CN116279424A - Parking path planning method, device, equipment and storage medium - Google Patents
Parking path planning method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a parking path planning method, a device, equipment and a storage medium, which are applied to a vehicle with various target detection equipment, wherein the positioning modes adopted by the various target detection equipment comprise absolute positioning and relative positioning, and the method comprises the following steps: acquiring first vehicle position information under an initial equipment coordinate system; determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information; acquiring first vehicle coordinates and first obstacle target information under an initial equipment coordinate system; and converting the first vehicle position information, the first vehicle coordinates and the first obstacle target information into a parking map coordinate system according to the first coordinate conversion relation, and generating a collision-free parking path in the parking map coordinate system. The invention realizes decoupling of path planning and positioning modes, and can make the information collected by the equipment adopting different positioning modes mutually backup and simultaneously adopts only one set of parking system.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to the technical field of autonomous parking, passenger parking and auxiliary parking, and particularly relates to a parking path planning method, device, equipment and storage medium.
Background
The automatic parking system (Automatic Parking System, APS) is a comprehensive system integrating the functions of environment sensing, decision making, planning, intelligent control, execution and the like, and is an important component of the intelligent driving auxiliary system. The automatic parking system can acquire positioning information or sensing information based on high-precision maps, visual SLAM, radars, looking-around, ultrasonic sensors and other devices, plan a parking path based on the acquired positioning information and sensing information, and control a vehicle to drive into a parking space along the planned parking path.
The devices for acquiring positioning information and sensing information include devices adopting an absolute positioning mode such as a high-precision map and a visual SLAM, and devices adopting a relative positioning mode such as a radar, a look-around sensor and an ultrasonic sensor. When the existing automatic parking method is used for planning a parking path, corresponding parking path planning modules are usually required to be developed aiming at equipment with different positioning modes, so that the universality of the automatic parking method is reduced.
Disclosure of Invention
The invention aims at solving the technical problem that a vehicle system with equipment with different positioning modes provides a parking path planning method, a device, equipment and a storage medium, so that the equipment adopting an absolute positioning mode and the equipment adopting a relative positioning mode can share one set of parking path planning system.
In order to solve the above technical problem, a first aspect of the present invention provides a parking path planning method applied to a vehicle having a plurality of target detection devices, wherein positioning manners adopted by the plurality of target detection devices include absolute positioning and relative positioning, and the method includes:
acquiring parking space information of a target parking space under an initial equipment coordinate system as first parking space information; the initial equipment coordinate system is a coordinate system of the target detection equipment corresponding to the initial moment;
determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information; the first coordinate conversion relation is used for converting coordinates from the initial equipment coordinate system to the parking map coordinate system;
under the initial equipment coordinate system, acquiring vehicle coordinates at an initial moment as first vehicle coordinates, and acquiring barrier target information at the initial moment as first barrier target information;
performing coordinate conversion on the first vehicle position information, the first vehicle coordinates and the first obstacle target information in the initial equipment coordinate system according to the first coordinate conversion relation to obtain second vehicle position information, second vehicle coordinates and second obstacle target information in the parking map coordinate system;
And generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
Further, after the generating a collision-free parking path for the vehicle to park in the target parking space, the method further comprises:
acquiring a vehicle coordinate at the current moment under a current equipment coordinate system as a third vehicle coordinate; the current equipment coordinate system is the coordinate system of the target detection equipment corresponding to the current moment;
performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system;
judging whether the vehicle is parked in the target parking space or not according to the fourth vehicle coordinate and the second vehicle position information;
if not, acquiring the obstacle target information at the current moment under the current equipment coordinate system as third obstacle target information;
performing coordinate transformation on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system;
judging whether the fourth obstacle target information and the parking path meet a preset collision-free constraint condition or not;
If not, updating the parking path according to the second vehicle position information, the fourth vehicle coordinates and the fourth obstacle target information to obtain an updated collision-free parking path; turning to the step of judging whether the vehicle is parked in the target parking space.
Further, the positioning mode adopted by the target detection equipment is absolute positioning;
the coordinate conversion is performed on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system, including: performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system according to the first coordinate conversion relation to obtain the fourth vehicle coordinate under the parking map coordinate system;
the coordinate conversion is performed on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system, including: and carrying out coordinate conversion on the third obstacle target information under the current equipment coordinate system according to the first coordinate conversion relation to obtain fourth obstacle target information under the parking map coordinate system.
Further, the positioning mode adopted by the target detection equipment is relative positioning; the coordinate conversion is performed on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system, including:
performing coordinate conversion on the third obstacle target information under the current equipment coordinate system according to a second coordinate conversion relation to obtain fifth obstacle target information under the initial equipment coordinate system; the second coordinate conversion relation is used for converting the coordinates of the current equipment coordinate system into the initial equipment coordinate system;
and carrying out coordinate conversion on the fifth obstacle target information under the initial equipment coordinate system according to the first coordinate conversion relation to obtain the fourth obstacle target information under the parking map coordinate system.
