CN113515111B - Vehicle obstacle avoidance path planning method and device - Google Patents
Vehicle obstacle avoidance path planning method and device Download PDFInfo
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- CN113515111B CN113515111B CN202010219348.5A CN202010219348A CN113515111B CN 113515111 B CN113515111 B CN 113515111B CN 202010219348 A CN202010219348 A CN 202010219348A CN 113515111 B CN113515111 B CN 113515111B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention relates to a vehicle obstacle avoidance path planning method and device, comprising the following steps: acquiring a running preset track of a vehicle; determining a reference target point on a preset running track of the vehicle, and transforming the reference target point into a vehicle coordinate system; determining an alternative target point according to a reference target point in a vehicle coordinate system; fitting a local alternative path according to the reference target point and the starting position of the vehicle; for any alternative target point and vehicle starting position, a local alternative path is correspondingly matched; the local alternative paths are sequenced according to the sequence from small to large distances from the vehicle running preset track; and sequentially judging whether each local alternative path meets the path selection setting conditions according to the sequence, and if a certain local alternative path meets the path selection setting conditions, taking the local alternative path as the finally determined local path. The invention not only improves the efficiency of determining the local path, but also can ensure that the finally determined path is consistent with the preset track as much as possible.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle, and particularly relates to a vehicle obstacle avoidance path planning method and device.
Background
The path planning is divided into global planning and local planning, is one of the most basic links for realizing the navigation and control of the unmanned system, and aims to enable a vehicle to search a smooth, low-cost and barrier-free path from a starting point to a target point based on a certain rule in an unknown environment. At present, various intelligent control algorithms are available for solving the problem of path planning, such as genetic algorithm, ant colony algorithm, a-x algorithm, dijkstra algorithm and the like. The algorithms have certain defects, the time complexity of the genetic algorithm operation is high, and the requirements of real-time planning cannot be met; the ant colony algorithm is easy to fall into local optimum, so that the application in practice is limited; the algorithm A needs a sensing system to provide a grid map, and has the problems of more path folding lines and large accumulated rotation angles; the Dijkstra algorithm considers global optimum, has long operation time, and can possibly fail due to the occurrence of edges with negative weights.
In order to realize local path planning, a Chinese patent application document with the application publication number of CN107992050A discloses a method for planning the local path motion of an unmanned automobile, a local path track cluster is obtained by fitting according to an expected driving path, a current vehicle position point and a current vehicle heading of the unmanned automobile, then a cost function value of each local path track in the local path track cluster is calculated, and the local path track with the minimum cost function value is used as the optimal local motion path. Although the method can plan an optimal local movement path which can be driven, the following problems exist: 1. the initial planning path is shifted to the current lane line, the whole data mapping is carried out by means of a high-precision map, and the calculated amount is large; 2. when the optimal local motion path is determined, the cost function value corresponding to each curve in the local path track cluster needs to be calculated, so that the calculated amount is large and the speed is low; 3. when the cost function value corresponding to each curve in the local path track cluster is calculated, only the transverse distances between the obstacle detouring track and the obstacle, between the local optional target point and the local expected target point and between the current local optional target point and the previous optimal local optional target point are considered, and when the transverse distance between the obstacle detouring track and the obstacle is larger and the distance between the vehicle and the obstacle is smaller, the finally selected optimal local motion path is unreasonable.
In general, the method for planning the local path motion of the unmanned automobile has the advantages of large calculated amount, low efficiency and low safety; the effect is poor in practical application.
Disclosure of Invention
The invention provides a vehicle obstacle avoidance path planning method and device, which are used for solving the problems of low efficiency and poor safety in path planning in the prior art.
In order to solve the technical problems, the technical scheme of the invention comprises the following steps:
the invention provides a vehicle obstacle avoidance path planning method, which comprises the following steps:
acquiring a running preset track of a vehicle;
determining a reference target point on the preset running track of the vehicle, and carrying out coordinate transformation on the reference target point to transform the reference target point into a vehicle coordinate system;
determining an alternative target point according to the reference target point in a vehicle coordinate system;
determining a plurality of control points according to the reference target point and the starting position of the vehicle, and fitting a local alternative path which accords with the Bezier curve standard; determining a plurality of corresponding control points for any alternative target point and vehicle starting position, and correspondingly fitting a local alternative path which accords with Bezier curve standards; thereby forming a set of local alternate paths;
the local alternative paths are sequenced according to the sequence from small to large distances from the vehicle running preset track;
and sequentially judging whether each local alternative path meets the path selection setting conditions according to the sequence, and if a certain local alternative path meets the path selection setting conditions, taking the local alternative path as a finally determined local path.
