CN114030463A - Path planning method and device of automatic parking system - Google Patents

Path planning method and device of automatic parking system Download PDF

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Publication number
CN114030463A
CN114030463A CN202111397656.8A CN202111397656A CN114030463A CN 114030463 A CN114030463 A CN 114030463A CN 202111397656 A CN202111397656 A CN 202111397656A CN 114030463 A CN114030463 A CN 114030463A
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China
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target
point
points
parking
key
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CN114030463B (en
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陆辉
叶菲
丁海建
苏磊
武振
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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Priority claimed from CN202111397656.8A external-priority patent/CN114030463B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture

Abstract

The invention discloses a path planning method of an automatic parking system, which comprises the following steps: acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment; converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system; selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side vision garage corner points where the target parking places are located; calculating parking poses according to the target key point map and the visual library position angular points; and calculating a parking path according to the target key point map, the visual library position corner points and the parking pose. In the process, the library position angular points are compensated, so that the problem of inaccurate path planning caused by the fact that the library position angular points are not reference points for vehicle parking is solved.

Description

Path planning method and device of automatic parking system
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to a path planning method and device of an automatic parking system.
Background
The full-automatic parking auxiliary system detects a parking space through an ultrasonic radar, a laser radar, a millimeter wave radar or a visual sensor, calculates a final parking position, calculates a driving path which is free of collision, short in distance, short in time and friendly to a driver and drives the vehicle to the final parking position, controls the vehicle to drive along a planned path and finally park in the parking space by controlling actuators such as a driving actuator, a braking actuator, a gear actuator and a gear, and can interact with the driver at each stage to prompt the driver to finish corresponding operation. The traditional parking system only senses the parking space angular point information by using an ultrasonic radar and calculates a parking path through the garage angular point information.
With the improvement of the computing power of the vehicle-mounted processor and the development of the visual processing algorithm technology, the full-automatic parking system can sense information such as a vehicle position line, a road edge, an obstacle, a driving available area and the like through vision, and the application scene of the automatic parking system is greatly improved.
The visual perception and the ultrasonic direction are combined to provide more reasonable path planning, but in the existing path planning process, due to the fact that obstacles may exist at the front end and the rear end of a parking space, and a garage corner point is not a reference point for vehicle parking, the path planning based on the garage corner point can cause inaccurate path planning.
Disclosure of Invention
In view of the above, the present invention provides a path planning method and device for an automatic parking system, so as to solve the problem that path planning is inaccurate when path planning is performed based on a garage corner point in the existing path planning process because obstacles may exist at the front end and the rear end of a parking space and the garage corner point is not a reference point for vehicle parking. The specific scheme is as follows:
a path planning method of an automatic parking system, comprising:
acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment;
converting each ultrasonic positioning point, the vehicle track and the visual library position angular point to the same coordinate system;
selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, and constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side view library position angle points where the target parking spaces are located;
calculating a parking pose according to the target key point map and the visual library position angular points;
and calculating a parking path according to the target key point map, the visual library position angular points and the parking pose.
Optionally, the method for compensating by selecting a preset key point from the ultrasonic positioning points to obtain a target key point includes:
acquiring the position information of each ultrasonic point within a preset range of the position angular point of the side vision library where the target parking space is located;
and compensating the side view library location angular point of the target parking space based on the information of each ultrasonic location point to obtain a target key point.
The method described above, optionally, the target key points include: first target key point, the side storehouse position angular point that the target parking stall is located includes: the first library location angular point and the second library location angular point select a preset number of key points from the ultrasonic positioning points, and the method comprises the following steps:
determining a first preset number of key points based on the first target key point and the moving range of the longitudinal coordinate of the front bumper of the target vehicle;
determining a second preset number of key points based on the first target key point, the first library site corner point and the second library site corner point;
the first preset quantity and the second preset quantity form the preset quantity.
In the foregoing method, optionally, the target key point further includes: the second target key point calculates the parking pose according to the target key point map and the visual library position corner point, and comprises the following steps:
setting distance calibration threshold values of a third preset number for the target parking spaces;
acquiring the current pose of the target vehicle;
calculating a parking pose based on the current pose of the target vehicle, the first and second target keypoints in the target keypoint map, and the first and second target keypoints in the target keypoints.
