CN109866762B - Autonomous parallel parking method based on high-precision map - Google Patents
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Abstract
The invention provides an autonomous parallel parking method based on a high-precision map, which comprises the following steps: the method comprises the steps that a vehicle obtains parking space information based on a high-precision map from a server, selects a parking space according to the parking space information, obtains a global coordinate system and position relation attributes based on the high-precision map near the parking space, and fits switching points by using circular arcs or quintic spline curves by determining the switching points, so that the continuity of a course angle can be guaranteed, the continuity of curvature can be guaranteed, and automatic parking is carried out through an optimal path; the optimal parallel parking track of the parallel parking garage can be determined.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an autonomous parallel parking method based on a high-precision map.
Background
Due to the fact that a lot of passenger cars are popularized, parking spaces are increasingly tense, and the parking spaces are increasingly narrow in division, so that parking cannot be conducted quickly and accurately or collision accidents can happen carelessly, the occurrence proportion of automobile accidents caused by manual parking is high, a driver cannot accurately estimate the positions and distances of rear and front side obstacle vehicles due to driving blind areas, a driver needs to give consideration to the conditions of the front and two sides of the vehicles when backing, unsafe factors are easy to generate in the highly tense process of the driver, and even drivers with abundant experience think that parking is a headache for people.
The main problems of parking in cities are parallel parking at the edge of a road (also called lateral parking) and parallel parking in a parking lot, and the current mainstream automatic parking system has the general idea that a vehicle to be parked slowly runs along the road, and areas on the left side and the right side of the vehicle in the running process are automatically analyzed and modeled according to a vehicle-mounted sensor to search a target parking area; when the target parking area is found, indicating that the driver parks, confirming the parking target position after the driver parks, prompting the driver to perform gear operation, and performing parking motion control; and finally, parking the autonomous driving system in the parking place. With the continuous development and improvement of the internet of things technology of smart cities, intelligent transportation, internet-of-things automatic driving of V2X and the high-precision map engine technology, the traditional automatic parking system is greatly changed.
Disclosure of Invention
In view of the above, the invention provides an autonomous parallel parking method based on a high-precision map, which can adapt to road edges and parking lots.
The technical scheme of the invention is realized as follows: the invention provides an autonomous parallel parking method based on a high-precision map, which comprises the following steps:
firstly, a vehicle to be parked acquires parking space information based on a high-precision map, and selects a parking space;
step two, after the vehicle to be parked reaches the vicinity of the selected parking space, the vehicle to be parked acquires the position attribute of the road edge or the high-precision map of the parking lot, and the position relation attribute between the vehicle to be parked and the selected parking space under the global coordinate system is determined;
determining a plurality of switching points for parallel parking under a rectangular coordinate system of a parking space plane according to the principle of an ackermann steering mechanism on the premise of the position relationship attribute;
and step four, determining a parking starting point of the vehicle in a certain range near the parking space, determining the optimal parallel parking track of the parallel parking garage under the premise of meeting the parallel parking path constraint and the minimum parking space constraint relation, and controlling the vehicle to park by the control module.
On the basis of the above technical solution, preferably, in the first step, the method for acquiring parking space information includes that the vehicle registers the cloud server at the edge of the road or in the parking lot through the V2X technology, and acquires the parking space information based on the high-precision map after the vehicle successfully registers.
On the basis of the above technical solution, preferably, in step two, the position attribute includes: the method comprises the following steps of ID, coordinates, head direction, curvature, speed of a vehicle body control point, connectivity between a located high-precision map lane and an adjacent lane, direction of the located high-precision map lane and a topological structure of the control point.
On the basis of the above technical solution, preferably, the control point of the vehicle body is a central point of a rear axle of the vehicle, the ID includes information of a lane where the vehicle body control point is located and specific serial number information of the vehicle body control point located on the lane, the coordinate is a coordinate of the vehicle body control point, the coordinate is a coordinate relative to a global coordinate system, the head is directed to an angle formed by a recommended traveling direction of the vehicle at the vehicle body control point and the lane where the vehicle body control point is located, the curvature is a curvature of a path curve passing through the vehicle body control point at the control point, the speed is a recommended traveling speed of the vehicle at the vehicle body control point, the connectivity between the high-precision map lane where the vehicle body control point is located and a left lane and a right lane thereof, and the direction of the high-precision map where the vehicle body control point is located is a straight line or not, And the topological structure of the vehicle body control point of the high-precision map in which the vehicle body can turn left, turn right and turn around represents the connection relationship between the vehicle body control point and the adjacent vehicle body control point.
