklifts and other devices, however, with the improvement of the requirements for automatic production, enterprises have put forward higher and higher requirements on the navigation precision of the unmanned devices.
When a traditional unmanned device goes to a destination, the traditional unmanned device often directly runs through a plurality of straight lines or curves. However, when the relative positions of the starting point and the target point of the unmanned device are changed, the planned path is different, and the surrounding environment is different. And the curvature of the path is different and the speed is different in the running process, and all factors can influence the point-to-point precision.
Moreover, such prior art unmanned devices operate at different angles or distances to identify destination locations. Therefore, the unmanned apparatus has a problem that the arrival accuracy is not uniform at different starting points or to different ending points. At present, no good solution is available in the prior art document to solve the problem that the accuracy is affected by the position of the start point and the end point. There is therefore a need in the art for a solution to the problem of varying the accuracy of the destination of unmanned devices subject to a change in the starting or ending position.
Disclosure of Invention
The application mainly aims to provide a path planning method of an automatic running device, which aims to solve the problem that the accuracy of the existing automatic running device for going to a destination is affected by the change of a starting point or an end point position.
In order to achieve the above object, according to a first aspect of the present application, there is provided a path planning method of an automatic traveling device, comprising the steps of: s1, planning a prepositive point which goes to a target point and a driving path thereof and moving; s2, judging whether the deviation between the actual arrival point and the front point meets the standard, if so, executing the step S3, and if not, jumping to the step S1; s3, planning and driving to the target point from the current position in a straight line.
In order to achieve the above object, according to a second aspect of the present application, there is provided a path planning method of an automatic traveling device, comprising the steps of: s1, inputting target point coordinates and configuring a first preset distance to perform first path processing calculation to obtain prepositive point coordinates; planning a running path from the current position to the front point and moving the running path; s2, acquiring coordinates of an actual arrival point, calculating the deviation between the actual arrival point and a preposed point, executing a step S3 if the deviation is smaller than a threshold delta, otherwise, jumping to the step S1; and S3, planning a driving path from the actual arrival point to the target point by using the shortest distance and moving.
In a possibly preferred embodiment, the target point coordinates include: (x) 1 ,y 1 θ), where θ is the angle of orientation of the target point; the first preset distance Z is more than or equal to the length of the automatic running device; the first path processing calculation step includes: calculation (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 ,θ)。
In a possibly preferred embodiment, the actual arrival point coordinates include: (x) 3 ,y 3 ,θ 3 ) The prepositive point coordinates include: (x) 2 ,y 2 θ), the deviation calculation step of the actual arrival point and the pre-point includes: calculating the lateral deviation, | - (x) in the world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 )|。
In a possibly preferred embodiment, the step of calculating the threshold δ comprises: s1, setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s2, S gradually becomes larger, and when the arrival precision is larger than the allowable range from the ith group S, the ith-1 group S is delta.
In order to achieve the above object, according to a third aspect of the present application, there is provided a path planning method of an automatic traveling device, comprising the steps of: s1 identifying a targetPoint coordinates (x) 1 ,y 1 θ), a first preset distance Z is configured to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 θ); planning a running path from the current position coordinate to the front point and moving the current position coordinate; s2 at the actual arrival point (x 3 ,y 3 ,θ 3 ) The coordinates of the target point are again identified (x 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point in the world coordinate system 2_new -x3)*sinθ 3 +(y 2_new -y 3) cos (θ3) and if the deviation is smaller than the threshold δ, executing step S3, otherwise jumping to step S1; s3, planning and driving to the target point from the current position in a straight line.
In a possibly preferred embodiment, θ is the angle of orientation of the target point, θ 0 Is the orientation angle of the automatic driving device; the first preset distance Z is larger than or equal to the length of the automatic running device.
In a possibly preferred embodiment, the step of calculating the threshold δ comprises: s1, setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s2, S gradually becomes larger, and when the arrival precision is larger than the allowable range from the ith group S, the ith-1 group S is delta.
