CN114111825B - Path planning method, path planning device, electronic equipment, engineering machinery and storage medium - Google Patents
Path planning method, path planning device, electronic equipment, engineering machinery and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium. The method comprises the following steps: detecting an obstacle in the global planned path according to the safety distance; determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas; generating an obstacle avoidance path at the obstacle according to the expansion area. According to the embodiment of the invention, firstly, the obstacle in the global planning path is detected according to the safety distance, then the expansion area is determined according to the size information of the obstacle and the safety distance, the problem of larger transverse displacement deviation change rate and curvature change rate existing in the naturally generated obstacle avoidance detour path is solved, the body torsion of the engineering machinery driving along the obstacle avoidance path is reduced, and the driving safety of the engineering machinery is improved to a certain extent.
Description
Technical Field
The embodiment of the invention relates to the technical field of computer application, in particular to a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium.
Background
Along with the development of computer navigation technology, intelligent equipment is gradually widely applied. For intelligent devices that travel in a two-dimensional plane, such as sweeping robots, indoor navigation robots, engineering machinery, etc., it is necessary to rely on planned paths for movement. Map information, including an obstacle region, a drivable region, a starting point, an ending point and the like, needs to be set for the intelligent equipment in the path planning process, so that a path point row used by the intelligent equipment is determined. However, when the path planning method guides the unmanned engineering machinery to run, in order to avoid collision between the machinery and the obstacle, the obstacle can be inflated according to the size of the machinery and the reasonable turning radius, and then the obstacle is updated on a built-in map of the engineering machinery so as to update the planned path and generate a reasonable obstacle avoidance detour path. However, the conventional obstacle avoidance expansion is usually expanded to the outside at equal intervals at the center point of the obstacle to form a circular or polygonal obstacle area, and fig. 1 is a schematic diagram of the obstacle expansion in the prior art, and as shown in fig. 1, the resulting detour path generally causes a more prominent lateral displacement deviation and curvature change, so that when the engineering machine with a larger inertia and friction coefficient runs along the resulting detour path, the engineering machine generally causes stronger body torsion, which becomes a safety hazard for running the engineering machine.
Disclosure of Invention
The invention provides a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium, which are used for generating a reasonable obstacle avoidance path, reducing transverse displacement deviation and curvature change, reducing the twisting of a machine body of the engineering machinery running along the obstacle avoidance path and improving the running safety of the engineering machinery.
In a first aspect, an embodiment of the present invention provides a path planning method, where the method includes: detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
generating an obstacle avoidance path at the obstacle according to the expansion area.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, where the apparatus includes:
the obstacle detection module is used for detecting obstacles in the global planning path according to the safety distance;
The expansion area module is used for determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and the obstacle avoidance planning module is used for generating an obstacle avoidance path at the obstacle according to the expansion area.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
One or more processors;
A memory for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the path planning method as described in the first aspect.
In a fourth aspect, an embodiment of the present invention further provides an engineering machine, including:
one or more radar sensors for detecting obstacles in the global planned path;
An electronic device configured to implement the path planning method according to the first aspect.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the path planning method according to the first aspect.
In the technical scheme provided by the embodiment of the invention, firstly, the obstacle in the global planning path is detected according to the safety distance, then the expansion area is determined according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas, and finally, the obstacle avoidance path at the obstacle is generated according to the expansion area. According to the embodiment of the invention, the obstacle in the global planning path is detected according to the safety distance, and then the expansion area is determined according to the size information of the obstacle and the safety distance, so that the problem of larger transverse displacement deviation change rate and curvature change rate in the naturally generated obstacle avoidance detour path is solved, the introduction of additional and complex track post-processing steps is avoided, and the running track of the unmanned engineering machinery is smoother, safer and accords with the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting of the machine body and stronger damping friction of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Drawings
FIG. 1 is a prior art barrier expansion schematic;
fig. 2 is a flowchart of a path planning method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram showing the difference between an elliptical expansion method and a spliced equal-ratio circular expansion method according to the first embodiment of the present invention;
fig. 4 is a flowchart of a path planning method according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of an obstacle expansion region obtained by splicing circular sequences with equal radius scaling down according to a second embodiment of the present invention;
FIG. 6 is a schematic diagram showing a division of an elongated barrier into sub-barriers to determine an expansion area according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a path planning apparatus according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings, and furthermore, embodiments of the present invention and features in the embodiments may be combined with each other without conflict.
Example 1
Fig. 2 is a flowchart of a path planning method according to an embodiment of the present invention, where the method may be implemented by a path planning device, and the device may be implemented by hardware and/or software, and may be generally configured in an electronic device. The method specifically comprises the following steps:
S210, detecting obstacles in the global planned path according to the safety distance.
