CN115805965A - Method and device for planning outer contour collision-free path of semi-trailer - Google Patents
Method and device for planning outer contour collision-free path of semi-trailer Download PDFInfo
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Abstract
The application provides a method, a device, electronic equipment and a computer readable storage medium for planning an outer contour collision-free path of a semi-trailer, wherein the semi-trailer comprises a tractor and a semi-trailer, and the method comprises the following steps: acquiring the distance between the reference point of the tractor and the reference point of the semitrailer; selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points, and respectively calculating the offset of the collision detection points from the reference line; calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance from the reference point of the tractor to the reference point of the semitrailer; and if the collision detection point of the semitrailer is in the boundary of the lane, determining a first threshold interval of the offset based on the curvature of the reference line for driving the semitrailer, and determining the collision-free path of the outer contour of the tractor and the semitrailer based on the first threshold interval.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for planning an outer contour collision-free path of a semi-trailer, an electronic device, and a computer-readable storage medium.
Background
In the field of automatic driving, high-precision maps become an increasingly important part of automatic driving components by virtue of rich maps and road network information. However, the abundant map and road network information cannot directly meet the requirement of automatic driving, and most of related personnel perform secondary processing on information provided by a high-precision map, such as path planning based on the road network information provided by the high-precision map.
However, in the prior art, for the path planning algorithm, a vehicle body coordinate system is established with a reference point of a tractor of the semi-trailer (a tractor rear axle center or a tractor central point) as an origin, and it can only be ensured that the position of the reference point of the tractor is located in a lane, and it cannot be completely ensured that the outer contour of the semi-trailer has no collision.
Therefore, how to ensure that the outer contour of the semitrailer is free from collision is a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
The application provides a semi-trailer outer contour collision-free path planning method, which comprises the following steps:
acquiring lane information, calculating a reference line for driving of the tractor based on the lane information, and calculating the curvature of the reference line;
acquiring obstacle information, and calculating the boundary of a lane based on the obstacle information and the lane information;
acquiring the distance between the reference point of the tractor and the reference point of the semitrailer;
selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points, and respectively calculating the offset of the collision detection points from the reference line;
calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance from the reference point of the tractor to the reference point of the semitrailer;
and if the collision detection point of the semitrailer is in the boundary of the lane, determining a first threshold interval of the offset based on the curvature of the reference line for driving the semitrailer, and determining the tractor and the outer contour collision-free path of the semitrailer based on the first threshold interval.
Optionally, the lane information includes a driven lane behind the semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane include at least one straight lane and at least one curve.
Optionally, the lane information includes lane width, the obtaining obstacle information, and calculating a boundary of the lane based on the obstacle information and the lane information includes:
acquiring obstacle information including dynamic obstacle information and static obstacle information around a lane, and calculating a boundary of the lane based on the obstacle information and a lane width in the lane information.
Optionally, the method further includes:
establishing a vehicle body coordinate system by taking the reference point of the tractor as an origin;
recording the coordinates of the collision detection point of the tractor under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system.
Optionally, the method further includes:
acquiring an included angle between the semitrailer and the tractor;
recording the coordinates of the collision detection point of the semitrailer under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system based on the included angle.
The application provides an outline of semitrailer does not have collision path planning device, the device includes:
the reference line calculating module is used for acquiring lane information and calculating a reference line for driving of the tractor based on the lane information;
the boundary calculation module is used for acquiring obstacle information and calculating the boundary of the lane based on the obstacle information and the lane information;
a distance calculation module for obtaining the distance between the reference point of the tractor and the reference point of the semitrailer
The offset calculation module is used for selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points and respectively calculating the offset of the collision detection points from the reference line;
the curvature determining module is used for calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance between the reference point of the tractor and the reference point of the semitrailer;
and the path planning module is used for determining a first threshold interval of the offset based on the curvature of a reference line for driving the semitrailer if the collision detection point of the semitrailer is in the boundary of the lane, and determining the tractor and the outer contour collision-free path of the semitrailer based on the first threshold interval.
