CN110228465A - A kind of semiautomatic parking system path planing method - Google Patents
A kind of semiautomatic parking system path planing method Download PDFInfo
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- CN110228465A CN110228465A CN201910469715.4A CN201910469715A CN110228465A CN 110228465 A CN110228465 A CN 110228465A CN 201910469715 A CN201910469715 A CN 201910469715A CN 110228465 A CN110228465 A CN 110228465A
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- vehicle
- parking
- semiautomatic
- parking system
- reference locus
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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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention is suitable for semiautomatic parking field, provides a kind of semiautomatic parking system path planing method, the described method comprises the following steps: the parameter information of vehicle is inputted semiautomatic parking system;According to the vehicle parameter information in step S1, semiautomatic parking system-computed and the reference locus for generating vehicle, storage is in systems;By the parameter information input semiautomatic parking system of parking of vehicle；According to the parameter information of parking inputted in step S3, the reference locus obtained in invocation step S2 is spliced with straight path, semiautomatic parking system-computed and the track of parking for generating vehicle.The semiautomatic parking track obtained is more accurate, and track continuously can be achieved, and preferably vehicle can be helped precisely to park.
Description
Technical field
The invention belongs to semiautomatic parking field more particularly to a kind of semiautomatic parking system path planing methods.
Background technique
Instantly the popularity rate of automobile increasingly improves, and there are love vehicle in many families, about the intelligentized development of automobile
Demand is also more more and more urgent, and semiautomatic parking technology is just come into being, it not only assists in car owner and quickly parks, for new hand department
For machine, more there is provided no small helps for it.Vehicle parking success system first is allowed to need correct vehicle parking rail
Mark method, but the existing paths planning method applied to semiautomatic parking system, Trajectory Design it is relatively simple, often directly
It is attached using arc section, the track of generation can not accurately be realized, and not be most suitable track, be easy to cause mistake of parking
Lose or even occur collision accident.
Summary of the invention
The purpose of the present invention is to provide a kind of semiautomatic parking system path planing methods, it is intended to solve semiautomatic parking
The problem of system path method is inaccurate, and track not enough optimizes.
The invention is realized in this way a kind of semiautomatic parking system path planing method, which is characterized in that the method
The following steps are included:
S1: the parameter information of vehicle is inputted into semiautomatic parking system；
S2: according to the vehicle parameter information in step S1, semiautomatic parking system-computed and the reference locus for generating vehicle,
Storage is in systems；
S3: by the parameter information input semiautomatic parking system of parking of vehicle；
S4: according to the parameter information of parking inputted in step S3, the reference locus obtained in invocation step S2, with straight line rail
Mark is spliced, semiautomatic parking system-computed and the track of parking for generating vehicle.
A further technical solution of the present invention is: the vehicle parameter information in the step S1 includes vehicle antero posterior axis axis
It parks speed, front-wheel maximum rotational speed and front-wheel hard-over away from, maximum.
A further technical solution of the present invention is: establishing reference locus coordinate system, the initial bit of vehicle in the step S2
It is arranged in coordinate origin, vertical with vehicle is X-axis, and vertical with axle is Y-axis.
A further technical solution of the present invention is: reference locus record is that vehicle according to maximum limits speed, from
Steering wheel return positive status starts, and is turned to according to front-wheel maximum rotational speed, and until vehicle body turns over 45 °, vehicle is each
The track that the coordinate of a vehicle body angle is linked.
A further technical solution of the present invention is: the parameter information of parking in the step S3 includes parking type and to park
The starting point of process.
A further technical solution of the present invention is: the type of parking includes that level parks and vertically parks.
A further technical solution of the present invention is: track of vertically parking is by curved section and two sections of straight lines in the step S4
Section is spliced.
A further technical solution of the present invention is: the curved section is spelled by first segment reference locus and second segment reference locus
It connects, the first segment reference locus and the linear axial symmetry of second segment reference locus.
A further technical solution of the present invention is: in the step S4, level parks track by two sections of curved sections and at least
One section of straightway is spliced, and second segment curved section overturns 180 ° by first segment curved section and forms.
The beneficial effects of the present invention are: the semiautomatic parking track obtained is more accurate, and track continuously can be achieved, can be more
Vehicle is helped precisely to park well.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention.
Fig. 2 is reference locus schematic diagram.
Fig. 3 is the relational graph between reference locus steering wheel angle, vehicle body slip angle and move distance.
Fig. 4 is track joining method schematic diagram of vertically parking.
Fig. 5 is the relational graph of steering wheel angle, vehicle body slip angle and operating range of vertically parking.
Fig. 6 is the trajectory diagram of vertically parking that MATLAB is generated.
Fig. 7 is that level is parked track joining method schematic diagram.
Fig. 8 is the relational graph of horizontal park steering wheel angle, vehicle body slip angle and operating range.
Fig. 9 is that the level that MATLAB is generated is parked trajectory diagram.