It is understood that the safety distance is understood to be the safety distance between the work machine vehicle and the obstacle during travel. The safety distance is a safety distance set for avoiding collision between the engineering machinery vehicle and an obstacle in the planned path during traveling. The engineering machinery vehicle may be a vehicle using an unmanned excavator, a loader, a road roller, a mine truck, or the like, and the implementation is not limited herein.
In this embodiment, the safety distance may be determined according to the length of the body of the construction machine vehicle, may be determined according to past experience, or may be measured according to experimental data, which is not limited in this embodiment. For example, when the distance between the obstacle and the engineering machinery vehicle is greater than the distance between the vehicle bodies of one engineering machinery vehicle during the running of the engineering machinery vehicle, the distance at this time may be considered as a safety distance; if the distance between the obstacle and the work machine vehicle is smaller than the distance of the body of one work machine vehicle, a collision occurs.
It may be appreciated that the global planned path may be understood as a strategy formed by the travel of the work machine vehicle from the start point location to the end point location. Global path planning may divide path planning into global path planning based on a priori complete information and local path planning based on sensor information based on a degree of knowledge of the environmental information. From the perspective that the obtained obstacle information is static or dynamic, the global path planning belongs to static planning, and the local path planning belongs to dynamic planning. The global path planning needs to master all environment information, and the path planning is carried out according to all the information of the environment map; the local path planning only needs to collect the environment information in real time by the sensor, understand the environment map information, and then determine the position of the map and the local barrier distribution condition, so that the optimal path from the current node to a certain sub-target node can be selected.
In this embodiment, the obstacle may be understood as an object detected by a sensor mounted in the construction machine vehicle, and the detected object may be a regular-shaped object or an irregular-shaped object, which is not limited herein. Wherein the sensor may be a radar sensor.
During the running process of the engineering machinery vehicle, the distribution condition of the obstacles in the global planned path needs to be detected in real time through the sensor, so that the optimal route can be screened out faster and better.
It should be noted that, the method of detecting the obstacle in the global planned path according to the safety distance may be to detect the object in the global planned path by using the radar sensor, and determine the position distance between the radar sensor and the obstacle; the method can also be used for detecting by using an obstacle detection model and marking the obstacle in the global planning path; the method can also be used for acquiring the current frame and the images of the N frames before the current frame nearest to the current frame in the global planning path, dividing the images according to each frame, and calculating the confidence level for detection. This embodiment is not limited thereto.
S220, determining an expansion area according to the size information and the safety distance of the obstacle, wherein the expansion area is formed by splicing at least three circular areas.
The size information may be understood as size information of an obstacle detected by the construction machine vehicle during traveling, and may include information related to a length, a width, an area, and the like of the obstacle.
In this embodiment, the expansion area may be understood as an area formed by expanding the obstacle according to the length and width of the body of the construction machine vehicle itself, information about the size of the obstacle, and information about the turning radius of the construction machine vehicle during traveling.
It should be noted that the expansion area is formed by splicing at least three circular areas. A circular area is understood to mean an area formed inside a specific circle. The specific center and radius are given by the region.
It should be noted that the sizes of the three or more circular regions are different. The center of the middle circular area is the center point of the obstacle perceived by the sensor, and the radius of the center point is calculated by the size of the obstacle. The other circular areas are respectively distributed at two sides of the middle circular area.
During the travel of the construction machine vehicle, when the expansion area is determined according to the size information and the safety distance of the obstacle, the expansion circular area needs to be generated on both sides of the obstacle. The obstacle to be inflated is considered to be an obstacle which is not marked in advance in the map but is temporarily perceived by the sensor during the running of the construction machine vehicle, and thus the inflated areas are also temporarily generated for detouring, and the detouring is removed from the map after completion of the detouring, and thus the map and the future path are not permanently affected.
In this embodiment, the manner of determining the expansion area according to the size information of the obstacle and the safety distance may be to determine whether the aspect ratio of the obstacle is smaller than the aspect ratio threshold according to the size information of the extracted obstacle; the virtual area formed according to the expansion boundary may have the same shape as the chassis of the robot, and the size of the virtual area is the same as the size of the chassis of the robot, and then the virtual area is selected from the map to determine the expansion area. The present embodiment is not limited herein.
Optionally, the number of circular areas in the expansion area is equal to 5 or 7.
In this embodiment, the number of the circular areas in the expansion area may be 5 or 7.
It can be known that the expansion area is formed by splicing three or more circular areas, so that the formed expansion area has smaller course angle when the global planning path is carried out, the running track of the engineering machinery vehicle is smoother and safer and accords with the driving habit of human, and the running safety of the engineering machinery vehicle is enhanced to a certain extent.