Optionally, the method for calculating a parking path according to the target key point map, the visual library location corner points, and the parking pose includes:
adjusting the target vehicle to a preset target position based on the key point map and the visual library position corner points to obtain an initial adjustment section end position;
adjusting the target vehicle forwards and backwards at the target position based on a preset steering radius and the parking pose to obtain an in-garage adjusting section out-of-garage position;
and calculating a parking path connecting the initial adjustment section end position and the in-garage adjustment section delivery position based on the parking pose.
A path planning apparatus for an automatic parking system, comprising:
the acquisition module is used for acquiring each ultrasonic positioning point and a self-vehicle track of a target vehicle aiming at a target parking space based on an ultrasonic radar and acquiring a visual garage position angular point of the target parking space based on image acquisition equipment;
the conversion module is used for converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system;
the compensation and construction module is used for selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, and constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side visual library position corner points where the target parking spaces are located;
the first calculation module is used for calculating a parking pose according to the target key point map and the visual library position angular points;
and the second calculation module is used for calculating a parking path according to the target key point map, the visual library position corner points and the parking pose.
The above apparatus, optionally, the compensation and construction module includes:
the first acquisition unit is used for acquiring the information of each ultrasonic point site in the preset range of the site angle point of the side visual library where the target parking space is located;
and the compensation unit is used for compensating the side view library location angular point of the target parking space based on the information of each ultrasonic location point to obtain a target key point.
The above apparatus, optionally, the target key points include: first target key point, the side storehouse position angular point that the target parking stall is located includes: the first library location corner point and the second library location corner point, the compensation and construction module comprises:
a first determination unit, configured to determine a first preset number of key points based on the first target key point and a movement range of a longitudinal coordinate of a front bumper of the target vehicle;
a second determining unit, configured to determine a second preset number of key points based on the first target key point, the first library corner point, and the second library corner point;
the first preset quantity and the second preset quantity form the preset quantity.
The above apparatus, optionally, the target key point further includes: a second target keypoint, the first computing module comprising:
the setting unit is used for setting distance calibration threshold values of a third preset number for the target parking spaces;
the second acquisition unit is used for acquiring the current pose of the target vehicle;
a calculation unit, configured to calculate a parking pose based on the current pose of the target vehicle, the first and second target keypoints in the target keypoint map, and the first and second target keypoints in the target keypoints.
The above apparatus, optionally, the second calculating module includes:
the first adjusting unit is used for adjusting the target vehicle to a preset target position based on the key point map and the visual library position corner points to obtain an initial adjusting section end position;
the second adjusting unit is used for adjusting the target vehicle back and forth at the target position based on a preset steering radius and the parking pose to obtain an in-garage adjusting section delivery position;
and the connecting unit is used for calculating and connecting the initial adjusting section end position and the garage-out position parking path of the in-garage adjusting section based on the parking pose.
Compared with the prior art, the invention has the following advantages:
the invention discloses a path planning method of an automatic parking system, which comprises the following steps: acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment; converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system; selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side vision garage corner points where the target parking places are located; calculating parking poses according to the target key point map and the visual library position angular points; and calculating a parking path according to the target key point map, the visual library position corner points and the parking pose. The process compensates the library corner points, and avoids the problems of inaccurate path planning caused by the fact that the library corner points are not reference points for vehicle parking,
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a path planning method of an automatic parking system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of perceptual information in a visual library site coordinate system according to an embodiment of the present disclosure;
FIG. 3 is an abstract keypoint map as disclosed in an embodiment of the present application;
FIG. 4 is a schematic view of a parking position disclosed in an embodiment of the present application;
FIG. 5 is a schematic diagram of an initial adjustment segment according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an in-library conditioning section ex-library condition disclosed in an embodiment of the present application;
FIG. 7 is a schematic diagram of forward constraint of an intra-library adjustment segment according to an embodiment of the present application;
FIG. 8 is a schematic diagram of backward constraint of an in-library adjustment segment disclosed in an embodiment of the present application;
