CN110347167A - A kind of speed planning method and speed planning system - Google Patents
A kind of speed planning method and speed planning system Download PDFInfo
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- CN110347167A CN110347167A CN201910797231.2A CN201910797231A CN110347167A CN 110347167 A CN110347167 A CN 110347167A CN 201910797231 A CN201910797231 A CN 201910797231A CN 110347167 A CN110347167 A CN 110347167A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The embodiment of the invention discloses a kind of speed planning method and speed planning systems, for improving the efficiency and user experience of vehicle automatic parking.The method comprise the steps that obtaining the planning path of vehicle；Obtain the first current pose of vehicle；The first remaining stopping distance is calculated；When the first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance is less than second threshold, the first current deceleration of ESP is determined；According to the first remaining stopping distance, the target vehicle speed of upper execution cycle vehicle and preset execution cycle, the first object speed of vehicle is determined；According to the first current deceleration, vehicle is controlled according to first object speed and drives to the second current pose；The second remaining stopping distance is calculated；When the second remaining stopping distance is less than first threshold, the torque of VCU is reduced according to predetermined torque variable quantity, determines the second current deceleration of ESP；Slowed down according to the second current deceleration, vehicle is parked in stop.
Description
Technical field
The present invention relates to intelligent automobile technical field more particularly to a kind of speed planning methods and speed planning system.
Background technique
Compared to the scene of other automatic Pilots, automatic parking has its particularity: first is that the biography that automatic parking uses at present
Sensor is mainly ultrasonic detector, is limited to the sensing capability of sensor, and speed is generally relatively low when automatic parking, such as from
The dynamic speed parked is generally in 3km/h or less；Second is that nearby space is compared than narrow, therefore to the requirement for controlling precision for parking stall
Height, such as stopping accuracy generally will be within 0.1m；Third is that the adjustment for needing repeatedly to move forward and backward when parking, that is, need
Repeatedly parking and shift.Therefore, how under the premise of guaranteeing stopping accuracy, relaxing for automatic parking efficiency and user experience is improved
Adaptive is always the hot spot of industry research.
Summary of the invention
The embodiment of the invention provides a kind of speed planning method and speed planning systems, for improving vehicle automatic parking
Efficiency and user experience.
In view of this, first aspect present invention provides a kind of speed planning method, may include:
The planning path of vehicle is obtained, the terminal of the planning pose is the stop of the vehicle；
The first current pose of the vehicle is obtained, the first current pose includes the first current vehicle speed；
The first remaining stopping distance is calculated according to the terminal pose of the described first current pose and the planning path；
When the described first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance is less than the
When two threshold values, according to first current vehicle speed and the first remaining stopping distance, the first current deceleration of ESP is determined；
According to the target vehicle speed of vehicle described in the described first remaining stopping distance, a upper execution cycle and preset operation week
Phase determines the first object speed of the vehicle；
According to first current deceleration, the vehicle is controlled according to the first object speed and drives to second currently
Pose, the second current pose include the second current vehicle speed；
The second remaining stopping distance is calculated according to the terminal pose of the described second current pose and the planning path；
When the described second remaining stopping distance is less than the first threshold, reduced according to predetermined torque variable quantity
The torque of (Vehicle Control Unit, VCU), according to second current vehicle speed and the second remaining stopping distance,
Determine the second current deceleration of the ESP；Slowed down according to second current deceleration, the vehicle is parked in institute
State stop.
Optionally, in some embodiments of the invention, the planning path includes that each path point is corresponding with reference to vehicle
Speed.
Optionally, in some embodiments of the invention, described before the first current pose for obtaining the vehicle
Method further include:
Obtain the current pose of third of the vehicle；
Corresponding first reference speed is determined according to the current pose of the third；
Third residue stopping distance is calculated according to the terminal pose of the current pose of the third and the planning path；
When the third residue stopping distance be more than or equal to the second threshold and the third residue stopping distance it is small
In third threshold value, and when first reference speed is greater than automatic parking threshold value, determine that the second target vehicle speed of the vehicle is
The automatic parking threshold value；
When the third residue stopping distance be more than or equal to the second threshold and the third residue stopping distance it is small
In third threshold value, and when first reference speed is less than or equal to the automatic parking threshold value, the second mesh of the vehicle is determined
Mark speed is first reference speed；
It controls the vehicle and drives to the described first current pose according to second target vehicle speed.
Optionally, in some embodiments of the invention, described before the current pose of third for obtaining the vehicle
Method further include:
Obtain the 4th current pose of the vehicle；
Corresponding second reference speed is determined according to the 4th current pose；
The 4th remaining stopping distance is calculated according to the terminal pose of the 4th current pose and the planning path；
When the described 4th remaining stopping distance is greater than third threshold value, determine that the third target vehicle speed of the vehicle is described
Second reference speed；
It controls the vehicle and drives to the current pose of the third according to the third target vehicle speed.
Optionally, in some embodiments of the invention, the current pose of third for obtaining the vehicle, alternatively, institute
Before stating the 4th current pose for obtaining the vehicle, the method also includes:
When the vehicle is started to walk, accelerated according to preset acceleration, and according to predetermined torque variable quantity
The torque for increasing the VCU obtains the third current vehicle speed of the vehicle；
Obtain the 5th current pose of the vehicle；
Corresponding third reference speed is determined according to the 5th current pose；
If the third reference speed is greater than automatic parking threshold value, and the third current vehicle speed is greater than the automatic parking
Threshold value, alternatively, if the third reference speed is less than or equal to the automatic parking threshold value, and the third current vehicle speed is greater than institute
State third reference speed, it is determined that the vehicle start is completed；
The vehicle is controlled to drive to the current pose of the third according to the third current vehicle speed or the described 4th work as
Preceding pose.