Fig. 3 is a schematic diagram illustrating the difference between an elliptical expansion method and a spliced equal-ratio circular expansion method according to the first embodiment of the present invention. As can be seen from fig. 3, when the long-short axis ratio is selected in the elliptical expansion method, the tangential direction of the end point of the long axis of the ellipse is always perpendicular to the running direction of the engineering machinery vehicle no matter how the long-short axis ratio is selected, which means that if elliptical expansion is adopted, curvature shock is generated when the engineering machinery vehicle approaches to an obstacle and starts to detour in the running process, and the local track does not conform to the principle of vehicle kinematics. In the spliced equal-ratio circular expansion method, two ends of a spliced circular area are converged to two singular points along with the equal-ratio reduction of the radius, and the tangential direction near the singular points is the same as the running direction of the engineering machinery vehicle. In practice, the circular area and the standard analytical formula thereof have rotation invariance, so that the obstacle area of the spliced circular area can be defined by a very simple analytical formula no matter what the driving direction angle of the engineering machinery vehicle is, and any other graph tends to make the analytical formula become much more complex than the standard form under rotation transformation.
S130, generating an obstacle avoidance path at the obstacle according to the expansion area.
The obstacle avoidance path is understood to be a path formed for avoiding an obstacle during the running of the engineering machinery vehicle.
It should be noted that, the way of generating the obstacle avoidance path at the obstacle according to the expansion area may be to generate the obstacle avoidance path according to the tangential direction of each circular area in the expansion area; or constructing a potential field function, wherein the function value of the potential field function has a corresponding relation with the distance between the engineering machinery vehicle and the obstacle, and forming an obstacle avoidance path according to the amount of the corresponding relation; and when the engineering mechanical vehicle senses that the obstacle exists on the front path, a path is re-planned to avoid the obstacle, so that an obstacle avoidance path is formed. This embodiment is not limited thereto.
According to the technical scheme provided by the embodiment of the invention, firstly, the obstacle in the global planning path is detected according to the safety distance, then the expansion area is determined according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas, and finally, the obstacle avoidance path at the obstacle is generated according to the expansion area. According to the embodiment of the invention, the obstacle in the global planning path is detected according to the safety distance, and then the expansion area is determined according to the size information of the obstacle and the safety distance, so that the problem of larger transverse displacement deviation change rate and curvature change rate in the naturally generated obstacle avoidance detour path is solved, the introduction of additional and complex track post-processing steps is avoided, and the running track of the unmanned engineering machinery is smoother, safer and accords with the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting of the machine body and stronger damping friction of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Example two
Fig. 4 is a flowchart of a path planning method according to a second embodiment of the present invention, where the path planning method is further refined based on the foregoing embodiments. Specifically, the method comprises the following steps:
Specifically, the present embodiment may detect an obstacle in the global planned path according to the safety distance. The specific steps can be as follows: s410 to S430.
S410, detecting objects in the global planned path by using a radar sensor, and determining whether the position distance between the radar sensor and the obstacle is greater than or equal to a safe distance.
The radar sensor can be understood as a detection device for detecting distance, speed, direction and direction angle information of an object by using high-frequency microwaves, and can convert detected various object information into electric signals or other information output in a required form according to a certain rule so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The radar sensor has the characteristics of small volume, light weight, high sensitivity, strong stability and the like. The radar sensor may be a lidar sensor or a Real-time kinematic (Real-TIME KINEMATIC, RTK) radar sensor, for example.
It is understood that an object is understood to mean any substance of a shape that exists objectively. The objects in the global planned path detected by the radar sensor may be static objects or dynamic objects, which is not limited in this embodiment.
In this embodiment, radar sensors may be used to detect objects in the global planned path and determine the location distance to the obstacle. The position distance is understood to mean, among other things, the position distance between an object and an obstacle in the global planned path detected by the radar sensor. Whether the object detected by the sensor is an obstacle or not can be judged according to the position distance.
S420, if yes, determining that the object is a safe object.
A safety object is understood to mean, among other things, an object whose position distance from an obstacle in the global planned path is detected by a radar sensor.
In the present embodiment, if the position distance of the obstacle is greater than or equal to the safety distance, the object at this time can be considered as a safety object.
And S430, if not, determining that the object is the obstacle.
In the present embodiment, if the position distance of the obstacle is smaller than the safety distance, the object at this time can be considered as an obstacle.
Specifically, the present embodiment may determine the expansion area according to the size information of the obstacle and the safety distance. The specific steps can be as follows: s440 to S470.
S440, extracting size information of the obstacle, wherein the size information at least comprises length and width.
It can be known that the radar sensor can completely capture the size information of the length, width, area and the like of the obstacle, and the size information of the obstacle detected by the radar sensor is extracted to judge whether the length and the width of the obstacle are within a reasonable range.
