CN114701484B - Narrow-channel scene parking 1D path planning method, system, vehicle and storage medium - Google Patents
Narrow-channel scene parking 1D path planning method, system, vehicle and storage medium Download PDFInfo
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- CN114701484B CN114701484B CN202210297118.XA CN202210297118A CN114701484B CN 114701484 B CN114701484 B CN 114701484B CN 202210297118 A CN202210297118 A CN 202210297118A CN 114701484 B CN114701484 B CN 114701484B
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- 230000002035 prolonged effect Effects 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims abstract description 4
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- 230000004888 barrier function Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a narrow-channel scene parking 1D path planning method, a system, an automobile and a storage medium, wherein the narrow-channel scene parking 1D path is planned and the narrow-channel scene parking 1D path is output in response to the fact that a vehicle is detected to be in a narrow-channel parking scene; judging whether a narrow-channel scene parking 1D path needs to be prolonged by a straight line or not; if a section of straight line does not need to be prolonged, outputting a path formed by the first arc section, the second straight line section and the third arc section as a narrow-channel scene parking 1D path; if a straight line needs to be prolonged, a fourth straight line segment connected with the third arc segment is planned at one end of the third arc segment far away from the second straight line segment, and a path formed by the first arc segment, the second straight line segment, the third arc segment and the fourth straight line segment is output as a path of parking 1D in a narrow-channel scene. The invention can keep a safe distance with the narrow channel on the premise of ensuring the minimum forward distance of the vehicle so as to ensure that the vehicle can be successfully put in storage.
Description
Technical Field
The invention relates to the technical field of parking, in particular to a narrow-channel scene parking 1D path planning method, a system, a vehicle and a storage medium.
Background
At present, the electromotive and intelligent performances of automobiles tend to be larger and larger. The vehicle carrying the APA intelligent parking system becomes a bright spot for enterprise propaganda and user favor. With the exponential increase of the holding quantity of the automobile, the problem of difficult parking is more remarkable, a vehicle position is difficult to find, a small vehicle position is difficult to park, and the problem of difficult delivery after parking brings a lot of trouble to an automobile owner. This problem attracts much attention from the outside, especially from large host factories. In the current stage, the existing host factories realize mass production of the full-automatic parking technology based on fusion of images and ultrasound, so that market reverberation is good, and the market prospect of full-automatic parking is good.
In actual parking, when a narrow passage consisting of a car or a stationary obstacle, a barrier, etc. is subtended. The conventional practice is as follows: the vehicle 1D proceeds a long enough distance, then first avoids the narrow channel with a larger turning radius, and then goes into storage with a straight line and a reverse circular arc of the minimum turning radius. However, this approach has the problem that the left front side edge of the vehicle often collides with the narrow aisle during parking.
Therefore, there is a need to develop a narrow channel scene parking 1D path planning method, system, vehicle and storage medium.
Disclosure of Invention
The invention aims to provide a narrow-channel scene parking 1D path planning method, a system, a vehicle and a storage medium, which can ensure that the vehicle can keep a safe distance with a narrow channel on the premise of ensuring the minimum forward distance so as to ensure that the vehicle can be successfully put in storage.
In a first aspect, the method for planning a 1D path of narrow-channel scene parking according to the present invention includes the following steps:
in response to detecting that a vehicle is in a narrow-channel parking scene, planning a narrow-channel scene parking 1D path, and outputting the narrow-channel scene parking 1D path, wherein the narrow-channel scene parking 1D path comprises a first arc section, a second straight line section and a third arc section which are sequentially connected;
judging whether a narrow-channel scene parking 1D path needs to be prolonged by a straight line or not; if a section of straight line does not need to be prolonged, outputting a path formed by the first arc section, the second straight line section and the third arc section as a narrow-channel scene parking 1D path;
if a straight line needs to be prolonged, a fourth straight line segment connected with the third arc segment is planned at one end of the third arc segment far away from the second straight line segment, and a path formed by the first arc segment, the second straight line segment, the third arc segment and the fourth straight line segment is output as a parking 1D path of a narrow-channel scene;
wherein "D" in 1D indicates a forward gear, and "1" indicates a first step of parking start.
Optionally, the planning step of the narrow-channel scene parking 1D path is as follows:
Calculating the traversing distance dS of the narrow channel 1D path, the maximum steering angle dthe0 of the narrow channel 1D path, the linear offset dW of the narrow channel 1D path and the linear length Len of the narrow channel 1D path:
The first arc segment path parameter and the coordinates [ xtr, ytr ] of the end point tr are obtained from the coordinates (PXR, PYr) and dthe0 of the start point Pr, then the first arc segment path parameter and the coordinates [ xtl, ytl ] of the end point tl are obtained from the straight line start points [ xtr, ytr ], the slopes tand (dthe 0) and dW, and finally the second arc segment path parameter and the coordinates [ PXL, pyl ] of the end point Pl are obtained from the arc start points [ xtl, ytl ], the minimum turning radii r and dthe.