Second aspect of the present invention provides a kind of speed planning system, may include:
Module is obtained, for obtaining the planning path of vehicle, the terminal of the planning pose is the stop of the vehicle；
The first current pose of the vehicle is obtained, the first current pose includes the first current vehicle speed；
Processing module, for being calculated first according to the terminal pose of the described first current pose and the planning path
Remaining stopping distance；When the described first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance is small
When second threshold, according to first current vehicle speed and the first remaining stopping distance, the first front deceleration of ESP is determined
Degree；According to the target vehicle speed of vehicle described in the described first remaining stopping distance, a upper execution cycle and preset execution cycle, really
The first object speed of the fixed vehicle；According to first current deceleration, the vehicle is controlled according to the first object
Speed drives to the second current pose, and the second current pose includes the second current vehicle speed；According to the described second current pose
The second remaining stopping distance is calculated with the terminal pose of the planning path；When the described second remaining stopping distance is less than institute
When stating first threshold, the torque of VCU is reduced according to predetermined torque variable quantity, is remained according to second current vehicle speed and described second
Remaining stopping distance determines the second current deceleration of the ESP；Slowed down according to second current deceleration, by institute
It states vehicle and is parked in the stop.Optionally, in some embodiments of the invention, the planning path includes each path point
Corresponding reference speed.
Optionally, in some embodiments of the invention,
The acquisition module is also used to obtain the current pose of third of the vehicle；
The processing module is also used to determine corresponding first reference speed according to the current pose of the third；According to institute
Third residue stopping distance is calculated in the terminal pose for stating the current pose of third and the planning path；When the third is remaining
Stopping distance is more than or equal to the second threshold and the third residue stopping distance is less than third threshold value, and first ginseng
When examining speed greater than automatic parking threshold value, determine that the second target vehicle speed of the vehicle is the automatic parking threshold value；When described
Third residue stopping distance is more than or equal to the second threshold and the third residue stopping distance is less than third threshold value, and institute
When stating the first reference speed less than or equal to the automatic parking threshold value, determine that the second target vehicle speed of the vehicle is described first
Reference speed；It controls the vehicle and drives to the described first current pose according to second target vehicle speed.
Optionally, in some embodiments of the invention,
The acquisition module is also used to obtain the 4th current pose of the vehicle；
The processing module is also used to determine corresponding second reference speed according to the 4th current pose；According to institute
The 4th remaining stopping distance is calculated in the terminal pose for stating the 4th current pose and the planning path；When the 4th residue
When stopping distance is greater than third threshold value, determine that the third target vehicle speed of the vehicle is second reference speed；Described in control
Vehicle drives to the current pose of the third according to the third target vehicle speed.
Optionally, in some embodiments of the invention,
The acquisition module is also used to obtain the 5th current pose of the vehicle；
The processing module is also used to be accelerated when the vehicle is started to walk according to preset acceleration, and
The torque for increasing the VCU according to predetermined torque variable quantity obtains the third current vehicle speed of the vehicle；Work as according to the described 5th
Preceding pose determines corresponding third reference speed；If the third reference speed is greater than automatic parking threshold value, and the third is worked as
Preceding speed be greater than the automatic parking threshold value, alternatively, if the third reference speed be less than or equal to the automatic parking threshold value, and
The third current vehicle speed is greater than the third reference speed, it is determined that the vehicle start is completed；Control the vehicle according to
The third current vehicle speed drives to the current pose of the third or the 4th current pose.
Third aspect present invention provides a kind of vehicle, may include as second aspect of the present invention and second aspect are any optional
Speed planning system described in mode.
Fourth aspect present invention provides a kind of computer readable storage medium, stores computer program, wherein the meter
Calculation machine program makes computer execute a kind of method of speed planning method disclosed in first aspect of the embodiment of the present invention.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
In embodiments of the present invention, the planning path of vehicle is obtained, the terminal of the planning pose is stopping for the vehicle
Che Dian；The first current pose of the vehicle is obtained, the first current pose includes the first current vehicle speed；According to described first
The first remaining stopping distance is calculated in current pose and the terminal pose of the planning path；When the described first remaining parking away from
When from being more than or equal to first threshold and the first remaining stopping distance less than second threshold, according to first current vehicle speed
With the described first remaining stopping distance, the first current deceleration of ESP is determined；According to the described first remaining stopping distance, upper one
The target vehicle speed of vehicle described in execution cycle and preset execution cycle determine the first object speed of the vehicle；According to institute
The first current deceleration is stated, the vehicle is controlled according to the first object speed and drives to the second current pose, described second
Current pose includes the second current vehicle speed；It is calculated according to the terminal pose of the described second current pose and the planning path
Second remaining stopping distance；When the described second remaining stopping distance is less than the first threshold, according to predetermined torque variable quantity
The torque for reducing VCU determines that the second of the ESP is worked as according to second current vehicle speed and the second remaining stopping distance
Front reduction gear degree；Slowed down according to second current deceleration, the vehicle is parked in the stop.That is speed planning
System can be more than or equal to first threshold and the first remaining stopping distance in the first remaining stopping distance of vehicle and stop
When less than second threshold, start to slow down, determine the first object speed of vehicle, vehicle drives to first object speed
Two current poses；When the second remaining stopping distance of vehicle and stop is less than first threshold, further progress is slowed down, simultaneously
The efficiency and user experience of vehicle automatic parking can be improved so that vehicle is smoothly parked in stop in the torque for reducing VCU.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the planning schematic diagram of remaining stopping distance and speed during automatic parking；
Fig. 2 is first embodiment schematic diagram of speed planning method in the embodiment of the present invention；
Fig. 3 is second embodiment schematic diagram of speed planning method in the embodiment of the present invention；
Fig. 4 is the third embodiment schematic diagram of speed planning method in the embodiment of the present invention；
Fig. 5 is the 4th embodiment schematic diagram of speed planning method in the embodiment of the present invention；
Fig. 6 is first embodiment schematic diagram of speed planning system in the embodiment of the present invention；
Fig. 7 is second embodiment schematic diagram of speed planning system in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of speed planning method and speed planning systems, for improving vehicle automatic parking
Efficiency and user experience.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention are described, it is clear that described embodiment is only present invention a part
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, it should fall within the scope of the present invention.