Further, the positioning mode adopted by the target detection equipment is relative positioning; the coordinate conversion is performed on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system, including:
performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system according to a second coordinate conversion relation to obtain a fifth vehicle coordinate under the initial equipment coordinate system; the second coordinate conversion relation is used for converting the coordinates of the current equipment coordinate system into the initial equipment coordinate system;
And carrying out coordinate conversion on the fifth vehicle coordinate under the initial equipment coordinate system according to the first coordinate conversion relation to obtain the fourth vehicle coordinate under the parking map coordinate system.
Further, the determining the parking map coordinate system and the first coordinate conversion relation based on the first vehicle location information includes:
extracting coordinate information of each corner point of the parking space in the first vehicle position information;
determining an origin and a coordinate axis of the parking map coordinate system based on each angular point of the parking space;
constructing a parking map coordinate system based on an origin and coordinate axes of the parking map coordinate system;
and calculating the first coordinate conversion relation according to the coordinate of the origin of the parking map coordinate system under the initial equipment coordinate system and the angle of the x-axis of the parking map coordinate system under the initial equipment coordinate system.
Further, the generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system includes:
determining the coordinates of a parking target point according to the second vehicle position information;
planning a collision-free parking path from the second vehicle coordinate to the parking target point coordinate under the parking map coordinate system; wherein the vehicle exterior frame and the obstacle target bounding box do not intersect at each trajectory point on the collision-free parking path.
A second aspect of the present invention proposes a parking path planning apparatus applied to a vehicle having a plurality of target detection devices, wherein positioning manners adopted by the plurality of target detection devices include absolute positioning and relative positioning, the apparatus comprising:
the parking space information acquisition module is used for acquiring the parking space information of the target parking space under an initial equipment coordinate system as first parking space information; the initial equipment coordinate system is the coordinate system of the target detection equipment;
the coordinate system establishing module is used for determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information; the first coordinate conversion relation is used for converting coordinates from the initial equipment coordinate system to the parking map coordinate system;
the initial coordinate acquisition module is used for acquiring vehicle coordinates at the initial moment as first vehicle coordinates under the initial equipment coordinate system and acquiring barrier target information at the initial moment as first barrier target information;
the coordinate conversion module is used for carrying out coordinate conversion on the first vehicle position information, the first vehicle coordinates and the first obstacle target information under the initial equipment coordinate system according to the first coordinate conversion relation to obtain second vehicle position information, second vehicle coordinates and second obstacle target information under the parking map coordinate system;
And the parking path planning module is used for generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
A third aspect of the present invention proposes an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the parking path planning method set forth in the first aspect of the present invention.
A fourth aspect of the present invention proposes a computer readable storage medium having stored therein at least one instruction, at least one program, a code set or an instruction set, which is loaded and executed by a processor to implement the parking path planning method proposed by the first aspect of the present invention.
The implementation of the invention has the following beneficial effects:
according to the parking path planning method, device, equipment and storage medium provided by the embodiment of the invention, through the information collected by the detection equipment adopting the absolute positioning mode and the information collected by the detection equipment adopting the relative positioning mode, the information is uniformly converted into the parking map coordinate system through coordinate conversion, and then the path planning is carried out under the parking map coordinate system, so that the decoupling of the path planning and the positioning mode is realized, on one hand, the parking system can be deployed on a vehicle system adopting different positioning, radar and sensor equipment, and on the other hand, the parking space information input of various positioning, radar and sensors is backed up, and meanwhile, only one parking system is adopted.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for parking path planning provided by an embodiment of the present invention;
fig. 2 is a flowchart of step S120 provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a parking map coordinate system provided by an embodiment of the present invention;
FIG. 4 is a flowchart of step S150 provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of determining coordinates of a parking target point provided by an embodiment of the present invention;
FIG. 6 is another flow chart of a method for parking path planning provided by an embodiment of the present invention;
fig. 7 is a block diagram illustrating a configuration of a parking path planning apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Examples
The parking path planning method provided by the embodiment of the invention is applied to vehicles with various target detection devices, the target detection devices are used for acquiring data such as vehicle coordinates, parking space information, obstacle target information and the like, and the positioning mode adopted by the target detection devices can be absolute positioning based on a high-precision map, a visual SLAM and the like, and relative positioning based on radar, looking around, an ultrasonic sensor and the like. The positioning method can also be RTK inertial navigation fusion positioning based on a high-precision map, and can be laser radar or multi-vision inertial navigation fusion positioning.
Fig. 1 is a flowchart of a method for planning a parking path according to an embodiment of the present invention, where the method steps described in the examples or flowcharts are provided, but may include more or fewer steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 1, the method may include:
S110: acquiring parking space information of a target parking space under an initial equipment coordinate system as first parking space information;
the initial equipment coordinate system is the equipment coordinate system of the target detection equipment corresponding to the initial moment. The initial time refers to a time at which the parking map coordinate system is established. The target detection equipment is arranged on the vehicle, and moves along with the movement of the vehicle in the process of parking the vehicle in the target parking space, namely, the equipment coordinate system of the target detection equipment is a dynamic coordinate system fixedly connected on the target detection equipment.
