CN113946152A - Global path planning method and system and low-speed commercial unmanned vehicle - Google Patents
Global path planning method and system and low-speed commercial unmanned vehicle Download PDFInfo
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Abstract
The invention provides a global path planning method, a system and a low-speed commercial unmanned vehicle.A total map is obtained by using inertial navigation equipment, total coordinate position information of a driving track is output, and the current position of the vehicle is determined by a positioning module; all coordinate data of the map are adapted to a hash table by utilizing a hash search algorithm, and index information is configured for the coordinate data; inputting the end point coordinates, and obtaining end point position index information by utilizing a Hash search algorithm; and calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining vehicle kinematic parameters. The method can meet the requirement of global path planning of the low-speed commercial unmanned vehicle, and is suitable for functional scenes of low-speed closed areas and semi-open roads; the track requirement of global path planning of the low-speed commercial unmanned vehicle is met; a curve meeting the actual running track of the vehicle can be generated by setting corresponding map information and combining a Hash search algorithm.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a global path planning method and system and a low-speed commercial unmanned vehicle.
Background
With the vigorous development of the unmanned technology, the application of the unmanned technology in low-speed closed areas and semi-open roads is more and more mature. The unmanned technology mainly comprises environment perception, map positioning, planning decision and horizontal and vertical control. The planning decision-making is an important link in the whole unmanned driving technology, the planning decision-making algorithm is equivalent to the brain of a human, the limitation of each traffic rule can be embodied in decision-making planning, and the vehicle behavior decision can be made for various encountered environment perception results, so that the efficient and accurate mapping method is particularly important.
Currently known path planning algorithms are divided into a global path planning algorithm and a local path planning algorithm. The traditional path planning algorithm mainly comprises a Dijkstra algorithm, an A star algorithm, a dynamic A star algorithm, a mixed A star algorithm and the like. In the currently known path planning algorithm, most situations are applied to the field of small robots, but the path planning algorithm applied to a low-speed commercial vehicle is few in application scenes, and the application of the path planning algorithm to the path planning of the low-speed commercial vehicle results in low path planning speed and low accuracy, so that the requirements of the low-speed commercial vehicle cannot be met.
Disclosure of Invention
The global path planning method for the low-speed commercial unmanned vehicle, provided by the invention, has high path planning efficiency and high accuracy, and can meet the requirements of the low-speed commercial unmanned vehicle.
The method comprises the following steps:
s101, after all maps are obtained by using inertial navigation equipment, all coordinate position information of a running track is output, and the current position of a vehicle is determined through a positioning module;
s102, utilizing a Hash search algorithm to adapt all coordinate data of the map to a Hash table, and configuring index information for the coordinate data;
s103, inputting the end point coordinates, and obtaining end point position index information by utilizing a Hash search algorithm;
and S104, calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining the vehicle kinematic parameters.
It is further noted that the method further comprises:
and after obtaining all maps by using the inertial navigation equipment, obtaining all coordinate information of the driving track, making a map according to the map information required by the planning control module, and marking the coordinate information by using the local coordinate system to mark x, y, z and header information.
It is further noted that the method further comprises: configuring index information for the coordinate data, and configuring the index information into an index table;
when searching for the path point, index information is searched for through the index table and matched with corresponding coordinate data.
Further, an end point index is obtained by utilizing a Hash search algorithm, and an end point coordinate position is obtained;
and identifying the position information points between the starting point and the end point by utilizing a Hash search algorithm, and connecting the position information points with the identification by combining the vehicle kinematic parameters to generate a track route.
It should be further noted that, a hash value and an identifier of the coordinate data in the hash table are configured for each coordinate data;
configuring the hash value and the identification corresponding to each coordinate data into a hash table;
configuring the hash value to a corresponding position in the panoramic map;
acquiring a starting point hash value and an end point hash value input by a user and an intermediate hash value between the starting point hash value and the end point hash value;
and identifying the position information points between the starting point hash value and the end point hash value, and connecting the identified position information points to generate a track route by combining the vehicle kinematic parameters.
The invention also provides a global path planning system of the low-speed commercial unmanned vehicle, which comprises the following components: the system comprises inertial navigation equipment, a positioning module, a hash processing module and a global path generating module;
the inertial navigation equipment is used for configuring global map information and coordinate position information on a map;
the positioning module is used for positioning the vehicle;
the hash processing module is used for adapting all coordinate data of the map to a hash table by using a hash searching algorithm and configuring index information for the coordinate data;
the global path generation module is used for inputting the end point coordinates and obtaining the index information of the end point position by utilizing a Hash search algorithm; and calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining vehicle kinematic parameters.