fig. 9 is a schematic diagram illustrating a calculation of a warehousing connection segment disclosed in an embodiment of the present application;
fig. 10 is a block diagram of a path planning device of an automatic parking system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The invention provides a path planning method and a device of an automatic parking system, which are applied to the planning process of a parking path of the full-automatic parking system, wherein the time of identifying a parking space line by vision in the prior art is earlier than the time of identifying a parking space by ultrasound, so that how to comprehensively utilize ultrasonic radar and vision-sensed information to calculate a reasonable parking path and a final parking position is the problem to be solved by the invention. The execution flow of the method is shown in fig. 1, and comprises the following steps:
s101, acquiring each ultrasonic positioning point and each self track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage position angular point of the target parking space based on image acquisition equipment;
in the embodiment of the invention, the target parking space is the parking space for the target vehicle to park, firstly, a full-automatic parking system is started, ultrasonic detection is started, and ultrasonic radar detection sides on two sides of the body of the target vehicle are utilized to detect the sideAnd calculating the coordinates of the ultrasonic positioning points (small black points in the figure 1) according to the pose of the self-vehicle according to the ultrasonic distance as shown in figure 2, and recording the self-vehicle track and the ultrasonic positioning points within a certain distance from the current vehicle to form an original map of the ultrasonic positioning points. The selection of the first certain distance may be set based on experience or a specific situation, for example, the determination may be performed based on the target vehicle and obstacles around the target parking space, and a specific determination process in the embodiment of the present invention is not limited. Starting a camera to detect the vehicle line, and acquiring the visual storehouse location angular point S of the target vehicle by using a look-around camera0、S1、S2And S3And extracting coordinate values of the visual library position angular points under the coordinate system of the self-vehicle.
S102, converting the ultrasonic positioning points, the self-vehicle track and the visual library position corner points to be in the same coordinate system;
in the embodiment of the invention, the extracted parking space line information of the target parking space establishes a visual storehouse position coordinate system based on the parking space line information, and as shown in fig. 1, the original map of the ultrasonic positioning point, the own vehicle track, the visual storehouse position point information and the current position and pose of the own vehicle are converted into the visual storehouse position coordinate system. The above information is respectively recorded as: visual reservoir corner point S0、S1、S2And S3From parking position V0. The coordinate values and the angle values of each point are denoted as X, Y and A, for example, the pose of the bicycle is V0.X, V0.Y and V0.A. As shown in figure one.
Preferably, whether the camera of the target vehicle detects that the position relationship between the target parking space and the target vehicle is at a reasonable position or not can be judged in advance, coordinate system conversion is performed after the position relationship between the target parking space and the vehicle is processed at the reasonable position, and calculation of coordinate conversion can be reduced for the judgment purpose, wherein the reasonable position refers to that the transverse direction, the longitudinal direction and an included angle between the target vehicle and the target vehicle are within corresponding preset range thresholds.
S103, selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, and constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side view library position corner points where the target parking spaces are located;
in the embodiment of the invention, preset key points are selected from the ultrasonic positioning points for compensation, wherein the selection of the preset key points can be selected based on experience or specific conditions, the number and the selection principle of the preset key points are not limited in the embodiment of the invention, and S is selected in the invention0、S1The compensation is performed for example, and the purpose of the compensation is that S is due to the existence of obstacles in front of and behind the target parking space during the actual parking process0(first library corner point), S1(the angular point of the second library position) is not a real boundary point of the parking position, and the compensation process is as follows: acquiring the position information of each ultrasonic point within a preset range of the position angular point of the side vision library where the target parking space is located; s of the side of the target parking space based on the information of each ultrasonic positioning point0、S1Compensating to obtain a target key point A0(first target keypoint) and A1(first target keypoints). In the embodiment of the present invention, the specific compensation process is not limited.
Selecting a preset number of key points from the ultrasonic positioning points, wherein the preset number is composed of the first preset number and the first preset number, in the embodiment of the present invention, specific values of the first preset number and the second preset number are not limited, in the embodiment of the present invention, the first preset number is 1, and the second preset number is 3, as an example, the selection process is as follows: abstracting the channel position to be C for the side where the target parking space is located0Points (the first preset number is 1). As shown in FIG. 3, C0The coordinate value of X is the minimum value of the X coordinate of the ultrasonic positioning point on the side of the garage from the fitting boundary of the point A1 and ending in the corresponding Y coordinate range of the front bumper.