When the target detection device adopts an absolute positioning mode, the device coordinate system of the target detection device can designate a certain point as an origin, the direction of the point pointing to the east is taken as an x-axis positive direction, and the direction pointing to the north is taken as a y-axis positive direction. That is, when the target detection device adopts the absolute positioning mode, the origin position of the device coordinate system of the target detection device changes along with the movement of the vehicle, the origin position of the corresponding device coordinate system changes at different moments, and the positive x-axis direction and the positive y-axis direction are unchanged.
When the target detection device adopts a relative positioning mode, the device coordinate system of the target detection device can take the center of the rear axle of the vehicle as an original point, the direction of the point pointing to the front of the vehicle as the positive direction of the x-axis, and the direction pointing to the left of the vehicle as the positive direction of the y-axis. That is, when the target detection device adopts the relative positioning method, the origin position of the device coordinate system of the target detection device may change along with the movement of the vehicle, the positive x-axis direction and the positive y-axis direction may also change along with the movement of the vehicle, and the origin position, the positive x-axis direction and the positive y-axis direction of the corresponding device coordinate system may change at different times.
When the target detection equipment adopts an absolute positioning mode, the parking space information of the target parking space can be acquired from the map module; when the target detection equipment adopts a relative positioning mode, the parking space information of the target parking space can be acquired from the sensing module.
S120: determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information;
the parking map coordinate system is a static coordinate system fixed with the ground and static relative to the ground.
Specifically, the initial equipment coordinate system is a two-dimensional coordinate system, the parking map coordinate system is a two-dimensional coordinate system, and the first coordinate conversion relation is used for coordinate conversion from the initial equipment coordinate system to the parking map coordinate system.
When the target detection equipment adopts different positioning modes, the corresponding coordinate conversion formulas corresponding to the corresponding first coordinate conversion relations are also different.
When the target detection apparatus adopts the absolute positioning method, the first coordinate conversion relation of converting the absolute positioning coordinate system into the parking map coordinate system is expressed as an absolute coordinate conversion formula Tran1.
When the target detection device adopts a relative positioning mode, a first coordinate conversion relation of converting the initial moment relative positioning coordinate system into the parking map coordinate system is expressed as a relative coordinate conversion formula Tran2.
Fig. 2 is a flowchart of step S120 provided in an embodiment of the present invention, specifically as shown in fig. 2, in an embodiment, determining a parking map coordinate system based on first vehicle location information may include the following steps:
s121: extracting coordinate information of each angular point of the parking space in the first vehicle position information;
according to the parking space information acquired by the target detection equipment in different positioning modes, acquiring the parking space angular point coordinates under the initial equipment coordinate system; the parking space information can comprise a parking space number and a parking space corner coordinate, and each parking space corner is specifically four parking space corners of the parking space. The first vehicle position information can comprise a vehicle position number and coordinates of each corner point of the vehicle position of the target vehicle position under an initial equipment coordinate system;
s122: determining an origin and a coordinate axis of a parking map coordinate system based on each angular point of the parking space;
fig. 3 is a schematic diagram of a parking map coordinate system provided by an embodiment of the present invention, specifically as shown in fig. 3, in one embodiment, an origin of the parking map coordinate system may be an upper left corner of a parking space, an x-axis positive direction of the parking map coordinate system points from the upper left corner to the upper right corner of the parking space, and a y-axis positive direction of the parking map coordinate system points from the lower left corner to the upper left corner of the parking space.
The origin of the parking map coordinate system can be any one of the corner points of the parking space, or can be other coordinate points calculated according to the four corner points of the parking space, wherein the other coordinate points can be selected as coordinate points positioned on the border of the target parking space surrounded by the corner points of the parking space or inside the border or outside the border, and are preferably central points of the target parking space.
It should be noted that, the parking map coordinate system includes, but is not limited to, the situation shown in fig. 3, and other variations of the parking map coordinate system may be obtained by changing any one or more of the origin position, the positive x-axis direction, and the positive y-axis direction, for example, the parking map coordinate system may also be exemplified by taking the upper left corner of the parking space as the origin, taking the upper left corner pointing from the upper left corner of the parking space as the positive x-axis direction, and taking the upper right corner pointing from the upper right corner of the parking space as the positive y-axis direction.
S123: and constructing a parking map coordinate system based on the origin and the coordinate axis of the parking map coordinate system.
After determining the parking map coordinate system based on the first vehicle location information, further comprising the step of determining a first coordinate conversion relationship, the determining the first coordinate conversion relationship may comprise the steps of:
determining a translation vector converted from the initial equipment coordinate system to the parking map coordinate system according to the coordinate of the origin of the parking map coordinate system under the initial equipment coordinate system;
Determining a rotation matrix converted from the initial equipment coordinate system to the parking map coordinate system according to an angle theta of an x-axis of the parking map coordinate system under the initial equipment coordinate system; illustratively, the coordinates (x 1, y 2) of a point (x 1, y 1) on the x-axis of the parking map coordinate system are obtained under the initial device coordinate system using the arctangent equation θ=tan -1 (x 1-x2, y1-y 2) the angle of the parking map coordinate system x-axis under the original device coordinate system may be calculated, where y1=0.
