CN115310177A - Design method and system for Robotaxi shared network car booking parking lot - Google Patents

Design method and system for Robotaxi shared network car booking parking lot Download PDF

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CN115310177A
CN115310177A CN202210861103.1A CN202210861103A CN115310177A CN 115310177 A CN115310177 A CN 115310177A CN 202210861103 A CN202210861103 A CN 202210861103A CN 115310177 A CN115310177 A CN 115310177A
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vehicle
point
parking
position point
parking space
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赵奕铭
徐欣奕
姚小婷
郭剑锐
王卓
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Dongfeng Motor Group Co Ltd
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    • B60W30/06—Automatic manoeuvring for parking
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Abstract

The invention discloses a design method and a system for a Robotaxi shared network car-booking parking lot, which relate to the field of automatic driving, and the method comprises the steps of establishing a vehicle kinematics model, fitting an automatic parking driving track of a vehicle, and calculating to obtain a motion radius of a vehicle vertex; calculating to obtain a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle; obtaining the minimum safe distance between the vehicle and the parking space in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle, calculating to obtain a third position point coordinate, calculating to obtain the minimum width of the parking space according to the third position point coordinate, and calculating to obtain the minimum width of the lane according to the first position point coordinate, the second position point coordinate and the minimum safe distance; the invention can help an operator to more reasonably set the size of the parking space at the vehicle parking point.

Description

Design method and system for Robotaxi shared network car booking parking lot
Technical Field
The invention relates to the field of automatic driving, in particular to a design method and a system for a Robotaxi shared network car booking parking lot.
Background
With the development of transportation and internet technologies, the online taxi appointment becomes the optimal travel tool for people, and the online taxi appointment also evolves from the original single roadside online taxi appointment to the online taxi appointment directly issuing an order through an online taxi appointment APP (Application). 5G, big data, cloud platform and automatic driving technology, so that the point-to-point automatic driving of the L4 (automatic driving level) level tends to mature. Currently, most regions have set up autonomous driving demonstration operation routes and simultaneously develop Robotaxi (autonomous taxi) point-to-point autonomous driving network car booking services. The Robotaxi network appointment vehicle has the characteristics of the traditional network appointment vehicle and the attributes of the traditional public travel vehicles, and can also carry out order taking tasks at any time and any place.
In order to provide more convenient and faster riding service for users, a Robotaxi automatic driving network car booking operator needs to set temporary vehicle parking points in areas with dense urban passenger flow or areas with dense riding requirements, according to land market rules, the land price of the areas with dense passenger flow is very high, the operator can bring great capital investment burden to the operator regardless of purchasing or renting modes, in order to reduce the capital pressure and improve enterprise revenue, the operator needs to obtain a mode to reduce the land cost, therefore, the operator needs to park more vehicles at the temporary vehicle parking points with limited area, namely how to design a parking lot so that the parking lot can park more vehicles to solve the current urgent need.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a design method and a system for a Robotaxi shared network car-booking parking lot, which can help an operator to more reasonably set the size of a parking space at a vehicle parking point.
In order to achieve the above purpose, the invention provides a design method of a Robotaxi shared network car booking parking lot, which specifically comprises the following steps:
establishing a vehicle kinematics model, fitting an automatic parking driving track of the vehicle, and calculating to obtain a movement radius of a vehicle vertex;
calculating to obtain a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle;
obtaining the minimum safe distance between the vehicle and the parking space line in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle, and calculating to obtain the coordinate of a third position point;
calculating to obtain the minimum width of the parking space according to the coordinate of the third position point, and calculating to obtain the minimum width of the lane according to the coordinate of the first position point, the coordinate of the second position point and the minimum safety distance;
the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track;
the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to perform an arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish a straight driving track.
On the basis of the technical scheme, the vehicle kinematics model is established by the specific steps of:
for a vehicle, converting a four-wheel vehicle kinematic model into a bicycle model based on the Ackerman steering principle;
and carrying out coordinate positioning on the converted vehicle model, wherein the right rear vertex of the vehicle body is marked as point A, the right front vertex of the vehicle body is marked as point B, the left front vertex of the vehicle body is marked as point C, the left rear vertex of the vehicle body is marked as point D, the central point coordinates of the rear axle are marked as (X, Y), and the central point coordinates of the front axle are marked as (X) f ,Y f ) The equivalent wheel rotation angle of the front axle center is δ f And the minimum turning radius of the midpoint of the rear axle is denoted as R min 。
On the basis of the technical scheme, the fitting of the automatic parking driving track of the vehicle comprises the following specific steps:
calculating to obtain the relation between the four top points of the vehicle body and the middle point of the rear axle;
according to the Ackerman steering principle, the initial speed and the front wheel steering angle of a kinematic model are given at the same time, and the automatic parking running track of the vehicle is fitted and fitted into an arc running track and a straight running track.