The speed planning system of electric car, actuator mainly by entire car controller (Vehicle Control Unit,
VCU it) is formed with body electronics systems stabilisation (Electronic Stability Program, ESP).VCU is mainly responsible for motor
Control, different with fuel vehicle is a little that VCU can produce negative torque, thus provide make vehicle deceleration drag torque.
ESP is identical as fuel vehicle, is all to be braked by hydraulic realization, therefore the braking of ESP needs the response time, such as generally exists
300ms or more, but the braking of ESP have again it is very strong non-linear, it is difficult to realization accurately controls.
In the technical solution of the present invention, for the non-linear of the braking of ESP, in conjunction with the particularity that electric car VCU is controlled,
It is proposed the method that speed planning is carried out based on remaining stopping distance for being applied to electric car.This method can guarantee safety
Under the premise of, parking efficiency is improved, while improving the comfort of user experience.
In following each embodiments, it can be illustrated in conjunction with Fig. 1.As shown in Figure 1, to be automatic in the embodiment of the present invention
The planning schematic diagram of remaining stopping distance and speed during parking.It is understood that Fig. 1 is also vehicle from starting to walk to stopping
The schematic diagram of one speed planning of vehicle, speed shown in Fig. 1 do not constitute the restriction to technical solution of the present invention.Automatic
It parks when carrying out, motion-control module will receive the planning path of planning module sending, which includes each path point
The information such as corresponding reference speed.According to the current pose of vehicle and the pose of stop, the remaining parking in this section of path is calculated
Distance (RemainingDist)；According to remaining stopping distance, the Dynamic Programming of vehicle target speed is carried out, it can be by every section of road
The control of diameter is divided into five stages, and each stage ESP and VCU execute corresponding movement.
It should be noted that as shown in Figure 1, what T1, T2, T3, T4, T5 were indicated be according to the current pose of vehicle with stop
The difference of the remaining stopping distance (RemainingDist) of vehicle point, the different phase of division, but also it is not excluded for other divisions
Mode, specifically herein without limitation.
The T1 stage, it can be understood as starting stage, vehicle are completed to start to walk from halted state；The T2 stage, it can be understood as speed
Degree control first stage, i.e. vehicle, vehicle can be travelled from stop there are also very over long distances with reference speed；The T3 stage,
It can be understood as speed control second stage, there are also partial distances from stop for vehicle, are travelled to stop；The T4 stage,
It can be understood as the decelerating phase, i.e. vehicle distances stop is closer, can control vehicle and starts to slow down；The T5 stage,
It can be understood as shutdown phase, i.e. vehicle will reach stop, and vehicle is slowed down again, until being parked in stop.
In order to improve efficiency and save the time, motion-control module can be according to reference speed row when carrying out speed control
It sails.But motion-control module needs to consider the response characteristic of ESP again simultaneously, cooks up the target vehicle speed that can actually execute, real
Existing accurate stopping.In addition, in the whole process, speed planning also needs to improve user experience as far as possible, that is, starts to walk and stop
Comfort.
Below by way of examples, technical solution provided in the embodiment of the present invention is described further, such as
Shown in Fig. 2, it is first embodiment schematic diagram of speed planning method in the embodiment of the present invention, may include:
201, the planning path of vehicle is obtained.
In embodiments of the present invention, the T4 in conjunction with shown in Fig. 1 (decelerating phase) and T5 (shutdown phase) are illustrated.Its
In, speed planning system obtains the planning path of vehicle, and the terminal of the planning pose is the stop of the vehicle, the planning
Path includes the corresponding reference speed of each path point, alternatively, between adjacent path point path reference speed.The reference speed
It is that planning module issues in advance, the reference speed that planning module issues is the perception energy for considering current context information and sensor
After power, allow the max speed of vehicle driving.
202, the first current pose of vehicle is obtained.
Illustratively, can be installed on vehicle Inertial Measurement Unit (Inertial measurement unit, IMU),
The sensors such as pulse counter are taken turns, these sensors can be used as the locating module (such as vehicle body odometer) of vehicle, to obtain vehicle
The first current pose.
It is understood that the first current pose of vehicle may include the first current location, the first current course angle,
The information such as one current vehicle speed.
203, the first remaining stopping distance is calculated according to the terminal pose of the first current pose and planning path.
First remaining stopping distance of the current pose of speed planning system-computed first and the terminal pose of planning path, and
The first remaining stopping distance is the remaining stopping distance of vehicle and stop.It is understood that the first remaining parking
Distance can be linear distance, be also possible to curve distance, specific according to the path between the first current pose and stop
It is straight line path or curved path to determine.
Illustratively, the calculation method of remaining stopping distance is as follows:
1, next path point nearest apart from the current pose of vehicle in planning path is found；
2, distance s of the current pose of vehicle apart from next path point is calculated0；
3, to all residual paths points (sum is n), the distance between two neighboring path point s is calculatedi(i=1,
2 ..., n-1)；
4, remaining stopping distance is calculated according to the following equation:
204, when the first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance less than the second threshold
When value, according to the first current vehicle speed of vehicle and the first remaining stopping distance, the first current deceleration of ESP is determined.