Constructing a first coordinate conversion relation converted from an initial equipment coordinate system to a parking map coordinate system according to the translation vector and the rotation matrix, namely an absolute coordinate conversion formula Tran1 and a relative coordinate conversion formula Tran2 recorded below;
exemplary, if the origin (0, 0) of the parking map coordinate system is (xo, yo) in the initial device coordinate system T Translation vector converted from initial device coordinate system to parking map coordinate system is t= (xo, yo) T ；
The angle of the x-axis of the parking map coordinate system under the initial equipment coordinate system is theta, and the rotation matrix converted from the initial equipment coordinate system to the parking map coordinate system is
The coordinates of a point in the initial equipment coordinate system are recorded as (xi, yi) T The coordinates in the parking map coordinate system are (xj, yj) T The first coordinate conversion relation is
(xj,yj) T ＝R·((xi,yi) T -T)
Wherein R is a rotation matrix, T is a translation vector
S130: under an initial equipment coordinate system, acquiring vehicle coordinates at an initial moment as first vehicle coordinates, and acquiring barrier target information at the initial moment as first barrier target information;
the initial equipment coordinate system is an equipment coordinate system of the target detection equipment corresponding to the initial moment, and the first vehicle coordinate is a vehicle coordinate under the initial equipment coordinate system acquired at the initial moment, specifically, a coordinate of a specific position of the vehicle, including but not limited to a center point of a rear axle of the vehicle, a geometric center of the vehicle, a center of gravity of the vehicle and the like. The first obstacle target information is obstacle target information in an initial equipment coordinate system acquired at an initial time.
The initial time is the time of establishing a parking map coordinate system, and the position of the vehicle at the initial time is the initial vehicle position.
Specifically, the obstacle target information includes a target number, a target type and a target bounding box, and the english name corresponding to the target bounding box is a bounding box, specifically, several edges forming a target outline box.
It should be noted that, the steps S110, S120, and S130 may be performed in other orders or simultaneously, for example, the step S130 may be performed simultaneously with the steps S110 and S120, for example, the step S130 may also occur before the step S110; for example, step S130 may also occur after step S110, before step S120.
S140: performing coordinate conversion on the first vehicle position information, the first vehicle coordinates and the first obstacle target information under the initial equipment coordinate system according to the first coordinate conversion relation to obtain second vehicle position information, second vehicle coordinates and second obstacle target information under the parking map coordinate system;
specifically, when the initial device coordinate system is an absolute coordinate system, step S140 includes:
converting the first vehicle position information into a parking map coordinate system according to an absolute coordinate conversion formula Tran1 to obtain second vehicle position information in the parking map coordinate system;
converting the first vehicle coordinate into a parking map coordinate system according to an absolute coordinate conversion formula Tran1 to obtain a second vehicle coordinate in the parking map coordinate system;
and converting the first obstacle target information into a parking map coordinate system according to an absolute coordinate conversion formula Tran1 to obtain second obstacle target information in the parking map coordinate system.
Specifically, when the initial device coordinate system is the relative coordinate system, step S140 includes:
converting the first vehicle position information into a parking map coordinate system according to a relative coordinate conversion formula Tran2 to obtain second vehicle position information in the parking map coordinate system;
Converting the first vehicle coordinate into a parking map coordinate system according to a relative coordinate conversion formula Tran2 to obtain a second vehicle coordinate in the parking map coordinate system;
and converting the first obstacle target information into a parking map coordinate system according to a relative coordinate conversion formula Tran2 to obtain second obstacle target information in the parking map coordinate system.
According to the embodiment of the invention, input data (comprising positioning information and/or sensing information) acquired by target detection equipment based on different positioning modes (comprising an absolute positioning mode and a relative positioning mode) are uniformly converted into a parking map coordinate system through coordinate conversion, and path planning is performed under the newly established parking map coordinate system, so that decoupling of the parking path planning and the positioning modes is realized.
S150: and generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
Specifically, the collision-free parking path takes the second vehicle coordinate as a starting point and takes the second vehicle position information as an ending point, and the collision-free parking path and the second obstacle target information meet the preset collision-free constraint condition. The preset collision-free constraint includes that the vehicle outer frame and the obstacle outer frame do not intersect at each trajectory point on the collision-free parking path.
The collision-free parking paths of the vehicles in the target parking spaces are uniformly performed under a parking map coordinate system, and the collision-free parking paths can be generated by adopting a path planning method based on motion dynamics and/or a path planning method based on curves.
The path planning method based on the motion dynamics includes, but is not limited to, a Hybrid a algorithm, a dynamics constraint RRT algorithm, a state grid search algorithm (State Lattice Search), an optimal boundary value problem algorithm (Optimal Boundary Value Problem, OBVP), and the like.
Curve-based planning methods include, but are not limited to, bezier curves (Bezier Curve), B-spline curves (B-spline Curve), dubins curves, reeds-Shepp curves.
