CN113885525A - Path planning method and system for automatically driving vehicle to get rid of trouble, vehicle and storage medium - Google Patents
Path planning method and system for automatically driving vehicle to get rid of trouble, vehicle and storage medium Download PDFInfo
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a path planning method for automatically driving a vehicle to get rid of difficulties, which comprises the following steps: sensing environment: receiving and processing information of a vehicle environment sensor; acquiring the positioning information of the vehicle; judging whether the obstacle can be avoided, if so, entering a first path planning, otherwise, performing a second path planning, and replanning the path from the current pose to the target pose in a mode of backing up first and then planning the first path until the obstacle is avoided. According to the invention, the distance between the vehicle and the obstacle without collision is calculated in real time by adding the environmental information sensed by the sensor, so that the method can adapt to different positions of the obstacle, and has a wide application scene; and the designed path planning module can solve the problem of automatic driving and escaping of the vehicle under the condition that the distance between the vehicle and the obstacle is too close or the obstacle avoidance is not successful by concise and clear path planning.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a path planning technology for an automatic driving vehicle.
Background art:
as vehicles become increasingly intelligent, automatic driving of vehicles is an important part thereof. Automotive autopilot has been studied for decades and has formed a general framework for applications. As shown in fig. 1, in general, a vehicle receives sensor information of the vehicle or other locations, obtains sensing information of a vehicle operating environment, performs path planning according to its own location to find a path that can reach a destination, and then outputs the path to a control module, which controls the vehicle. In the current embodiment, the planning of the forward path of the vehicle does not have the planning of the reverse direction, which causes that when the vehicle stops moving forwards at a front obstacle, if the vehicle is too close to the obstacle, the vehicle cannot continue to move forwards, which causes the vehicle to stop for a long time, and causes the problems of jam, vehicle not reaching the destination and the like. Therefore, the escaping module is used for solving the problem that the vehicle automatically drives under the condition that the vehicle is too close to the obstacle or the obstacle avoidance is not successful.
Patent document CN 20181016624 discloses a method and device for processing robot for getting rid of difficulties, and a robot. The technology deals with the problem of getting out of the way of the robot. The technical scheme is as follows: and storing the path traveled by the robot as historical data, inquiring the historical path similar to the current working condition according to the existing stored data when the robot is used for a specific trapped task, using the path as the trapped task, and failing the trapped task if the stored data cannot be inquired. The technical scheme is simple and clear, but is not flexible enough, for the automatic driving vehicle escaping task, the initial pose and the target pose are considered, and the problem of rollback when a dynamic obstacle is encountered is also considered, so that the technical scheme does not provide a corresponding solution.
Patent document CN2020104029273 provides a trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of a vehicle. The technology presets a curvature radius A, and determines whether to carry out forward escaping operation or not by comparing the curvature radius B of an output track of a real-time calculation track planning module with the preset curvature radius A. The technology only provides a judgment whether to enter the escaping function, and does not describe what path to adopt for escaping and how to obtain the path.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a path planning method for automatically driving a vehicle to get rid of the trouble, which aims at the trouble-free scene when the automatically driving vehicle is too close to an obstacle or the obstacle avoidance fails, increases the flexibility of the vehicle in the obstacle avoidance process, and enables the vehicle to get rid of the trouble smoothly.
The technical scheme of the invention is as follows:
a path planning method for automatically driving a vehicle to get rid of difficulties comprises the following steps:
step 1, sensing environment: and receiving information of a vehicle environment sensor, wherein the sensor at least comprises a look-around camera and an ultrasonic sensor. Processing the above sensor information to obtain the following information: the spatial boundary of the vehicle capable of running without collision, the distance from the edge of the vehicle to the boundary, and the planned end point.
And 2, acquiring the positioning information of the vehicle, namely the coordinate information of the vehicle in a certain coordinate system.
Step 3, judging whether the obstacle can be avoided: and calculating whether the front right corner or the front left corner can be separated from the rear of the obstacle without collision when the steering wheel of the vehicle is full in the forward gear according to the distance information between the vehicle and the front obstacle and the positioning information of the vehicle, and if the calculated result shows that the vehicle can be separated from the rear of the obstacle, the step 4 is carried out, and if the vehicle cannot be separated from the rear of the obstacle, the step 5 is carried out.