Optionally, the lane information includes a driven lane behind the semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane include at least one straight lane and at least one curve.
Optionally, the lane information includes lane width, the obtaining obstacle information, and calculating a boundary of the lane based on the obstacle information and the lane information includes:
acquiring obstacle information including dynamic obstacle information and static obstacle information around a lane, and calculating a boundary of the lane based on the obstacle information and a lane width in the lane information.
Optionally, the apparatus further comprises:
establishing a vehicle body coordinate system by taking the reference point of the tractor as an origin;
recording the coordinates of the collision detection point of the tractor under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system.
Optionally, the apparatus further comprises:
acquiring an included angle between the semitrailer and the tractor;
recording the coordinates of the collision detection point of the semitrailer under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system based on the included angle.
The present application further provides an electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor implements the steps of the above method by executing the executable instructions.
The present application also provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the above-described method.
Through the embodiment, the reference line of the semi-trailer for driving the tractor and the boundary of the lane can be obtained through calculation, the collision detection points are arranged on the outer contours of the tractor and the semi-trailer, the offset of the collision detection points from the reference line is calculated, the curvature of the reference line of the semi-trailer for driving is calculated based on the distance from the tractor reference point to the semi-trailer reference point, and the first threshold interval aiming at the offset is calculated based on the curvature, so that the collision-free path of the outer contour of the semi-trailer is determined, and the collision-free outer contour of the semi-trailer is ensured.
Drawings
FIG. 1 is a flow chart illustrating a method for collision-free path planning of an exterior contour of a semi-trailer in accordance with an exemplary embodiment;
FIG. 2 is a collision detection point diagram of an outer contour of a semi-trailer according to an exemplary embodiment;
FIG. 3 is a schematic illustration of an exemplary embodiment showing a semi-trailer reference point located on a reference line;
FIG. 4 is a schematic illustration of a semitrailer reference point offset from a reference line in accordance with an exemplary embodiment;
FIG. 5 is a block diagram of an outer contour collision-free path planning apparatus for a semi-trailer vehicle according to an exemplary embodiment;
fig. 6 is a hardware configuration diagram of an electronic device where an outer contour collision-free path planning device of a semi-trailer is located according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described herein. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.
In order to make those skilled in the art better understand the technical solution in the embodiment of the present disclosure, a brief description will be given below on the related technology of path planning related to the embodiment of the present disclosure.
Path planning: path planning is one of the main research contents of motion planning. The motion planning is composed of path planning and trajectory planning, sequence points or curves connecting the starting position and the end position are called paths, and the strategy for forming the paths is called path planning.
Application scenario overview
The automatic driving of the vehicle integrates related technologies such as perception, prediction, high-precision maps, fusion positioning, navigation, decision planning, control and the like. The decision planning module is an important component of the automatic driving technology and plans a local path which can be driven by the semitrailer according to the global path given by the navigation module, the position of the semitrailer given by the positioning module and the static and dynamic barrier information given by the perception prediction module. The local path should be smooth (meeting vehicle dynamics constraints, curvature continuity), collision free, and may be used directly as an input to the downstream control module. Since some obstacles are dynamically changing, the local path planning should be done in real time.
Currently, mainstream local path planning algorithms are classified into search-based path planning algorithms and optimization-based path planning algorithms. The route planning algorithm based on search has high time complexity and is difficult to meet the real-time requirement. In the optimization-based path planning algorithm, the quadratic programming-based path planning algorithm has the characteristics of low time complexity and easiness in deployment. However, the current quadratic programming algorithm can only constrain the position of the reference point (the center of the rear axle or the central point) of the tractor, and cannot completely ensure that the outer contours of the tractor and the semitrailer have no collision.
Inventive concept
In view of this, the present specification aims to provide a technical solution of a local path real-time planning algorithm capable of ensuring no collision of the outer contour of the semi-trailer.