In order to achieve the above object, according to a fourth aspect of the present application, there is provided a path planning method of an automatic traveling device, comprising the steps of: s1, setting a path target point from a starting point to an end point to decompose mileage segments, and obtaining a target point coordinate (x) of each mileage segment 1 ,y 1 θ); s2, configuring the length of the automatic driving device with the first preset distance Z being more than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning current position coordinatesA driving path to a front point of the current mileage is moved; s3 judging the actual arrival point (x 3 ,y 3 ,θ 3 ) Coordinates (x) of the current mileage prepositive point 2 ,y 2 θ), lateral deviation, | - (x) in world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 ) Step S4 is executed if the deviation is smaller than the threshold delta, otherwise step S2 is executed; wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta; s4, planning to travel to a target point of the current mileage section from the current position in a straight line; s5, steps S2 to S4 are looped until the end point is reached.
In order to achieve the above object, according to a fifth aspect of the present application, there is provided a path planning method of an automatic traveling device, comprising the steps of: s1, identifying an end point, and setting a path target point from the start point to the end point so as to decompose a mileage segment; s2, identifying the coordinates (x) of the target point of the current mileage segment 1 ,y 1 θ); configuring a first preset distance Z is greater than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning a driving path from the current position to a front point of the current mileage section and moving the driving path; s3 at the actual arrival point (x 3 ,y 3 ,θ 3 ) The current mileage target point coordinates (x) 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point of the current mileage section under the world coordinate system 2_new -x3)*sinθ 3 +(y 2_new Y 3) cos (θ3) and if the deviation is less than the threshold δ, step S4 is performed, otherwise step S2 is skippedThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta; s4, planning to travel to a target point of the current mileage section from the current position in a straight line; s5, steps S2 to S4 are looped until the end point is reached.
According to the path planning method of the automatic running device, the front point scheme is introduced in the path navigation to execute running tasks in a segmented mode, the automatic running device is firstly enabled to plan the path to continuously adjust, and after the high-precision running reaches the front point, the automatic running device is enabled to linearly run to the target point, so that the problem of low arrival precision caused by different starting points or end points is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic flow chart of the path planning method of the automatic driving device according to the present application, namely, the data of the target point;
FIG. 2 is a schematic flow chart of the method for planning a path of an automatic driving apparatus according to the present application, wherein the data of a target point needs to be identified;
FIG. 3 is a schematic view of several travel path plans in an exemplary path planning method of the automatic travel device of the present application;
fig. 4 is a schematic diagram illustrating a travel path from a front point to a target point in the path planning method of the automatic travel device according to the present application.
Detailed Description
The following describes specific embodiments of the present application in detail. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, based on the embodiments of the application, which are obtained without inventive effort by a person of ordinary skill in the art, shall fall within the scope of the application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
In order to solve the problem that the accuracy of the existing automatic running device to a destination is affected by the change of the position of a starting point or an ending point, the application is described by taking an unmanned forklift as an example, wherein the path planning method of the automatic running device in the implementation comprises the following steps: s1, planning a prepositive point and a driving path thereof which go to a target point, and moving, wherein the path can be one or a plurality of broken lines or one or a plurality of curves; s2, judging whether the deviation between the actual arrival point and the front point meets the standard, if so, executing the step S3, and if not, jumping to the step S1; s3, planning and driving to the target point from the current position in a straight line. Thereby improving the accuracy of the destination by continuously correcting the moving position
Specifically, as shown in fig. 1, in the case of the scene having the target point data in the face, the step S1 preferably includes: inputting target point coordinates and configuring a first preset distance to perform first path processing calculation to obtain prepositive point coordinates; a travel path from the current location to the front point is planned and moved, wherein the path may be one or more broken lines or one or more curves as shown in fig. 3.
Further, as in the present embodiment, the target point coordinates may include: (x) 1 ,y 1 θ), where θ is the angle of orientation of the target point; the first preset distance Z is more than or equal to the length of the automatic running device; and the first path processing calculation step includes: calculation (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 ,θ)。
And the step S2 includes: acquiring the coordinates of the actual arrival point, calculating the deviation between the actual arrival point and the prepositive point, executing the step S3 if the deviation is smaller than the threshold delta, otherwise, jumping to the step S1, wherein the coordinates of the actual arrival point comprise: (x) 3 ,y 3 ,θ 3 ) The prepositive point coordinates include: (x) 2 ,y 2 θ), the deviation calculation step of the actual arrival point and the pre-point includes: calculating the lateral deviation, | - (x) in the world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 )|。
It should be noted that, in order to better determine the threshold δ, in a preferred embodiment, the step of calculating the threshold δ includes: s1, setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s2, S gradually becomes larger, and when the arrival precision is larger than the allowable range from the ith group S, the ith-1 group S is delta.