Illustratively, when the first remaining stopping distance (RemainingDist1) is 0.49m, vehicle enters the decelerating phase
(0.1m≤RemainingDist1 < 0.5m), because of 0.1m≤0.49m < 0.5m, ESP starts enabled and requests the at this stage
One current deceleration, the value request of the first current deceleration are shown in formula 1:
Wherein, a is the first current deceleration, and v is the first current vehicle speed of vehicle, and s is the first remaining stopping distance, i.e., the
One current deceleration can be adjusted in real time according to the virtual condition of vehicle movement.
205, according to the first remaining stopping distance, the target vehicle speed of upper execution cycle vehicle and preset execution cycle,
Determine the first object speed of vehicle.
Illustratively, VCU carry out velocity close-loop control, but first object speed at this time be according to remaining stopping distance into
Mobile state planning.Physical planning algorithm is as follows:
vk=vk-1+arΔ t (formula 3)
Wherein, vk-1, vkThe target vehicle speed of respectively upper an execution cycle and current operation period, arFor calculated reference
Acceleration, Δ t are preset execution cycle.That is vkFor the corresponding first object speed of the current pose in vehicle place first.
It is understood that preset execution cycle is exactly the execution period of motion-control module in embedded systems,
Such as the execution cycle of motion-control module in embedded systems is 10ms, popular say is exactly the motion control every 10ms
Module carries out once-through operation.
206, according to the first current deceleration, vehicle is controlled according to first object speed and drives to the second current pose.
Speed planning system slows down to vehicle according to the first current deceleration and the first current vehicle speed, controls vehicle
Position indicated by the second current pose is driven to according to first object speed.
It is understood that the first current deceleration is carried out in real time according to the remaining stopping distance and current vehicle speed of vehicle
Adjustment, first object speed is adjusted in real time according to the remaining stopping distance of vehicle.The current pose of the second of vehicle
It may include the information such as the second current location, the second current course angle, the second current vehicle speed.
It is understood that the main purpose in T4 stage is that ESP is made to gradually build up brake pressure, it is the final of next stage
Parking is made sufficient preparation.Simultaneously according to the target of final stop, reduce speed under the collective effect of ESP and VCU.By
After the stage, the speed of vehicle has been reduced to low speed and close to the level of parking, while ESP also has been set up braking pressure
Power, therefore in the next stage, vehicle accurately can be stopped as snug as a bug in a rug.
207, the second remaining stopping distance is calculated according to the terminal pose of the second current pose and planning path.
The second remaining parking is calculated according to the terminal pose of the second current pose and planning path in speed planning system
Distance, and the second remaining stopping distance is the remaining stopping distance of vehicle and stop.It is understood that this is second surplus
Remaining stopping distance can be linear distance, be also possible to curve distance, specific according between the second current pose and stop
Path be straight line path or curved path to determine.
208, when the second remaining stopping distance is less than first threshold, the torque of VCU is reduced according to predetermined torque variable quantity,
According to the second current vehicle speed of vehicle and the second remaining stopping distance, the second current deceleration of ESP is determined；It is current according to second
Deceleration is slowed down, and vehicle is parked in stop.
Illustratively, when the second remaining stopping distance (RemainingDist2) is less than 0.1m, vehicle enters parking rank
Section.I.e. after the abundant deceleration in T4 stage, vehicle enters the T5 stage, and vehicle has reached at this time within last 0.1m
Desired stopping accuracy is arrived, therefore torque is reduced to 0, ESP according to predetermined torque variable quantity and can send out by control VCU at this stage
Stop sign out, and continue to issue the request of the second current deceleration, the calculating of the second current deceleration similar to above-mentioned formula 1, this
Place repeats no more.
I.e. in shutdown phase, ESP continues to request deceleration, deceleration according to remaining stopping distance and the real-time speed of vehicle into
Mobile state adjustment, and parking request is issued, control VCU unloads torsion to zero according to predetermined torque variable quantity, and control ESP works as according to second
Front reduction gear degree slows down, so that vehicle is parked in stop.
In embodiments of the present invention, the planning path of vehicle is obtained；Obtain the first current pose of vehicle；Work as according to first
The first remaining stopping distance is calculated in preceding pose and the terminal pose of planning path；When the first remaining stopping distance is more than or equal to
First threshold and when the first remaining stopping distance is less than second threshold, stops according to the first current vehicle speed of vehicle and the first residue
Vehicle distance determines the first current deceleration of ESP；According to the target carriage of the first remaining stopping distance, upper execution cycle vehicle
Speed and execution cycle, determine the first object speed in vehicle current operation period；According to the first current deceleration, controls vehicle and press
The second current pose is driven to according to first object speed；According to the second current pose is determining and the terminal pose of planning path the
Two remaining stopping distances；When the second remaining stopping distance is less than first threshold, the torsion of VCU is reduced according to predetermined torque variable quantity
Square determines the second current deceleration of ESP according to the second current vehicle speed of vehicle and the second remaining stopping distance；According to second
Current deceleration is slowed down, and vehicle is parked in stop.I.e. speed planning system can be in the first current pose of vehicle
When being more than or equal to first threshold and the first remaining stopping distance less than second threshold with the first remaining stopping distance of stop,
Start to slow down, determine the first object speed of vehicle, vehicle drives to the second current pose with first object speed；Work as vehicle
The second current pose and the second remaining stopping distance of stop when being less than first threshold, further progress is slowed down, simultaneously
The torque of VCU is reduced, so that vehicle is parked in stop, improves the efficiency and user experience of vehicle automatic parking.