S450, determining whether the aspect ratio of the barrier is smaller than an aspect ratio threshold value.
The aspect ratio is understood to be the ratio of the length to the width in the size information of the obstacle. The ratio of the length to the width of the obstacle is not fixed. Illustratively, the aspect ratio of the obstacle may be 1:1, a step of; may be 1:3 or 2:3. This embodiment is not limited thereto.
In this embodiment, the aspect ratio threshold is a preset aspect ratio threshold range in which the radar sensor field of view can be completely captured, and is a preset aspect ratio threshold that is convenient for dividing the obstacle.
In the present embodiment, it is determined whether the aspect ratio of the obstacle is smaller than the aspect ratio threshold value, and if it is determined that the aspect ratio of the obstacle is smaller than the aspect ratio threshold value, it is not necessary to perform obstacle segmentation; if it is determined that the aspect ratio of the obstacle is greater than or equal to the aspect ratio threshold, the obstacle needs to be segmented.
And S460, if so, determining an expansion area for the obstacle along the course angle of the global planning path.
The course angle can be understood as an included angle between the mass center speed of the engineering machinery vehicle and the transverse axis under the ground coordinate system.
In this embodiment, if the sensor detects that the aspect ratio of the obstacle is smaller than the aspect ratio threshold, the expansion area of the obstacle may be determined directly along the course angle of the global planned path without performing obstacle segmentation.
Optionally, determining an expansion area for the obstacle along the heading angle of the global planned path includes:
Determining a circular area by taking the center of the obstacle as the center of a circle according to a preset radius;
determining an intersection point of the circular area and the course angle, reducing the value of a preset radius according to a preset reduced value, and determining a second circular area by taking the intersection point as a circle center according to the preset radius after the value is reduced;
Repeating the generation process of the second circular splicing area by taking the second circular area as a new circular area until the number of the generated circular areas and the second circular area is greater than or equal to the threshold number;
the sum of the circular area and the area of each second circular area is taken as an expansion area.
The preset radius may be understood as a preset radius centered on the center of the obstacle. The radius of the circle center is calculated by the size of the obstacle.
In the present embodiment, the circular area may be understood as a circular area defined around the center of the obstacle. In this embodiment, the preset reduction value may be understood as an equi-reduction value of the second circular area set in advance. The second circular area is understood to be a circular area obtained by determining a circular area by taking the center of the obstacle as the center of the circle and then carrying out equal-ratio reduction according to the radius in the circular area by the ratio k. Where k represents the proportionality coefficient of the radius of the circular area.
In the present embodiment, the intersection point may be understood as a point at which the circular area intersects the heading angle. The intersection point passes through the circle centers of the circular area and the second circular area along the ray direction, and the second circular area on two sides of the circular area can be determined through the intersection point of the circular area and the course angle. A circular area can be defined by each intersection point.
After the circular area is determined with the center of the obstacle as the center of the circle, the circular area is the circular area of the largest circle, that is, the radius of the circular area is the largest. The other second circular areas are distributed on two sides of the circular area of the largest circle along the running direction of the engineering machinery vehicle, the circle centers of the other second circular areas are all located on the boundary of the adjacent larger circle, and the radius of the other second circular areas is reduced in an equal ratio according to the radius of the adjacent larger circle by a ratio k.
It is known that, from the running direction of the engineering mechanical vehicle, the radius of the circular area and the radius of each second circular area in the expansion area formed by the sum of the circular area and the area of each second circular area are gradually increased, and gradually decrease after reaching the maximum radius of the circular area, instead of a certain constant radius value, the course angle of the engineering mechanical vehicle can be adjusted at a gentle rate in the running process of the engineering mechanical vehicle, and obstacle-surrounding running is realized at a smaller curvature change rate. The twisting of the machine body of the engineering machinery running along the obstacle avoidance path is reduced to a certain extent, and the running safety of the engineering machinery is further improved.
In this embodiment, the manner of determining the expansion area along the global planned path by using the course angle as the obstacle may be that firstly, determining a circular area with the center of the obstacle as the center of the circle according to the preset radius, then determining the intersection point of the circular area and the course angle, reducing the value of the preset radius according to the preset reduced value, determining a second circular area with the intersection point as the center according to the preset radius after the value is reduced, then repeating the generation process of the second circular splicing area by using the second circular area as a new circular area until the number of the generated circular areas and the second circular areas is greater than or equal to the threshold number, and finally, taking the sum of the circular areas and the areas of each second circular area as the expansion area. The threshold number may be understood as the number of second circular areas set in advance.
