CN109976329A - A kind of planing method in vehicle obstacle-avoidance lane-change path - Google Patents
A kind of planing method in vehicle obstacle-avoidance lane-change path Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The present invention relates to intelligent automobile automation fields, a kind of especially planing method in vehicle obstacle-avoidance lane-change path, this method obtains starting point coordinate by corresponding equipment, coordinate of ground point and road course angle, wherein, starting point coordinate is geodetic coordinates of the current vehicle position along the set distance of driving direction, coordinate of ground point is that front obstacle endpoint deviates this vehicle body width to lane-change direction and sets the geodetic coordinates at the lateral sum of the distance of safety, road course angle is that vehicle reaches the vehicle course heading after coordinate of ground point, according to starting point coordinate, coordinate of ground point and road course angle carry out curve fitting, starting point coordinate is obtained to the lane-change path of coordinate of ground point, it makes rational planning for and obtains the lane-change path of vehicle, solve the problems, such as that automatic obstacle-avoiding or lane-change path planning are unreasonable in intelligent automobile automatic Pilot.
Description
Technical field
The present invention relates to intelligent automobile automation fields, the especially a kind of planing method in vehicle obstacle-avoidance lane-change path.
Background technique
Intelligent vehicle ordinary circumstance is exactly to increase advanced sensor, controller in the foundation structure of common vehicle and hold
Luggage is set, and the intelligent information exchange of vehicle, road and driver etc. are realized by vehicle-mounted sensor-based system and information system, has vehicle
Standby certain intelligent environment sensing capability, identifies path, analyzes present road situation, in conjunction with vehicle location, detects barrier, real
Existing real-time early warning stops, avoidance in time according to reality, improves the safety of traveling and according to path and driver's wish
The reasonable traveling strategy of configuration.
Having Chinese patent notification number is that the patent document of CN104407613B discloses a kind of avoidance path smooth optimization side
Method, this method obtain barrier region range first；Then the start node and destination node of avoidance searching route are obtained, and just
Begin to define start node to be label starting point, destination node is label terminal；It obtains and is connected between label starting point and label terminal again
The each point coordinate of line；Then by judging to obtain whether coordinate is located within the scope of barrier region, after judgement redefines
Whether label starting point is equal to label terminal, carries out corresponding operating to obtain smooth paths；Finally by the path start node of acquisition
It is defined as label terminal, destination node is defined as label starting point, re-starts judgement operation, keeping away after finally obtaining smooth optimization
Hinder path.This method can reduce the accumulative turnover number in avoidance searching route, reduce accumulative turn in avoidance searching route
Dog-ear degree effectively reduces the length of avoidance searching route.But the target point of vehicle can not be determined according to real-time traffic information
Coordinate is set, meanwhile, the although less length of avoidance searching route in the avoidance path that is obtained by above method smooth optimization, but
For vehicle driving, reasonability is poor, has certain influence to driving safety.
Summary of the invention
It is automatic to solve intelligent automobile the object of the present invention is to provide a kind of planing method in vehicle obstacle-avoidance lane-change path
Automatic obstacle-avoiding or the unreasonable problem of lane-change path planning in driving.
To achieve the above object, the present invention provides a kind of planing method in vehicle obstacle-avoidance lane-change path, including following methods
Technical solution:
Method scheme one: a kind of planing method in vehicle obstacle-avoidance lane-change path, method includes the following steps:
1) starting point coordinate, coordinate of ground point and road course angle of lane-change are determined when vehicle carries out lane-change, described
Initial point coordinate is geodetic coordinates of the current vehicle position along the set distance of driving direction, and the coordinate of ground point is preceding object
Object endpoint deviates the geodetic coordinates at this vehicle body width and the lateral sum of the distance of setting safety, the road boat to lane-change direction
To the vehicle course heading that angle is after vehicle reaches coordinate of ground point；
2) B-spline method curve matching is carried out according to starting point coordinate, coordinate of ground point and road course angle, obtained from starting
For point coordinate to the path of coordinate of ground point, which is lane-change path.