The beneficial effects of the technical scheme are as follows: only one reference target point is needed to be determined, then the reference target point is mapped to a vehicle coordinate system, and large-scale data mapping is not needed; by sequencing the local alternative paths and sequentially judging, when the vehicle local alternative paths meet the conditions, the judgment is not needed, so that the efficiency is improved, and the finally determined local paths can be ensured to be consistent with the preset tracks as much as possible.
Further, in order to improve the rationality of the finally determined local path length, the reference target point is determined on a preset track of the vehicle running according to the current position of the vehicle, the current speed of the vehicle, the maximum deceleration of the vehicle braking and the minimum safe distance of the vehicle.
Further, the step of determining the reference target point on the preset track for vehicle running includes:
according to the current speed of the vehicle, the maximum deceleration of the vehicle brake and the minimum safe distance of the vehicle, calculating a reference distance:
wherein l 0 For the reference distance, v is the current speed of the vehicle, T is the program running period, l c For minimum collision distance, l s A is the minimum safe distance, and a is the maximum deceleration of the vehicle braking;
and determining a reference target point on the preset running track of the vehicle according to the current position of the vehicle and the reference distance, so that the distance from the reference target point to the current position of the vehicle is the reference distance.
Further, in order to obtain a suitable alternative path, the path selection setting conditions are as follows: there are no obstacles on the local alternate path, and the lateral passage distance of the obstacle to the local alternate path is not less than the minimum lateral passage distance that allows the vehicle to pass.
Further, in order to reduce the computational complexity, the step of determining the candidate target point comprises:
taking the reference target point as an origin of a vehicle coordinate system, taking the heading of a vehicle running preset track at the reference target point as an x axis of the vehicle coordinate system, and selecting an alternative target point on a y axis of a corresponding vehicle coordinate system; and then converting the coordinates of each candidate target point into a vehicle coordinate system taking the current position of the vehicle as an origin.
Further, in order to uniformly distribute the fitted local alternative paths on two sides of the preset running track of the vehicle, the alternative target points are symmetrical along the x-axis relative to the reference target point.
Further, in order to make the fitted local alternative paths more balanced, the control points determined according to the reference target point and the starting position of the vehicle include: the intersection point of the straight line where the heading of the current position of the vehicle is located and the straight line where the heading of the reference target point is located;
the control point determined according to the alternative target point and the vehicle starting position comprises: and the intersection point of the straight line where the heading of the current position of the vehicle is located and the straight line where the heading of the alternative target point is located.
Further, in order to obtain the optimal parking brake path, the method further includes: and when all the local alternative paths do not meet the path selection setting conditions, selecting the local alternative path which has the obstacle and corresponds to the maximum distance from the obstacle to the current position of the vehicle as the parking brake path.
Further, in order to improve the efficiency of acquiring and storing the preset track, the preset track for the vehicle to run is acquired through GPS data and stored in a form of discrete points.
The invention also provides a vehicle obstacle avoidance path planning device, which comprises a processor and a memory, wherein the processor is used for processing the instructions stored in the memory so as to realize the vehicle obstacle avoidance path planning method and achieve the same effect as the method.
Drawings
FIG. 1 is a flow chart of a vehicle obstacle avoidance path planning method of the present invention;
FIG. 2 is a schematic diagram of a Bezier curve set constructed by the vehicle obstacle avoidance path planning method of the present invention;
fig. 3 is a block diagram of the vehicle obstacle avoidance path planning apparatus of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Method embodiment:
a vehicle obstacle avoidance path planning method, the corresponding flow chart is shown in figure 1, comprises the following steps:
(1) The GPS map is collected, map data are processed offline according to the preset route of the vehicle, the preset track of the vehicle is constructed, and the preset track of the vehicle is stored in a discrete point mode, so that the efficiency of obtaining and storing the preset track is high, and the later calculation is facilitated.
Wherein, corresponding vehicle running preset tracks can be constructed according to actual conditions. For example, for a bus with a determined driving route, a corresponding preset driving track of the bus can be constructed according to the driving route of the bus and by combining with a GPS map; for the car knowing the starting point and the terminal point, a corresponding running route can be generated according to a hundred-degree map or a Goldmap, and a GPS map is combined to construct a corresponding preset running track of the car.