On the basis of the technical scheme, the circular arc driving track is formed by starting from a first position point by using R min The straight running rail is used for enabling the vehicle to start to linearly back up from the second position point to the third position point in order to enable the rotation radius to rotate by 90 degrees to reach the second position point.
On the basis of the technical scheme, the specific relation between the four top points of the vehicle body and the middle point of the rear axle is as follows:
Figure BDA0003753540100000031
Figure BDA0003753540100000032
Figure BDA0003753540100000033
Figure BDA0003753540100000041
wherein, X A Denotes the abscissa, Y, of the point A A Denotes the ordinate of point a, W denotes the vehicle body width,
Figure BDA0003753540100000042
indicates the included angle between the length direction of the car body and the x axis of the coordinate axis, i r Indicating the distance, X, of the front axle from the vehicle head B Denotes the abscissa, Y, of point B B Denotes the ordinate, X, of point B C Denotes the abscissa, Y, of point C C Denotes the ordinate, X, of point C D Abscissa, Y, representing point D D Vertical sitting of point DAnd (4) marking.
On the basis of the above technical solution, the calculation obtains the coordinates of the third location point, and the specific calculation manner is as follows:
Figure BDA0003753540100000043
Figure BDA0003753540100000045
wherein,
Figure BDA0003753540100000046
abscissa, W, representing the third position point ab The width of the parking space is shown,
Figure BDA0003753540100000047
the ordinate of the third position point is shown, delta t represents the safety distance between the tail of the vehicle and the bottom of the parking space after parking is finished, and l r The distance of the front axle from the vehicle head is shown.
On the basis of the technical scheme, the minimum width of the parking space is calculated according to the coordinates of the third position point, and the method specifically comprises the following steps:
when the middle point of the rear axle of the vehicle runs to the second position point, steering running is carried out, the left rear vertex D of the vehicle body rotates around the point O, and the rotating radius is as follows:
Figure BDA0003753540100000044
wherein R is D When the center point of the rear axle of the vehicle is driven to a second position point, steering driving is carried out, the left rear vertex D of the vehicle body rotates around a rotating radius of a point O, the point O represents the circle center of an arc driving track, and the point W represents the width of the vehicle body;
based on the obstacle avoidance requirement of the D point when the vehicle parks in the vertical parking space, obtaining:
Figure BDA0003753540100000051
wherein, Δ t 1 The minimum safe distance between the parking space and the parking space in the parking process of the vehicle is represented;
calculating to obtain the minimum width of the parking space:
Figure BDA0003753540100000052
wherein, W abmin Which represents the minimum width of the parking space,
Figure BDA0003753540100000053
the minimum abscissa representing the third position point.
On the basis of the technical scheme, the method comprises the following specific steps of calculating and obtaining a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle, wherein the specific steps comprise:
record as E point with the crossing point between vehicle rear axle extension line and the automobile body profile AB side, when the vehicle carried out the circular arc orbit of traveling, when the orbit of E point just passed through the right front angle of parking stall, can obtain the lower limit value of first position point coordinate and second position point coordinate, it is specific:
Figure BDA0003753540100000054
wherein,
Figure BDA0003753540100000055
represents the minimum value of the ordinate of the second position point, L ad Indicates the length of the parking space, L ad = L + Deltat, L represents the length of the vehicle body, deltat represents the safe distance between the tail of the vehicle and the bottom of the parking space after parking is finished, and W ab Indicating the width of the parking space;
Figure BDA0003753540100000056
Figure BDA0003753540100000057
wherein,
Figure BDA0003753540100000058
represents the minimum value, W, of the abscissa of the first location point ab The width of the parking space is shown,
Figure BDA0003753540100000059
a minimum value representing the ordinate of the first location point;
Figure BDA0003753540100000061
wherein l represents the distance between the front and rear axles, l f Indicating the distance, Δ t, from the rear axle to the parking space 2 Represents the minimum distance between the edge of the vehicle and the edge of the lane during parking of the vehicle, and h represents the width of the road.
On the basis of the technical scheme, the minimum width of the lane is obtained through calculation in the following way:
Figure BDA0003753540100000062
wherein h is min Indicating the minimum width of the lane, Δ t 1 The minimum safe distance between the parking space and the parking space in the parking process of the vehicle is represented.