Still more preferably, in the second step, the position relationship attribute includes: parking control point rw' coordinate (x)0，y0) The parking control point rw 'direction heading0 and the parking control point rw' curvature k _ s0 are 1/RminAnd parking space size LS*HSWherein L isSIs the length of the parking space, HSFor the width of a parking space, RminIs the minimum turning radius of the vehicle.
On the basis of the above technical solution, preferably, the global coordinate system takes the parking space control point as an origin, the length direction of the parking space is an x-axis, and the width direction of the parking space is a y-axis, and the switching point includes a first switching point f1(x3，y3) And a second switching point f2(x4，y4) The vehicle to be parked from the parking starting point rw to the first switching point f1Is a circular arc from a first switching point f1To a second switching point f2Is a straight line or a spline curve from a second switching point f2The path to the parking control point rw' is a circular arc.
Based on the above technical solution, preferably, the parking starting point rw to the first switching point f1The center of the arc of the path is O1，O1The coordinate is (S, H-R)min) (ii) a Second switching point f2To parkThe circle center of the path arc of the vehicle control point rw' is O2，O2The coordinates are (0, R)min)；f1And f2The coordinates of (a) are:
wherein, the coordinates of rw are (S, H), S is the transverse parking distance, and H is the longitudinal parking distance;
based on the above technical solution, preferably, the first switching point f1To a second switching point f2The fifth order polynomial of the path of (1) is:
y＝a0+a1(x-x0)+a2(x-x0)2+a3(x-x0)3+a4(x-x0)4+a5(x-x0)5；
and (3) ensuring the continuity of the path curvature, solving a first derivative and a second derivative of a fifth-order polynomial:
y′＝a1+2a2(x-x0)+3a3(x-x0)2+4a4(x-x0)3+5a5(x-x0)4；
y″＝2a2+6a3(x-x0)+12a4(x-x0)2+20a5(x-x0)3；
the parking control point [ x ]0，y0，heading0，k_s0]And parking starting point rw to first switching point f1The center of the arc of the path is O1[x1，y1，heading1，k_s1]The boundary conditions of (1) should be the same as the first and second derivatives of a fifth order polynomial where the head pointing direction of the parking control point is heading0 and the curvature is k _ s 0; o is1Is leading 1 and has a curvature k _ s1,two control point coordinates, four boundary conditions, six independent equations and six unknown coefficients can determine a unique quintic spline curve.
On the basis of the above technical solution, preferably, the parallel parking path constraint includes:
Rminis constant, H ∈ [3, 5 ]]
On the basis of the above technical solution, preferably, the minimum parking space constraint includes:
wherein, L isbFor the rear overhang length of the vehicle, said LfDd is the vehicle front overhang length and dd is the vehicle actual width.
Compared with the prior art, the autonomous parallel parking method based on the high-precision map has the following beneficial effects:
(1) the method is based on high-precision map parking space information issued by a cloud server and environment information based on a parking lot and a road edge drive test sensor, the parking space information and the environment information are issued to a vehicle to be parked through the cloud server, a positioning navigation module of the vehicle determines the position attribute of the vehicle to be parked at the edge of the road or the high-precision map of the parking lot, and determines the position relation attribute between the vehicle to be parked and a selected parking space under a global coordinate system;
(2) the autonomous parallel parking track can be regarded as a track consisting of a plurality of continuous circular arcs and curves, each circular arc and curve switching point of parallel parking is determined under a plane right-angle parking space coordinate system, and circular arcs or quintic spline curve fitting is performed on the switching points, so that the continuity of a course angle can be ensured, and the continuity of curvature can also be ensured;
(3) according to the invention, the optimal parallel parking track of the parallel parking garage is determined according to any parking starting point of the vehicle in a certain range near the parking space under the conditions of meeting the parallel parking path constraint and the minimum parking space constraint relation, and the control module controls the vehicle to park safely.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a parking path diagram of a vehicle according to the present invention;
FIG. 2 is a lateral parking and longitudinal parking distance constraint relationship diagram of the present invention;
FIG. 3 is a mathematical geometric model of the minimum parking space of the present invention;
FIG. 4 is a diagram of the constraint relationship between the length and width of a parking bit according to the present invention;
FIG. 5 is a constraint relationship diagram of minimum turning radius and parking space width of the present invention;
FIG. 6 is a complete reverse track diagram consisting of two end arcs and spline curves of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention discloses an autonomous parallel parking method based on a high-precision map, which comprises the following steps:
optimizing the shortest path of the parallel parking paths:
according to the parking path requirement, the path is required to be formed by a curve with continuous derivatives, and a path formed by an arc with the minimum turning radius of the vehicle as the radius and a straight line is simply explained as the shortest path for parking.