Further, it should be noted that the method further includes: a coordinate information marking module;
the coordinate information marking module is used for obtaining all coordinate information of a driving track after all maps are obtained by using the inertial navigation equipment, carrying out map making according to the map information required by the planning control module, and marking the coordinate information by using a local coordinate system to mark x, y, z and heading information.
Further, it should be noted that the method further includes: a search module;
the searching module is used for searching index information through the index table when searching the path point and matching corresponding coordinate data.
It is further noted that the inertial navigation device is also used for calibrating the initial position to the vehicle body coordinate system;
configuring inertial navigation serial port data information, and settling the serial port information to obtain inertial navigation information;
in the process of vehicle driving, a local coordinate system is used, the pre-driving track of the vehicle is recorded, and a complete map is made.
The invention also provides a low-speed commercial unmanned vehicle with the global path planning method, which comprises the following steps:
a memory for storing a computer program and a global path planning method;
and the processor is used for executing the computer program and the global path planning method so as to realize the steps of the global path planning method.
According to the technical scheme, the invention has the following advantages:
the global path planning method provided by the invention can quickly find the end point position and obtain the end point index according to the input end point information and the hash table generated by the hash algorithm, and the global path generation module can generate a track route for smooth passing of vehicles according to the index. The method comprises the steps of obtaining track points of a path by utilizing a Hash search algorithm and a global path generation module according to specific positions of vehicles, and selecting a proper path distribution mode to realize a vehicle path planning algorithm, so that the requirement of automatic path planning of an unmanned vehicle is met.
The invention generates a collision-free smooth track route. The normal passing of the vehicle can be ensured. The invention can also write the data filling drive of the map, so that the generated global map can be correctly and efficiently filled into the corresponding key value pairs. When the data reading drive of the hash function is programmed, the data can be correctly and efficiently searched when the corresponding key value pair is read.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a global path planning method for a low-speed commercial unmanned vehicle;
FIG. 2 is a flow chart of an embodiment of a global path planning method for a low-speed commercial unmanned vehicle;
FIG. 3 is a diagram of the actual effect of the data structure in the method;
fig. 4 is a schematic diagram of a global path planning system for a low-speed commercial unmanned vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The elements and algorithm steps of each example described in the embodiment disclosed in the global path planning method for the low-speed commercial unmanned vehicle provided by the invention can be realized by electronic hardware, computer software or a combination of the two, and in order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The block diagram shown in the attached drawing of the global path planning method for the low-speed commercial unmanned vehicle provided by the invention is only a functional entity and does not necessarily correspond to a physically independent entity. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
In the global path planning method for the low-speed commercial unmanned vehicle, provided by the invention, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
As shown in fig. 1 and 2, the global path planning method for the low-speed commercial unmanned vehicle provided by the invention comprises the following steps:
s101, after all maps are obtained by using inertial navigation equipment, all coordinate position information of a running track is output, and the current position of a vehicle is determined through a positioning module;
the inertial navigation equipment measures the acceleration (inertia) of the low-speed commercial unmanned vehicle and automatically performs integral operation to obtain the instantaneous speed and instantaneous position data of the low-speed commercial unmanned vehicle. Because the equipment forming the inertial navigation system is arranged in the low-speed commercial unmanned vehicle, the inertial navigation system does not depend on external information during working, does not radiate energy to the outside, is not easily interfered by the external environment, and is an autonomous navigation system. The inertial navigation device can also acquire all maps and can determine the current position of the vehicle according to the positioning module.
In the invention, in the closed area or the semi-closed area, the driving scene and the driving road of the vehicle are fixed, so as to meet the map construction work of the low-speed closed area and simultaneously generate the required map quickly.
1) The inertial navigation equipment needs to be calibrated firstly, and the initial position of the inertial navigation equipment is calibrated to a vehicle body coordinate system.
2) And configuring inertial navigation serial port data information, and settling the serial port information to obtain correct inertial navigation information.
3) In the process of vehicle driving, a local coordinate system is used, the pre-driving track of the vehicle is recorded, and a complete map is made.