(2) According to the preset running track and the current position of the vehicle, a set of Bezier curves are constructed, and the specific construction steps are as follows:
(2-1) first determining the reference distance l based on the current speed of the vehicle, the maximum deceleration of the vehicle braking, the minimum safe distance of the vehicle 0 The corresponding determination formula is as follows:
wherein v is the current speed of the vehicle, T is the program running period, which refers to a step length, l, of the whole system program running including the path planning algorithm c For minimum collision distance, l s For a minimum safe distance, a is the maximum deceleration of the vehicle brake.
(2-2) according to the vehicle travel preset trajectory, the vehicle current position, and the reference distance l 0 Determining a reference target point Q of a reference Bezier curve on a preset running track of a vehicle 0 . At this time reference target point Q 0 Along a preset track of the vehicle, the distance from the current position of the vehicle is l 0 。
(2-3) according to the current pose of the vehicleReference target point Q on preset track for vehicle running 0 Pose (pose)Selecting control point P in vehicle coordinate system 0 ，P 1 ，…，P n (n is an even number), constructing a reference Bezier curve, and specifically comprises the following steps:
(2-3-1) according to the current pose of the vehicleKinematically relate the reference target point Q 0 Is converted into a vehicle coordinate system:
wherein, (x) 0 ，y 0 ) For the current position of the vehicle,is the heading angle of the current position of the vehicle, (x) global ，y global ) For the target point Q 0 Geodetic coordinates of (x) vehicle ，y vehicle ) Is the target datum point Q 0 Is a vehicle coordinate of (a).
(2-3-2) As shown in FIG. 2, the current position (x) 0 ，y 0 ) As the origin of the vehicle coordinate system, the current position of the vehicle is taken as the control point P 0 At this time there is P 0 (0, 0), taking the reference target point Q 0 For the control point P n At this time there is P n (x vehicle ，y vehicle ) Taking the current heading of the vehicle and a reference target point Q 0 The intersection point of the heading is a key control point P n/2 The rest (n-2) control points are the online section P 1 P n/2 And line segment P n/2 And uniformly taking the points on Pn.
(2-3-3) according to the control point P 0 ，P 1 ，…，P n Constructing a Bezier curve according to a curve equation:
the reference Bezier curve can be obtained through the steps (2-3-1) - (2-3-3), and at least 5 control points can be taken out in the point taking mode, so that the generated Bezier curve is approximate to the preset path track form.
In the present embodiment, only the reference target point Q is required 0 From geodetic coordinatesThe system is converted into a vehicle coordinate system without mapping and processing the whole high-precision map, and has high calculation speed and high efficiency. Moreover, in the present embodiment, the heading of the current position of the vehicle and the reference target point Q 0 The intersection point of the heading is a key control point P n/2 The key control points are adopted, so that the fitted track is more balanced, and the method is particularly suitable for turning working conditions.
(2-4) according to the reference target point Q 0 And the width of the lane line, determining other 2m candidate target points, and further determining the corresponding Bezier curve, wherein the specific steps are as follows:
(2-4-1) As shown in FIG. 2, the reference target point Q 0 As the origin of the vehicle coordinate system, to reference the target point Q 0 Is taken as the x-axis of the vehicle coordinate system, 2m alternative target points Q symmetrical about the x-axis are selected on the y-axis i (x i ，y i ) I=1, 2, …,2m, where x i ＝0，
(2-4-2) the target point Q to be replaced i (x i ，y i ) Converting into a target point Q to be selected correspondingly under a vehicle coordinate system taking the current position of the vehicle as an origin i (x′ vehicle ，y′ vehicle ) Taking the current position of the vehicle as a control point P 0 At this time there is P 0 (0, 0), taking an alternative target point Q i (x′ vehicle ，y′ vehicle ) For the control point P n At this time there is P n (x′ vehicle ，y′ vehicle ) The vehicle running preset track is set at the reference target point Q 0 As the heading of each alternative target point, 2m Bezier curves are constructed according to the method of the step (2-3).
In step (2-4-1), the reference target point Q is obtained by 0 As the origin of the vehicle coordinate system, and will reference target point Q 0 As the x-axis of the vehicle coordinate system, so that an alternative target point can be selected on the y-axis, reducing the computational complexity. In the step (2-4-2), the coordinate system is converted again to the current position of the vehicleAnd a vehicle coordinate system set as an origin.