Fig. 5 is a schematic diagram of an obstacle expansion area obtained by splicing circular sequences with equal radius scaling down according to a second embodiment of the present invention. The direction indicated by the black arrow in fig. 5 is the running direction of the engineering machinery vehicle, the middle quadrangle (square) is the obstacle detected by the sensor, and the included angle between the dotted line in fig. 5 and the running direction of the engineering machinery vehicle is the heading angle of the global planned path. The expansion area of the obstacle in fig. 5 can be understood as a circular area centered on the obstacle, and the two sides of the circular area are spliced by 3 second circular areas with sequentially decreasing radii.
In this embodiment, for a new obstacle perceived by the sensor during the running of the engineering machinery vehicle, the shape of the new obstacle after expansion is changed from a circle or a polygon to a series of gradually decreasing trends from radius equal ratio increasing to the central maximum circle area, and the shape similar to a fusiform shape is spliced along the running direction of the engineering machinery vehicle, and the image of the new obstacle can be shown in fig. 5.
In this embodiment, the global planned path shown in fig. 5 is the result of a B-spline algorithm smoothing. The B-spline algorithm can be understood as that the whole curve is formed by connecting curves in a section-to-section mode, and the whole curve is generated by adopting a sectional continuous multi-section mode. The center of the largest circular area with the obstacle as the center is the center point of the obstacle perceived by a sensor (usually a laser radar), and the radius of the center point is calculated by the size of the obstacle. The other second round area engineering machinery vehicles are arranged on two sides of the running direction, the circle centers of the other second round area engineering machinery vehicles fall on the boundary of the adjacent larger circles, and the radius of the other second round area engineering machinery vehicles is reduced according to the ratio of k=1/3 and the like of the radius of the adjacent larger circles. Theoretically, as long as k <1 is satisfied, an infinite number of circular areas can be drawn, and a convergent, limited and approximately fusiform obstacle expansion area can be finally obtained, and in the practical process, only 5 or 7 splice circles are usually drawn, so that a more ideal effect can be obtained.
The radius of the obstacle expansion area shows a trend of gradually increasing and gradually decreasing from the direction of running of the engineering mechanical vehicle instead of a certain constant radius, which means that the direction angle of the engineering mechanical vehicle can be regulated at a gentle rate in the running process of the engineering mechanical vehicle, and the obstacle-detouring running is realized with a smaller curvature change rate. In addition, the sensor in the engineering machinery vehicle can start to detour the obstacle when a certain distance is left from the obstacle after sensing the obstacle, and starts when the sensor does not rush to the vicinity of the obstacle, which is more similar to the driving habit of a human.
And S470, if not, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold, determining sub-expansion areas for the sub-obstacles along the course angle of the global planning path, and taking the sum of the sub-expansion areas as an expansion area.
It is to be appreciated that a sub-obstacle may be understood as each sub-obstacle formed by dividing the obstacle when the sensor detects an elongated obstacle, i.e. when the aspect ratio of the obstacle is greater than or equal to the aspect ratio threshold. Wherein, when dividing the obstacle, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold value.
In this embodiment, the sub-expansion area may be understood as a sub-expansion area formed by heading angles of the sub-obstacles along the global planned path. After the sub-obstacles are segmented and formed, the sub-expansion areas of the sub-obstacles can be determined along the course angle of the global planning path, and then the sum of the sub-expansion areas is taken as the expansion area of the strip-shaped obstacle.
In this embodiment, when the sensor detects the elongated obstacle, that is, when the aspect ratio of the obstacle is greater than or equal to the aspect ratio threshold, it is necessary to divide the obstacle into at least one sub-obstacle having an aspect ratio smaller than the aspect ratio threshold, then determine each sub-expansion area formed by each sub-obstacle along the course angle of the global planned path, and finally use the sum of each sub-expansion area as the expansion area of the elongated obstacle.
The method of dividing the elongated barrier into the sub-barriers to form the sub-expansion regions is the same as the method of forming the expansion regions when the barrier division is not necessary. Firstly determining size information and a safety distance of each sub-obstacle, then determining a circular area by taking the center of each sub-obstacle as the center of a circle according to a preset radius, then determining the intersection point of the circular area by taking the center of each sub-obstacle as the center of a circle and a course angle, reducing the value of the preset radius according to a preset reduced value, determining a second circular area of each sub-obstacle by taking the intersection point of the preset radius after the value is reduced as the center of a circle, repeating the generation process of a second circular splicing area of each sub-obstacle by taking the second circular area of each sub-obstacle as the circular area of each new sub-obstacle until the number of the generated circular areas of each sub-obstacle and the second circular area of each sub-obstacle is larger than or equal to the threshold number, and finally taking the sum of the circular areas of each sub-obstacle and the second circular area of each sub-obstacle as each sub-expansion area of each sub-obstacle and taking the sum of each sub-expansion area of each sub-obstacle as the expansion area of a strip-shaped obstacle.