It is understood that embodiment illustrated in fig. 3 is the step of step 202 executes before in the embodiment depicted in figure 2.?
In inventive embodiments shown in Fig. 3, the T3 in conjunction with shown in Fig. 1 (speed control second stage) is illustrated.As shown in figure 3, being
Second embodiment schematic diagram of speed planning method in the embodiment of the present invention may include:
301, the current pose of third of vehicle is obtained.
Illustratively, can be installed on vehicle Inertial Measurement Unit (Inertial measurement unit, IMU),
The sensors such as pulse counter are taken turns, these sensors can be used as the locating module (such as vehicle body odometer) of vehicle, to obtain vehicle
The current pose of third.
It is understood that the current pose of the third of vehicle may include third current location, third current course angle,
The information such as three current vehicle speeds.
302, corresponding first reference speed is determined according to the current pose of third.
It is understood that speed planning system preserves the corresponding reference speed of each path point in planning path, or
Person, the reference speed in path between adjacent path point.
The reference pose for determining the nearest path point of the current pose of third, as corresponding first reference of the current pose of third
Speed；Alternatively, determining two path points nearest with the current pose distance of third, by the reference in path between two path points
Speed is as corresponding first reference speed of the current pose of third.
303, third residue stopping distance is calculated according to the terminal pose of the current pose of third and planning path.
The third residue stopping distance of the current pose of speed planning system-computed third and the terminal pose of planning path, and
The third residue stopping distance is the remaining stopping distance of vehicle and stop.It is understood that the third residue is stopped
Distance can be linear distance, be also possible to curve distance, specific according to the path between the current pose of third and stop
It is straight line path or curved path to determine.
It is understood that step 302 and 303 timing without limitation.
304, when third residue stopping distance is more than or equal to second threshold and third residue stopping distance is less than third threshold
Value, and the first reference speed be greater than automatic parking speed threshold value when, determine vehicle the second target vehicle speed be automatic parking speed
Threshold value.
Illustratively, when third residue stopping distance (RemainingDist3) is 0.99m, the control of vehicle admission velocity
Second stage (0.5m≤RemainingDist3 < 1.0m), automatic parking speed threshold value can be set to 0.34m/s, be preset
One value.I.e. when remaining stopping distance enters within 1.0m, and is greater than 0.5m, in the speed control stage, ESP does not appoint
What is acted, and VCU, which is also to continue with, carries out closed-loop control to speed, carries out the Dynamic Programming of speed.At this stage if speed planning
Second target vehicle speed of vehicle is just set as 0.34m/s by the first reference speed that system receives > 0.34m/s, speed planning.
305, when third residue stopping distance is more than or equal to second threshold and third residue stopping distance is less than third threshold
Value, and the first reference speed be less than or equal to automatic parking speed threshold value when, determine vehicle the second target vehicle speed be first reference
Speed.
At this stage if the first reference speed≤0.34m/s that speed planning system receives, speed planning is just by vehicle
The second target vehicle speed be set as the first reference speed.
The rule of min (automatic parking speed threshold value, received first reference speed) is followed in T3 stage speed planning,
To determine the second target vehicle speed of vehicle.
306, control vehicle drives to the first current pose according to the second target vehicle speed.
Speed planning system controls the vehicle and drives to position indicated by the first current pose according to the second target vehicle speed.
It is understood that the first current pose belongs to the pose in T4 stage, i.e. vehicle enters the decelerating phase.
In embodiments of the present invention, the current pose of third of vehicle is obtained；Corresponding is determined according to the current pose of third
One reference speed；Third residue stopping distance is calculated according to the terminal pose of the current pose of third and planning path；When
Three remaining stopping distances are more than or equal to second threshold and third residue stopping distance is less than third threshold value, and the first reference speed
When greater than automatic parking speed threshold value, determine that the second target vehicle speed of vehicle is automatic parking speed threshold value；When third residue is stopped
Vehicle distance is more than or equal to second threshold and third residue stopping distance is less than third threshold value, and the first reference speed is less than or equal to
When automatic parking speed threshold value, determine that the second target vehicle speed of vehicle is the first reference speed；Vehicle is controlled according to the second target
Speed drives to the first current pose.Vehicle is provided before being slowed down because reference speed not necessarily plan it is accurate,
An embodiment for how determining that the second target vehicle speed provides rationally advises the speed of vehicle in feasible situation
It draws, improves the speed of vehicle, save the time that vehicle reaches stop.
It is understood that embodiment illustrated in fig. 4 is the step of step 301 executes before in the embodiment shown in fig. 3.?
In inventive embodiments shown in Fig. 4, the T2 in conjunction with shown in Fig. 1 (speed control first stage) is illustrated.As shown in figure 4, being
The third embodiment schematic diagram of speed planning method in the embodiment of the present invention may include:
401, the 4th current pose of vehicle is obtained.
402, corresponding second reference speed is determined according to the 4th current pose.
403, the 4th remaining stopping distance is calculated according to the terminal pose of the 4th current pose and planning path.
In embodiments of the present invention, step 401-403 is similar with the step 301-303 in embodiment illustrated in fig. 3, herein not
It repeats again.
404, when the 4th remaining stopping distance is greater than third threshold value, determine that the third target vehicle speed of vehicle is the second reference
Speed.
Illustratively, when the 4th remaining stopping distance (RemainingDist4) is 10m, vehicle admission velocity control the
One stage (1m≤RemainingDist4).If vehicle distances stop is greater than 1m, since there are also long travelings for vehicle
Distance, therefore the stage vehicle can be travelled using reference speed as target vehicle speed, VCU carries out closed-loop control to speed,
It has been discharged in the brake force of starting section ESP, therefore stage ESP is without any movement.