Fig. 4 is a flowchart of step S150 provided in the embodiment of the present invention, specifically as shown in fig. 4, in one embodiment, generating a collision-free parking path for a vehicle to park into a target parking space according to second vehicle position information, second vehicle coordinates and second obstacle target information in a parking map coordinate system may include the following steps:
s151: determining the coordinates of a parking target point according to the second vehicle position information;
the second vehicle position information can comprise a vehicle position number and coordinates of each corner point of the target vehicle position under a parking map coordinate system; fig. 5 is a schematic diagram of coordinates of each corner point of a parking space in a parking map coordinate system, specifically, as shown in fig. 5, coordinates of an upper left corner point of the parking space are (x 1, y 1), coordinates of a lower left corner point are (x 2, y 2), coordinates of an upper right corner point are (x 4, y 4), and coordinates of a lower right corner point are (x 3, y 3) in the parking map coordinate system. The coordinates of the corner points of the parking space under the coordinate system of the parking map can be calculated according to the coordinate of the corner points of the parking space under the coordinate system of the initial equipment and the first coordinate conversion relation.
The parking target point is used to describe a desired pose of the vehicle when parking is completed. The coordinates of the parking target point in the parking map coordinate system can be determined according to the parking space angular point coordinates of the target parking space, the vehicle size information and the position relationship between the vehicle and the target parking space. When parking is completed, the parking target point coincides with a specific position of the vehicle in an xOy plane, wherein the xOy plane is a plane determined by an x axis and a y axis of a parking map coordinate system, and the specific position of the vehicle includes, but is not limited to, a center point of a rear axle of the vehicle, a geometric center of the vehicle, a center of gravity of the vehicle and the like, and other position points on the vehicle of the vehicle can also be used as specific positions of the vehicle in the application.
The parking target point can be obtained by calculation according to the parking space angular point and the vehicle size, and the parking target point coordinate can be calculated by substituting the parking space angular point coordinate in the second vehicle position information into a parking target point calculation formula:
for example, the coordinates of the parking target point may be expressed as (gx, gy, θ), and the parking target point calculation formula may be expressed as:
gx＝(x1+x4)/2；
gy＝y2+lr+b；
θ＝tan -1 (x1-x2,y1-y2)；
lr is a known value representing the distance from the center of the rear axle of the vehicle to the rear of the vehicle;
b is a known value and represents the distance from the tail of the vehicle to the bottom line of the parking space;
gx represents the x coordinate of the target point;
gy represents the y coordinate of the target point;
θ represents the angle of the target point from the x-axis;
θ＝tan -1 (x 1-x2, y1-y 2) represents the angle of the object point from the x-axis by arctangent.
S152: planning a collision-free parking path from a second vehicle coordinate to a parking target point coordinate under a parking map coordinate system; wherein the vehicle outer frame and the obstacle target bounding box do not intersect at each track point of the collision-free parking path.
In one embodiment, step S152 includes: and generating a collision-free parking path of the vehicle into the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information under the parking map coordinate system by a path planning method based on motion dynamics. Among other motion dynamics based path planning methods that may be applied herein include, but are not limited to, hybrid a algorithms, kinetic constraint RRT algorithms, state grid search algorithms (State Lattice Search), optimal boundary value problem algorithms (Optimal Boundary Value Problem, OBVP), and the like.
In one embodiment, step S152 includes: and generating a collision-free parking path of the vehicle into the target parking space by a path planning method based on a curve according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information under the parking map coordinate system. Among other Curve-based planning methods that may be applied herein include, but are not limited to, bezier curves (Bezier Curve), B-spline curves (B-spline Curve), dubins curves, reeds-Shepp curves.
In one embodiment, step S152 includes: and generating a collision-free parking path of the vehicle into the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information under the parking map coordinate system, and a path planning method based on motion dynamics and a path planning method based on curves.
That is, in practical application, the path planning method based on motion dynamics may be used alone to perform parking path planning, the path planning method based on curve may be used alone to perform parking path planning, and the combination of the two methods may be used to perform parking path planning.
Fig. 6 is another flowchart of a parking path planning method according to an embodiment of the present invention, specifically as shown in fig. 6, in an embodiment, after generating a collision-free parking path for a vehicle to park in a target parking space, the method may further include the following steps:
s210: acquiring a vehicle coordinate at the current moment under a current equipment coordinate system as a third vehicle coordinate;
the current equipment coordinate system is the equipment coordinate system of the target detection equipment corresponding to the current moment. The current device coordinate system and the initial device coordinate system are device coordinate systems of the target detection devices respectively corresponding to different time points, the initial device coordinate system refers to the device coordinate system of the target detection device corresponding to the initial time point, and the current device coordinate system refers to the device coordinate system of the target detection device corresponding to the current time point, so that the device coordinate systems of the target detection devices corresponding to different time points can be distinguished in expression.
When the device coordinate system is an absolute positioning coordinate system, the device coordinate system can designate a certain point as an origin, the direction of pointing to the east of the point is taken as an x-axis positive direction, and the direction of pointing to the north of the point is taken as a y-axis positive direction.
When the device coordinate system is a relative positioning coordinate system, the device coordinate system can take the center of the rear axle of the vehicle as an original point, take the direction of the point pointing to the front of the vehicle as the positive direction of the x-axis, and the direction pointing to the left of the vehicle can be the positive direction of the y-axis.