The core concept of the specification is as follows:
any plurality of points on the outer contours of the tractor and the semitrailer are set to serve as collision detection points. The algorithm ensures that the trajectories of all detection points are collision-free when the semi-trailer is travelling along the planned path. After the positions and the number of the detection points are reasonably set, the outer contour of the semi-trailer can be ensured to have no collision. In addition, the algorithm is combined with a quadratic programming algorithm, so that the real-time requirement of path programming can be met.
The present application is described below with reference to specific embodiments and specific application scenarios.
Referring to fig. 1, fig. 1 is a flowchart illustrating an exemplary embodiment of a method for planning collision-free paths of an outer contour of a semi-trailer, the method performing the following steps:
step 102: acquiring lane information, calculating a reference line for driving of the tractor based on the lane information, and calculating a curvature of the reference line.
Step 104: acquiring obstacle information, and calculating the boundary of the lane based on the obstacle information and the lane information.
Step 106: and acquiring the distance between the reference point of the tractor and the reference point of the semitrailer.
Step 108: and selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points, and respectively calculating the offset of the collision detection points from the reference line.
Step 110: and calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance between the reference point of the tractor and the reference point of the semitrailer.
Step 112: and if the collision detection point of the semitrailer is in the boundary of the lane, determining a first threshold interval of the offset based on the curvature of the reference line for driving the semitrailer, and determining the tractor and the outer contour collision-free path of the semitrailer based on the first threshold interval.
In the solution proposed in the present specification, lane information of a lane in which a semi-trailer is traveling may be acquired, and a reference line for a tractor to travel may be calculated based on the lane information. The lane information may be obtained through three-dimensional point cloud data obtained by a laser radar, may be obtained through two-dimensional image data obtained by a camera, and may also be directly received through lane information that is processed in advance, which is not limited in this specification.
In one embodiment shown, for a forward-driving semi-trailer, the lane information may include a driven lane behind the semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane include at least one straight lane and at least one curve.
For example, the lane center lines of a driven lane behind a semi-trailer and an undriven lane in front of the semi-trailer may be acquired to generate a reference line on which the tractor is driven. Since the center line of the lane may have discontinuous curvature, which may cause discontinuous curvature of the reference line, the center line of the lane may be smoothed, thereby ensuring that the reference line has continuous curvature and has a deviation within a certain range from the center line of the lane.
After the reference line is calculated, obstacle information may be acquired, and a boundary of the lane may be calculated based on the obstacle information and the lane information.
In one embodiment shown, the lane information includes a lane width, the obstacle information may be acquired, the obstacle information may include dynamic obstacle information and static obstacle information around the lane, and the boundary of the lane may be calculated based on the obstacle information and the lane width in the lane information.
For example, pre-processed obstacle information may be acquired, the positions of dynamic obstacles and static obstacles within a lane may be determined, and lane boundaries may be determined in conjunction with lane widths.
In one embodiment shown, a body coordinate system may be established with a reference point of a tractor of a semi-trailer as an origin, coordinates of the collision detection point in the body coordinate system may be recorded, and the coordinates in the body coordinate system may be converted into coordinates in a world coordinate system.
In one embodiment shown, the angle between the semitrailer and the tractor can be obtained; the coordinates of the collision detection point of the semitrailer under the vehicle body coordinate system can be recorded; coordinates in the body coordinate system may be converted to coordinates in a world coordinate system based on the included angle.
After the boundary of the reference line and the lane is obtained through calculation, the distance between the reference point of the tractor and the reference point of the semitrailer can be obtained; n points on the outer contour of the tractor and M points on the outer contour of the semitrailer can be selected as collision detection points, and the offset of the collision detection points from the reference line is calculated respectively; the curvature of the reference line on which the semitrailer travels is calculated based on the curvature of the reference line, the offset of the reference line, and the distance between the reference point of the tractor and the reference point of the semitrailer, if the collision detection point of the semitrailer is within the boundary of the lane, a first threshold interval of the offset is determined based on the curvature of the reference line on which the semitrailer travels, and the collision-free path of the tractor and the outer contour of the semitrailer is determined based on the first threshold interval.