As shown in fig. 1, if the path is composed of a circle and a straight line, it can be known from the kinematic constraint of the vehicle that the connection of the path should be composed of two arcs of an initial starting point and an end point and a straight line tangent to the two arcs, and the process of backing and passing the vehicle can be described as follows: the vehicle turns to the right side at a certain fixed turning radius to back up to f1(x3，y3) Then, the steering wheel is rightly turned back to f along a straight line2(x4，y4) After the vehicle arrives at the ideal parking point rw, the steering wheel is turned to a certain fixed angle, the vehicle body is gradually aligned, and when the vehicle body is aligned to be parallel to the road, the vehicle rw arrives at the ideal parking point rw1And then, the steering wheel is righted to finish the backing.
Suppose that the turning radius of the vehicle rear wheel center rw is R when the vehicle turns at the minimum turning radiusminThen the center O of the turning circle at the initial turning can be known1Coordinate (x)1，y1) Is (s, H-R)min) Center of turning circle O at the final point of turning2Coordinate (x)2，y2) Is (0, R)min) The tangent equation is y ═ ax + b, i.e.
ax-y+b＝0；
The path can be described as
From point to line distance formula: the distance from the point (x, y) to the straight line Ax + By + C is 0
Then the center of circle O1Center of circle O2A distance of 0 from the line ax-y + b
(x1，y1)＝(S，H-Rmin)，(x2，y2)＝(0，Rmin)
Because of the center O1Above the straight line, at the center of the circle O2Is available above the straight line
Solvable tangent parameters a, b
From the above relationship can be obtained
θ＝arctan a
The point of intersection f1And f2Has the coordinate equation of
The connection of the path is formed by two arcs of an initial point and a terminal point and a straight line tangent to the two arcs by a quintic spline curve, and the mathematical expression is as follows:
parking path constraint analysis
Constraint relation between transverse parking distance S and longitudinal parking distance H
As can be seen from the parameters a, b,
Rminis a constant H e [3, 5 ]]
As shown in fig. 2, take a minimum turning radius Rmin8m, and 3m to 5 m; the value relationship between the longitudinal parking distance S and the transverse parking distance H is a non-closed area enclosed by a square on the y axis and a graph.
Minimum parking space constraint relationship
As shown in FIG. 3, assume that the vehicle enters the parking space at a fixed turning radius when the vehicle enters the parking spaceThe distance from the end point B of the front end of the vehicle far away from the transverse parking space outlet to the circle center of the turning radius is RBThe length of the parking space is LSThe width of the parking space is HSDd is the actual width of the vehicle, and the length of the front overhang of the vehicle is LfThe length of the rear overhang of the vehicle is LbThe wheel base of the vehicle is l, and the relationship is as follows:
according to 2Rmin＞HSCan obtain
As shown in FIG. 4, if the value L is takenSIs 7m to 9m, RminThe relationship between the length of the parking space and the width of the parking space can be obtained as 8 m.
As shown in FIG. 5, if the value L is takenSIs 7.85m, RminThe value is 5m to 10m, and the relation between the length of the parking space and the width of the parking space can be obtained.
Parking path simulation analysis
Basic size of Changan CS555
| Length, width, height (unit mm) | 4500*1855*1690 |
| Wheelbase (unit mm) | 2650 |
The longitudinal parking distance S is 10.5 m; the transverse parking distance H is 3.6 m; minimum turning radius Rmin8 m; heading angles heading0 and heading1, curvatures k _ s0 and k _ s1 can be calculated;
the parallel parking process from the parking point comprises the following steps:
parking point (S, H) to a first switching point (x)4，y4)；
First switching point (x)4，y4) To a second switching point (x)3，y3)；
Second switching point (x)3，y3) To the parking end (0, 0);
selected minimum turning radius RminAssuming that the curvature of the first section is just 1/8-0.125, the curvature of the third section is-1/8-0.125, and the curvature of the second section has a certain fluctuation but the fluctuation does not exceed 1/8, which completely meets the continuous requirement of the curvature.