As another embodiment, the calculation may be performed always in the vehicle coordinate system with the current position of the vehicle as the origin.
And (2-5) sequencing all (2m+1) Bezier curves according to the distance from the preset track from small to large, so as to obtain and store a group of ordered Bezier curves.
(3) According to the relative position relation between the obstacle and the curve, selecting one from the constructed Bezier curve group as a local path of the vehicle, wherein the specific process is as follows:
and (3-1) firstly acquiring a Bezier curve with the minimum distance from a preset track, and acquiring barrier information from a forward sensing system in real time.
(3-2) finding the nearest obstacle to the Bezier curve, and calculating the obstacle longitudinal distance D long And lateral pass distance D lat ：
Wherein d long Is the actual distance d of the obstacle on the Bezier curve from the vehicle lat For the actual lateral pass distance of the obstacle from the Bezier curve, threshold is the minimum lateral pass distance that the vehicle is allowed to pass.
(3-3) according to the obstacle longitudinal distance D long And lateral pass distance D lat The following operations are performed:
when D is long = infinity and D lat If not equal to 0, selecting the Bezier curve as a travelable path of the vehicle;
when D is long = infinity and D lat When the value is=0, continuing to judge the next Bezier curve from (3-1);
when D is long ＝d long In the case, the judgment is continued from (3-1)The next Bezier curve is broken.
(3-4) after traversing all Bezier curves, if a travelable path exists, selecting a first Bezier curve meeting the condition as an optimal path in order to ensure that the travelable path does not deviate from a preset track too far; if no travelable path exists, selecting d long The largest curve performs parking braking.
In the step (3), the longitudinal distance D of the obstacle corresponding to the Bezier curve is calculated sequentially according to the sequence from the smaller distance to the larger distance from the preset track long And lateral pass distance D lat When meeting D long = infinity and D lat When the vehicle is not equal to 0, the Bezier curve is directly used as the drivable path of the vehicle, and the subsequent relevant calculation of the Bezier curve is not needed, so that the calculation efficiency is improved on the basis of ensuring that the drivable path of the vehicle can be selected, and the finally determined path can be ensured to be consistent with the preset track as much as possible.
In this embodiment, the set of Bezier curves constructed is shown in FIG. 2, and includes a total of 5 Bezier curves. Of course, as other embodiments, the number of candidate target points may be determined according to the lane line width, and thus the number of curves in the Bezier curve set.
In the vehicle obstacle avoidance path planning method, a reference Bezier curve is constructed first, and then a reference target point Q is used 0 To determine 2m candidate target points, and to construct other 2m Bezier curves, as other embodiments, the target point Q can be determined according to the reference 0 To determine 2m candidate target points, then according to the reference target point Q 0 And 2m alternative target points to construct a reference Bezier curve and other 2m Bezier curves simultaneously.
The above-mentioned vehicle obstacle avoidance path planning method only provides a specific implementation manner of determining the reference target point, the alternative target point and the control point, and as other implementations, the reference target point and the alternative target point may be determined in other manners under the condition of ensuring that the generated local alternative path length is reasonable, and the control point may be determined in other manners under the condition of ensuring that the local alternative path meeting the Bezier curve standard can be generated.
For example, when determining the reference target point, the distance from the reference target point to the current position of the vehicle may be determined according to the current speed of the vehicle and the minimum safe distance, so as to determine the position of the reference target point on the preset track of the vehicle; when the alternative target point is determined, the target point can be obtained by uniformly taking the point on the y axis of the corresponding vehicle coordinate system; the manner disclosed in the patent application documents mentioned in the background can also be used in determining the control point.
In addition, other embodiments may be adopted for the path selection setting conditions, in the case where the local path that is finally determined is ensured to be reasonable. For example, the path selection setting condition is that the lateral distance of the local alternative path to the obstacle nearest thereto is not less than the minimum lateral passing distance that allows the vehicle to pass.
Device example:
the embodiment provides a vehicle obstacle avoidance path planning device, as shown in fig. 3, which comprises a processor and a memory, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the method of the method embodiment when executing the computer program. That is, the method in the above method embodiment should be understood as a flow of the vehicle obstacle avoidance path planning method that may be implemented by computer program instructions.