Fig. 6 is a schematic diagram illustrating an expansion area determined by dividing an elongated obstacle into sub-obstacles according to a second embodiment of the present invention. The strategy of segmentation followed by dilation is adopted for the elongated obstacle shown in fig. 6. The rectangular solid in the middle of the circular area in fig. 6 is an elongated barrier, and as can be seen from fig. 6, the elongated barrier is divided into 6 square sub-barriers, and each sub-barrier has a corresponding circular area formed by centering on each sub-barrier. In addition, the two sides of the circular area formed by taking each sub-obstacle as the center are respectively provided with second circular areas which are distributed on the two sides, the circle centers of the second circular areas are respectively located on the boundaries of adjacent larger circles, the radiuses of the second circular areas are in a decreasing trend in sequence, each sub-expansion area is formed, and finally, the sub-expansion areas are combined to obtain the expansion area of the long-strip-shaped obstacle. Since the drawing of the second circular areas on both sides of the circular area centered on each sub-obstacle is relatively complicated, in the present embodiment, only the circular areas formed centered on each sub-obstacle are shown in fig. 6 when the elongated obstacle is divided, and the forming process of each second circular area of each sub-obstacle is the same as that when the division is not required.
Specifically, the present embodiment may generate the obstacle avoidance path at the obstacle according to the expansion region. The specific steps can be as follows: s480.
S480, determining tangential directions of all round areas in the expansion area, and generating obstacle avoidance paths according to all tangential directions.
The tangential direction is understood to mean a tangential direction in the vicinity of the singular point of the respective circular region, which is identical to the direction of travel of the work machine vehicle.
In this embodiment, after determining the tangential direction of each circular region in the expansion region, the obstacle avoidance path at the obstacle may be generated according to each tangential direction.
In the technical scheme provided by the embodiment of the invention, an object in a global planning path is detected by using a radar sensor, the position distance between the object and an obstacle is determined, and if the position distance is greater than or equal to a safety distance, the object is determined to be a safety object; otherwise, the vehicle is an obstacle; then extracting size information of the obstacle, and determining whether the aspect ratio of the obstacle is smaller than an aspect ratio threshold value; if yes, determining an expansion area for the obstacle along the course angle of the global planning path; if not, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold, determining sub-expansion areas for the sub-obstacles along the course angle of the global planning path, and taking the sum of the sub-expansion areas as an expansion area; and finally, determining the tangential direction of each circular area in the expansion area, and generating an obstacle avoidance path according to each tangential direction. According to the embodiment of the invention, whether the length-width ratio of the obstacle is smaller than the length-width ratio threshold value is determined by extracting the size information of the obstacle, the problem that all the obstacles are processed by a unified method is solved, an expansion area is determined for the obstacle directly along the course angle of the global planning path for the obstacle which does not need to be cut, the obstacle which needs to be cut is firstly cut into all the sub-obstacles, then all the sub-obstacles are determined into the sub-expansion area, and the sum of all the sub-expansion areas is taken as the expansion area, so that the generated global planning path has smaller curvature change rate and smaller transverse displacement change rate, and meanwhile, the appearance, smoothness and safety of the engineering machinery vehicle in the bypassing process are higher.
Example III
Fig. 7 is a schematic structural diagram of a path planning device according to a third embodiment of the present invention, where the path planning device according to the present embodiment may be implemented by software and/or hardware, and may be configured in a server to implement a path planning method according to the embodiment of the present invention. As shown in fig. 7, the apparatus may specifically include: an obstacle detection module 710, an expansion area determination module 720, and an obstacle avoidance planning module 730.
Wherein, the obstacle detection module 710 is configured to detect an obstacle in the global planned path according to the safety distance;
An expansion region determining module 720, configured to determine an expansion region according to the size information of the obstacle and the safety distance, where the expansion region is formed by splicing at least three circular regions;
and the obstacle avoidance planning module 730 is configured to generate an obstacle avoidance path at the obstacle according to the expansion area.
In the technical scheme provided by the embodiment of the invention, firstly, an obstacle detection module detects an obstacle in a global planning path according to a safety distance, then an expansion area determination module determines an expansion area according to size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas, and finally, an obstacle avoidance planning module generates an obstacle avoidance path at the obstacle according to the expansion area. According to the embodiment of the invention, the obstacle in the global planning path is detected according to the safety distance, and then the expansion area is determined according to the size information of the obstacle and the safety distance, so that the problem of larger transverse displacement deviation change rate and curvature change rate in the naturally generated obstacle avoidance detour path is solved, the introduction of additional and complex track post-processing steps is avoided, and the running track of the unmanned engineering machinery is smoother, safer and accords with the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting of the machine body and stronger damping friction of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Alternatively, on the basis of the above embodiments, the obstacle detection module 710 may specifically include:
A position distance determining unit for detecting an object in the global planned path using a radar sensor and determining a position distance from the obstacle;
A safe object determining unit, configured to determine that the object is a safe object if the position distance is greater than or equal to the safe distance;
And the obstacle determining unit is used for determining that the object is the obstacle if the position distance is smaller than the safety distance.