Garage length LSIs 8.5 m; the distance of the rear overhang of the vehicle plus the protection distance delta _ S is 1.2 m; the garage width was 2.5 m.
Simulation analysis based on parking path in any starting point
The current position and the attitude of the vehicle before parking can be set at any value in the intervals x (-5, 0), y (4, 6) and the head direction and the curvature, wherein the head direction is 0 and the curvature is 0.0005 in the embodiment. In consideration of parking stability and reliability, a straight line distance needs to be traveled forward before parking to ensure the stable state of the vehicle before backing, and in order to ensure the continuity of curvature, a fifth-order polynomial curve fitting parking point (S, H) and an initial parking point (S + Extended _ line, H) are also selected to replace the straight line. Similarly, we also fit the current vehicle position (x, y) and the starting parking point (S + Extended _ line, H) with a fifth order polynomial curve. Wherein the Extended _ line is selected to be the Changan cs555 vehicle owner.
As shown in fig. 6, the complete parallel parking process includes:
1. the current position (x, y) of the vehicle to the initial parking point (S + Extended _ line, H);
2. starting a parking point (S + Extended _ line, H) to a parking point (S, H);
3. parking point (S, H) to a first switching point (x)4，y4)；
4. First switching point (x)4，y4) To a second switching point (x)3，y3)；
5. Second switching point (x)3，y3) To the parking end (0, 0);
6. if it is considered that the vehicle is finely adjusted in the garage after reaching the parking terminal (0, 0), the vehicle can be moved forward or backward according to the relative position of the vehicle to the garage to adjust the centered position of the vehicle in the garage.
Selected minimum turning radius RminThe curvature of the third section is negative, namely-1/8 is-0.125, the curvature of the fifth section is 1/8 is 0.125, the curvature of the first section, the second section and the fourth section has certain fluctuation, but the fluctuation does not exceed 1/8, and the continuous requirement of the curvature is completely met.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. An autonomous parallel parking method based on a high-precision map is characterized by comprising the following steps:
firstly, a vehicle to be parked acquires parking space information based on a high-precision map, and selects a parking space;
step two, after the vehicle to be parked reaches the vicinity of the selected parking space, the vehicle to be parked acquires the position attribute of the road edge or the high-precision map of the parking lot, and determines the position relation attribute between the vehicle to be parked and the selected parking space under the global coordinate system, wherein the position attribute comprises the following steps: the vehicle body control point is the center point of a rear axle of a vehicle, the ID comprises information of a lane where the vehicle body control point is located and specific serial number information of the lane where the vehicle body control point is located, the coordinate is the coordinate of the vehicle body control point, the coordinate is the coordinate relative to a global coordinate system, the head is directed to an angle formed by the recommended driving direction of the vehicle at the vehicle body control point and the lane where the vehicle body control point is located, the curvature is the curvature of a path curve passing through the vehicle body control point at the vehicle body control point, the speed is the recommended driving speed of the vehicle at the vehicle body control point, and the connectivity of the lane where the vehicle body control point is located and the left lane and the right lane of the vehicle body control point, the lane direction of the high-precision map is whether the vehicle body control point is in a straight line, a left turn, a right turn or a turning round, and the topological structure of the high-precision map control point indicates the connection relation between the control point and the adjacent control point