Beneficial effect is, this method scheme one is by vehicle lane-changing, according to starting point coordinate, coordinate of ground point and road
Road course angle carries out curve fitting, and obtains starting point coordinate to the lane-change path of coordinate of ground point, vehicle of making rational planning for out changes
Path solves the problems, such as that automatic obstacle-avoiding or lane-change path planning are unreasonable in intelligent automobile automatic Pilot.
Method scheme two: on the basis of method scheme one, the set distance is 0.2m.
Method scheme three: on the basis of method scheme one or method scheme two, the B-spline method is that cubic B-spline is bent
Collimation method.
Method scheme four: on the basis of method scheme three, maximum bounded curvature in the B-spline curves planning process
Calculate as follows: the shape of B-spline curves is determined by control point completely, for one section of determining cubic B-spline song of three control points
Line increases the midpoint of two line segments as new control point, and B-spline shape depends on lesser line segment length L in two line segments
With the angle α of two line segments, the Curvature varying of B-spline curves is obtained are as follows:
It enablesIt can be in the hope of as u=0.5, κ has maximum value；Curvature maximum substitute into above formula, thus obtain L and
The relationship of α between the two:
Wherein, any two adjacent control wires section meets above-mentioned relation, that is, can guarantee the curvature of B-spline curves.
Method scheme five: on the basis of method scheme four, before vehicle reaches target point, also judge whether vehicle meets
Return condition, if satisfied, then being returned according to setting return path control vehicle；If not satisfied, then controlling vehicle straight trip；
The return condition is specific as follows: 1, clear within the scope of vehicle returning direction side setting safe distance；2,
The rear clear of vehicle returning direction side, or there are barrier but apart from this tailstock portion be greater than set it is safe when away from；
3, the front clear of vehicle returning direction side, or there is barrier but speed to be greater than this vehicle speed.
Detailed description of the invention
Fig. 1 is a kind of avoidance lane-change system schematic of intelligent automobile；
Fig. 2 is a kind of planing method flow chart in vehicle obstacle-avoidance lane-change path；
Fig. 3 is the convex closure schematic diagram of B-spline curves；
Fig. 4 is the variable of two influence B-spline Curve shapes；
Fig. 5 is a kind of B-spline curves planning schematic diagram of the planing method in vehicle obstacle-avoidance lane-change path.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
The present invention provides a kind of planing method in vehicle obstacle-avoidance lane-change path, can be applied in pilotless automobile, such as
Shown in Fig. 1, which includes crosswise joint module, longitudinally controlled module, information Fusion Module and decision-making module,
In, the setting of information Fusion Module is for sampling connection ZigBee, a line laser radar, ultrasonic radar, red street lamp signal RF
Receiver, inertial navigation GPS, Lane detection video camera and millimetre-wave radar, and sampled signal is handled or parsed；Decision model
The input terminal link information Fusion Module of block, for acquiring the output signal of information Fusion Module, while carry logic judgment and
Output control signals to crosswise joint module and longitudinally controlled module；Crosswise joint module controls the acceleration and deceleration of vehicle, indulges
Steering wheel angle is controlled to control module, to control vehicle obstacle-avoidance, lane-change.
As shown in Fig. 2, a kind of planing method in vehicle obstacle-avoidance lane-change path provided by the invention, the specific steps are as follows:
1, starting point coordinate, coordinate of ground point and road course angle are obtained.
When satisfaction changes to condition, according to acquisition of information starting point coordinate, coordinate of ground point and the road around current vehicle
Road course angle, wherein after starting point coordinate is the geodetic coordinates or any set distance of vehicle heading of current vehicle position
Geodetic coordinates, such as current vehicle position is to the geodetic coordinates after driving direction 0.2m；Coordinate of ground point is front obstacle
Endpoint deviates the geodetic coordinates at half body width of this vehicle and the lateral sum of the distance of setting safety, front obstacle to lane-change direction
The information of endpoint is known by laser radar；Road course angle is that vehicle reaches the vehicle course heading after coordinate of ground point, the vehicle
Course heading should be a setting angle.
2. being carried out curve fitting according to starting point coordinate, coordinate of ground point and road course angle, obtaining matched curve is
Planning path.