The invention provides a Robotaxi sharing network car-booking parking lot design system, which comprises:
the building unit is used for building a vehicle kinematic model, fitting an automatic parking running track of the vehicle and calculating to obtain a motion radius of a vehicle vertex;
the first calculation unit is used for calculating and obtaining a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle;
the second calculation unit is used for obtaining the minimum safe distance between the vehicle and the parking space in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle and calculating to obtain the coordinates of a third position point;
the execution unit is used for calculating the minimum width of the parking space according to the coordinate of the third position point and calculating the minimum width of the lane according to the coordinate of the first position point, the coordinate of the second position point and the minimum safety distance;
the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track;
the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to perform an arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish a straight driving track.
Compared with the prior art, the invention has the advantages that: through carrying out the calculation of parking stall minimum width and lane minimum width to help the operator to set up the parking stall size at the vehicle parking point more rationally, make the operator can set up more parking stalls and park more vehicles in limited parking area, solved the operator and put into too big problem in the aspect of the cost in the land, and then improved operator's income, on the other hand has also improved the utilization ratio of land resource.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a design method of a Robotaxi shared network car-booking parking lot in an embodiment of the invention;
FIG. 2 is a schematic view of vehicle dimensional parameters;
FIG. 3 is a schematic view of the geometric relationship between points of the vehicle;
FIG. 4 is a schematic diagram of an analysis of a vertical parking start area;
FIG. 5 is a schematic diagram illustrating analysis of obstacle avoidance of a D point of a vehicle body during vertical parking;
FIG. 6 is a schematic diagram of E-point obstacle avoidance analysis during vertical parking;
fig. 7 is a schematic diagram of obstacle avoidance analysis of a vertical parking road boundary.
Detailed Description
The embodiment of the invention provides a design method of a Robotaxi shared network car-booking parking lot, which helps an operator to set the size of parking spaces at a vehicle parking place more reasonably by calculating the minimum width of the parking spaces and the minimum width of lanes, so that the operator can set more parking spaces and park more vehicles in a limited parking area, the problem of overlarge cost input of the operator in the aspect of land is solved, the income of the operator is further improved, and the utilization rate of land resources is also improved. The embodiment of the invention correspondingly provides a Robotaxi shared network car booking parking lot design system.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
The whole implementation process of the Robotaxi automatic driving shared network appointment is briefly described, and the total implementation process comprises two stages.
A passenger needing to take a car logs in a Robotaxi automatic driving network platform in the first stage; the contract platform application program uses a GPS system thereof to automatically identify the current position of a passenger and the current position of a Robotaxi automatic driving vehicle, and orders are batched by utilizing a system specific order distribution algorithm according to passenger order information; the Robotaxi automatic driving network car booking system automatically searches for a car stop point nearest to the car for parking when the car reaches the temporary car stop point, and starts an automatic parking function for parking.
And in the second stage, under the premise of ensuring that the Robotaxi automatic driving net car reservation can be safely and automatically parked in and out, the size of the parking space is reduced as much as possible, a vehicle kinematics model is firstly built, and the structural parameters of the vehicle, such as the length, the width, the wheelbase, the front suspension and the rear suspension, have important influence on the automatic parking function path planning and the parking space size design.
Referring to fig. 1, a method for designing a car parking lot based on a Robotaxi sharing network provided by the embodiment of the invention specifically includes the following steps:
s1: establishing a vehicle kinematic model, fitting an automatic parking running track of the vehicle, and calculating to obtain a motion radius of a vehicle vertex;
s2: calculating to obtain a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle;
s3: obtaining the minimum safe distance between the vehicle and the parking space line in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle, and calculating to obtain the coordinate of a third position point;
s4: calculating to obtain the minimum width of the parking space according to the coordinate of the third position point, and calculating to obtain the minimum width of the lane according to the coordinate of the first position point, the coordinate of the second position point and the minimum safety distance;
the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track; the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to carry out the circular arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the circular arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the straight driving track.