Optionally, based on the foregoing embodiments, the expansion area determining module 720 may specifically include:
An information extraction unit configured to extract size information of the obstacle, wherein the size information includes at least a length and a width;
A threshold determining unit configured to determine whether an aspect ratio of the obstacle is smaller than an aspect ratio threshold;
A first expansion area determining unit, configured to determine, if yes, the expansion area for the obstacle along a course angle of the global planned path;
And a sub-expansion area determining unit, configured to divide the obstacle into at least one sub-obstacle with an aspect ratio smaller than the aspect ratio threshold if not, determine sub-expansion areas for the sub-obstacles along a course angle of the global planned path, and take a sum of the sub-expansion areas as the expansion area.
Alternatively, the first expansion region determining unit may include:
a first circular region determining subunit, configured to determine a circular region with the center of the obstacle as a center of a circle according to a preset radius;
The second round area determining subunit is used for determining an intersection point of the round area and the course angle, reducing the value of the preset radius according to a preset reduction value, and determining a second round area by taking the intersection point as a circle center according to the preset radius after the value is reduced;
A threshold number generating subunit, configured to repeat a generating process of the second circular splicing area with the second circular area as a new circular area until the number of the generated circular areas and the second circular area is greater than or equal to a threshold number;
And a region synthesis subunit configured to take a sum of the circular region and a region of each of the second circular regions as the expansion region.
Optionally, based on the foregoing embodiments, the obstacle avoidance planning module 730 may include:
and the path generation unit is used for determining the tangential direction of each circular area in the expansion area and generating the obstacle avoidance path according to each tangential direction.
Alternatively, in an embodiment, the number of circular areas in the expansion area is equal to 5 or 7.
The path planning device provided by the embodiment of the invention can execute the path planning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, where, as shown in fig. 8, the device includes a processor 810, a memory 820, an input device 830 and an output device 840; the number of processors 810 in the device may be one or more, one processor 810 being taken as an example in fig. 8; the processor 810, memory 820, input device 830, and output device 840 in the apparatus may be connected by a bus or other means, for example in fig. 8.
The memory 820 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the path planning method in the embodiment of the present invention (for example, the obstacle detection module 710, the expansion area determination module 720, and the obstacle avoidance planning module 730 in the path planning device). The processor 810 performs various functional applications of the device and data processing, i.e., implements the path planning method described above, by running software programs, instructions, and modules stored in the memory 820.
Memory 820 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 820 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 820 may further include memory located remotely from processor 810, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 830 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the apparatus. The output device 840 may include a display device such as a display screen.
Example five
The fifth embodiment of the present invention further provides an engineering machine, where the engineering machine provided in the present embodiment may be implemented by one or more radar sensors, and may be configured in an electronic device to implement a path planning method in the present embodiment of the present invention.
The construction machine includes:
one or more radar sensors for detecting obstacles in the global planned path;
The electronic device is used for realizing the path planning method according to the embodiment of the invention.
In this embodiment, the work machine is an important component of the equipment industry. In general, a construction machine is understood to be a construction machine necessary for construction work, mobile lifting and handling operations, and comprehensive mechanized construction work required for various construction works. The work machine may include a loader, excavator, crane, roller, mine truck, and the like.
In this embodiment, both the electronic device and the radar sensor are mounted at the front end of the work machine vehicle. The electronic device may be a vehicle-mounted computer in the engineering machinery vehicle, or may be a T-box (vehicle-mounted terminal host) in the engineering machinery vehicle, which is not limited herein.
In this embodiment, according to information such as the length and width of the vehicle body and the width of the vehicle head in the construction machine, electronic devices and radar sensors of different sizes and different numbers may be mounted. For example, when the body of the vehicle in the construction machine is relatively long and wide, the electronic device and the radar sensor having relatively large dimensions may be installed, and the number of the electronic device and the radar sensor is respectively installed 3, so that it is convenient to more accurately determine the obstacle occurring in the driving process.