In addition, in step S3, the straight-line planned travel route is only an example, and is not limited thereto, and those skilled in the art may select other travel routes from the actual arrival point to the target point and move in accordance with the current scene. As shown in fig. 3, the path may be one or more polylines or one or more curves.
On the other hand, if the target point facing is not data, or in a scene where a change is to be made, as shown in fig. 2, the step S1 includes: identifying coordinates of target points (x) 1 ,y 1 θ), a first preset distance Z is configured to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 θ); planning a running path from the current position coordinate to the front point and moving the current position coordinate;
and the step S2 includes: in the actual arrival point (x 3 ,y 3 ,θ 3 ) The coordinates of the target point are again identified (x 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point in the world coordinate system 2_new -x3)*sinθ 3 +(y 2_new -y 3) cos (θ3) and if the deviation is smaller than the threshold δ, executing step S3, otherwise jumping to step S1;
in the step S3, the vehicle is linearly planned to travel from the current position to the target point as shown in fig. 4.
In addition, in this embodiment, θ is the orientation angle of the target point, θ 0 Is the orientation angle of the automatic driving device; the first preset distance Z is larger than or equal to the length of the automatic running device.
On the other hand, in order to better plan a travel plan of an automatic traveling device from a start point to an end point so as to be suitable for a complex automatic traveling device scheduling scenario, in this embodiment, the steps of the path planning method of the automatic traveling device include:
step S1: setting a route target point from a starting point to an end point to decompose mileage segments, and obtaining a target point coordinate (x) of each mileage segment 1 ,y 1 θ) to plan a preset travel locus of the automatic travel device;
step S2: configuring a firstThe preset distance Z is greater than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning a driving path from the current position coordinate to a front point of the current mileage section and moving the driving path;
step S3: determine the actual arrival point (x 3 ,y 3 ,θ 3 ) Coordinates (x) of the current mileage prepositive point 2 ,y 2 θ), lateral deviation, | - (x) in world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 ) Step S4 is executed if the deviation is smaller than the threshold delta, otherwise step S2 is executed; wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
step S4: planning a target point which runs to a current mileage section from a current position in a straight line;
step S5: steps S2 to S4 are looped until the end point is reached.
On the other hand, in order to better plan a travel plan of an automatic traveling device from a start point to an end point in a scene where there is no data or changes are made in the face of a target point, so as to be suitable for a complex automatic traveling device scheduling scene, in this embodiment, the path planning method of the automatic traveling device includes the steps of:
step S1: identifying an end point, and setting a path target point from the start point to the end point so as to decompose a mileage segment;
step S2: target point coordinates (x) of the current mileage is identified 1 ,y 1 θ); configuring a first preset distance Z is greater than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning current position to current mileageThe travel path of the front point moves;
step S3: in the actual arrival point (x 3 ,y 3 ,θ 3 ) The current mileage target point coordinates (x) 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point of the current mileage section under the world coordinate system 2_new -x3)*sinθ 3 +(y 2_new -y 3) cos (θ3) and if the deviation is smaller than the threshold δ, executing step S4, otherwise jumping to step S2; wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
step S4: planning a target point which runs to a current mileage section from a current position in a straight line;
step S5: steps S2 to S4 are looped until the end point is reached.
The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. The preferred embodiments are not exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the application are intended to be included within the scope of the application.
It will be appreciated by those skilled in the art that the system, apparatus and their respective modules provided by the present application may be implemented entirely by logic programming method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except for implementing the system, apparatus and their respective modules provided by the present application in a purely computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present application may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
Furthermore, all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program, where the program is stored in a storage medium and includes several instructions for causing a single-chip microcomputer, chip or processor (processor) to execute all or part of the steps in the methods of the embodiments of the application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present application may be performed, so long as the concept of the embodiments of the present application is not violated, and the disclosure of the embodiments of the present application should also be considered.