For example, as shown in fig. 2, the coordinate system may be converted first, and the vehicle body coordinate system is defined first: the centers of two rear wheel shafts of the tractor are used as the original point of the xoy plane, the right front of the tractor is the x forward direction, and the right left of the tractor is the y-axis forward direction. The center lines of the driven lane behind the semi-trailer and the non-driven lane in front of the semi-trailer can be obtained and can be smoothed to generate a reference line; the obstacle information can be obtained, the obstacle information can comprise dynamic obstacle information and static obstacle information around the lane, the boundary of the lane can be calculated based on the obstacle information and the lane width in the lane information, and the lower boundary of the road can be obtained
Upper boundary
N points on the outer contour of the tractor and M points on the semitrailer can be selected as collision detection points, and the offset of the collision detection points from the reference line is respectively calculated, as shown in FIG. 2, P11-P14 are the collision detection points of the tractor, and P21-P24 are the collision detection points of the semitrailer. Recording set collision detection point P of tractor 1i Coordinate value (x) in the vehicle body coordinate system 1i ，y 1i )，i＝1～n 1 Coordinates thereof in world coordinate system
Can be calculated from the following formula:
wherein theta is the angle of the heading direction,namely, the included angle between the x-axis of the vehicle body coordinate system and the x-axis of the world coordinate system. Recording set detection point P of semitrailer 2i Coordinate value (x) in the vehicle body coordinate system 2i ，y 2i )，i＝1～n 2 Coordinates thereof in world coordinate system
Can be calculated from the following formula:
wherein beta is the included angle between the semi-trailer and the tractor, and d is the distance from the tractor reference point o to the semi-trailer reference point t. When the tractor reference point is located at any position of the reference line, as shown in fig. 3, the tractor optional detection point P can be calculated according to the formula (1.1) and the formula (1.2) 1i Is offset amount of
And any collision detection point P of semitrailer 2i Is offset amount of
When the tractor deviates from the reference line, as shown in fig. 4, the arbitrary collision detection point deviation amount l i And l 1i The approximate calculated relationship between the amount of offset from the tractor reference point, l, is as follows:
wherein κ γ Is the curvature of the corresponding point on the reference line. In order to ensure that the semi-trailer runs in the road boundary, according to the calculated road boundary, any collision detection point P on the outer contour of the tractor 1i Offset amount l of 1i The following relationship should be satisfied:
according to any collision detection point offset l i And the approximate calculation relationship between the tractor reference point offset amount l, the following relationship can be obtained:
wherein
The calculation formula of (a) is as follows:
offset l of semitrailer at any detection point 2i The approximate calculated relationship to the tractor reference point offset, l, is as follows:
wherein L is 2 The distance from the center of the rear axle of the semitrailer to the suspension point. In the same way, in order to ensure the detection point P on the outer contour of the semitrailer in the driving process 2i Within the road boundary, the reference point offset l of the tractor needs to satisfy the following relationship:
wherein
Calculated according to the formulas (1.10) and (1.11) respectively:
therefore, according to the formulas (1.5) and (1.9), in order to simultaneously ensure that any detection points of the tractor and the semitrailer are within the road boundary during driving, the offset amount l of the reference point of the tractor must satisfy the formula (1.12) to avoid collision:
wherein n is 1 The number of collision detection points on the outer contour of the tractor, n 2 The number of collision detection points of the semitrailer.
According to the formula, all collision detection points are guaranteed to be in lane boundaries in the running process of the semi-trailer, the collision-free boundary condition, namely a first threshold interval, for avoiding collision is solved, and the following formula is solved, so that the reference point running track of the semi-trailer with collision-free collision detection points, namely the outer contour collision-free path of the semi-trailer can be obtained:
s.t.l min (s j )≤l(s j )≤l max (s j )
k max (κ r (s j )l(s j )-1)+κ r (s j )≤0
s j ＝jΔs，j＝[0，1，...，m]
because the relationship between the offset of any collision detection point and the offset l of the tractor reference point is an approximate calculation relationship, the outer contour collision-free path of the semi-trailer obtained by the calculation of the formula can still have collision, and therefore collision detection can be carried out. If no collision exists, the path planning is finished, and the obtained path is the outer contour collision-free path of the semi-trailer. If collision exists, the obtained track is used as a reference line, the steps are repeated, if collision still exists, no feasible solution exists, and the local path planning is finished.