Appended drawing reference: 1- first segment reference locus, 2- second segment reference locus.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
Fig. 1 shows the flow chart of the method for the present invention, proposes a kind of semiautomatic parking system path planing method, special
Sign is, the described method comprises the following steps:
S1: the parameter information of vehicle is inputted into semiautomatic parking system；
S2: according to the vehicle parameter information in step S1, semiautomatic parking system-computed and the reference locus for generating vehicle,
Storage is in systems；
S3: by the parameter information input semiautomatic parking system of parking of vehicle；
S4: according to the parameter information of parking inputted in step S3, the reference locus obtained in invocation step S2, with straight line rail
Mark is spliced, semiautomatic parking system-computed and the track of parking for generating vehicle.
Preferentially, the vehicle parameter information in the step S1 includes that vehicle antero posterior axis wheelbase, maximum are parked speed, front-wheel
Maximum rotational speed and front-wheel hard-over.
Preferentially, in the step S2, reference locus coordinate system is established, the initial position of vehicle is set to coordinate origin, with
Vehicle is vertically X-axis, and vertical with axle is Y-axis.
Preferentially, the reference locus record is vehicle according to maximum limitation speed, since steering wheel return positive status,
It is turned to according to front-wheel maximum rotational speed, until vehicle body turns over 45 °, coordinate institute company of the vehicle in each vehicle body angle
Track made of knot.
Preferentially, the parameter information of parking in the step S3 includes the starting point of type and process of parking of parking.It is described
Type of parking includes that level parks and vertically parks.
Preferentially, in the step S4, track of vertically parking is spliced by curved section and two sections of straightways.The curve
Section is spliced by first segment reference locus and second segment reference locus, the first segment reference locus and second segment reference locus
Linear axial symmetry.
Preferentially, in the step S4, level is parked, and by two sections of curved sections and at least one section of straightway is spliced for track,
Second segment curved section overturns 180 ° by first segment curved section and forms.
Fig. 2 is that (parameter: antero posterior axis wheelbase 2.73m, maximum are parked speed 8km/h, front-wheel maximum rotation for test vehicle
10 °/s of speed, 33 ° of front-wheel hard-over) generate reference locus.The producing method of reference locus are as follows: set vehicle initial time
In initial position, horizontality.That is the coordinate (x, y) of rear shaft center's point=(0,0)；Vehicle is vertical with X-axis, axle and Y-axis
Vertically；Steering wheel angle is 0；Fixed vehicle course angle at this time is 0.Setting in motion, if the highest line that the automatic parking stage allows
Sailing speed is Vm, and the most fast velocity of rotation of the steering wheel of permission is Wm, so the unit distance steering wheel rotational angle allowed is maximum
For Wm/Vm.Set direction disk hard-over is α, then after α * Vm/Wm distance, vehicle reaches maximum steering wheel angle.The side of holding again
It is travelled to disk hard-over, until vehicle corner reaches 45 °.
Fig. 3 is the relational graph between reference locus steering wheel angle, vehicle body slip angle and move distance.According to most steamboat arteries and veins length
It is sampled, stores vehicle in the position of sampled point, front wheel angle and vehicle body slip angle.Since we can not be to car speed and fortune
Dynamic distance accurately obtain in real time, and instantaneous variation occurs at each wheel speed pulse it is therefore assumed that turning to.If vehicle is single
Wheel speed pulse interval length is d, and antero posterior axis wheelbase is L.Single wheel arteries and veins length wheel hard-over is δ0, then n-th week
Wheel steering angle is n δ in phase0(before reaching steering locking angle degree, reaching after steering locking angle degree is to determine value δmax)。
The angle that vehicle turns in n-th of period
Wherein L is wheelbase, n period rear drift angle
It is compared after (n-1)th end cycle,
Wherein RnIt is the turning radius of wheel in n-th of period,
After vehicle reaches hard-over, corner δ is keptmaxIt is constant, track is calculated in the same way, until vehicle body slip angle reaches
45 degree, then the corresponding coordinate points of each vehicle corner are connected into a complete track with smooth line segment.
Fig. 4 is the track connecting method vertically parked, and vertically parks and controls the producing method of track are as follows: generally will vertically be moored
The track of vehicle problem can be divided into three major parts, i.e., a, b, c line segment in figure.Wherein a, c be straightway, respectively with vehicle
Position is vertical, horizontal；Curved section b includes the first segment reference locus 1 and second segment reference locus 2, in order to reduce for parking
The requirement of region area, curved section b should be short as far as possible, i.e. turning should be completed as early as possible, and reference locus meets this requirement.
Take complete reference locus, using it is vertical with the tangent line of 1 terminal point of first segment reference locus and cross point of contact straight line as pair
Claim axis, obtains the second segment reference locus 2, connect two sections of reference locus and obtain complete curved section b.Fig. 5 is vertically to park
Relational graph between steering wheel angle, vehicle body slip angle and operating range, because the steering wheel angle in the junction line segment a, b, c connects
It is continuous, so such curve b is smooth, achievable；The junction of curved section b and straightway a, c be also it is smooth, can be real
Existing.Fig. 6 is the trajectory diagram of vertically parking that MATLAB is generated.