Abstracting the position of a channel to be C for the opposite side of the target parking space1Dots, C2Point and C3Points (the second preset number is 3). If the target vehicle completely passes through the library position, the corresponding characteristics of each point are as follows: s1And A1Adding or subtracting a certain distance from the point Y coordinate to form C2A definite interval of (C)2The point Y coordinate is the minimum value of the Y coordinate in the interval, C1The point Y coordinate is the maximum value of the Y coordinate in the interval; c2The point X coordinate is the maximum value of the X coordinate of the ultrasonic point at the opposite side of the target parking space in the interval range, C1Point X coordinate is C1The maximum value of the X coordinate of the ultrasonic point on the opposite side of the target parking space is within the range from the Y coordinate of the point to the Y coordinate corresponding to the front bumper of the automobile; the Y coordinate of the C3 point is the Y coordinate of the S0 point, and the X coordinate of the C3 point is the Y coordinate of the C3 point.
According to A0、A1、C0、C1、C2And C3And forming a target key point map.
S104, calculating a parking pose according to the target key point map and the visual library position angular points;
in the embodiment of the invention, the final parking pose is calculated according to the target key point map and the visual library position information and is marked as Vend. Finally, giving a parking pose in the center of a parking space line in the X direction and the Y direction by default, namely, the distance between the outer contour of the vehicle body and the front and rear side lines is equal, the distance between the outer contour of the vehicle body and the inner and outer side lines is equal, the angle is equal to the angle of the parking space line, and then correcting the final parking pose according to the point A0, the point A1 and the road edge, wherein the calculation process is as follows as shown in FIG. 4:
a) if Vend position front bumper and A1Projection distance d of Y in Y-axis direction1Greater than a certain distance d1min, jumping to the next step b); if d is1Is less than d1min, then moving the final parking position to the negative Y direction to make d1Is equal to d1min, obtaining a new final parking position Vend.Y, and continuing the next step b);
b) front bumper and S if Vend position1Projection distance d of Y in Y-axis direction2Greater than a certain distance d2min, jumping to the next step c); if d is2Is less thand2min, then moving the final parking position to the negative Y direction to make d2Is equal to d1min, obtaining a new final parking position Vend.Y, and continuing the next step c);
c) if Vend position rear bumper and S0Projection distance d of Y in Y-axis direction3Greater than a certain distance d3min, jumping to the next step d); if d is3Is less than d3min, moving the final parking position to the positive Y direction to make d3Is equal to d3min, get the new final parking position Vend. Y, if Vend. Y position d1>d1min and d2>d2min, continuing the next step d), otherwise, returning to fail;
d) if Vend position rear bumper and A0Projection distance d of Y in Y-axis direction4If the distance is more than a certain distance d4min, jumping to the next step e); if d is4Is less than d4min, moving the final parking position to the positive Y direction to make d4Is equal to d4min, get the new final parking position Vend. Y, if Vend. Y position d1>d1min and d2>d2min, continuing the next step e), otherwise, returning to fail;
e) if Vend position rear bumper and A0.Y projection distance d in Y axis direction4If the distance is more than a certain distance d4min, jumping to the next step f); if d is4Is less than d4min, moving the final parking position to the positive Y direction to make d4Is equal to d4min, get the new final parking position Vend. Y, if Vend. Y position d1>d1min and d2>d2min, continuing the next step f), otherwise, returning to fail;
f) if the projection distance d between the inner profile of the Vend position and the road edge in the X-axis direction5Greater than a certain distance d5min, jumping to the next step g); if d is5Is less than d5min, then moving the final parking position to X negative direction to make d5Is equal to d5min, obtaining a new final parking position Vend.Y, if Vend.Y position outside contour and S0Projection distance d of X in X-axis direction7>d7min, continue the next stepStep g), otherwise, returning to failure;
g) if the projection distance d between the inner profile of the Vend position and the high barrier (wall) in the X-axis direction6Greater than a certain distance d6min, finishing the calculation; if d is6Is less than d6min, then moving the final parking position to X negative direction to make d6Is equal to d6min, obtaining a new final parking position Vend.Y, if Vend.Y position outside contour and S0Projection distance d of X in X-axis direction7>d7min, finishing the calculation, otherwise, returning to failure;
wherein d1min, d2min, d3min, d4min, d5min, d6min and d7min are calibration thresholds, and the calibration thresholds may be set based on experience or specific conditions.
And S105, calculating a parking path according to the target key point map, the visual library position corner points and the parking pose.