In the embodiment of the invention, the vehicle kinematics model is established, and the specific steps comprise:
s101: for a vehicle, converting a four-wheel vehicle kinematic model into a bicycle model based on the Ackerman steering principle;
s102: and carrying out coordinate positioning on the converted vehicle model, wherein the right rear vertex of the vehicle body is marked as point A, the right front vertex of the vehicle body is marked as point B, the left front vertex of the vehicle body is marked as point C, the left rear vertex of the vehicle body is marked as point D, the central point coordinates of the rear axle are marked as (X, Y), and the central point coordinates of the front axle are marked as (X) f ,Y f ) The equivalent wheel rotation angle of the front axle center is δ f The minimum turning radius of the midpoint of the rear axle is denoted as R min . In the invention, the vehicle is a Robotaxi automatic driving net appointment vehicle, the appearance of the vehicle is simplified, and the specific vehicle dimension parameters are shown in figure 2.
The front wheels of the vehicle are steering wheels, and the rear wheels are driving wheels. During the movement of the vehicle, a plane geometric relation coordinate system shown in fig. 3 is established. The automatic parking function has very low vehicle speed, does not need to consider dynamics problems such as the operation stability of the vehicle, neglects the lateral sliding of the tire, only rolls and turns the wheel, has zero lateral force in the driving process of the vehicle, and rotates the whole vehicle around the instantaneous rotation center of the wheel. The four-wheel vehicle kinematics model is converted into a bicycle model by the Ackerman steering principle, and the simplified vehicle model is subjected to coordinate positioning.
In the embodiment of the invention, the automatic parking running track fitting of the vehicle is carried out, and the specific steps comprise:
s111: calculating to obtain the relation between the four top points of the vehicle body and the middle point of the rear axle;
s112: according to the Ackerman steering principle, the initial speed and the front wheel steering angle of the kinematic model are given at the same time, and the automatic parking running track of the vehicle is fitted and fitted into an arc running track and a straight running track. The circular arc driving track is that the vehicle starts from a first position point, and R is used as min To rotate the turning radius by 90 deg. to the second position point,the straight driving rail is used for enabling the vehicle to start to linearly back to the third position point from the second position point.
The concrete relation between the four top points of the vehicle body and the middle point of the rear axle is as follows:
Figure BDA0003753540100000101
Figure BDA0003753540100000102
Figure BDA0003753540100000111
Figure BDA0003753540100000112
wherein X A Denotes the abscissa, Y, of the point A A The ordinate of point a is shown, W is the vehicle body width,
Figure BDA0003753540100000113
indicates the included angle between the length direction of the car body and the x axis of the coordinate axis, i r Indicating the distance, X, of the front axle from the vehicle head B Denotes the abscissa, Y, of point B B Denotes the ordinate, X, of point B C Denotes the abscissa, Y, of point C C Denotes the ordinate, X, of point C D Denotes the abscissa, Y, of point D D The ordinate of the D point is shown.
The motion trail of the vehicle is analyzed, and the motion trail of the middle point of the rear axle only cannot reflect the motion of the whole vehicle body. In the driving process, the vehicle body is ensured not to collide with other surrounding obstacles, so that the coordinate information of four vertexes A, B, C and D of the vehicle body needs to be known, and the motion tracks of the four vertexes of the vehicle body outline need to be analyzed. According to the geometrical relationship shown in fig. 3, the relationship between the four top points of the vehicle body and the middle point of the rear axle can be calculated.
In the embodiment of the present invention, the coordinates of the third location point are obtained by calculation, and the specific calculation method is as follows:
Figure BDA0003753540100000114
Figure BDA0003753540100000115
wherein,
Figure BDA0003753540100000116
abscissa, W, representing third position point ab The width of the parking space is shown,
Figure BDA0003753540100000117
the ordinate of the third position point is shown, delta t represents the safety distance between the tail of the vehicle and the bottom of the parking space after parking is finished, and l r Indicating the distance of the front axle from the vehicle head.
According to the Ackerman steering principle, the initial speed and the front wheel steering angle of a kinematic model are given, the motion trail of the kinematic model is necessarily a circle, the parking route from a vehicle to a parking space can be fitted to a circular arc-straight line path curve, as shown in figure 4, the initial pose of the vehicle is set to be parallel to the length direction of the parking space, the vertical parking is divided into two stages, firstly, the vehicle is driven from the initial position P 1 The point O is taken as a rotation center, R is taken as a rotation radius, and the rotation reaches P after rotating for 90 degrees 2 Point and then along a straight line P 2 P 3 Back to point P 3 And finishing parking. In FIG. 4, P 1 The point represents a first position point, P 2 The point represents a second position point, P 3 The point represents the third position point, a represents the rear left corner of the space, b represents the rear right corner of the space, c represents the front right corner of the space, and d represents the front left corner of the space.