Step 4, planning a first path: planning four paths according to the target pose and the initial pose of the vehicle to enable the vehicle to avoid the obstacle, wherein the first path is a section of arc with a fixed radius and is full of a point corresponding to the steering wheel with the initial pose; the second section of path is a line segment, and when the course angle of the vehicle reaches A, the vehicle advances in a linear mode; the third section of path is a section of circular arc, and the steering wheel is filled in a reverse direction corresponding to the coordinate of the target point T; the fourth path is a line segment in which the end point of the circular arc is connected to the target point, and the vehicle directly reaches the target point by walking a straight line again corresponding to the fourth path.
Step 5, planning a second path: firstly, calculating the distance required to reverse according to the distance which is calculated in the step 3 and can not collide with the rear part of the barrier, and planning a section of straight line segment for reversing; and then, from the position of the vehicle after backing up, replanning the path from the current pose to the target pose in a first path planning mode until the obstacle is avoided.
The invention describes an autonomous vehicle as a four-wheel, rear-wheel-drive passenger vehicle having a rectangular projection in the horizontal plane defining four points: a is the left front of the rectangular projection, B is the right front of the rectangular projection, C is the right rear of the rectangular projection, and D is the left rear of the rectangular projection. The coordinate system used by the technical scheme is based on a rectangular coordinate system which is established by taking the center of the rear axle of the vehicle as the origin, taking the right front of the vehicle as the X axle and taking the left of the vehicle as the Y axle when entering the function, wherein the included angle between the direction of the longitudinal central axle of the vehicle and the X axle is the Heading angle Heading of the vehicle, and the three components form the pose of the vehicle, namely (X, Y and Heading).
The invention further provides a path planning system for getting rid of difficulties of the automatic driving vehicle, which comprises
The environment information processing module: the system is used for receiving and processing the information of the vehicle environment sensor, and obtaining the following information: the space boundary of the vehicle capable of running without collision, the distance from the edge of the vehicle to the boundary and the planned terminal point;
the positioning module is used for acquiring positioning information of the vehicle, namely coordinate information;
the judging module is used for judging whether the vehicle can avoid the obstacle or not, and calculating whether the front right corner or the front left corner of the vehicle can be separated from the rear of the obstacle without collision when a steering wheel of the vehicle is full when a forward gear is achieved according to the distance information between the vehicle and the front obstacle and the positioning information of the vehicle;
the first path planning module plans four paths according to the target pose and the initial pose of the vehicle to enable the vehicle to avoid the obstacle, wherein the first path is a circular arc with a fixed radius and is full of a point corresponding to a steering wheel with the initial pose; the second section of path is a line segment, and when the course angle of the vehicle reaches A, the vehicle advances in a linear mode; the third section of path is a section of circular arc, and the steering wheel is filled in a reverse direction corresponding to the coordinate of the target point T; the fourth path is a line segment which is connected with the target point at the end point of the circular arc and corresponds to the vehicle and then directly reaches the target point by walking a straight line;
the second path planning module calculates the distance required to reverse according to the distance which is calculated by the judging module and can not collide with the rear part of the barrier, and plans a section of straight line segment for reversing; and then, from the position of the vehicle after backing up, replanning the path from the current pose to the target pose in a first path planning mode until the obstacle is avoided.
The invention also provides a vehicle, which adopts the automatic driving vehicle escaping path planning system.
The present invention also provides a storage medium having stored thereon computer-executable instructions, the storage medium having stored thereon one or more programs executable by one or more processors to perform the steps of the above-described method for path planning for automated vehicle escape.
By adopting the technical scheme, the invention has the following obvious advantages:
the invention can calculate the distance between the vehicle and the obstacle without collision in real time by adding the environmental information sensed by the sensor, can adapt to different positions of the obstacle, and has wide application scenes.
The route planning module designed by the invention can be used for solving the problem of automatic driving and escaping of the vehicle under the condition that the distance between the vehicle and the obstacle is too close or the obstacle avoidance is not successful by concise and clear route planning.
Drawings
FIG. 1 is an overall frame diagram of autopilot;
fig. 2 is a diagram showing an embodiment of a path plan for escaping from a vehicle under automatic driving according to the present invention.