Referring to fig. 5, fig. 5 shows an exemplary embodiment of an external contour collision-free path planning device for a semi-trailer, the device includes:
a reference line calculating module 510, configured to obtain lane information, and calculate a reference line on which the tractor travels based on the lane information;
a boundary calculation module 520, configured to obtain obstacle information, and calculate a boundary of a lane based on the obstacle information and the lane information;
a distance calculating module 530 for obtaining a distance between the reference point of the tractor and the reference point of the semitrailer
An offset calculating module 540, configured to select N points on the outer contour of the tractor and M points on the semitrailer as collision detection points, and calculate offsets of the collision detection points from the reference line respectively;
a curvature determining module 550, configured to calculate a curvature of a reference line on which the semitrailer travels based on the curvature of the reference line, an offset of the reference line, and a distance from a reference point of the tractor to a reference point of the semitrailer;
and if the collision detection point of the semitrailer is within the boundary of the lane, the path planning module 560 determines a first threshold interval of the offset based on the curvature of the reference line on which the semitrailer runs, and determines the collision-free path of the tractor and the outer contour of the semitrailer based on the first threshold interval.
Optionally, the lane information includes a driven lane behind the semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane include at least one straight lane and at least one curve.
Optionally, the lane information includes lane width, the obtaining obstacle information, and calculating a boundary of the lane based on the obstacle information and the lane information includes:
acquiring obstacle information including dynamic obstacle information and static obstacle information around a lane, and calculating a boundary of the lane based on the obstacle information and a lane width in the lane information.
Optionally, the apparatus further comprises:
establishing a vehicle body coordinate system by taking the reference point of the tractor as an origin;
recording the coordinates of the collision detection point under the vehicle body coordinate system;
and converting the coordinates in the vehicle body coordinate system into coordinates in a world coordinate system.
Referring to fig. 6, fig. 6 is a hardware structure diagram of an electronic device where an outer contour collision-free path planning apparatus of a semi-trailer is located according to an exemplary embodiment. At the hardware level, the device includes a processor 602, an internal bus 604, a network interface 606, a memory 608, and a non-volatile memory 610, although it may include hardware required for other services. One or more embodiments of the present description may be implemented in software, such as by processor 602 reading corresponding computer programs from non-volatile memory 610 into memory 608 and then executing. Of course, besides software implementation, the one or more embodiments in this specification do not exclude other implementations, such as logic devices or combinations of software and hardware, and so on, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are only illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in the specification. One of ordinary skill in the art can understand and implement without inventive effort.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
In a typical configuration, a computer includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present description to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of one or more embodiments herein. The word "if," as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination," depending on the context.
The above description is only for the purpose of illustrating the preferred embodiments of the one or more embodiments of the present disclosure, and is not intended to limit the scope of the one or more embodiments of the present disclosure, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the one or more embodiments of the present disclosure should be included in the scope of the one or more embodiments of the present disclosure.
Claims (12)
1. A method for collision-free path planning of an outer contour of a semi-trailer comprising a tractor and a semi-trailer, characterized in that the method comprises:
acquiring lane information, calculating a reference line for driving of the tractor based on the lane information, and calculating the curvature of the reference line;
acquiring obstacle information, and calculating the boundary of a lane based on the obstacle information and the lane information;
acquiring the distance between the reference point of the tractor and the reference point of the semitrailer;
selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points, and respectively calculating the offset of the collision detection points from the reference line;
calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance between the reference point of the tractor and the reference point of the semitrailer;
and if the collision detection point of the semitrailer is in the boundary of the lane, determining a first threshold interval of the offset based on the curvature of the reference line for driving the semitrailer, and determining the tractor and the outer contour collision-free path of the semitrailer based on the first threshold interval.