Curve-fitting method is as follows:
The essence of path planning is to calculate the curve of connection an initial position and final position, the requirement of path computing
With it is critical that curve wants continuous and derivable and curvature bounded.There are many curve is available at present: polynomial curve, shellfish
Sai Er curve and B-spline curves etc., wherein B-spline is relatively easy for the control and calculating of curvature, the method is as follows:
Pass through n+1 control pointAnd n+k+1 Parameter nodes vectorDetermine k rank,
That is k-1 B-spline curves, expression formula are as follows:
Wherein Bi,k(u) it is known as Un,kUpper k rank B-spline basic function, the basic function are determined by deBoox-Cox recurrence relation, are closed
It is that formula is as follows:
And the property of B-spline curves according to the present invention has:
1) continuity: in r multiple knot uiC is at least at (k-1≤i≤n)k-1-r, the continuity of whole curve is not less than
k-1-rmax, wherein rmaxIndicate node uiThe maximum value of tuple.
2) locality: Bi,k(u) only in section [ui,ui+1) on take positive value, be 0 on other sections, therefore B-spline curves
In parameter section [ui,ui+1) part line segment on (k-1≤i≤n) only andTotal k control vertex is related.
3) convex closure: B-spline curves are in parameter section [ui,ui+1) part on (k-1≤i≤n) is located at this k control
In the convex closure on vertex, as shown in Figure 3.
According to the constraint of auto model, curve continuity and maximum curvature bounded are the requirements that path curve must satisfy.
Other types curve is compared, the Boundary Condition for Solving of polynomial curve generally requires to find out analytic solutions using numerical method, solves
Process is cumbersome；The control points and order of a curve number of Bezier correspond, if required path is longer, are not increasing song
In the case where line order, the control ability of dominating pair of vertices curve shape weakens；B-spline curves are general Beziers,
It controls points and curve order does not have positive connection, and boundary condition and curvature limitation can be suitable by selecting
Control point meets, and does not need to solve complicated numerical value and calculates, since cubic B-spline is sufficient for C2Continuity, to meet
The requirement of vehicle movement, therefore select B-spline Curve as path curve.The maximum bounded curvature estimation of B-spline is as follows:
As shown in figure 4, the shape of B-spline curves is determined by control point completely, one section three determined for three control points
Secondary B-spline curves increase the midpoint of two line segments as new control point, and B-spline shape depends on lesser in two line segments
The angle α of line segment length L and two line segments, wherein it is assumed that two lines segment length is equal, be so that length is lesser when reality calculates
Standard is certain when wherein a line segment length increases if the line segment calculating with smaller length can satisfy curvature requirement
Also meet curvature requirement, obtain the Curvature varying of B-spline curves are as follows:
It enablesIt can be in the hope of as u=0.5, κ has maximum value；Curvature maximum substitute into above formula, thus obtain L and
The relationship of α between the two:
Wherein, any two adjacent control wires section meets above-mentioned relation, that is, can guarantee the curvature of B-spline curves.
The path that B-spline curves are cooked up is global path, as shown in figure 5, including the avoidance lane-change path 2 set and setting
Fixed return path 4, wherein when vehicle obstacle-avoidance lane-change, according to the avoidance lane-change path 2 of setting from 1 row of avoidance origin coordinates point
It sails to avoidance coordinates of targets point 3；When vehicle returns, travelled from avoidance coordinates of targets point 3 to termination according to the return path 4 of setting
Position coordinates point 6.
3, when meeting lane-change condition, i.e., controllable vehicle carries out lane-change according to planning path.
4, it after completing above-mentioned lane-change, further determines whether to meet return condition.
If satisfied, then being returned according to setting return path control vehicle；If not satisfied, then controlling vehicle straight trip.
It is specific as follows wherein to return to condition: 1, clear within the scope of vehicle returning direction side setting safe distance；2,
The rear clear of vehicle returning direction side, or there are barrier but apart from this tailstock portion be greater than set it is safe when away from；
3, the front clear of vehicle returning direction side, or there is barrier but speed to be greater than this vehicle speed.