In the embodiment of the invention, the minimum width of the parking space is calculated according to the coordinates of the third position point, and the method specifically comprises the following steps:
s401: when the middle point of the rear axle of the vehicle runs to the second position point, the vehicle turns to run, the left rear vertex D of the vehicle body rotates around the point O, and the turning radius is as follows:
Figure BDA0003753540100000121
wherein R is D When the center point of the rear axle of the vehicle is driven to a second position point, steering driving is carried out, the left rear vertex D of the vehicle body rotates around a rotating radius of a point O, the point O represents the circle center of an arc driving track, and the point W represents the width of the vehicle body;
s402: based on the obstacle avoidance requirement of the D point when the vehicle parks in the vertical parking space, the following results are obtained:
Figure BDA0003753540100000122
wherein, Δ t 1 The minimum safe distance between the parking space and the parking space in the parking process of the vehicle is represented;
s403: calculating to obtain the minimum width of the parking space:
Figure BDA0003753540100000123
wherein, W abmin The minimum width of the parking space is indicated,
Figure BDA0003753540100000124
the minimum abscissa of the third position point is indicated.
When the vehicle is along the arc segment P 1 P 2 When the vehicle runs in a section, the left rear vertex D of the vehicle outline is ensured not to collide with the left side of the parking space, as shown in fig. 5.
When the vehicle rear axle middle point is driven to P 2 After the point, the steering driving is started, the left rear vertex D of the vehicle body rotates around the point O, and the corresponding rotating radius can be obtained:
Figure BDA0003753540100000131
by combining the obstacle avoidance requirement of the D point when the vehicle is parked in and out of the vertical parking space, the following inequality can be obtained:
Figure BDA0003753540100000132
considering the width of the vehicle rearview mirror, Δ t 1 Suggested value of (a) is 0.3 meters.
As shown in fig. 4, a coordinate system is established with the parking space vertex a as the origin of coordinates, and the minimum turning radius is used as the radius of the arc segment of the vertical parking, i.e. R = R, for the convenience of calculation min . During parking, along with the parking starting point P 1 The change of position is realized by only correspondingly changing the straight line segment P 2 P 3 The parking route can be obtained.
The obstacle avoidance during the planning of the vertical parking path is mainly the obstacle avoidance of the road boundary and the parking space boundary. The minimum parking space width is required to meet the requirement that a vehicle can be completely parked, a certain safety distance is reserved between the tail of the vehicle and the bottom of the parking space after parking is finished, the front end of the vehicle is overlapped with the upper part of the parking space after parking is finished, and the parking starting point area is calculated in a mode that the vehicle safely exits from the parking ending point. When the parking is finished, the vehicle should be parked at the right middle of the parking space, and the front end of the vehicle is aligned with the upper part of the parking space, so that the parking end point P can be analyzed and obtained 3 The position coordinates of (a).
In the embodiment of the invention, based on the automatic parking running track of the vehicle, the coordinates of a first position point and the coordinates of a second position point in the automatic parking process of the vehicle are obtained through calculation, and the method specifically comprises the following steps:
the crossing point between the extension line of the rear axle of the vehicle and the side AB of the vehicle body outline is marked as the point E, when the vehicle carries out the circular arc driving track, the track of the point E just passes through the right front angle of the parking space, and the lower limit value of the coordinate of the first position point and the coordinate of the second position point can be obtained, and the following steps are specific:
Figure BDA0003753540100000141
wherein, y p2min Is shown asMinimum value of the ordinate of the two-position point, L ad Indicates the length of the parking space, L ad L + Δ t, wherein L represents the length of the vehicle body, and Δ t represents the safety distance between the tail of the vehicle and the bottom of the parking space after parking is finished;
Figure BDA0003753540100000142
Figure BDA0003753540100000143
wherein,
Figure BDA0003753540100000144
represents the minimum value, W, of the abscissa of the first location point ab The width of the parking space is shown,
Figure BDA0003753540100000145
a minimum value representing the ordinate of the first location point;
Figure BDA0003753540100000146
wherein l represents the distance between the front axle and the rear axle, l f Denotes the distance, Δ t, from the rear axle to the parking space 2 The minimum distance between the edge of the vehicle and the edge of the lane during parking of the vehicle is represented, and h represents the width of the road.