Claims (4)
1. The path planning method of the automatic driving device is characterized by comprising the following steps:
s1, inputting target point coordinates and configuring a first preset distance to perform first path processing calculation to obtain prepositive point coordinates; planning a running path from the current position to the front point and moving the running path;
s2, acquiring coordinates of an actual arrival point, calculating the deviation between the actual arrival point and a preposed point, executing a step S3 if the deviation is smaller than a threshold delta, otherwise, jumping to the step S1; wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
s3, planning a travel path from the actual arrival point to the target point by using the shortest distance and moving;
wherein the target point coordinates include: (x) 1 ,y 1 θ), where θ is the angle of orientation of the target point; the first preset distance Z is more than or equal to the length of the automatic running device; the first path processing calculation step includes: calculation (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 ,θ)；
Wherein the actual arrival point coordinates include: (x) 3 ,y 3 ,θ 3 ) The prepositive point coordinates include: (x) 2 ,y 2 θ), the deviation calculation step of the actual arrival point and the pre-point includes: calculating the lateral deviation, | - (x) in the world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 )|。
2. The path planning method of the automatic driving device is characterized by comprising the following steps:
s1 identifying the coordinates of the target point (x 1 ,y 1 θ), a first preset distance Z is configured to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) acquires the prepositive point coordinates (x 2 ,y 2 θ); planning a running path from the current position coordinate to the front point and moving the current position coordinate;
s2 at the actual arrival point (x 3 ,y 3 ,θ 3 ) The coordinates of the target point are again identified (x 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point in the world coordinate system 2_new -x 3 )*sinθ 3 +(y 2_new -y 3 )*cos(θ 3 ) Step S3 is executed if the deviation is smaller than the threshold delta, otherwise step S1 is skipped; wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
s3, planning and driving to the target point from the current position in a straight line.
3. The path planning method of the automatic driving device is characterized by comprising the following steps:
s1, setting a path target point from a starting point to an end point to decompose mileage segments, and obtaining a target point coordinate (x) of each mileage segment 1 ,y 1 ,θ）；
S2, configuring the length of the automatic driving device with the first preset distance Z being more than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning a driving path from the current position coordinate to a front point of the current mileage section and moving the driving path;
s3 judging the actual arrival point (x 3 ,y 3 ,θ 3 ) Coordinates (x) of the current mileage prepositive point 2 ,y 2 θ), lateral deviation, | - (x) in world coordinate system 2 -x 3 )*sinθ 3 + (y 2 -y 3 )*cos(θ 3 ) Step S4 is executed if the deviation is smaller than the threshold delta, otherwise step S2 is executed;
wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
s4, planning to travel to a target point of the current mileage section from the current position in a straight line;
s5, steps S2 to S4 are looped until the end point is reached.
4. The path planning method of the automatic driving device is characterized by comprising the following steps:
s1, identifying an end point, and setting a path target point from the start point to the end point so as to decompose a mileage segment;
s2, identifying the coordinates (x) of the target point of the current mileage segment 1 ,y 1 θ); configuring a first preset distance Z is greater than or equal to the length of the automatic driving device to calculate (x) 1 + Z * cos(θ)，y 1 +Z.sin (θ), θ) to dynamically obtain the current mileage pre-point coordinates (x 2 ,y 2 θ); planning a driving path from the current position to a front point of the current mileage section and moving the driving path;
s3 at the actual arrival point (x 3 ,y 3 ,θ 3 ) The current mileage target point coordinates (x) 1_new ,y 1_new ,θ new ) And calculates (x) 1_new + Z*cos(θ)，y 1_new + Z*sin(θ),θ new ) To obtain the new prepositive point coordinates (x 2_new , y 2_new ,θ new ) The method comprises the steps of carrying out a first treatment on the surface of the Judging the transverse deviation (x) of the actual arrival point and the new prepositive point of the current mileage section under the world coordinate system 2_new -x 3 )*sinθ 3 +(y 2_new -y 3 )*cos(θ 3 ) Step S4 is executed if the deviation is smaller than the threshold delta, otherwise step S2 is skipped;
wherein the step of calculating the threshold δ includes: setting an automatic running device to face 0 degree under a world coordinate system; back/forward travel to the (0, 0) point under (L, s) and (-L, s) coordinates, respectively, where L is the length of the automatic travel device, and the measured point accuracy; s gradually becomes larger, and when the arrival point precision is larger than the allowable range under the s of the ith group, s of the i-1 th group is delta;
s4, planning to travel to a target point of the current mileage section from the current position in a straight line;
s5, steps S2 to S4 are looped until the end point is reached.
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