S102, all coordinate data of the map are matched into a hash table by using a hash search algorithm, and index information is configured for the coordinate data, so that later search is facilitated.
Fig. 3 is a schematic diagram of a data structure of a hash-lookup-based low-speed commercial unmanned vehicle path planning algorithm, wherein Key value pairs are used for identification, wherein Key represents index, and Buckets represents storage data. In order to facilitate the retrieval, Arabic numerals are used for indexing, x, y, z, binding and other data of the map exist in Buckets, so that the complexity of the algorithm can be reduced to O (1).
In the invention, when the structure of the hash table is determined, data recombination is carried out by combining a map format of the hash table, and a specific key value pair is generated.
By writing the data filling drive of the map, the generated global map can be correctly and efficiently filled into the corresponding key value pairs.
When the data reading drive of the hash function is programmed, the data can be correctly and efficiently searched when the corresponding key value pair is read.
S103, inputting the end point coordinates, and obtaining the end point position index information by utilizing a Hash search algorithm, so that the global track can be generated conveniently. S103 further comprises the steps of:
1) and obtaining the position of the vehicle in a Cartesian coordinate system according to the inertial navigation equipment, and then carrying out initialization work of local coordinate system conversion on the position of the vehicle in the Cartesian coordinate system.
2) By inputting the coordinate position of the end point, the index of the position of the end point can be quickly determined by using a data driving program of the hash function.
3) And linking indexes to be connected according to the indexes of the end positions on the map to obtain a simple global path track.
And S104, calling the information of the current position and the end position of the vehicle, and generating a collision-free smooth track route by combining the kinematic parameters of the vehicle.
The invention can realize the vehicle control function of the low-speed closed area by using the vehicle type, the length and the width of preset parameters in the closed area or the semi-closed area, and needs the following steps:
1) based on the preset vehicle, the length and width of the vehicle are set when the vehicle kinematics model is set.
2) Through the obtaining, the simple global planning path is processed, wherein the simple global planning path mainly comprises the work of noise point removal, difference value removal and the like, and a collision-free smooth track route is obtained.
As an embodiment of the present invention, a hash value and an identifier of coordinate data in a hash table are configured for each coordinate data;
configuring the hash value and the identification corresponding to each coordinate data into a hash table;
configuring the hash value to a corresponding position in the panoramic map;
based on the identifier of the hash table to which each coordinate data belongs, the corresponding position information of each coordinate data in the panoramic map can be searched in the hash lookup table. The path planning may also be performed by extracting a position in the panoramic map based on the hash value. The corresponding relation between the coordinate data and the hash value is pre-established in the hash lookup table, and the hash value matched with each coordinate data is stored in a storage;
acquiring a starting point hash value and an end point hash value input by a user and an intermediate hash value between the starting point hash value and the end point hash value;
and identifying the position information points between the starting point hash value and the end point hash value, and connecting the identified position information points to generate a track route by combining the vehicle kinematic parameters.
For the purposes of the present invention, which also provides a global path planning system for a low-speed commercial unmanned vehicle, modules implementing various embodiments of the present invention will now be described with reference to fig. 4. In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the description of the embodiments of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
The system comprises: the system comprises inertial navigation equipment, a positioning module, a Hash processing module, a global path generating module, a coordinate information marking module and a searching module;
the inertial navigation equipment is used for configuring global map information and coordinate position information on a map;
the positioning module is used for positioning the vehicle;
the hash processing module is used for adapting all coordinate data of the map to a hash table by using a hash searching algorithm and configuring index information for the coordinate data;
the global path generation module is used for inputting the end point coordinates and obtaining the index information of the end point position by utilizing a Hash search algorithm; and calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining vehicle kinematic parameters.
The coordinate information marking module is used for obtaining all coordinate information of a driving track after all maps are obtained by using the inertial navigation equipment, carrying out map making according to the map information required by the planning control module, and marking the coordinate information by using a local coordinate system to mark x, y, z and heading information.
The searching module is used for searching index information through the index table when searching the path point and matching corresponding coordinate data.
The inertial navigation equipment is also used for calibrating the initial position to a vehicle body coordinate system; configuring inertial navigation serial port data information, and settling the serial port information to obtain inertial navigation information; in the process of vehicle driving, a local coordinate system is used, the pre-driving track of the vehicle is recorded, and a complete map is made.