Detailed Description
The following describes a specific embodiment of the solution using a specific example:
as shown in fig. 2, the lower vehicle in the figure is a self-driving vehicle, and the rear axle center thereof is V1, the four points of the rectangular outline are A, B, C, D, the vehicle rotation center with the left full steering wheel is O, the upper vehicle is an obstacle vehicle, the rear axle center of the obstacle vehicle is V2, and the outline point of the rear left corner is H. Let the distance between two points be d, e.g. the distance between a and B is dAB. L1 is the left lane boundary line, and L2 is the right lane boundary line. And the point T is a target point. The midpoint of AB is FM.
Step 1: sensing environment: receiving information of a vehicle around-looking camera and an ultrasonic sensor, and processing according to the information to obtain the following information:
the distance from the edge of the vehicle to the above boundary, i.e., the distance LongDis from the host vehicle to the preceding obstacle vehicle.
The spatial boundary where the vehicle can run without collision, i.e., the coordinates of the boundary point H of the obstacle vehicle, the left lane boundary line L1, is represented as a series of discrete points at some fixed intervals on this line, and the right lane L2 is represented in the same manner.
The planned end point is denoted as target point T. According to the space boundary without collision of the vehicle and the geometric parameters of the vehicle, a line which has a certain distance between the transverse direction of the vehicle and the space boundary without collision is determined, and the distance is marked as LatOffset. The point of intersection of the line on which the longitudinal direction of the vehicle is located when the vehicle direction is parallel to L1 and the above line is the target point T.
dOB and dOH were calculated.
Step 2: obtaining location information, i.e. coordinates (X), of the host vehicleV,YV,HeadingV)。
And step 3: judging whether the obstacle vehicle can be avoided:
if dOH > dOB, it represents that the vehicle can be driven without collision when the steering wheel is full left, so the vehicle is controlled to directly move forward and the process goes to step 4. If dOH < ═ dOB, it means that the host vehicle cannot be driven out without collision when the steering wheel is full on the left side, so the host vehicle needs to back up to get out of the way, and the process goes to step 5.
And 4, step 4: planning a first path: according to the target pose and the initial pose of the vehicle, firstly, the steering wheel is fully and fixedly arranged on the left, so that the vehicle can advance in a mode of rotating around a point O, and a first section of path is an arc with a fixed radius; when the course angle of the vehicle reaches 30 degrees, the vehicle advances in a linear mode, so that the second section of path is a line segment; obtaining a third section of path as a section of circular arc according to the coordinate of the target point T; the fourth path is a line segment where the end point of the circular arc is connected to the target point.
Thus, the path of the automatic driving vehicle is planned, and the vehicle is controlled to avoid the obstacle: according to the target pose and the initial pose of the vehicle, firstly, a point is filled from the initial pose steering wheel, for example, the point is filled to the left, then a straight line is taken, then the point is filled to the opposite direction of the steering wheel, for example, the point is filled to the right, and then a straight line is taken to directly reach the target point.
And 5: second path planning:
first, the distance dV1FM from V1 to FM is calculated, and then the distance to rewind may be calculated as
So the first section of the path is planned as a line segment; after the vehicle finishes the first section of path, calculating dOH obtained according to the current pose>dOB, so it can go straight forward, first the steering wheel is fully left fixed, so the vehicle will go forward in a rotating manner around point O, so the second path is a circular arc with a fixed radius; when the heading angle of the vehicle reaches 30 degrees, the vehicle advances in a linear mode, so that the third section of path is a line segment; according to the coordinates of the target point T, a fourth section of path which is a section of circular arc is obtained; the fifth path is a segment where the end point of the arc is connected to the target point.
The route of the automatic driving vehicle is planned, the vehicle is controlled to firstly back along the back straight route planned, after the back is finished, the vehicle is shifted to the front gear under the condition that the vehicle is braked and stopped, the steering wheel in the current pose after the back is selected to be fully hit to a point, then the vehicle moves along the straight line, the steering wheel is fully hit in the reverse direction, and then the vehicle moves along the straight line to directly reach a target point, so that the obstacle vehicle can be avoided.