The vehicle following path P 1 P 2 During section driving, it is required to ensure that the upper right vertex c of the parking space does not collide with the right boundary AB of the vehicle body outline, the intersection point between the vehicle rear shaft extension line and the side of the vehicle body outline AB is recorded as point E, and it can be known from geometric relation analysis that only the point E is required to ensure that the side of the vehicle body outline AB does not collide with the point c in the driving process, so that the side of the vehicle body outline AB can be ensured not to collide with the vertex c of the parking space, and when the vehicle carries out an arc driving track, the track of the point E just passes through the right front corner of the parking space, the lower limit values of the coordinates of the first position point and the second position point can be obtained, as shown in fig. 6.
According to that in FIG. 6The geometric relationship can lead to P 2 The lower limit of the dot ordinate is:
Figure BDA0003753540100000147
straight line segment P 2 P 3 Parallel to the Y axis, hence P 3 Point sum P 2 The abscissa of the point is the same. Then P can be obtained according to the geometric relationship 1 The lower limit value of the point coordinate is as follows:
Figure BDA0003753540100000151
Figure BDA0003753540100000152
in addition, when the vehicle is along the arc P 1 P 2 When the vehicle runs in a section path, it is required to ensure that each point of the vehicle body contour does not exceed the road boundary, that is, it is only required to ensure that the point C at the front left of the vehicle body does not collide with the road boundary, as shown in fig. 7.
Road width h, P to avoid collision between point C and road boundary 1 The ordinate of the point needs to satisfy the following condition:
Figure BDA0003753540100000153
in practical applications,. DELTA.t 2 The value of (a) may be 0.1 meter.
In the embodiment of the invention, the minimum width of the lane is obtained by calculation in the following way:
Figure BDA0003753540100000154
wherein h is min Indicating the minimum width of the lane, Δ t 1 And the minimum safety distance between the vehicle and the parking space line in the parking process of the vehicle is represented. Lane finger in the inventionIs a lane in a parking lot, as can be seen in fig. 7.
According to the Robotaxi shared network car-booking parking lot design method provided by the embodiment of the invention, the calculation of the minimum width of the parking space and the minimum width of the lane is carried out, so that an operator is helped to set the size of the parking space at a vehicle parking place more reasonably, the operator can set more parking spaces and park more vehicles in a limited parking area, the problem that the cost of the operator is excessively high in the aspect of land is solved, the income of the operator is further improved, and the utilization rate of land resources is also improved.
The Robotaxi shared network car-booking parking lot design system provided by the embodiment of the invention comprises an establishing unit, a first calculating unit, a second calculating unit and an executing unit.
The building unit is used for building a vehicle kinematic model, fitting an automatic parking driving track of the vehicle and calculating to obtain a movement radius of a vehicle vertex; the first calculation unit is used for calculating and obtaining a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle; the second calculation unit is used for obtaining the minimum safe distance between the vehicle and the parking space line in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle and calculating to obtain the coordinates of a third position point; the execution unit is used for calculating the minimum width of the parking space according to the coordinates of the third position point and calculating the minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance; the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track; the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to perform the circular arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the circular arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the straight driving track.
In the embodiment of the invention, the vehicle kinematics model is established, and the specific steps comprise:
for a vehicle, converting a four-wheel vehicle kinematic model into a bicycle model based on the Ackerman steering principle;
and carrying out coordinate positioning on the converted vehicle model, wherein the right rear vertex of the vehicle body is marked as an A point, the right front vertex of the vehicle body is marked as a B point, the left front vertex of the vehicle body is marked as a C point, the left rear vertex of the vehicle body is marked as a D point, the central point coordinates of the rear shaft are marked as (X, Y), and the central point coordinates of the front shaft are marked as (X) f ,Y f ) The equivalent wheel rotation angle of the front axle center is recorded as delta f And the minimum turning radius of the midpoint of the rear axle is denoted as R min 。
In the embodiment of the invention, the fitting of the automatic parking driving track of the vehicle comprises the following specific steps:
calculating to obtain the relation between the four top points of the vehicle body and the middle point of the rear axle;
according to the Ackerman steering principle, the initial speed and the front wheel steering angle of the kinematic model are given at the same time, and the automatic parking running track of the vehicle is fitted and fitted into an arc running track and a straight running track. The circular arc driving track is formed by starting the vehicle from a first position point and taking R as the reference min The straight running rail is used for enabling the vehicle to start to linearly back up from the second position point to the third position point in order to enable the rotation radius to rotate by 90 degrees to reach the second position point.