S220: performing coordinate conversion on a third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system;
specifically, when the positioning mode adopted by the target detection device is absolute positioning, performing coordinate transformation on the third vehicle coordinate under the current device coordinate system to obtain the fourth vehicle coordinate under the parking map coordinate system, including: performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system according to an absolute coordinate conversion formula Tran1 to obtain a fourth vehicle coordinate under the parking map coordinate system;
specifically, the positioning mode adopted by the target detection device is relative positioning, and coordinate transformation is performed on the third vehicle coordinate under the current device coordinate system to obtain the fourth vehicle coordinate under the parking map coordinate system, including:
Performing coordinate conversion on a third vehicle coordinate under the current equipment coordinate system according to the second coordinate conversion relation to obtain a fifth vehicle coordinate under the initial equipment coordinate system; the second coordinate conversion relation is used for converting the coordinates of the current equipment coordinate system into the initial equipment coordinate system; the second coordinate conversion relation is expressed as a coordinate conversion formula Tran3.
And carrying out coordinate conversion on the fifth vehicle coordinate under the initial equipment coordinate system according to the first coordinate conversion relation to obtain a fourth vehicle coordinate under the parking map coordinate system. The first coordinate conversion relation is expressed as a relative coordinate conversion formula Tran2.
The coordinate conversion formula from the current device coordinate system to the parking map coordinate system may be expressed as Tran3 Tran2.
Specifically, before performing coordinate conversion on the third vehicle coordinate in the current device coordinate system according to the second coordinate conversion relationship, the method further includes a step of determining the second coordinate conversion relationship, where determining the second coordinate conversion relationship may include the following steps:
determining a translation vector converted from the current equipment coordinate system to the initial equipment coordinate system according to the coordinates of the origin of the initial equipment coordinate system under the current equipment coordinate system;
determining a rotation matrix converted from the current equipment coordinate system to the initial equipment coordinate system according to the angle of the x-axis of the initial equipment coordinate system under the current equipment coordinate system; illustratively, the coordinates (x 1, y 1) of a point on the x-axis of the parking map coordinate system are the coordinates (x 2, y 2) of the initial device coordinate system, expressed by the arctangent equation θ=tan -1 (x 1-x2, y1-y 2) the angle of the parking map coordinate system x-axis under the original device coordinate system may be calculated, where y1=0.
Constructing a second coordinate conversion relation converted from the current equipment coordinate system to the initial equipment coordinate system according to the translation vector and the rotation matrix, namely a coordinate conversion formula Tran3 recorded below;
exemplary, if the origin (0, 0) of the initial device coordinate system is (xo, yo) in the current device coordinate system T Translation vector converted from current device coordinate system to initial device coordinate system is t= (xo, yo) T ；
The angle of the x-axis of the initial equipment coordinate system under the current equipment coordinate system is theta, and the rotation matrix converted from the current equipment coordinate system to the initial equipment coordinate system is
The coordinates of a point in the current equipment coordinate system are recorded as (xi, yi) T The coordinates in the initial device coordinate system are (xj, yj) T The second coordinate conversion relationship is
(xj,yj) T ＝R·((xi,yi) T -T)
Wherein R is a rotation matrix, T is a translation vector
S230: judging whether the vehicle is parked in the target parking space or not according to the fourth vehicle coordinate and the second vehicle position information; if yes, ending the flow; if not, turning to step S240;
the confirmation condition that the vehicle is parked in the target parking space may be set such that the fourth vehicle coordinate and the parking target point coordinate satisfy a preset distance condition, and preferably the fourth vehicle coordinate coincides with the parking target point coordinate.
The steps S210 to S230 are used for determining whether the vehicle has been parked in the target parking space in the parking map coordinate system. When the vehicle does not park in the target parking space, steps S240-S270 are executed to determine whether the parking path collides with the updated obstacle target information, and if the current parking path collides with the obstacle, the parking path is re-planned to avoid the obstacle in real time. Steps S210-S270 are repeatedly performed until the vehicle is parked in the target parking space.
S240: acquiring obstacle target information at the current moment under the current equipment coordinate system as third obstacle target information;
preferably, the obstacle target information is acquired and updated in real time, and may also be acquired and updated at preset time intervals.
S250: performing coordinate transformation on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system;
specifically, when the positioning manner adopted by the target detection device is absolute positioning, step S250 may include: and carrying out coordinate conversion on the third obstacle target information under the current equipment coordinate system (absolute coordinate system) according to an absolute coordinate conversion formula Tran1 to obtain fourth obstacle target information under the parking map coordinate system.
Specifically, when the positioning manner adopted by the target detection device is relative positioning, step S250 may include:
performing coordinate conversion on the third obstacle target information under the current equipment coordinate system according to a coordinate conversion formula Tran3 to obtain fifth obstacle target information under the initial equipment coordinate system; the coordinate conversion formula Tran3 is used for converting the current equipment coordinate system (relative coordinate system) into the initial equipment coordinate system (relative coordinate system);
and carrying out coordinate conversion on the fifth obstacle target information under the initial equipment coordinate system (relative coordinate system) according to a relative coordinate conversion formula Tran2 to obtain fourth obstacle target information under the parking map coordinate system.