Determining a plurality of switching points for parallel parking under a rectangular coordinate system of a parking space plane according to the principle of an ackermann steering mechanism on the premise of the position relationship attribute; the position relationship attribute includes: parking control point rw' coordinate (x)0,y0) The parking control point rw 'direction heading0 and the parking control point rw' curvature k _ s0 are 1/RminAnd parking space size LS*HSWherein L isSIs the length of the parking space, HSFor the width of a parking space, RminThe minimum turning radius of the vehicle is determined, the global coordinate system takes a parking space control point as an original point, the length direction of the parking space is an x axis, the width direction of the parking space is a y axis, and the switching points comprise a first switching point f1(x3,y3) And a second switching point f2(x4,y4) The vehicle to be parked from the parking starting point rw to the first switching point f1Is a circular arc from a first switching point f1To a second switching point f2Is a straight line or a spline curve from a second switching point f2The path to the parking control point rw' is a circular arc, and the parking starting point rw to the first switching point f1The center of the arc of the path is O1，O1The coordinate is (S, H-R)min) (ii) a Second switching point f2The center of the circular arc of the path to the parking control point rw' is O2，O2The coordinates are (0, R)min) (ii) a The vehicle turns to the right side at a certain fixed turning radius to back up to f1(x3,y3) Then, the steering wheel is rightly turned back to f along a straight line2(x4,y4) Point, the tangent equation is y ═ ax + b, i.e. ax-y + b ═ 0; f. of1And f2The coordinates of (a) are:
wherein, the coordinates of rw are (S, H), S is the transverse parking distance, and H is the longitudinal parking distance;
the first switching point f1To a second switching point f2The fifth order polynomial of the path of (1) is:
y＝a0+a1(x-x0)+a2(x-x0)2+a3(x-x0)3+a4(x-x0)4+a5(x-x0)5；
and (3) ensuring the continuity of the path curvature, solving a first derivative and a second derivative of a fifth-order polynomial:
y'＝a1+2a2(x-x0)+3a3(x-x0)2+4a4(x-x0)3+5a5(x-x0)4；
y”＝2a2+6a3(x-x0)+12a4(x-x0)2+20a5(x-x0)3；
the parking control point [ x ]0,y0,heading0,k_s0]And parking starting point rw to first switching point f1The center of the arc of the path is O1[x1,y1,heading1,k_s1]The boundary conditions of (1) should be the same as the first and second derivatives of a fifth order polynomial where the head pointing direction of the parking control point is heading0 and the curvature is k _ s 0; o is1The head of the system is pointed by the head 1, the curvature of the head is k _ s1, coordinates of two control points and four boundary conditions are adopted, six unknown coefficients of six independent equations are adopted, and a unique quintic spline curve can be determined;
the parallel parking path constraints include:
Rminis constant, H ∈ [3, 5 ]]
And step four, determining a parking starting point of the vehicle in a certain range near the parking space, determining the optimal parallel parking track of the parallel parking garage under the premise of meeting the parallel parking path constraint and the minimum parking space constraint relation, and controlling the vehicle to park by the control module.
2. The method for autonomous parallel parking based on high-precision map as claimed in claim 1, wherein in the first step, the method for obtaining parking space information comprises that the vehicle registers the road edge or the cloud server of the parking lot through the V2X technology, and obtains the parking space information based on the high-precision map after the registration is successful.
3. A high accuracy map based autonomous parallel parking method as claimed in claim 1 wherein said minimum parking space constraint comprises:
wherein, L isbFor the rear overhang length of the vehicle, said LfThe front overhang length of the vehicle, dd the actual width of the vehicle, and the wheelbase of the vehicle is l.
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| CN110262508B (en) * | 2019-07-06 | 2024-05-31 | 广州卡尔动力科技有限公司 | Automatic guiding system and method applied to unmanned freight vehicle in closed field |
| CN110517530B (en) * | 2019-09-03 | 2021-05-04 | 吉林大学 | Parking robot-based roadside parking control method for urban road |
| CN111515953B (en) * | 2020-04-29 | 2021-09-03 | 北京阿丘机器人科技有限公司 | Path planning method and device and electronic equipment |
| CN111547046B (en) * | 2020-04-30 | 2022-05-06 | 惠州华阳通用电子有限公司 | Parallel parking space pre-occupation type automatic parking method and device |
| CN112477852A (en) * | 2020-12-09 | 2021-03-12 | 武汉格罗夫氢能汽车有限公司 | Fuel cell hydrogen energy automobile parallel parking device |
| CN113034933B (en) * | 2021-03-05 | 2022-11-11 | 深圳市新天能科技开发有限公司 | Method and system for accurately stopping automobile |
| CN113276842B (en) * | 2021-06-21 | 2023-03-21 | 上汽通用五菱汽车股份有限公司 | Vehicle, parking method of vehicle, and computer-readable storage medium |
| CN113799766B (en) * | 2021-09-17 | 2023-04-18 | 东风汽车集团股份有限公司 | Constrained parallel parking path planning method, electronic device and storage medium |
| CN115907596B (en) * | 2022-12-30 | 2024-02-27 | 重庆赛迪奇智人工智能科技有限公司 | Transportation vehicle positioning display method, device, storage medium and equipment |
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