Claims (7)
1. A path planning method for automatically driving a vehicle to get rid of difficulties is characterized by comprising the following steps:
step 1, sensing environment: receiving and processing information of the vehicle environment sensor to obtain the following information: the space boundary of the vehicle capable of running without collision, the distance from the edge of the vehicle to the boundary and the planned terminal point;
step 2, acquiring positioning information of the vehicle, namely coordinate information;
step 3, judging whether the obstacle can be avoided: according to the distance information from the vehicle to the front obstacle and the positioning information of the vehicle, whether the right front corner or the left front corner of the vehicle can be separated from the rear of the obstacle without collision when the steering wheel of the vehicle is fully driven during forward gear is calculated, if yes, the step 4 is carried out, and if not, the step 5 is carried out;
step 4, planning a first path: planning four paths according to the target pose and the initial pose of the vehicle to enable the vehicle to avoid the obstacle, wherein the first path is a section of arc with a fixed radius and is full of a point corresponding to the steering wheel with the initial pose; the second section of path is a line segment, and when the course angle of the vehicle reaches A, the vehicle advances in a linear mode; the third section of path is a section of circular arc, and the steering wheel is filled in a reverse direction corresponding to the coordinate of the target point T; the fourth path is a line segment which is connected with the target point at the end point of the circular arc and corresponds to the vehicle and then directly reaches the target point by walking a straight line;
step 5, planning a second path: firstly, calculating the distance required to reverse according to the distance which is calculated in the step 3 and can not collide with the rear part of the barrier, and planning a section of straight line segment for reversing; and then, from the position of the vehicle after backing up, replanning the path from the current pose to the target pose in a first path planning mode until the obstacle is avoided.
2. The method according to claim 1, wherein the coordinate system of the host vehicle is a rectangular coordinate system established based on the center of the rear axle of the vehicle as the origin, the X-axis right in front of the vehicle and the Y-axis left in left of the vehicle when the vehicle enters the path planning function, wherein the included angle between the longitudinal central axis direction of the vehicle and the X-axis is the Heading angle Heading of the vehicle, and the three form the pose of the vehicle, i.e., (X, Y, Heading).
3. The method for path planning for escape of an autonomous vehicle as claimed in claim 1, wherein the distance at which the host vehicle backs up in step 5 is calculated as: is obtained by calculation firstlyDistance d from axis center V1 to midpoint AB FMV1FMThen, according to the formula:
the distance of the backset is obtained.
4. The automated driven vehicle escape route planning method of claim 1, wherein the vehicle environment sensors comprise at least a look-around camera and an ultrasonic sensor.
5. A path planning system for automatically driving vehicles to get rid of difficulties is characterized by comprising
The environment information processing module: the system is used for receiving and processing the information of the vehicle environment sensor, and obtaining the following information: the space boundary of the vehicle capable of running without collision, the distance from the edge of the vehicle to the boundary and the planned terminal point;
the positioning module is used for acquiring positioning information of the vehicle, namely coordinate information;
the judging module is used for judging whether the vehicle can avoid the obstacle or not, and calculating whether the front right corner or the front left corner of the vehicle can be separated from the rear of the obstacle without collision when a steering wheel of the vehicle is full when a forward gear is achieved according to the distance information between the vehicle and the front obstacle and the positioning information of the vehicle;
the first path planning module plans four paths according to the target pose and the initial pose of the vehicle to enable the vehicle to avoid the obstacle, wherein the first path is a circular arc with a fixed radius and is full of a point corresponding to a steering wheel with the initial pose; the second section of path is a line segment, and when the course angle of the vehicle reaches A, the vehicle advances in a linear mode; the third section of path is a section of circular arc, and the steering wheel is filled in a reverse direction corresponding to the coordinate of the target point T; the fourth path is a line segment which is connected with the target point at the end point of the circular arc and corresponds to the vehicle and then directly reaches the target point by walking a straight line;
the second path planning module calculates the distance required to reverse according to the distance which is calculated by the judging module and can not collide with the rear part of the barrier, and plans a section of straight line segment for reversing; and then, from the position of the vehicle after backing up, replanning the path from the current pose to the target pose in a first path planning mode until the obstacle is avoided.
6. A vehicle, characterized in that: a path planning system for escaping from difficulties with autonomous vehicles according to claim 5.
7. A storage medium storing computer-executable instructions, the storage medium storing one or more programs executable by one or more processors to perform the steps of the method for path planning for automated vehicle escape as recited in claims 1-4.
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Cited By (2)
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