405, control vehicle drives to the current pose of third according to third target vehicle speed.
Speed planning system controls vehicle and drives to position indicated by the current pose of third according to third target vehicle speed.It can
With understanding, the third target vehicle speed of vehicle is exactly the reference speed for tracking planning module sending in this stage, if road
When diameter is shorter, i.e., when starting completes rear path Distance Remaining less than 1m, which can directly be skipped.The current pose of third belongs to
The pose in T3 stage, i.e. vehicle enter speed control second stage.
In embodiments of the present invention, the 4th current pose of vehicle is obtained；Corresponding is determined according to the 4th current pose
Two reference speeds；The 4th remaining stopping distance is calculated according to the terminal pose of the 4th current pose and planning path；When
When four remaining stopping distances are greater than third threshold value, determine that the third target vehicle speed of vehicle is the second reference speed；Control vehicle is pressed
The current pose of third is driven to according to third target vehicle speed.When the 4th remaining stopping distance is greater than third threshold value, illustrate vehicle with
Farther out, at this moment vehicle can be travelled the remaining stopping distance of stop with reference speed, guarantee vehicle in the premise of safety
Under, efficient arrival stop.
It is understood that embodiment illustrated in fig. 5 is the step of step 301 executes before in the embodiment shown in fig. 3, or
Person is the step of step 401 executes before in the embodiment shown in fig. 4.In inventive embodiments shown in Fig. 5, in conjunction with institute in Fig. 1
The T1 (starting stage) shown is illustrated.As shown in figure 5, for the 4th embodiment of speed planning method in the embodiment of the present invention
Schematic diagram may include:
501, when vehicle is started to walk, accelerated according to preset acceleration, and according to predetermined torque variable quantity
The torque for increasing VCU, obtains the third current vehicle speed of vehicle.
It is understood that the starting stage is to realize the starting of vehicle under the premise for guaranteeing safety.It is at this stage
Guarantee the comfort of user, the preset acceleration of vehicle start not Ying Tai great needs the experience in conjunction with real vehicle to debug, chooses
Empirical value.Such as preset acceleration chooses 0.25m/s herein2。
Acceleration VCU preset according to vehicle carries out the closed-loop control of acceleration, and carries out according to predetermined torque variable quantity
Add torsion.In order to guarantee the safety of starting, that is, car slipping, speed control not overshoot, ESP needs are not sent out according to locating module when starting to walk
The ramp information sent selects pressure maintaining starting or band brake is not started to walk in conjunction with the direction of vehicle movement.
502, the 5th current pose of vehicle is obtained.
503, corresponding third reference speed is determined according to the 5th current pose.
In embodiments of the present invention, step 502-503 is similar with the step 302-303 in embodiment illustrated in fig. 3, herein not
It repeats again.
If 504, third reference speed is greater than automatic parking speed threshold value, and third current vehicle speed is greater than automatic parking speed
Threshold value, alternatively, if third reference speed is less than or equal to automatic parking speed threshold value, and third current vehicle speed is greater than third and refers to vehicle
Speed, it is determined that vehicle start is completed.
Illustratively, if the third reference speed that planning module is sent is greater than 0.34m/s, when the current vehicle speed of vehicle
When greater than 0.34m/s, it is believed that starting is completed；If the third reference speed that planning module is sent is not more than 0.34m/s, work as vehicle
Current vehicle speed be greater than third reference speed when, it is believed that the starting stage complete.
505, control vehicle drives to the current pose of third or the 4th current pose according to third current vehicle speed.
Speed planning system controls the vehicle and drives to position indicated by the current pose of third according to third current vehicle speed
Or the 4th position indicated by current pose.The current pose of third belongs to the pose in T3 stage, i.e. vehicle admission velocity controls
Second stage；4th current pose belongs to the pose in T2 stage, i.e. vehicle enters the speed control first stage.
In embodiments of the present invention, when vehicle is started to walk, accelerated according to preset acceleration, and according to pre-
If change in torque amount increases the torque of VCU, the third current vehicle speed of vehicle is obtained；Obtain the 5th current pose of vehicle；According to
5th current pose determines corresponding third reference speed；If third reference speed is greater than automatic parking speed threshold value, and third
Current vehicle speed is greater than automatic parking speed threshold value, it is determined that vehicle start is completed；If third reference speed is less than or equal to automatic pool
Vehicle speed threshold value, and third current vehicle speed is greater than third reference speed, it is determined that vehicle start is completed；Vehicle is controlled according to third
Current vehicle speed drives to the current pose of third or the 4th current pose.The embodiment of the present invention was carried out to the starting stage of vehicle
Speed planning.
As shown in fig. 6, may include: for first embodiment schematic diagram of speed planning system in the embodiment of the present invention
Module 601 is obtained, for obtaining the planning path of vehicle, the terminal of the planning pose is the parking of the vehicle
Point；The first current pose of the vehicle is obtained, the first current pose includes the first current vehicle speed；
Processing module 602, for being calculated according to the terminal pose of the described first current pose and the planning path
First remaining stopping distance；When the described first remaining stopping distance be more than or equal to first threshold and the first remaining parking away from
When from being less than second threshold, according to first current vehicle speed and the first remaining stopping distance, determine that the first of ESP is current
Deceleration；According to the target vehicle speed of vehicle described in the described first remaining stopping distance, a upper execution cycle and preset operation week
Phase determines the first object speed of the vehicle；According to first current deceleration, the vehicle is controlled according to described first
Target vehicle speed drives to the second current pose, and the second current pose includes the second current vehicle speed；It is current according to described second
The second remaining stopping distance is calculated in pose and the terminal pose of the planning path；When the described second remaining stopping distance is small
When the first threshold, the torque of VCU is reduced according to predetermined torque variable quantity, according to second current vehicle speed and described the
Two remaining stopping distances, determine the second current deceleration of the ESP；Slowed down according to second current deceleration, with
The vehicle is parked in the stop.Optionally, in some embodiments of the invention, the planning path includes each road
The corresponding reference speed of diameter point.