In the embodiment of the invention, the parking path is calculated according to the ultrasonic key point map, the visual library position information and the final parking position. Taking parallel parking as an example, the parking path calculation is divided into three main steps, namely, successive calculation: initial adjustment segment calculation, in-warehouse adjustment segment calculation, and in-warehouse connection segment calculation.
The initial adjustment segment calculation refers to the adjustment from the current pose to a pose suitable for subsequent calculation, specifically, the adjustment of the current position to the determined channel middle position for subsequent calculation. Specifically, as shown in fig. 6, when the target vehicle heading angle is adjusted to be the same as Vend, distances between the outer contour of the vehicle and key points such as S1, C0, C1, C2, and C3 are all greater than corresponding thresholds, buffer cs1, buffer C0, buffer C1, buffer C2, and buffer C3, and an initial adjustment section end position is adopted, where selection of buffer cs1, buffer C0, buffer C1, buffer C2, and buffer C3 may be set based on experience or specific circumstances, and in the embodiment of the present invention, no specific limitation is made.
The calculation of the adjustment section in the garage is that starting from a target parking position, the target vehicle moves forwards and backwards with a certain steering radius until the target vehicle can safely exit the garage, and the reverse process of the process is the planned parking path. Specifically, the following factors need to be considered:
the safe driving out of the garage means that, when the vehicle moves forward at a certain turning radius as shown in fig. 6, the distance between the right front corner of the vehicle and the aforementioned point a1 is greater than a certain safe distance, and the distance between the right front wheel of the target vehicle and the aforementioned point S1 is greater than a certain safe distance.
When the vehicle is adjusted to move forwards in the garage, the steering radius needs to be adjusted, and the constraint shown in fig. 7 is met, namely the projection distance of the right front corner of the target vehicle from the point A1 in the Y-axis direction is larger than a certain safe distance, and the projection distance of the right front wheel of the vehicle from the point S1 in the Y-axis direction is larger than a certain safe distance.
When the vehicle is adjusted to move backwards in the garage, the steering radius needs to be adjusted, and the constraint shown in fig. 8 is met, namely the projection distance of the left rear corner of the target vehicle from the aforementioned point A1 in the Y-axis direction is greater than a certain safe distance, the projection distance of the left rear wheel of the target vehicle from the aforementioned point S0 in the Y-axis direction is greater than a certain safe distance, the projection distance of the right rear corner of the target vehicle from an inner side high barrier in the X-axis direction is greater than a certain safe distance, the projection distance of the right rear wheel of the target vehicle from an inner side low barrier in the X-axis direction is greater than a certain safe distance, the projection distance of the right rear wheel of the vehicle from an inner side garage position sideline in the X-axis direction is greater than a certain safe distance, and the in-garage exit position of the in-garage adjustment section is obtained
The calculation of the warehousing connection section means that a path connecting the end position of the initial adjustment section and the ex-warehouse position of the in-warehouse adjustment section is calculated. As shown in FIG. 9, it is calculated that the end position of the initial alignment segment is connected to the out-of-bank arc O1 of the in-bank alignment segment by an arc O2 and a transition segment. The factors to be considered mainly include that when the vehicle travels along the arc O2, the inner contour edge is more than a certain safe distance from the point a1, and the right rear wheel edge is more than a certain safe distance from the point S1, and based on the above conditions, the parking path is finally determined.
The invention discloses a path planning method of an automatic parking system, which comprises the following steps: acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment; converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system; selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side vision garage corner points where the target parking places are located; calculating parking poses according to the target key point map and the visual library position angular points; and calculating a parking path according to the target key point map, the visual library position corner points and the parking pose. In the process, the library position angular points are compensated, so that the problem of inaccurate path planning caused by the fact that the library position angular points are not reference points for vehicle parking is solved.
In the embodiment of the invention, the obstacle information of the ultrasonic radar and the visually perceived parking space information are comprehensively utilized, and the parking path which is free of collision, short in distance, short in time and friendly to a driver is calculated by using lower calculation complexity.
Based on the above path planning method for the automatic parking system, an embodiment of the present invention further provides a path planning device for an automatic parking system, where a structural block diagram of the planning device is shown in fig. 10, and the path planning device includes:
an acquisition module 201, a conversion module 202, a compensation and construction module 203, a first calculation module 204 and a second calculation module 205.