Fig. 7 is the horizontal track connecting method parked, and level, which is parked, controls the producing method of track are as follows: moors mean level
Similar method can be used in the track of vehicle problem, is divided into five parts, i.e., a, b, c, d, e line segment in figure.Wherein a, c, e
For straightway, b, d are curved section.In the initial position curve b, vehicle is in horizontal driving status.Reference locus is taken to start to vehicle
Body drift angle reaches the point at β/2, and β is vehicle body slip angle, i.e. the angle of straightway c and horizontal direction.Then with the vertical side to park
Method is consistent, using straight line that is vertical with the tangent line of 1 terminal point of first segment reference locus and crossing point of contact as symmetry axis, obtains institute
Second segment reference locus 2 is stated, two sections of reference locus is connected and obtains complete curved section b.Because in the side of the junction line segment a, b, c
Continuous to disk corner, such curve b is smooth, achievable；The junction of curved section b and straightway a, c are also smooth
, it is achievable.After straightway c, after splicing first segment curved section b rotation 180 degree as a result, be denoted as second segment curved section d,
Straightway e is finally connected after second segment curved section d as needed.
Fig. 8 is the horizontal relational graph parked between steering wheel angle vehicle body slip angle and operating range, ibid, curved section b and straight
The junction of line segment c, e are also smooth, achievable.On straightway c, vehicle body slip angle β can be according to live feelings of parking
Condition calculates.Straightway c length is smaller when β is larger, require at this time vehicle initial position apart from parking stall farther out, but feasible zone is big；β compared with
Hour straightway c length is larger, does not require vehicle initial position farther out at this time, but feasible zone reduces.General level, which is parked, asks
In topic, the limitation of ambient enviroment bring, there are two the data that can be arrived by radar detection are main, the length and vehicle of parking stall with
Distance between parking stall.For most typically the case where, when distance is all sufficiently large between parking stall width, vehicle and parking stall, translation splicing produce
Raw curve is overlapped straightway e extended line with parking stall center line, straightway a between parking stall at a distance between vehicle and parking stall
Be equidistant.
Fig. 9 is that the level that MATLAB is generated is parked trajectory diagram.Increase in track as far as possible to park in all levels
Feasible zone, should enable straightway c length is 0, and β reaches maximum value at this time.It, should in order to reduce the probability of vehicle and front truck collision
Enabling straightway e length is 0.In this way for the general optimal curve of horizontal problem of parking only by straightway a, curved section b and curve
Section d composition.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of semiautomatic parking system path planing method, which is characterized in that the described method comprises the following steps:
S1: the parameter information of vehicle is inputted into semiautomatic parking system；
S2: according to the vehicle parameter information in step S1, semiautomatic parking system-computed and the reference locus for generating vehicle, storage
In systems；
S3: by the parameter information input semiautomatic parking system of parking of vehicle；
S4: according to the parameter information of parking inputted in step S3, the reference locus obtained in invocation step S2, with straight path into
Row splicing, semiautomatic parking system-computed and the track of parking for generating vehicle.
2. a kind of semiautomatic parking system path planing method according to claim 1, which is characterized in that the step S1
In vehicle parameter information include that park speed, front-wheel maximum rotational speed and front-wheel maximum of vehicle antero posterior axis wheelbase, maximum turns
Angle.
3. a kind of semiautomatic parking system path planing method according to claim 1, which is characterized in that the step S2
In, reference locus coordinate system is established, the initial position of vehicle is set to coordinate origin, and vertical with vehicle is X-axis, vertical with axle to be
Y-axis.
4. a kind of semiautomatic parking system path planing method according to claim 3, which is characterized in that described to refer to rail
Mark record is that vehicle is carried out since steering wheel return positive status according to front-wheel maximum rotational speed according to maximum limitation speed
It turns to, until vehicle body turns over 45 °, vehicle is in the track that the coordinate of each vehicle body angle is linked.
5. a kind of semiautomatic parking system path planing method according to claim 1, which is characterized in that the step S3
In parameter information of parking include the starting point of type and process of parking of parking.
6. a kind of semiautomatic parking system path planing method according to claim 5, which is characterized in that the class of parking
Type includes that level parks and vertically parks.
7. a kind of semiautomatic parking system path planing method according to claim 1, which is characterized in that the step S4
In, track of vertically parking is spliced by curved section and two sections of straightways.
8. a kind of semiautomatic parking system path planing method according to claim 7, which is characterized in that the curved section
It is spliced by first segment reference locus and second segment reference locus, the first segment reference locus and second segment reference locus are in
Straight line axial symmetry.
9. a kind of semiautomatic parking system path planing method according to claim 1, which is characterized in that the step S4
In, level is parked, and by two sections of curved sections and at least one section of straightway is spliced for track, and second segment curved section is by first segment curve
180 ° of section overturning forms.
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| CN201910469715.4A CN110228465A (en) | 2019-05-31 | 2019-05-31 | A kind of semiautomatic parking system path planing method |
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