Optionally, in some embodiments of the invention,
Module 601 is obtained, is also used to obtain the current pose of third of the vehicle；
Processing module 602 is also used to determine corresponding first reference speed according to the current pose of the third；According to described
Third residue stopping distance is calculated in the current pose of third and the terminal pose of the planning path；When the third residue is stopped
Vehicle distance is more than or equal to the second threshold and the third residue stopping distance is less than third threshold value, and first reference
When speed is greater than automatic parking threshold value, determine that the second target vehicle speed of the vehicle is the automatic parking threshold value；When described
Three remaining stopping distances are more than or equal to the second threshold and the third residue stopping distance is less than third threshold value, and described
When first reference speed is less than or equal to the automatic parking threshold value, determine that the second target vehicle speed of the vehicle is first ginseng
Examine speed；It controls the vehicle and drives to the described first current pose according to second target vehicle speed.Optionally, in the present invention
Some embodiments in,
Module 601 is obtained, is also used to obtain the 4th current pose of the vehicle；
Processing module 602 is also used to determine corresponding second reference speed according to the 4th current pose；According to described
The 4th remaining stopping distance is calculated in 4th current pose and the terminal pose of the planning path；When the 4th residue is stopped
When vehicle distance is greater than third threshold value, determine that the third target vehicle speed of the vehicle is second reference speed；Control the vehicle
The current pose of the third is driven to according to the third target vehicle speed.
Optionally, in some embodiments of the invention,
Module 601 is obtained, is also used to obtain the 5th current pose of the vehicle；
Processing module 602 is also used to be accelerated when the vehicle is started to walk according to preset acceleration, and
The torque for increasing the VCU according to predetermined torque variable quantity obtains the third current vehicle speed of the vehicle；Work as according to the described 5th
Preceding pose determines corresponding third reference speed；If the third reference speed is greater than automatic parking threshold value, and the third is worked as
Preceding speed be greater than the automatic parking threshold value, alternatively, if the third reference speed be less than or equal to the automatic parking threshold value, and
The third current vehicle speed is greater than the third reference speed, it is determined that the vehicle start is completed；Control the vehicle according to
The third current vehicle speed drives to the current pose of the third or the 4th current pose.
Optionally, a kind of vehicle is also provided in the embodiment of the present invention, which includes speed planning system as shown in FIG. 6
System.
As shown in fig. 7, for second embodiment schematic diagram of speed planning system in the embodiment of the present invention.May include:
It is stored with the memory 701 of executable program code；
The processor 702 coupled with memory 701；
Transceiver 703；
Wherein, transceiver 703 obtains the routing information of vehicle, and the first current pose for obtaining the vehicle is transmitted to processing
Device 702, processor 702 call the executable program code that stores in memory 701, execute Fig. 2-it is shown in Fig. 4 it is any from
The dynamic method parked.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.
The computer program product includes one or more computer instructions.Load and execute on computers the meter
When calculation machine program instruction, entirely or partly generate according to process or function described in the embodiment of the present invention.The computer can
To be general purpose computer, special purpose computer, computer network or other programmable devices.The computer instruction can be deposited
Storage in a computer-readable storage medium, or from a computer readable storage medium to another computer readable storage medium
Transmission, for example, the computer instruction can pass through wired (example from a web-site, computer, server or data center
Such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave) mode to another website
Website, computer, server or data center are transmitted.The computer readable storage medium can be computer and can deposit
Any usable medium of storage either includes that the data storages such as one or more usable mediums integrated server, data center are set
It is standby.The usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or partly lead
Body medium (such as solid state hard disk Solid State Disk (SSD)) etc..
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of speed planning method characterized by comprising
The planning path of vehicle is obtained, the terminal of the planning pose is the stop of the vehicle；
The first current pose of the vehicle is obtained, the first current pose includes the first current vehicle speed；
The first remaining stopping distance is calculated according to the terminal pose of the described first current pose and the planning path；
When the described first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance less than the second threshold
When value, according to first current vehicle speed and the first remaining stopping distance, the first current deceleration of ESP is determined；
According to the target vehicle speed of vehicle described in the described first remaining stopping distance, a upper execution cycle and preset execution cycle,
Determine the first object speed of the vehicle；
According to first current deceleration, the vehicle is controlled according to the first object speed and drives to the second present bit
Appearance, the second current pose include the second current vehicle speed；
The second remaining stopping distance is calculated according to the terminal pose of the described second current pose and the planning path；
When the described second remaining stopping distance is less than the first threshold, the torque of VCU is reduced according to predetermined torque variable quantity,
According to second current vehicle speed and the second remaining stopping distance, the second current deceleration of the ESP is determined；According to institute
It states the second current deceleration to slow down, the vehicle is parked in the stop.
2. the method according to claim 1, wherein the planning path includes the corresponding reference of each path point
Speed.
3. according to the method described in claim 2, it is characterized in that, before the first current pose for obtaining the vehicle,
The method also includes:
Obtain the current pose of third of the vehicle；
Corresponding first reference speed is determined according to the current pose of the third；
Third residue stopping distance is calculated according to the terminal pose of the current pose of the third and the planning path；
When the third residue stopping distance is more than or equal to the second threshold and the third residue stopping distance less than the
Three threshold values, and first reference speed be greater than automatic parking threshold value when, determine that the second target vehicle speed of the vehicle is described
Automatic parking threshold value；
When the third residue stopping distance is more than or equal to the second threshold and the third residue stopping distance less than the
Three threshold values, and first reference speed be less than or equal to the automatic parking threshold value when, determine the second target carriage of the vehicle
Speed is first reference speed；
It controls the vehicle and drives to the described first current pose according to second target vehicle speed.
