CN115871649A - Secondary parking path planning method and device and vehicle - Google Patents
Secondary parking path planning method and device and vehicle Download PDFInfo
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Abstract
The secondary parking path planning method comprises the steps of obtaining the current pose and the target pose of a vehicle when the vehicle deviates from an original path, sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and parking constraint conditions, taking one candidate path corresponding to the path parameters as the current planning path, and controlling the vehicle to run according to the current planning path. The method and the device can avoid error correction failure when the tracking error of the vehicle is large, so that the parking success rate can be improved.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a secondary parking path planning method and device and a vehicle.
Background
At present, the automatic parking process is generally as follows: the method comprises the steps that a driver starts an automatic parking system of a vehicle to start detecting parking space information, after a proper parking space is detected, a parking track coordinate is established, a parking starting position is determined, a parking path is planned according to the parking space and the parking starting position, the vehicle can track according to an original path until the vehicle is completely parked in the parking space, and the parking system is automatically closed.
In the process of parking, the vehicle may have a larger tracking error or a collision early warning, and if the vehicle is controlled to track according to the original path, the parking will fail, and the successful parking efficiency will be affected.
Disclosure of Invention
The invention aims to provide a secondary parking path planning method, a secondary parking path planning device, a vehicle and a readable storage medium.
In a first aspect, the present invention provides a secondary parking path planning method, including:
when a vehicle deviates from an original path, acquiring the current pose and the target pose of the vehicle;
sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition;
and taking a candidate path corresponding to the path parameter as a current planned path, and controlling the vehicle to run according to the current planned path.
In an optional embodiment, before the acquiring the current pose and the target pose of the vehicle, the method further includes:
and acquiring a target parking space pose of the parking space, and determining a target pose of the vehicle according to a target pose constraint condition and the target parking space pose, wherein the target pose constraint condition is that the longitudinal coordinate and the direction angle of the target parking space pose and the target pose in the same coordinate system are correspondingly the same.
In an alternative embodiment, the method further comprises:
and when the path parameter of any candidate path in the preset path set is not solved, stopping planning the parking path.
In an optional implementation manner, the sequentially solving, according to the current pose, the target pose, and the parking constraint condition, the path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm includes:
sequentially solving path parameters of each candidate path through an optimization algorithm based on the current pose, the target pose and parking constraint conditions;
if the path parameters of the current candidate path are solved and the number of the path parameters is one group, the group of path parameters is set as the path parameters of the current candidate path, and the solving is stopped.
In an alternative embodiment, the method further comprises:
and if the path parameters of the current candidate path are not solved, solving the next candidate path in the preset path set, and sequentially solving the path parameters of each candidate path through an optimization algorithm based on the current pose, the target pose and the parking constraint condition.
In an alternative embodiment, the path parameters include a straight path length and a circular arc path length of the candidate path, and the method further includes:
if a plurality of groups of path parameters of the current candidate path are solved, respectively calculating the sum of the straight line path length and the circular arc path length of each group of path parameters;
and selecting the path parameter with the minimum sum of the straight line path length and the circular arc path length in the multiple groups of path parameters, setting the group of path parameters as the path parameter of the current candidate path, and stopping solving.
In an alternative embodiment, the parking constraints include vehicle kinematics constraints and vehicle collision constraints.
In a second aspect, the present invention provides a secondary parking path planning apparatus, including:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the current pose and the target pose of a vehicle when the vehicle deviates from an original path;
the solving module is used for sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition;
and the planning module is used for taking one candidate path corresponding to the path parameter as a current planned path and controlling the vehicle to run according to the current planned path.
In a third aspect, the present invention provides a vehicle, including a memory and a processor, where the memory stores a computer program, and the computer program, when executed on the processor, executes the secondary parking path planning method.
In a fourth aspect, the present invention provides a readable storage medium, which stores a computer program, where the computer program is executed on a processor to perform the secondary parking path planning method.
The embodiment of the invention has the beneficial effects that:
the embodiment of the application provides a secondary parking path planning method, which comprises the steps of obtaining the current pose and the target pose of a vehicle when the vehicle deviates from an original path, sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and parking constraint conditions, taking one candidate path corresponding to the path parameters as the current planned path, and controlling the vehicle to run according to the current planned path. The method and the device can avoid error failure correction when the tracking error of the vehicle is large, so that the parking success rate can be improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 shows a first flowchart of a secondary parking path planning method according to an embodiment of the present application;
fig. 2 is a second flow chart of a secondary parking path planning method according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a basic path in a secondary parking path planning method according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating candidate routes in a secondary parking route planning method according to an embodiment of the present application;
fig. 5 is a first flowchart illustrating a method for solving path parameters in a secondary parking path planning method according to an embodiment of the present application;
fig. 6 is a second flow chart illustrating a process of solving path parameters in a secondary parking path planning method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram illustrating a secondary parking path planning apparatus according to an embodiment of the present application.