The coordinate conversion formula from the current device coordinate system to the parking map coordinate system may be expressed as Tran3 Tran2.
S260: judging whether the fourth obstacle target information and the parking path meet a preset collision-free constraint condition or not; if yes, go to step S210; if not, go to step S270;
in one embodiment, step S260 may include the steps of:
extracting a target bounding box from fourth obstacle target information;
taking a track of a time period in the future of the parking path, and calculating whether the vehicle outer frame and the obstacle outer frame intersect at each track point;
Judging whether the vehicle outer frame and the obstacle outer frame intersect at each track point of the collision-free parking path according to the calculation result;
if the vehicle is intersected, the vehicle is prevented from moving along the parking path and collides with the obstacle, and at the moment, the fourth obstacle target information and the parking path do not meet the preset collision-free constraint condition; otherwise, the fourth obstacle target information and the parking path meet the preset collision-free constraint condition.
S270: updating the parking path according to the second vehicle position information, the fourth vehicle coordinates and the fourth obstacle target information to obtain an updated collision-free parking path; turning to step S210.
It should be noted that the present invention is not limited by the order of acts described, as some steps may, in accordance with the present invention, be performed in other orders or concurrently.
The embodiment of the invention also provides a parking path planning device which is applied to vehicles with various target detection devices, and the positioning modes adopted by the various target detection devices comprise absolute positioning and relative positioning.
Fig. 7 is a block diagram of a parking path planning apparatus according to an embodiment of the present invention, and specifically, as shown in fig. 7, the apparatus may include the following modules:
The parking space information obtaining module 310 is configured to obtain parking space information of a target parking space as first parking space information under an initial equipment coordinate system;
the initial equipment coordinate system is a coordinate system of the target detection equipment corresponding to the initial moment.
A coordinate system establishing module 320, configured to determine a parking map coordinate system and a first coordinate conversion relationship based on the first vehicle location information; the first coordinate conversion relation is used for converting coordinates from an initial equipment coordinate system to a parking map coordinate system;
an initial coordinate acquiring module 330, configured to acquire, under an initial device coordinate system, a vehicle coordinate at an initial time as a first vehicle coordinate, and acquire, as first obstacle target information, obstacle target information at the initial time;
the coordinate conversion module 340 is configured to perform coordinate conversion on the first vehicle position information, the first vehicle coordinate and the first obstacle target information in the initial device coordinate system according to the first coordinate conversion relationship, so as to obtain second vehicle position information, second vehicle coordinate and second obstacle target information in the parking map coordinate system;
the parking path planning module 350 is configured to generate a collision-free parking path for the vehicle to park into the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
The embodiment of the invention also provides a vehicle, which comprises the parking path planning device provided by the embodiment of the device. It should be noted that the vehicle of the present invention may be a truck, sport utility vehicle, van, caravan, or any other type of vehicle without departing from the scope of the embodiments of the present invention.
The embodiment of the invention also provides an electronic device, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the parking path planning method as in the method embodiment.
Embodiments of the present invention also provide a storage medium that may be disposed in a server to store at least one instruction, at least one program, a code set, or an instruction set related to a parking path planning method for implementing the method embodiment, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the parking path planning method provided by the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the method, the device, the equipment or the storage medium for planning the parking path provided by the embodiment of the invention can realize decoupling of the path planning and the positioning mode by uniformly converting the information acquired by the detection equipment adopting the absolute positioning mode and the information acquired by the detection equipment adopting the relative positioning mode into the parking map coordinate system through coordinate conversion and then carrying out the path planning under the parking map coordinate system, so that the parking system can be deployed on vehicle systems adopting different positioning, radar and sensor equipment on one hand, and the parking space information input of a plurality of positioning, radar and sensors can be mutually backed up on the other hand, and meanwhile, only one set of parking system is adopted.
It should be noted that: the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can 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 are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device and server embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A method for planning a parking path, the method being applied to a vehicle having a plurality of types of object detection devices, wherein the plurality of types of object detection devices adopt positioning modes including absolute positioning and relative positioning, the method comprising:
acquiring parking space information of a target parking space under an initial equipment coordinate system as first parking space information; the initial equipment coordinate system is a coordinate system of the target detection equipment corresponding to the initial moment;
determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information; the first coordinate conversion relation is used for converting coordinates from the initial equipment coordinate system to the parking map coordinate system;
under the initial equipment coordinate system, acquiring vehicle coordinates at an initial moment as first vehicle coordinates, and acquiring barrier target information at the initial moment as first barrier target information;
performing coordinate conversion on the first vehicle position information, the first vehicle coordinates and the first obstacle target information in the initial equipment coordinate system according to the first coordinate conversion relation to obtain second vehicle position information, second vehicle coordinates and second obstacle target information in the parking map coordinate system;
And generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
2. The method of claim 1, wherein the generating a collision-free parking path for the vehicle into the target parking space further comprises:
acquiring a vehicle coordinate at the current moment under a current equipment coordinate system as a third vehicle coordinate; the current equipment coordinate system is the coordinate system of the target detection equipment corresponding to the current moment;
performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system;
judging whether the vehicle is parked in the target parking space or not according to the fourth vehicle coordinate and the second vehicle position information;
if not, acquiring the obstacle target information at the current moment under the current equipment coordinate system as third obstacle target information;
performing coordinate transformation on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system;
Judging whether the fourth obstacle target information and the parking path meet a preset collision-free constraint condition or not;
if not, updating the parking path according to the second vehicle position information, the fourth vehicle coordinates and the fourth obstacle target information to obtain an updated collision-free parking path; turning to the step of judging whether the vehicle is parked in the target parking space.