2. The method of claim 1, wherein the lane information includes a driven lane behind a semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane include at least one straight lane and at least one curve.
3. The method of claim 1, the lane information comprising a lane width, wherein the obtaining obstacle information, calculating a boundary of a lane based on the obstacle information and the lane information, comprises:
acquiring obstacle information including dynamic obstacle information and static obstacle information around a lane, and calculating a boundary of the lane based on the obstacle information and a lane width in the lane information.
4. The method of claim 1, further comprising:
establishing a vehicle body coordinate system by taking the reference point of the tractor as an origin;
recording the coordinates of the collision detection point of the tractor under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system.
5. The method of claim 4, further comprising:
acquiring an included angle between the semitrailer and the tractor;
recording the coordinates of the collision detection point of the semitrailer under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system based on the included angle.
6. An outer contour collision-free path planning device for a semi-trailer, the device comprising:
the reference line calculation module is used for acquiring lane information and calculating a reference line for driving the tractor based on the lane information;
the boundary calculation module is used for acquiring obstacle information and calculating the boundary of the lane based on the obstacle information and the lane information;
a distance calculation module for obtaining the distance between the reference point of the tractor and the reference point of the semitrailer
The offset calculation module is used for selecting N points on the outer contour of the tractor and M points on the outer contour of the semitrailer as collision detection points and respectively calculating the offset of the collision detection points from the reference line;
the curvature determining module is used for calculating the curvature of the reference line for driving the semitrailer based on the curvature of the reference line, the offset of the reference line and the distance between the reference point of the tractor and the reference point of the semitrailer;
and if the collision detection point of the semitrailer is within the boundary of the lane, the path planning module determines a first threshold interval of the offset based on the curvature of the reference line of the semitrailer, and determines the tractor and the outer contour collision-free path of the semitrailer based on the first threshold interval.
7. The apparatus of claim 6, wherein the lane information comprises a driven lane behind the semi-trailer and a non-driven lane in front of the semi-trailer, wherein the driven lane and the non-driven lane comprise at least one straight lane and at least one curve.
8. The apparatus of claim 6, the lane information comprising a lane width, wherein the obtaining obstacle information, calculating boundaries of a lane based on the obstacle information and the lane information, comprises:
acquiring obstacle information including dynamic obstacle information and static obstacle information around a lane, and calculating a boundary of the lane based on the obstacle information and a lane width in the lane information.
9. The apparatus of claim 6, further comprising:
establishing a vehicle body coordinate system by taking the reference point of the tractor as an origin;
recording the coordinates of the collision detection point under the vehicle body coordinate system;
and converting the coordinates in the vehicle body coordinate system into coordinates in a world coordinate system.
10. The apparatus of claim 9, further comprising:
acquiring an included angle between the semitrailer and the tractor;
recording the coordinates of the collision detection point of the semitrailer under the vehicle body coordinate system;
and converting the coordinates under the vehicle body coordinate system into coordinates under a world coordinate system based on the included angle.
11. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 5.
12. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor implements the steps of the method of any one of claims 1-5 by executing the executable instructions.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045991A (en) * | 2023-01-05 | 2023-05-02 | 山东港口渤海湾港集团有限公司 | Method and device for planning collision-free path of outer contour of vehicle |
| CN116576875A (en) * | 2023-05-23 | 2023-08-11 | 北京斯年智驾科技有限公司 | Real-time planning method and system for four-wheel steering vehicle outline collision-free local path |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045991A (en) * | 2023-01-05 | 2023-05-02 | 山东港口渤海湾港集团有限公司 | Method and device for planning collision-free path of outer contour of vehicle |
| CN116576875A (en) * | 2023-05-23 | 2023-08-11 | 北京斯年智驾科技有限公司 | Real-time planning method and system for four-wheel steering vehicle outline collision-free local path |
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