Description of the main element symbols:
100-a secondary parking path planning device; 110-an obtaining module; 120-a solution module; 130-planning module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are intended to indicate only specific features, numerals, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the presence of or adding to one or more other features, numerals, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
The application provides a secondary parking path planning method, when the error of tracking an original path of a vehicle is large or collision early warning occurs, the vehicle carries out secondary planning and tracking on a parking path again according to the environment and the current pose of the vehicle through secondary path planning, and therefore the parking success rate is improved.
In the automatic parking process of the vehicle, due to the factors of uneven ground, slipping of tires and the like, the tracking error of the vehicle when the vehicle runs along the original path is large, the controller cannot correct the original path in a limited space, and the vehicle can collide with an obstacle in the error correcting process to give an early warning and cause failure in parking. Therefore, the method for planning the secondary parking path is provided, when the tracking error of the vehicle is large or collision early warning occurs, the vehicle starts the planning of the secondary parking path, namely, the secondary planning and tracking of the parking path are performed according to the current environment, vehicle information and the like of the vehicle, so that the success rate of parking is improved.
Example 1
Referring to fig. 1, an embodiment of the present application provides a secondary parking path planning method, which exemplarily includes steps S100 to S300.
Step S100: and when the vehicle deviates from the original path, acquiring the current pose and the target pose of the vehicle.
It can be understood that when the vehicle travels on the original path and deviates from the original path, for example, when the vehicle collides with the original path or fails to track the original path, the vehicle will start to park the path planning again, and the current pose of the vehicle in the geodetic coordinate system, that is, the position and the pose of the vehicle at the current time will be obtained through a positioning system of the vehicle, such as a Global Positioning System (GPS), a big dipper system, or other positioning systems. The method and the device for determining the parking path of the vehicle further obtain the target pose of the vehicle after the vehicle drives into the target parking space so as to determine the secondary parking path of the vehicle through the target pose and the current position.
In one embodiment, as shown in fig. 2, a step S400 is further included before the step S100.
Step S400: and acquiring the position and posture of a target parking space of the parking space to be parked, and determining the target position and posture of the vehicle according to the target position and posture constraint condition and the position and posture of the target parking space, wherein the target position and posture constraint condition is that the longitudinal coordinates and the direction angles of the position and posture of the target parking space and the position and posture of the target parking space in the same coordinate system are correspondingly the same.
When the vehicle has a large tracking error or is collided and needs to perform parking path planning again, the position and posture of the target parking space corresponding to the vehicle are obtained and used as the position and posture of the target parking space, and the target parking space is the parking space to be parked of the vehicle. It can be understood that when the vehicle stops at the target parking space, a certain distance is kept between the vehicle and the parking space line of the target parking space to ensure that the vehicle stops safely, so that violation or influence on the passing of other vehicles is avoided.
Therefore, after the position and posture of the target parking space are obtained, the position and posture of the target when the vehicle stops at the target parking space are determined according to preset target position and posture constraint conditions and the position and posture of the target parking space. The target position and posture constraint condition is that the longitudinal coordinate and the direction angle of the target parking space posture and the target position posture in the same coordinate system are corresponding to each other, in other words, the target position and posture of the vehicle secondary planning in the geodetic coordinate system are on the same longitudinal axis as the target parking space posture, and the latitude and the deflection angle of the target position and the latitude and the deflection angle of the target parking space posture of the vehicle in the terrestrial coordinate system are kept consistent.
Step S200: and sequentially solving path parameters corresponding to each preset candidate path in the preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition.
After the current pose and the target pose of the vehicle are obtained, the path parameters corresponding to each candidate path in the preset path set are sequentially solved according to the current pose and the target pose of the vehicle and a preset parking constraint condition so as to determine whether any candidate path in the preset path set can be successfully solved, if the solution is successful, the parking path planning is considered to be successful, and the solution of the path parameters of the remaining candidate paths in the preset path set is stopped.
If the path parameter of any candidate path in the preset path set is not solved, the secondary path planning is considered to be failed, at the moment, the vehicle is controlled to keep the original state, and the planning of the secondary parking path is interrupted and quitted.
It is understood that the parking constraint conditions include vehicle kinematic constraint conditions, vehicle collision constraint conditions, and the like. The preset path set is set by workers in advance according to actual requirements, and each candidate path is formed by one or more of the multiple basic paths.