3. The method of claim 2, wherein the positioning mode adopted by the object detection device is absolute positioning;
the coordinate conversion is performed on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system, including: performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system according to the first coordinate conversion relation to obtain the fourth vehicle coordinate under the parking map coordinate system;
the coordinate conversion is performed on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system, including: and carrying out coordinate conversion on the third obstacle target information under the current equipment coordinate system according to the first coordinate conversion relation to obtain fourth obstacle target information under the parking map coordinate system.
4. The method of claim 2, wherein the positioning means adopted by the object detection device is relative positioning; the coordinate conversion is performed on the third obstacle target information under the current equipment coordinate system to obtain fourth obstacle target information under the parking map coordinate system, including:
performing coordinate conversion on the third obstacle target information under the current equipment coordinate system according to a second coordinate conversion relation to obtain fifth obstacle target information under the initial equipment coordinate system; the second coordinate conversion relation is used for converting the coordinates of the current equipment coordinate system into the initial equipment coordinate system;
and carrying out coordinate conversion on the fifth obstacle target information under the initial equipment coordinate system according to the first coordinate conversion relation to obtain the fourth obstacle target information under the parking map coordinate system.
5. The method of claim 2, wherein the positioning means adopted by the object detection device is relative positioning; the coordinate conversion is performed on the third vehicle coordinate under the current equipment coordinate system to obtain a fourth vehicle coordinate under the parking map coordinate system, including:
Performing coordinate conversion on the third vehicle coordinate under the current equipment coordinate system according to a second coordinate conversion relation to obtain a fifth vehicle coordinate under the initial equipment coordinate system; the second coordinate conversion relation is used for converting the coordinates of the current equipment coordinate system into the initial equipment coordinate system;
and carrying out coordinate conversion on the fifth vehicle coordinate under the initial equipment coordinate system according to the first coordinate conversion relation to obtain the fourth vehicle coordinate under the parking map coordinate system.
6. The method of claim 1, wherein the determining a parking map coordinate system based on the first vehicle location information comprises:
extracting coordinate information of each corner point of the parking space in the first vehicle position information;
determining an origin and a coordinate axis of the parking map coordinate system based on each angular point of the parking space;
and constructing the parking map coordinate system based on the origin and the coordinate axis of the parking map coordinate system.
7. The method of claim 1, wherein generating a collision-free parking path for the vehicle into the target space based on the second vehicle location information, the second vehicle coordinates, and the second obstacle target information in the parking map coordinate system comprises:
Determining the coordinates of a parking target point according to the second vehicle position information;
planning a collision-free parking path from the second vehicle coordinate to the parking target point coordinate under the parking map coordinate system; wherein the vehicle exterior frame and the obstacle target bounding box do not intersect at each trajectory point on the collision-free parking path.
8. A parking path planning apparatus for use with a vehicle having a plurality of types of object detection devices, the plurality of types of object detection devices being positioned in a manner that includes absolute positioning and relative positioning, the apparatus comprising:
the parking space information acquisition module is used for acquiring the parking space information of the target parking space under an initial equipment coordinate system as first parking space information; the initial equipment coordinate system is a coordinate system of the target detection equipment corresponding to the initial moment;
the coordinate system establishing module is used for determining a parking map coordinate system and a first coordinate conversion relation based on the first vehicle position information; the first coordinate conversion relation is used for converting coordinates from the initial equipment coordinate system to the parking map coordinate system;
the initial coordinate acquisition module is used for acquiring vehicle coordinates at the initial moment as first vehicle coordinates under the initial equipment coordinate system and acquiring barrier target information at the initial moment as first barrier target information;
The coordinate conversion module is used for carrying out coordinate conversion on the first vehicle position information, the first vehicle coordinates and the first obstacle target information under the initial equipment coordinate system according to the first coordinate conversion relation to obtain second vehicle position information, second vehicle coordinates and second obstacle target information under the parking map coordinate system;
and the parking path planning module is used for generating a collision-free parking path for the vehicle to park in the target parking space according to the second vehicle position information, the second vehicle coordinate and the second obstacle target information in the parking map coordinate system.
9. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction or at least one program that is loaded and executed by the processor to implement the parking path planning method of any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, the at least one instruction or the at least one program being loaded and executed by a processor to implement the parking path planning method according to any one of claims 1 to 8.
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