Wherein the content of the first and second substances,
the acquisition module 201 is used for acquiring each ultrasonic positioning point and each self track of a target vehicle aiming at a target parking space based on an ultrasonic radar and acquiring a visual garage position angular point of the target parking space based on image acquisition equipment;
the conversion module 202 is configured to convert the ultrasonic positioning points, the vehicle-mounted track, and the visual library position corner points into a same coordinate system;
the compensation and construction module 203 is configured to select preset key points from the ultrasonic positioning points for compensation to obtain target key points, select a preset number of key points from the ultrasonic positioning points, and construct a key point map based on the preset number of key points and the target key points, where the preset key points are side view library location corner points where the target parking spaces are located;
the first calculation module 204 is configured to calculate a parking pose according to the target key point map and the visual library location corner points;
the second calculating module 205 is configured to calculate a parking path according to the target key point map, the visual library corner point, and the parking pose.
The invention discloses a path planning device of an automatic parking system, which comprises: acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment; converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system; selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side vision garage corner points where the target parking places are located; calculating parking poses according to the target key point map and the visual library position angular points; and calculating a parking path according to the target key point map, the visual library position corner points and the parking pose. In the process, the library position angular points are compensated, so that the problem of inaccurate path planning caused by the fact that the library position angular points are not reference points for vehicle parking is solved.
In an embodiment of the present invention, the compensation and construction module 203 includes:
a first acquisition unit 206 and a compensation unit 207.
Wherein the content of the first and second substances,
the first obtaining unit 206 is configured to obtain location information of each ultrasonic point within a preset range of a side view library location angle point of the target parking space;
and the compensation unit 207 is configured to compensate the side view library location angular point of the target parking space based on the information of each ultrasonic location point to obtain a target key point.
In the embodiment of the present invention, the target key points include: first target key point, the side storehouse position angular point that the target parking stall is located includes: a first library corner point and said second library corner point, said compensation and construction module 203 comprising:
a first determining unit 208 and a second determining unit 209.
Wherein the content of the first and second substances,
the first determining unit 208 is configured to determine a first preset number of key points based on the first target key point and a moving range of a front bumper ordinate of the target vehicle;
the second determining unit 209 is configured to determine a second preset number of key points based on the first target key point, the first library location corner point, and the second library location corner point;
the first preset quantity and the second preset quantity form the preset quantity.
In the embodiment of the present invention, the target key points further include: a second target keypoint, said first calculation module 204 comprising:
a setting unit 210, a second acquisition unit 211, and a calculation unit 212.
Wherein the content of the first and second substances,
the setting unit 210 is configured to set distance calibration thresholds of a third preset number for the target parking spaces;
the second obtaining unit 211 is configured to obtain a current pose of the target vehicle;
the calculating unit 212 is configured to calculate a parking pose based on the current pose of the target vehicle, the first and second target keypoints in the target keypoint map, and the first and second target keypoints in the target keypoints.
In this embodiment of the present invention, the second calculating module 205 includes:
a first adjusting unit 213, a second adjusting unit 213, and a connecting unit 214.
Wherein the content of the first and second substances,
the first adjusting unit 213 is configured to adjust the target vehicle to a preset target position based on the key point map and the visual library location corner point, so as to obtain an initial adjustment segment end position;
the second adjusting unit 214 is configured to adjust the target vehicle back and forth at the target position based on a preset steering radius and the parking pose, so as to obtain an in-garage adjustment segment delivery position;
the connecting unit 215 is configured to calculate a parking path connecting the initial adjustment segment end position and the in-garage adjustment segment delivery position based on the parking pose.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The method and the device for planning the path of the automatic parking system provided by the invention are described in detail, specific examples are applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A path planning method for an automatic parking system, comprising:
acquiring each ultrasonic positioning point and a self-track of a target vehicle aiming at a target parking space based on an ultrasonic radar, and acquiring a visual garage angular point of the target parking space based on image acquisition equipment;
converting each ultrasonic positioning point, the vehicle track and the visual library position angular point to the same coordinate system;
selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, and constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side view library position angle points where the target parking spaces are located;
calculating a parking pose according to the target key point map and the visual library position angular points;
and calculating a parking path according to the target key point map, the visual library position angular points and the parking pose.
2. The method of claim 1, wherein selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points comprises:
acquiring the position information of each ultrasonic point within a preset range of the position angular point of the side vision library where the target parking space is located;
and compensating the side view library location angular point of the target parking space based on the information of each ultrasonic location point to obtain a target key point.