In the embodiment of the invention, the specific relationship between the four top points of the vehicle body and the middle point of the rear axle is as follows:
Figure BDA0003753540100000171
Figure BDA0003753540100000172
Figure BDA0003753540100000173
Figure BDA0003753540100000174
wherein, X A Denotes the abscissa, Y, of the point A A The ordinate of point a is shown, W is the vehicle body width,
Figure BDA0003753540100000175
indicates the included angle between the length direction of the car body and the x axis of the coordinate axis, i r Indicating the distance of the front axle from the vehicle head, X B Denotes the abscissa, Y, of point B B Denotes the ordinate, X, of point B C Denotes the abscissa, Y, of point C C Denotes the ordinate, X, of point C D Abscissa, Y, representing point D D The ordinate of the D point is shown.
The previous description is only an example of the present application, and is provided to enable any person skilled in the art to understand or implement the present application. 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 application. Thus, the present application 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 present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Claims (10)

1. A Robotaxi shared network car booking parking lot design method is characterized by comprising the following steps:
establishing a vehicle kinematic model, fitting an automatic parking running track of the vehicle, and calculating to obtain a motion radius of a vehicle vertex;
calculating to obtain a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking driving track of the vehicle;
obtaining the minimum safe distance between the vehicle and the parking space line in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle, and calculating to obtain the coordinate of a third position point;
calculating to obtain the minimum width of the parking space according to the coordinate of the third position point, and calculating to obtain the minimum width of the lane according to the coordinate of the first position point, the coordinate of the second position point and the minimum safety distance;
the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track;
the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to carry out the circular arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the circular arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the straight driving track.
2. The method for designing a Robotaxi shared network car-booking parking lot according to claim 1, wherein the step of establishing a vehicle kinematics model comprises the following specific steps:
for a vehicle, converting a four-wheel vehicle kinematic model into a bicycle model based on the Ackerman steering principle;
and carrying out coordinate positioning on the converted vehicle model, wherein the right rear vertex of the vehicle body is marked as an A point, the right front vertex of the vehicle body is marked as a B point, the left front vertex of the vehicle body is marked as a C point, the left rear vertex of the vehicle body is marked as a D point, the central point coordinates of the rear shaft are marked as (X, Y), and the central point coordinates of the front shaft are marked as (X) f ,Y f ) The equivalent wheel rotation angle of the front axle center is δ f And the minimum turning radius of the midpoint of the rear axle is denoted as R min 。
3. The method for designing the Robotaxi shared network car-booking parking lot as claimed in claim 2, wherein the step of fitting the automatic parking driving track of the vehicle comprises the following specific steps:
calculating to obtain the relation between the four top points of the vehicle body and the middle point of the rear axle;
according to the Ackerman steering principle, the initial speed and the front wheel steering angle of a kinematic model are given at the same time, and the automatic parking running track of the vehicle is fitted and fitted into an arc running track and a straight running track.
4. The method for designing a Robotaxi shared network car-booking parking lot as claimed in claim 3, wherein: the circular arc driving track is formed by starting from a first position point of the vehicle and taking R as the reference point min The straight running rail is used for enabling the vehicle to start to linearly back up from the second position point to the third position point in order to enable the rotation radius to rotate by 90 degrees to reach the second position point.
5. The method for designing a Robotaxi shared network car-booking parking lot as claimed in claim 4, wherein the specific relationship between the four top points of the car body and the middle point of the rear axle is as follows:
Figure FDA0003753540090000021
Figure FDA0003753540090000022
Figure FDA0003753540090000023
Figure FDA0003753540090000031
wherein, X A Denotes the abscissa, Y, of the point A A Longitudinal seat of point AThe symbol, W, indicates the width of the vehicle body,
Figure FDA0003753540090000032
indicates the included angle between the length direction of the car body and the x axis of the coordinate axis, i r Indicating the distance of the front axle from the vehicle head, X B Denotes the abscissa, Y, of point B B Denotes the ordinate, X, of point B C Denotes the abscissa, Y, of point C C Denotes the ordinate, X, of point C D Denotes the abscissa, Y, of point D D The ordinate of the D point is shown.
6. The method for designing Robotaxi shared network car-booking parking lot according to claim 4, wherein the third position point coordinate is obtained through calculation in a specific way that:
Figure FDA0003753540090000033
y P3 ＝Δt+l r
wherein,
Figure FDA0003753540090000036
abscissa, W, representing the third position point ab The width of the parking space is shown,
Figure FDA0003753540090000035
the ordinate of the third position point is shown, delta t represents the safety distance between the tail of the vehicle and the bottom of the parking space after parking is finished, and l r Indicating the distance of the front axle from the vehicle head.