Optionally, judging whether the narrow-channel scene parking 1D path needs to be extended by a section of straight line, specifically:
Determining whether a narrow-channel scene parking 1D path needs to be prolonged by a section of straight line or not according to the abscissa xs of the warehousing PosOk points;
when PXI < xs+S, a section of straight line needs to be prolonged; otherwise, a section of straight line does not need to be prolonged;
wherein S is a distance base.
Optionally, the traversing distance dS of the narrow channel 1D path is calculated, specifically:
dS＝max(20,|VehYStep0-ys|)；
Wherein VehYStep is the ordinate of initial attitude leveling, ys is the ordinate of starting point when 1R goes in storage, wherein "R" in 1R is reverse gear, and "1" is first gear at the beginning of parking.
Optionally, a maximum steering angle dthe0 of the narrow-channel 1D path is calculated, specifically:
dthe0＝acosd((r-5.5)/r)；
Where r is the minimum turning radius.
Optionally, the straight line offset dW of the narrow channel 1D path is calculated, specifically:
dW＝dS-2*r*(1-cosd(dthe0))。
optionally, the straight line length Len of the narrow channel 1D path is calculated, specifically:
Len＝dW/sind(dthe0)。
in a second aspect, the narrow-channel scene parking 1D path planning system according to the present invention includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program can execute the steps of the narrow-channel scene parking 1D path planning method according to the present invention when called by the controller.
In a third aspect, the invention provides an automobile, which adopts the narrow-channel scene parking 1D path planning system.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, where the computer readable program is capable of executing the steps of the narrow-channel scene parking 1D path planning method according to the present invention when the computer readable program is called.
The invention has the following advantages: the invention can realize the transverse avoidance function of the minimum forward distance, ensure that the vehicle can keep a safe distance with the narrow channel on the premise of the minimum forward distance, and ensure that the vehicle can be successfully put in storage.
Drawings
FIG. 1 is a schematic view of a narrow channel scene effect;
FIG. 2 is a schematic diagram of a 1D narrow channel planning path in the present embodiment;
fig. 3 is a schematic diagram of a 1R warehouse entry planning path in this embodiment.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, a narrow-channel scene parking 1D path planning method includes the following steps:
in response to detecting that a vehicle is in a narrow-channel parking scene, planning a narrow-channel scene parking 1D path, and outputting the narrow-channel scene parking 1D path, wherein the narrow-channel scene parking 1D path comprises a first arc section, a second straight line section and a third arc section which are sequentially connected;
judging whether a narrow-channel scene parking 1D path needs to be prolonged by a straight line or not; if a section of straight line does not need to be prolonged, outputting a path formed by the first arc section, the second straight line section and the third arc section as a narrow-channel scene parking 1D path;
if a straight line needs to be prolonged, a fourth straight line segment connected with the third arc segment is planned at one end of the third arc segment far away from the second straight line segment, and a path formed by the first arc segment, the second straight line segment, the third arc segment and the fourth straight line segment is output as a parking 1D path of a narrow-channel scene;
wherein "D" in 1D indicates a forward gear, and "1" indicates a first step of parking start.
When the vehicle is in a narrow channel formed by a vehicle or a stationary obstacle, a barrier and the like, a parking 1D path of a narrow channel scene marked by the rule is adopted, so that the transverse avoidance function of the minimum forward distance can be realized, the vehicle can be ensured to keep a safe distance with the narrow channel on the premise of the minimum forward distance, and the vehicle can be ensured to be successfully put in storage.
In this embodiment, the coordinate systems are parking space coordinate systems xOy, as shown in fig. 2 and 3.
In this embodiment, the narrow channel scene processing logic:
Judging whether the 1D approaching parking space is required to be subjected to pose adjustment planning according to the width of the traffic channel given by the input, wherein the specific logic is as follows:
(1) YKrS _min+1.5S is equal to or greater than RW, RW1d=2, and the output path planning fails; where S is the distance radix, s=30 cm.
(2) YkrSide +2S/3 is not less than RW, RW1d=1, and 1D pose planning is needed;
(3) Otherwise, rw1d=0.