3. The method of claim 2, wherein the target keypoints comprise: first target key point, the side storehouse position angular point that the target parking stall is located includes: the first library location angular point and the second library location angular point select a preset number of key points from the ultrasonic positioning points, and the method comprises the following steps:
determining a first preset number of key points based on the first target key point and the moving range of the longitudinal coordinate of the front bumper of the target vehicle;
determining a second preset number of key points based on the first target key point, the first library site corner point and the second library site corner point;
the first preset quantity and the second preset quantity form the preset quantity.
4. The method of claim 3, wherein the target keypoints further comprises: the second target key point calculates the parking pose according to the target key point map and the visual library position corner point, and comprises the following steps:
setting distance calibration threshold values of a third preset number for the target parking spaces;
acquiring the current pose of the target vehicle;
calculating a parking pose based on the current pose of the target vehicle, the first and second target keypoints in the target keypoint map, and the first and second target keypoints in the target keypoints.
5. The method of claim 4, wherein calculating a parking path from the target keypoint map, the visual library corner points, and the parking pose comprises:
adjusting the target vehicle to a preset target position based on the key point map and the visual library position corner points to obtain an initial adjustment section end position;
adjusting the target vehicle forwards and backwards at the target position based on a preset steering radius and the parking pose to obtain an in-garage adjusting section out-of-garage position;
and calculating a parking path connecting the initial adjustment section end position and the in-garage adjustment section delivery position based on the parking pose.
6. A path planning apparatus for an automatic parking system, comprising:
the acquisition module is used for acquiring each ultrasonic positioning point and a self-vehicle track of a target vehicle aiming at a target parking space based on an ultrasonic radar and acquiring a visual garage position angular point of the target parking space based on image acquisition equipment;
the conversion module is used for converting each ultrasonic positioning point, the self-vehicle track and the visual library position angular point into the same coordinate system;
the compensation and construction module is used for selecting preset key points from the ultrasonic positioning points for compensation to obtain target key points, selecting a preset number of key points from the ultrasonic positioning points, and constructing a key point map based on the preset number of key points and the target key points, wherein the preset key points are side visual library position corner points where the target parking spaces are located;
the first calculation module is used for calculating a parking pose according to the target key point map and the visual library position angular points;
and the second calculation module is used for calculating a parking path according to the target key point map, the visual library position corner points and the parking pose.
7. The apparatus of claim 6, wherein the compensation and construction module comprises:
the first acquisition unit is used for acquiring the information of each ultrasonic point site in the preset range of the site angle point of the side visual library where the target parking space is located;
and the compensation unit is used for compensating the side view library location angular point of the target parking space based on the information of each ultrasonic location point to obtain a target key point.
8. The apparatus of claim 7, wherein the target keypoints comprise: first target key point, the side storehouse position angular point that the target parking stall is located includes: the first library location corner point and the second library location corner point, the compensation and construction module comprises:
a first determination unit, configured to determine a first preset number of key points based on the first target key point and a movement range of a longitudinal coordinate of a front bumper of the target vehicle;
a second determining unit, configured to determine a second preset number of key points based on the first target key point, the first library corner point, and the second library corner point;
the first preset quantity and the second preset quantity form the preset quantity.
9. The apparatus of claim 8, wherein the target keypoint further comprises: a second target keypoint, the first computing module comprising:
the setting unit is used for setting distance calibration threshold values of a third preset number for the target parking spaces;
the second acquisition unit is used for acquiring the current pose of the target vehicle;
a calculation unit, configured to calculate a parking pose based on the current pose of the target vehicle, the first and second target keypoints in the target keypoint map, and the first and second target keypoints in the target keypoints.
10. The apparatus of claim 9, wherein the second computing module comprises:
the first adjusting unit is used for adjusting the target vehicle to a preset target position based on the key point map and the visual library position corner points to obtain an initial adjusting section end position;
the second adjusting unit is used for adjusting the target vehicle back and forth at the target position based on a preset steering radius and the parking pose to obtain an in-garage adjusting section delivery position;
and the connecting unit is used for calculating and connecting the initial adjusting section end position and the garage-out position parking path of the in-garage adjusting section based on the parking pose.
CN202111397656.8A 2021-11-23 Path planning method and device for automatic parking system Active CN114030463B (en)

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