7. The design method of the Robotaxi shared network car-booking parking lot according to claim 6, wherein the step of calculating the minimum width of the parking space according to the coordinates of the third position point comprises the following specific steps:
when the middle point of the rear axle of the vehicle runs to the second position point, steering running is carried out, the left rear vertex D of the vehicle body rotates around the point O, and the rotating radius is as follows:
Figure FDA0003753540090000034
wherein R is D When the center point of the rear axle of the vehicle is driven to a second position point, steering driving is carried out, the left rear vertex D of the vehicle body rotates around a point O, the point O represents the circle center of the circular arc driving track, and the point W represents the width of the vehicle body;
based on the obstacle avoidance requirement of the D point when the vehicle parks in the vertical parking space, the following results are obtained:
Figure FDA0003753540090000041
wherein, Δ t 1 The minimum safety distance between the parking space and the parking space in the parking process of the vehicle is represented;
calculating to obtain the minimum width of the parking space:
Figure FDA0003753540090000042
wherein, W abmin Which represents the minimum width of the parking space,
Figure FDA0003753540090000043
the minimum abscissa representing the third position point.
8. The method for designing the Robotaxi shared network car-booking parking lot as claimed in claim 4, wherein the first position point coordinate and the second position point coordinate in the automatic parking process of the vehicle are obtained through calculation based on the automatic parking driving track of the vehicle, and the specific steps comprise:
the crossing point between the extension line of the rear axle of the vehicle and the side AB of the vehicle body outline is marked as the point E, when the vehicle carries out the circular arc driving track, the track of the point E just passes through the right front angle of the parking space, and the lower limit value of the coordinate of the first position point and the coordinate of the second position point can be obtained, and the following steps are specific:
Figure FDA0003753540090000044
wherein,
Figure FDA0003753540090000045
represents the minimum value of the ordinate of the second position point, L ad Indicates the length of the parking space, L ad = L + Deltat, L represents the length of the vehicle body, deltat represents the safe distance between the tail of the vehicle and the bottom of the parking space after parking is finished, and W ab Indicating the width of the parking space;
Figure FDA0003753540090000046
Figure FDA0003753540090000047
wherein,
Figure FDA0003753540090000048
represents the minimum value, W, of the abscissa of the first location point ab The width of the parking space is shown,
Figure FDA0003753540090000051
a minimum value representing the ordinate of the first location point;
Figure FDA0003753540090000052
wherein l represents the distance between the front and rear axles, l f Indicating the distance, Δ t, from the rear axle to the parking space 2 The minimum distance between the edge of the vehicle and the edge of the lane during parking of the vehicle is represented, and h represents the width of the road.
9. The method for designing a Robotaxi shared network car-booking parking lot as claimed in claim 8, wherein the minimum width of the lane is obtained by calculation in a manner that:
Figure FDA0003753540090000053
wherein h is min Indicating the minimum width of the lane, Δ t 1 And the minimum safety distance between the vehicle and the parking space line in the parking process of the vehicle is represented.
10. A Robotaxi sharing network car booking parking lot design system is characterized by comprising:
the building unit is used for building a vehicle kinematic model, fitting an automatic parking running track of the vehicle and calculating to obtain a motion radius of a vehicle vertex;
the first calculation unit is used for calculating and obtaining a first position point coordinate and a second position point coordinate in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle;
the second calculation unit is used for obtaining the minimum safe distance between the vehicle and the parking space in the automatic parking process of the vehicle based on the automatic parking running track of the vehicle and calculating to obtain the coordinates of a third position point;
the execution unit is used for calculating the minimum width of the parking space according to the coordinates of the third position point and calculating the minimum width of the lane according to the coordinates of the first position point, the coordinates of the second position point and the minimum safety distance;
the automatic parking running track of the vehicle comprises an arc running track and a straight running track, and the vehicle firstly carries out the arc running track and then carries out the straight running track;
the first position point is the position of the middle point of the rear axle when the vehicle automatically parks to carry out the circular arc driving track, the second position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the circular arc driving track, and the third position point is the position of the middle point of the rear axle when the vehicle automatically parks to finish the straight driving track.
CN202210861103.1A 2022-07-19 2022-07-19 Design method and system for Robotaxi shared network car booking parking lot Pending CN115310177A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118025140A (en) * 2024-03-14 2024-05-14 中国第一汽车股份有限公司 Automatic parking method, vehicle, management device and system for target parking area

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118025140A (en) * 2024-03-14 2024-05-14 中国第一汽车股份有限公司 Automatic parking method, vehicle, management device and system for target parking area

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