Wherein YKrSide = (VehYStep 0-R) +r_kr;
YkrS_min＝(b+P1Y-r)+R_Kr；
wherein: vehYStep0 is the Y coordinate of initial posture leveling; r is the minimum turning radius; w is the width of the vehicle; b=w/2; a is the wheelbase; dfront is front overhang; P1Y is the Y coordinate of the P1 point of the parking space, the P1 point is the front corner point of the parking space, or the left rear corner point of the obstacle vehicle, which is equivalent to the F point in FIG. 2; R_Kr represents the turning radius of the Kr point, and the center of the circle is the same as Cr. The specific description is as follows: 1D narrow channel planning, cr refers to the center of the circle with the center of the circle down, and Cl refers to the center of the circle with the center up, as shown in FIG. 2.
In this embodiment, planning of a narrow-channel scene parking 1D path:
when the logic determines that rw1d=1, the following planning of the narrow-channel scene parking 1D path is performed.
Determining the ordinate of the 1D advancing end point, RWys = (w+s)/2;
wherein: RWys represents a narrow channel scene, and the minimum value of the Y coordinates of the warehouse entry start point.
ys＝min(VehYStep0-2*S/3,max(RWys,VehYStep0-(S+YKrSide-RW)))
Where ys denotes the starting ordinate at the time of 1R binning.
Calculating the traversing distance dS of the narrow channel 1D path, the maximum steering angle dthe0 of the narrow channel 1D path, the linear offset dW of the narrow channel 1D path and the linear length Len of the narrow channel 1D path:
VehYStep0 is the ordinate of initial attitude leveling, ys is the ordinate of starting point when 1R goes in storage, wherein 'R' in 1R is reverse gear, and '1' is first gear at the beginning of parking.
The first arc segment path parameter and the coordinates [ xtr, ytr ] of the end point tr are obtained from the coordinates (PXR, PYr) and dthe0 of the start point Pr, then the first arc segment path parameter and the coordinates [ xtl, ytl ] of the end point tl are obtained from the straight line start points [ xtr, ytr ], the slopes tand (dthe 0) and dW, and finally the second arc segment path parameter and the coordinates [ PXL, pyl ] of the end point Pl are obtained from the arc start points [ xtl, ytl ], the minimum turning radii r and dthe.
Determining whether the 1D path needs to be supplemented with a straight line according to the abscissa xs of the warehousing PosOk point (namely the parking start target position);
CrY＝ys-r*cosd(0)
xt1＝ClX+sind(thetaIn)*r；
yt1＝ClY-cosd(thetaIn)*r；
yt2＝CrY+cosd(thetaIn)*r；
xt1t2＝abs(yt2-yt1)*tand(90-thetaIn)
xt2＝xt1+xt1t2
xs＝xt2+sind(thetaIn)*r-sind(thetas)*r；
when PXI < xs+S, a straight line needs to be extended, the starting point coordinates [ PXI, pyl ] of the straight line segment are extended, and the end point coordinates [ xs, ys ] of the straight line segment are extended; otherwise it is not necessary to extend a straight line.
Wherein CrY denotes the Y coordinate of the right center Cr; clX denotes the X coordinate of the left center Cl, clY denotes the Y coordinate of the left center Cl, and xt1 denotes the X coordinate of the t1 point; yt1 refers to the y coordinate of the t1 point; yt2 refers to the y coordinate of the t2 point; xt1t2 refers to the distance between point t1 and point t 2; thetaIn denotes a maximum steering angle, thetas denotes an attitude angle at the direction xs after traversing, and defaults to 0.
Fig. 3 is a schematic diagram of a 1R warehouse entry planning path.
In this embodiment, a narrow-channel scene parking 1D path planning system includes a memory and a controller, where the memory stores a computer readable program, and the computer readable program can execute the steps of the narrow-channel scene parking 1D path planning method described in this embodiment when called by the controller.
In the embodiment, the narrow-channel scene parking 1D path planning system is adopted for the automobile.
In this embodiment, a storage medium has stored therein a computer readable program that, when called, can perform the steps of the narrow-channel scene parking 1D path planning method as described in this embodiment.