In conclusion a kind of planing method in vehicle obstacle-avoidance lane-change path provided by the invention, as shown in figure 5, intelligent vehicle
After lane-changing intention generates, path planning, including avoidance origin coordinates point 1, avoidance coordinates of targets will be carried out according to B-spline curves
Point 3 and final position coordinate points 6 and road course angle；Vehicle starts when reaching avoidance origin coordinates point along the avoidance path of setting
2 carry out form, when vehicle reaches avoidance coordinates of targets point 3, are judged whether to meet return condition according to the instruction of decision-making module,
If meeting return condition, control setting return path 4 that vehicle is obtained according to B-spline curves from avoidance coordinates of targets point 3 to
Final position coordinate points 6 are returned, if being unsatisfactory for return condition, it is straight along avoidance from avoidance coordinates of targets point 3 to control vehicle
Walking along the street diameter 5 is travelled.
Specific embodiment of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are modified, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is to be finely adjusted to be formed to above-described embodiment, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (5)
1. a kind of planing method in vehicle obstacle-avoidance lane-change path, which is characterized in that method includes the following steps:
1) when vehicle carries out lane-change, the starting point coordinate, coordinate of ground point and road course angle of lane-change, the starting point are determined
Coordinate is geodetic coordinates of the current vehicle position along the set distance of driving direction, and the coordinate of ground point is front obstacle end
Point deviates the geodetic coordinates at this vehicle body width and the lateral sum of the distance of setting safety, the road course angle to lane-change direction
Vehicle course heading after reaching coordinate of ground point for vehicle；
2) B-spline method curve matching is carried out according to starting point coordinate, coordinate of ground point and road course angle, obtains sitting from starting point
The path of coordinate of ground point is marked, which is lane-change path.
2. the planing method in vehicle obstacle-avoidance lane-change according to claim 1 path, which is characterized in that the set distance is
0.2m。
3. the planing method in vehicle obstacle-avoidance lane-change according to claim 1 or 2 path, which is characterized in that the B-spline method
For B-spline Curve method.
4. the planing method in vehicle obstacle-avoidance lane-change according to claim 3 path, which is characterized in that the B-spline curves
The calculating of maximum bounded curvature is as follows in planning process: the shape of B-spline curves is determined by control point completely, and three are controlled
One section of determining B-spline Curve of point increases the midpoint of two line segments as new control point, and B-spline shape depends on two
The angle α of lesser line segment length L and two line segments, obtain the Curvature varying of B-spline curves in a line segment are as follows:
It enablesIt can be in the hope of as u=0.5, κ has maximum value；Curvature maximum substitutes into above formula, to obtain both L and α
Between relationship:
Wherein, any two adjacent control wires section meets above-mentioned relation, that is, can guarantee the curvature of B-spline curves.
5. the planing method in vehicle obstacle-avoidance lane-change according to claim 4 path, which is characterized in that reach target in vehicle
Before point, also judge whether vehicle meets return condition, if satisfied, then returning according to setting return path control vehicle；If discontented
Foot then controls vehicle straight trip；
The return condition is specific as follows: 1), vehicle returning direction side setting safe distance within the scope of clear；2), vehicle
The rear clear of returning direction side, or there are barrier but be greater than apart from this tailstock portion set safe when away from；3),
The front clear of vehicle returning direction side, or there is barrier but speed to be greater than this vehicle speed.
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| CN110471421A (en) * | 2019-08-27 | 2019-11-19 | 广州小鹏汽车科技有限公司 | A kind of paths planning method and path planning system of vehicle safe driving |
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| CN111539345A (en) * | 2020-04-27 | 2020-08-14 | 北京百度网讯科技有限公司 | Method, device, equipment and readable storage medium for determining lane change action |
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| CN114200917A (en) * | 2020-08-27 | 2022-03-18 | 郑州宇通客车股份有限公司 | Vehicle lane changing control method and device |
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| CN114537381A (en) * | 2020-11-24 | 2022-05-27 | 郑州宇通客车股份有限公司 | Lane obstacle avoidance method and device for automatic driving vehicle |
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