The invention also provides a low-speed commercial unmanned vehicle with the global path planning method, which comprises the following steps: a memory for storing a computer program and a global path planning method; and the processor is used for executing the computer program and the global path planning method so as to realize the steps of the global path planning method.
The low speed commercial unmanned vehicle with global path planning method is the exemplary elements and algorithmic steps described in connection with the embodiments disclosed herein, which may be embodied in electronic hardware, computer software, or a combination of both, the components and steps of the various examples having been generally described in the foregoing description by function for clarity of illustration of interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A global path planning method for a low-speed commercial unmanned vehicle is characterized by comprising the following steps:
s101, after all maps are obtained by using inertial navigation equipment, all coordinate position information of a running track is output, and the current position of a vehicle is determined through a positioning module;
s102, utilizing a Hash search algorithm to adapt all coordinate data of the map to a Hash table, and configuring index information for the coordinate data;
s103, inputting the end point coordinates, and obtaining end point position index information by utilizing a Hash search algorithm;
and S104, calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining the vehicle kinematic parameters.
2. The low-speed commercial unmanned vehicle global path planning method of claim 1, further comprising:
and after obtaining all maps by using the inertial navigation equipment, obtaining all coordinate information of the driving track, making a map according to the map information required by the planning control module, and marking the coordinate information by using the local coordinate system to mark x, y, z and header information.
3. The low-speed commercial unmanned vehicle global path planning method of claim 1, further comprising: configuring index information for the coordinate data, and configuring the index information into an index table;
when searching for the path point, index information is searched for through the index table and matched with corresponding coordinate data.
4. The global path planning method for low-speed commercial unmanned vehicle of claim 1,
obtaining an end point index by utilizing a Hash search algorithm, and obtaining an end point coordinate position;
and identifying the position information points between the starting point and the end point by utilizing a Hash search algorithm, and connecting the position information points with the identification by combining the vehicle kinematic parameters to generate a track route.
5. The global path planning method for low-speed commercial unmanned vehicle of claim 1,
configuring a hash value and an identifier of the coordinate data in a hash table for each coordinate data;
configuring the hash value and the identification corresponding to each coordinate data into a hash table;
configuring the hash value to a corresponding position in the panoramic map;
acquiring a starting point hash value and an end point hash value input by a user and an intermediate hash value between the starting point hash value and the end point hash value;
and identifying the position information points between the starting point hash value and the end point hash value, and connecting the identified position information points to generate a track route by combining the vehicle kinematic parameters.
6. A global path planning system of a low-speed commercial unmanned vehicle is characterized in that the system adopts the global path planning method of the low-speed commercial unmanned vehicle as claimed in any one of claims 1 to 5;
the system comprises: the system comprises inertial navigation equipment, a positioning module, a hash processing module and a global path generating module;
the inertial navigation equipment is used for configuring global map information and coordinate position information on a map;
the positioning module is used for positioning the vehicle;
the hash processing module is used for adapting all coordinate data of the map to a hash table by using a hash searching algorithm and configuring index information for the coordinate data;
the global path generation module is used for inputting the end point coordinates and obtaining the index information of the end point position by utilizing a Hash search algorithm; and calling the current position and the end position information of the vehicle, and generating a vehicle track route by combining vehicle kinematic parameters.
7. The low-speed commercial unmanned vehicle global path planning system of claim 6, further comprising: a coordinate information marking module;
the coordinate information marking module is used for obtaining all coordinate information of a driving track after all maps are obtained by using the inertial navigation equipment, carrying out map making according to the map information required by the planning control module, and marking the coordinate information by using a local coordinate system to mark x, y, z and heading information.
8. The low-speed commercial unmanned vehicle global path planning system of claim 6, further comprising: a search module;
the searching module is used for searching index information through the index table when searching the path point and matching corresponding coordinate data.
9. The global path planning system for the low-speed commercial unmanned vehicle of claim 6, wherein the inertial navigation device is further configured to calibrate the initial position to the vehicle coordinate system;
configuring inertial navigation serial port data information, and settling the serial port information to obtain inertial navigation information;
in the process of vehicle driving, a local coordinate system is used, the pre-driving track of the vehicle is recorded, and a complete map is made.
10. A low speed commercial unmanned vehicle having a global path planning method, comprising:
a memory for storing a computer program and a global path planning method;
a processor for executing the computer program and the global path planning method to implement the steps of the global path planning method according to any one of claims 1 to 5.
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