Exemplarily, the preset path set may include 16 candidate paths, each of which is composed of one or more of 6 basic paths. As shown in fig. 3, the 6 basic paths are: forward straight going S + (see path a in FIG. 3), backward straight S - (see path b in FIG. 3), advance left turn
(as in path c of FIG. 3), proceed to the right turn @>
(see path d in FIG. 3), back left turn @>
(as in path e in FIG. 3) and back right turn @>
(see path f in FIG. 3), where "+ "and" - "denote forward and reverse, respectively," r "and" l "denote right and left turns, respectively, and>
indicating the steering angle, and the steering angle of the vehicle has a maximum steering angle
In the present application, the left-turn radius or the right-turn radius in the various base paths may take any value under the condition that the kinematic constraint is satisfied. />
As shown in FIG. 4, the 16 candidate paths may each be (a)
(b)/>
(c)/>
(d)/>
(e)/>
(f)/>
(g)/>
(h)/>
(i)/>
(j)
(k)/>
(l)/>
(m)/>
(n)/>
(o)/>
(p)/>
Wherein, P S For the starting point of each candidate path, P g For the end point of each candidate path, P i As nodes between the various elementary paths constituting the candidate path, in other words P i From a starting point P S To the end point P g Each node in (1), e.g. P 1 、P 2 、P 3 、……P i I is an integer greater than or equal to 1, i is used for representing the sequence when the vehicle runs according to the candidate route and is based on P in the candidate route i The complexity of the candidate path may be determined, and if the candidate path is only a straight path or a turning path, the corresponding node only includes P 1 Point sum P 2 Points, e.g. as shown by candidate route (a) in fig. 4, which is a route from which the vehicle is P 1 Point driving to P 2 And (4) point.
In one embodiment, as shown in FIG. 5, step S200 includes sub-steps S210-S230.
Substep S210: and sequentially solving the path parameters of each candidate path through an optimization algorithm based on the current pose, the target pose and the parking constraint condition.
The preset path set comprises a plurality of candidate paths, and each candidate path can be sequentially used as a candidate path according to a preset sequence of the plurality of candidate paths in the preset path set. The sequence of a plurality of candidate paths in the pre-path set can be preset according to the actual situation, and can also be set from a straight path to a turning path and from a simple path to a complex path; the path parameters of each candidate path in the preset path set can also be solved according to a certain sequence.
After the candidate path is determined, the candidate path is solved through an optimization algorithm, namely an LD _ SLQP algorithm in NLOPT, according to the acquired current pose, the acquired target pose and the parking constraint condition, so that the path parameters of the candidate path are determined. The solved candidate parameters meet parking constraint conditions, namely vehicle kinematics constraint conditions and vehicle collision constraint conditions, the collision constraint conditions mean that the vehicle is prevented from colliding with other obstacles when running to any pose on the candidate path, and the NLOPT is an open-source nonlinear optimization library.
Substep S220: if the path parameters of the current candidate path are solved and the number of the path parameters is one group, the group of path parameters is set as the path parameters of the current candidate path, and the solving is stopped.
It can be understood that, when a group of path parameters corresponding to the candidate paths in the preset path set is solved, it indicates that the vehicle secondary parking planning is successful, at this time, the solution of the path parameters of the remaining candidate paths in the preset path set is terminated, and the group of calculated path parameters is set as the path parameters of the current candidate path.
In this application, if the path parameters of the candidate paths fail to be solved, the next candidate path is taken as the candidate path according to the preset order in the preset path set, and the substep S120 is performed.
In one embodiment, as shown in FIG. 6, step S200 includes sub-steps S230-S240.
Substep S230: and if the multiple groups of path parameters of the current candidate path are solved, respectively calculating the sum of the straight line path length and the circular arc path length of each group of path parameters.
In the present application, the path parameters include parameters such as a straight path length, a circular arc radius, and a circular arc path length of the candidate path. When the candidate path is solved and multiple sets of path parameters corresponding to the current candidate path are calculated, the sum of the length of the straight line path and the length of the circular arc path corresponding to each set of path parameters is calculated respectively, in other words, the sum of the lengths of the basic paths in each set of path parameters in the current candidate path is calculated.
Substep S240: and selecting the path parameter with the minimum sum of the straight line path length and the circular arc path length in the multiple groups of path parameters, setting the group of path parameters as the path parameters of the current candidate path, and stopping solving.
After the sum of the straight line path length and the circular arc path length of each group of path parameters is obtained through calculation, the path parameter with the minimum length is selected from the sum of the straight line path length and the circular arc path length in the multiple groups of path parameters, namely, the path parameter with the shortest path length is selected, in other words, when the straight line path length and the circular arc path length are respectively l 1 (x)、……、l i (x) When it is needed, min (l) 1 (x)+…+l i (x) As path parameters for the current candidate path.