Claims (8)
1. The narrow-channel scene parking 1D path planning method is characterized by comprising the following steps of:
in response to detecting that a vehicle is in a narrow-channel parking scene, planning a narrow-channel scene parking 1D path, and outputting the narrow-channel scene parking 1D path, wherein the narrow-channel scene parking 1D path comprises a first arc section, a second straight line section and a third arc section which are sequentially connected;
judging whether a narrow-channel scene parking 1D path needs to be prolonged by a straight line or not; if a section of straight line does not need to be prolonged, outputting a path formed by the first arc section, the second straight line section and the third arc section as a narrow-channel scene parking 1D path;
if a straight line needs to be prolonged, a fourth straight line segment connected with the third arc segment is planned at one end of the third arc segment far away from the second straight line segment, and a path formed by the first arc segment, the second straight line segment, the third arc segment and the fourth straight line segment is output as a parking 1D path of a narrow-channel scene;
wherein "D" in 1D represents a forward gear, and "1" represents a first step of parking start;
The planning steps of the narrow-channel scene parking 1D path are as follows:
Calculating the traversing distance dS of the narrow channel 1D path, the maximum steering angle dthe0 of the narrow channel 1D path, the linear offset dW of the narrow channel 1D path and the linear length Len of the narrow channel 1D path:
the method comprises the steps of obtaining first arc segment path parameters and coordinates [ xtr, ytr ] of an end point tr according to coordinates (PXR, PYr) of a starting point Pr and dthe0, obtaining first arc segment path parameters and coordinates [ xtl, ytl ] of an end point tl according to straight line starting points [ xtr, ytr ], slopes tand (dthe 0) and dW, and finally obtaining second arc segment path parameters and coordinates [ PXL, pyl ] of the end point Pl according to arc starting points [ xtl, ytl ], minimum turning radii r and dthe 0;
judging whether the narrow-channel scene parking 1D path needs to be prolonged by a section of straight line or not, specifically comprising the following steps:
Determining whether a narrow-channel scene parking 1D path needs to be prolonged by a section of straight line or not according to the abscissa xs of the warehousing PosOk points;
when PXI < xs+S, a section of straight line needs to be prolonged; otherwise, a section of straight line does not need to be prolonged;
wherein S is a distance base.
2. The narrow-channel scene parking 1D path planning method according to claim 1, characterized in that: the traversing distance dS of the narrow channel 1D path is calculated, and specifically:
dS＝max(20,|VehYStep0-ys|)；
Wherein VehYStep is the ordinate of initial attitude leveling, ys is the ordinate of starting point when 1R goes in storage, wherein "R" in 1R is reverse gear, and "1" is first gear at the beginning of parking.
3. The narrow-channel scene parking 1D path planning method according to claim 2, characterized in that: the maximum steering angle dthe0 of the narrow channel 1D path is calculated, specifically:
dthe0＝acosd((r-5.5)/r)；
Where r is the minimum turning radius.
4. A narrow-channel scene parking 1D path planning method according to claim 3, characterized in that: the straight line offset distance dW of the narrow channel 1D path is calculated, and specifically:
dW＝dS-2*r*(1-cosd(dthe0))。
5. The narrow-channel scene parking 1D path planning method according to claim 4, wherein: the straight line length Len of the narrow channel 1D path is calculated, and specifically:
Len＝dW/sind(dthe0)。
6. A narrow passageway scene parks 1D route planning system which characterized in that: comprising a memory and a controller, the memory having stored therein a computer readable program which when invoked by the controller is capable of performing the steps of the narrow channel scene parking 1D path planning method according to any one of claims 1 to 5.
7. An automobile, characterized in that: a narrow channel scene parking 1D path planning system employing the method of claim 6.
8. A storage medium, characterized by: a computer readable program stored therein, which when invoked, is capable of performing the steps of the narrow-channel scene parking 1D path planning method according to any one of claims 1 to 5.
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| CN104118427A (en) * | 2013-04-25 | 2014-10-29 | 深圳市豪恩汽车电子装备有限公司 | Method, device and guidance device for parking |
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| DE102019204098A1 (en) * | 2019-03-26 | 2020-10-01 | Robert Bosch Gmbh | Method and driver assistance system for supporting a driver of a vehicle during a parking maneuver in a parallel parking space |
| CN113276842B (en) * | 2021-06-21 | 2023-03-21 | 上汽通用五菱汽车股份有限公司 | Vehicle, parking method of vehicle, and computer-readable storage medium |
| CN113978452B (en) * | 2021-11-10 | 2024-03-22 | 吉林大学 | Automatic parallel parking path planning method |
| CN114013426A (en) * | 2021-11-11 | 2022-02-08 | 上海商泰汽车信息***有限公司 | Horizontal parking path planning method and device, readable storage medium and terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104118427A (en) * | 2013-04-25 | 2014-10-29 | 深圳市豪恩汽车电子装备有限公司 | Method, device and guidance device for parking |
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| 基于超声波传感器的平行车位自动泊车轨迹规划;魏翠芳;;农业装备与车辆工程;20200710(第07期);110-113 * |
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