The processor in this embodiment refers to a microprocessor MCU or a processing device such as a programmable logic device FPGA; the memory referred to in this embodiment includes physical means for storing information, typically by digitizing the information and then storing the information in an electrical, magnetic, or optical medium. For example: various memories, RAM, ROM and the like for storing information by utilizing an electric energy mode; various memories for storing information by utilizing a magnetic energy mode, such as a hard disk, a floppy disk, a magnetic tape, a magnetic core memory, a bubble memory and a U disk; various memories, CDs or DVDs, which store information optically. Of course, there are other ways of storing, such as quantum storing, graphene storing, etc.
The device formed by the memory, the processor and the computer program is implemented in the computer by executing corresponding program instructions by the processor, and the processor can be loaded with various operating systems, such as windows operating systems, linux systems, android, IOS systems and the like.
Claims (7)
1. The vehicle obstacle avoidance path planning method is characterized by comprising the following steps:
acquiring a running preset track of a vehicle;
determining a reference target point on the preset running track of the vehicle, and carrying out coordinate transformation on the reference target point to transform the reference target point into a vehicle coordinate system; determining the reference target point on a preset running track of the vehicle according to the current position of the vehicle, the current speed of the vehicle, the maximum deceleration of the vehicle brake and the minimum safe distance of the vehicle; the step of determining the reference target point on the vehicle running preset track comprises the following steps:
according to the current speed of the vehicle, the maximum deceleration of the vehicle brake and the minimum safe distance of the vehicle, calculating a reference distance:
wherein l 0 For the reference distance, v is the current speed of the vehicle, T is the program running period, l c For minimum collision distance, l s A is the minimum safe distance, and a is the maximum deceleration of the vehicle braking;
determining an alternative target point according to the reference target point in a vehicle coordinate system;
determining a plurality of control points according to the reference target point and the starting position of the vehicle, and fitting a local alternative path which accords with the Bezier curve standard; determining a plurality of corresponding control points for any alternative target point and vehicle starting position, and correspondingly fitting a local alternative path which accords with Bezier curve standards; thereby forming a set of local alternate paths; the control point determined from the reference target point and the vehicle start position includes: the intersection point of the straight line where the heading of the current position of the vehicle is located and the straight line where the heading of the reference target point is located is a key control point, and other control points are obtained by uniformly taking points on line segments between the reference target point, the starting position of the vehicle and the key control point respectively; the control point determined according to the alternative target point and the vehicle starting position comprises: the intersection point of the straight line where the heading of the current position of the vehicle is located and the straight line where the heading of the alternative target point is located is a key control point, and other control points are obtained by uniformly taking points on line segments between the alternative target point, the starting position of the vehicle and the key control point respectively;
the local alternative paths are sequenced according to the sequence from small to large distances from the vehicle running preset track;
and sequentially judging whether each local alternative path meets the path selection setting conditions according to the sequence, and if a certain local alternative path meets the path selection setting conditions, taking the local alternative path as a finally determined local path.
2. The vehicle obstacle avoidance path planning method according to claim 1, wherein the path selection setting condition is: there are no obstacles on the local alternate path, and the lateral passage distance of the obstacle to the local alternate path is not less than the minimum lateral passage distance that allows the vehicle to pass.
3. The vehicle obstacle avoidance path planning method of claim 1 wherein the step of determining the candidate target point comprises:
taking the reference target point as an origin of a vehicle coordinate system, taking the heading of a vehicle running preset track at the reference target point as an x axis of the vehicle coordinate system, and selecting an alternative target point on a y axis of a corresponding vehicle coordinate system; and then converting the coordinates of each candidate target point into a vehicle coordinate system taking the current position of the vehicle as an origin.
4. A vehicle obstacle avoidance path planning method according to claim 3 wherein the candidate target points are symmetrical about the x-axis relative to the reference target point.
5. The vehicle obstacle avoidance path planning method of claim 1 further comprising: and when all the local alternative paths do not meet the path selection setting conditions, selecting the local alternative path which has the obstacle and corresponds to the maximum distance from the obstacle to the current position of the vehicle as the parking brake path.
6. The vehicle obstacle avoidance path planning method according to claim 1 wherein the vehicle travel preset trajectory is obtained by GPS data and stored in the form of discrete points.
7. A vehicle obstacle avoidance path planning apparatus comprising a processor and a memory, the processor being operable to process instructions stored in the memory to implement the vehicle obstacle avoidance path planning method of any one of claims 1 to 6.
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