4. according to the method described in claim 3, it is characterized in that, before the current pose of third for obtaining the vehicle,
The method also includes:
Obtain the 4th current pose of the vehicle；
Corresponding second reference speed is determined according to the 4th current pose；
The 4th remaining stopping distance is calculated according to the terminal pose of the 4th current pose and the planning path；
When the described 4th remaining stopping distance is greater than third threshold value, determine that the third target vehicle speed of the vehicle is described second
Reference speed；
It controls the vehicle and drives to the current pose of the third according to the third target vehicle speed.
5. the method according to claim 3 or 4, which is characterized in that the current pose of third for obtaining the vehicle, or
Person, before the 4th current pose for obtaining the vehicle, the method also includes:
When the vehicle is started to walk, accelerated according to preset acceleration, and is increased according to predetermined torque variable quantity
The torque of the VCU obtains the third current vehicle speed of the vehicle；
Obtain the 5th current pose of the vehicle；
Corresponding third reference speed is determined according to the 5th current pose；
If the third reference speed is greater than automatic parking threshold value, and the third current vehicle speed is greater than the automatic parking threshold
Value, alternatively, if the third reference speed is less than or equal to the automatic parking threshold value, and the third current vehicle speed is greater than described
Third reference speed, it is determined that the vehicle start is completed；
It controls the vehicle and drives to the current pose of the third or the 4th present bit according to the third current vehicle speed
Appearance.
6. a kind of speed planning system characterized by comprising
Module is obtained, for obtaining the planning path of vehicle, the terminal of the planning pose is the stop of the vehicle；It obtains
The current pose of the first of the vehicle, the first current pose include the first current vehicle speed；
Processing module, for the first residue to be calculated according to the terminal pose of the described first current pose and the planning path
Stopping distance；When the described first remaining stopping distance is more than or equal to first threshold and the first remaining stopping distance is less than the
When two threshold values, according to first current vehicle speed and the first remaining stopping distance, the first current deceleration of ESP is determined；
According to the target vehicle speed of vehicle described in the described first remaining stopping distance, a upper execution cycle and preset execution cycle, determine
The first object speed of the vehicle；According to first current deceleration, the vehicle is controlled according to the first object vehicle
Speed drives to the second current pose, and the second current pose includes the second current vehicle speed；According to the described second current pose and
The second remaining stopping distance is calculated in the terminal pose of the planning path；Described in being less than when the described second remaining stopping distance
When first threshold, the torque of VCU is reduced according to predetermined torque variable quantity, according to second current vehicle speed and second residue
Stopping distance determines the second current deceleration of the ESP；Slowed down according to second current deceleration, it will be described
Vehicle is parked in the stop.
7. speed planning system according to claim 6, which is characterized in that the planning path includes each path point pair
The reference speed answered；
The acquisition module is also used to obtain the current pose of third of the vehicle；
The processing module is also used to determine corresponding first reference speed according to the current pose of the third；According to described
Third residue stopping distance is calculated in three current poses and the terminal pose of the planning path；When the third residue is stopped
Distance is more than or equal to the second threshold and the third residue stopping distance is less than third threshold value, and described first refers to vehicle
When speed is greater than automatic parking threshold value, determine that the second target vehicle speed of the vehicle is the automatic parking threshold value；When the third
Remaining stopping distance is more than or equal to the second threshold and the third residue stopping distance and is less than third threshold value, and described the
When one reference speed is less than or equal to the automatic parking threshold value, determine that the second target vehicle speed of the vehicle is first reference
Speed；It controls the vehicle and drives to the described first current pose according to second target vehicle speed；
Alternatively,
The acquisition module is also used to obtain the 4th current pose of the vehicle；
The processing module is also used to determine corresponding second reference speed according to the 4th current pose；According to described
The 4th remaining stopping distance is calculated in four current poses and the terminal pose of the planning path；When the described 4th remaining parking
When distance is greater than third threshold value, determine that the third target vehicle speed of the vehicle is second reference speed；Control the vehicle
The current pose of the third is driven to according to the third target vehicle speed.
8. speed planning system according to claim 7, which is characterized in that
The acquisition module is also used to obtain the 5th current pose of the vehicle；
The processing module is also used to be accelerated when the vehicle is started to walk according to preset acceleration, and according to
Predetermined torque variable quantity increases the torque of the VCU, obtains the third current vehicle speed of the vehicle；According to the 5th present bit
Appearance determines corresponding third reference speed；If the third reference speed is greater than automatic parking threshold value, and the third works as front truck
Speed is greater than the automatic parking threshold value, alternatively, if the third reference speed is less than or equal to the automatic parking threshold value, and it is described
Third current vehicle speed is greater than the third reference speed, it is determined that the vehicle start is completed；The vehicle is controlled according to described
Third current vehicle speed drives to the current pose of the third or the 4th current pose.
9. a kind of vehicle, which is characterized in that including the speed planning system as described in any one of claim 6-8.
10. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium
Sequence, the computer program realize speed planning method according to any one of claims 1 to 5 when being executed by processor.
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| CN112498355A (en) * | 2020-11-02 | 2021-03-16 | 浙江吉利控股集团有限公司 | Speed planning method and device |
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| CN114274959A (en) * | 2021-04-16 | 2022-04-05 | 阿波罗智联(北京)科技有限公司 | Vehicle control method, device, equipment and computer storage medium |
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