Step S300: and taking a candidate path corresponding to the path parameter as a current planned path, and controlling the vehicle to run according to the current planned path.
It can be understood that after the solution is successful and the corresponding path parameter is determined, one candidate path corresponding to the solved path parameter is taken as the current planned path, and the vehicle is controlled to run according to the current candidate path corresponding to the determined path parameter until the vehicle successfully runs to the target pose, that is, the vehicle successfully completes the parking.
According to the method and the device, the parking path is secondarily planned according to the current pose and the target pose of the vehicle, the parking path of the vehicle can be planned again in a limited space, collision early warning between the vehicle and an obstacle in the error correcting process is avoided, parking failure is avoided, and therefore the parking success rate of the vehicle can be improved.
Based on the secondary parking path planning method of the foregoing embodiment, fig. 7 shows a schematic structural diagram of a secondary parking path planning device 100 according to an embodiment of the present application. The secondary parking path planning apparatus 100 includes:
the acquiring module 110 is configured to acquire a current pose and a target pose of a vehicle when the vehicle deviates from an original path;
a solving module 120, configured to sequentially solve, according to the current pose, the target pose, and the parking constraint condition, a path parameter corresponding to each preset candidate path in a preset path set through a candidate path algorithm;
and the planning module 130 is configured to take one candidate path corresponding to the path parameter as a current planned path, and control the vehicle to run according to the current planned path.
The secondary parking path planning apparatus 100 of the present embodiment is used to execute the secondary parking path planning method of the foregoing embodiment, and the implementation and beneficial effects related to the foregoing embodiment are also applicable to the present embodiment, and are not described herein again.
The embodiment of the application further provides a terminal device, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program executes the secondary parking path planning method when running on the processor.
The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed on a processor, the method for planning a secondary parking path is implemented.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A secondary parking path planning method, characterized by comprising:
when a vehicle deviates from an original path, acquiring the current pose and the target pose of the vehicle;
sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition;
and taking a candidate path corresponding to the path parameter as a current planned path, and controlling the vehicle to run according to the current planned path.
2. The secondary parking path planning method according to claim 1, further comprising, before the acquiring the current pose and the target pose of the vehicle:
and acquiring a target parking space pose of the parking space, and determining a target pose of the vehicle according to a target pose constraint condition and the target parking space pose, wherein the target pose constraint condition is that the longitudinal coordinate and the direction angle of the target parking space pose and the target pose in the same coordinate system are correspondingly the same.
3. The secondary parking path planning method according to claim 1, further comprising:
and when the path parameter of any candidate path in the preset path set is not solved, stopping planning the parking path.
4. The secondary parking path planning method according to claim 1, wherein the sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition comprises:
sequentially solving path parameters of each candidate path through an optimization algorithm based on the current pose, the target pose and parking constraint conditions;
if the path parameters of the current candidate path are solved and the number of the path parameters is one group, the group of path parameters is set as the path parameters of the current candidate path, and the solving is stopped.
5. The secondary parking path planning method according to claim 4, further comprising:
and if the path parameters of the current candidate path are not solved, solving the next candidate path in the preset path set, and sequentially solving the path parameters of each candidate path through an optimization algorithm based on the current pose, the target pose and the parking constraint condition.
6. The secondary parking path planning method according to claim 4, wherein the path parameters include a straight path length and an arc path length of the candidate path, the method further comprising:
if a plurality of groups of path parameters of the current candidate path are solved, respectively calculating the sum of the straight line path length and the circular arc path length of each group of path parameters;
and selecting the path parameter with the minimum sum of the straight line path length and the circular arc path length in the multiple groups of path parameters, setting the group of path parameters as the path parameters of the current candidate path, and stopping solving.
7. The secondary parking path planning method according to claim 1, wherein the parking constraints include vehicle kinematics constraints and vehicle collision constraints.
8. A secondary parking path planning apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the current pose and the target pose of the vehicle when the vehicle deviates from an original path;
the solving module is used for sequentially solving path parameters corresponding to each preset candidate path in a preset path set through a candidate path algorithm according to the current pose, the target pose and the parking constraint condition;
and the planning module is used for taking one candidate path corresponding to the path parameter as a current planned path and controlling the vehicle to run according to the current planned path.
9. A vehicle comprising a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the secondary parking path planning method according to any one of claims 1 to 7.
10. A readable storage medium storing a computer program which, when executed on a processor, performs the secondary parking path planning method according to any one of claims 1 to 7.
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