Example six
A sixth embodiment of the present invention also provides a storage medium containing computer executable instructions which, when executed by a computer processor, are for performing a path planning method, the method comprising:
detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
generating an obstacle avoidance path at the obstacle according to the expansion area.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the path planning method provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above-mentioned embodiment of the path planning apparatus, each unit and module included are only divided according to the functional logic, but are not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. A method of path planning, the method comprising:
detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
Generating an obstacle avoidance path at the obstacle according to the expansion area;
the generating an obstacle avoidance path at the obstacle according to the expansion area comprises the following steps:
determining tangential directions of the circular areas in the expansion area, and generating the obstacle avoidance path according to the tangential directions;
said determining an expansion area based on the size information of the obstacle and the safety distance comprises:
extracting size information of the obstacle, wherein the size information at least comprises length and width;
Determining whether an aspect ratio of the obstacle is less than an aspect ratio threshold;
if yes, determining the expansion area for the obstacle along the course angle of the global planning path;
If not, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold, determining sub-expansion areas for the sub-obstacles along the course angle of the global planning path, and taking the sum of the sub-expansion areas as the expansion area;
the course angle along the global planned path determining the expansion region for the obstacle comprises:
determining a circular area by taking the center of the obstacle as the center of a circle according to a preset radius;
Determining an intersection point of the circular area and the course angle, reducing the value of the preset radius according to a preset reduction value, and determining a second circular area by taking the intersection point as a circle center according to the preset radius after the value is reduced;
Repeating the generation process of the second circular splicing area by taking the second circular area as the new circular area until the number of the generated circular areas and the second circular area is greater than or equal to a threshold number;
taking the sum of the circular area and the area of each second circular area as the expansion area;
The path planning method comprises global path planning based on prior complete information and local path planning based on sensor information.
2. The method of claim 1, wherein detecting an obstacle in a global planned path from a safe distance comprises:
detecting objects in the global planned path using radar sensors and determining a position distance to the obstacle;
If the position distance is greater than or equal to the safety distance, determining that the object is a safety object;
and if the position distance is smaller than the safety distance, determining that the object is the obstacle.
3. The method of claim 1, wherein the number of circular regions within the expansion region is equal to 5 or 7.
4. A path planning apparatus, the apparatus comprising:
the obstacle detection module is used for detecting obstacles in the global planning path according to the safety distance;
The expansion area module is used for determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
The obstacle avoidance planning module is used for generating an obstacle avoidance path at the obstacle according to the expansion area;
the obstacle avoidance planning module comprises:
the path generation unit is used for determining the tangential direction of each circular area in the expansion area and generating the obstacle avoidance path according to each tangential direction;
The expansion region determination module includes:
An information extraction unit configured to extract size information of the obstacle, wherein the size information includes at least a length and a width;
A threshold determining unit configured to determine whether an aspect ratio of the obstacle is smaller than an aspect ratio threshold;
A first expansion area determining unit, configured to determine, if yes, the expansion area for the obstacle along a course angle of the global planned path;
A sub-expansion area determining unit, configured to divide the obstacle into at least one sub-obstacle having an aspect ratio smaller than the aspect ratio threshold, determine sub-expansion areas for the sub-obstacles along a course angle of the global planned path, and take a sum of the sub-expansion areas as the expansion area;
the first expansion region determination unit includes:
a first circular region determining subunit, configured to determine a circular region with the center of the obstacle as a center of a circle according to a preset radius;
The second round area determining subunit is used for determining an intersection point of the round area and the course angle, reducing the value of the preset radius according to a preset reduction value, and determining a second round area by taking the intersection point as a circle center according to the preset radius after the value is reduced;
A threshold number generating subunit, configured to repeat a generating process of the second circular splicing area with the second circular area as a new circular area until the number of the generated circular areas and the second circular area is greater than or equal to a threshold number;
A region synthesis subunit configured to take a sum of the circular region and a region of each of the second circular regions as the expansion region;
The path planning method comprises global path planning based on prior complete information and local path planning based on sensor information.
5. An electronic device, the electronic device comprising:
One or more processors;
A memory for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the path planning method of any of claims 1-3.
6. A construction machine, comprising:
one or more radar sensors for detecting obstacles in the global planned path;
electronic device for implementing a path planning method according to any of claims 1-3.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a path planning method according to any one of claims 1-3.
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| CN116380110B (en) * | 2023-06-07 | 2023-08-04 | 上海伯镭智能科技有限公司 | Real-time path planning method based on big data unmanned vehicle |
| CN117073709B (en) * | 2023-10-17 | 2024-01-16 | 福瑞泰克智能***有限公司 | Path planning method, path planning device, computer equipment and storage medium |
| CN117806334B (en) * | 2024-02-29 | 2024-05-14 | 广东电网有限责任公司阳江供电局 | Underwater robot obstacle avoidance path planning method and system based on artificial intelligence |
| CN117948984B (en) * | 2024-03-26 | 2024-05-31 | 广东省科学院智能制造研究所 | Path planning method of mobile operation robot in variable width traffic domain |
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