CN112172791B - Automatic parking speed planning method and device based on path curvature and storage device - Google Patents
Automatic parking speed planning method and device based on path curvature and storage device Download PDFInfo
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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Abstract
The invention provides an automatic parking speed planning method, equipment and storage equipment based on path curvature, wherein the whole parking path is divided into a plurality of sections according to the acquired curvature and arc length information of the parking path, and the plurality of sections comprise a first straight section, a circular curvature section, a fixed arc section and a second straight section; and calculating the angular speed change associated speed of the steering wheel, the yaw angle change associated speed and the lateral acceleration change associated speed through a formula aiming at each interval, and comparing the values to obtain the minimum associated speed, namely the planned speed of the vehicle in the corresponding interval. An automatic parking speed planning device and a storage device based on path curvature are used for realizing an automatic parking speed planning method based on the path curvature. The invention has the beneficial effects that: the vehicle speed is planned by comprehensively considering the upper limit of the angular speed of the steering wheel, the upper limit of the change of the yaw angle and the upper limit of the lateral acceleration in a classified manner of the planned path, so that the comfort and the stability in the parking and turning process are improved.
Description
Technical Field
The invention relates to the field of automatic parking, in particular to a method, equipment and storage equipment for planning an automatic parking speed based on path curvature.
Background
The core of the automatic parking function comprises sensing, fusion, decision planning, control and the like of sensor data. The control is the direct embodiment of the automatic parking effect, and the stable change of the vehicle speed is an important factor of comfort.
The automatic parking speed planning influences the comfort of parking, the existing parking speed basically plans the speed in a mode of combining constant speed and linear increase and decrease, linear increasing and decreasing are used at the beginning and the end of parking, and fixed vehicle speed is used in the middle section of a parking path, so that the planned vehicle speed generally has the phenomena of untimely rotation of a steering wheel, overlarge change of a vehicle body yaw angle and overlarge transverse acceleration when a vehicle turns, the comfort and the stability of the parking and turning process are insufficient, and even the personal safety of personnel inside and outside the vehicle is influenced when the vehicle turns seriously.
Disclosure of Invention
In order to solve the above problems, the present invention provides an automatic parking speed planning method, device and storage device based on path curvature, and the automatic parking speed planning method based on path curvature mainly includes the following steps:
s1: dividing the whole parking path into a plurality of sections according to the acquired curvature and arc length information of the parking path, wherein the plurality of sections comprise a first straight section, a circular curvature section, a fixed arc section and a second straight section;
s2: according to the formula
Calculating to obtain the angular speed change correlation speed of the steering wheel in each interval; wherein, Vlim-strIndicating the speed associated with the change in angular velocity of the steering wheel,
an upper limit value representing the change of the angular velocity of the steering wheel, ρ represents the curvature corresponding to a straight line or a curve in a section, L represents the arc length corresponding to a straight line or a curve in a section, Δ ρ represents the change of the curvature, Δ L represents the change of the arc length,
the inverse number of curvature to represent the change in steering wheel angle;
s3: according to the formula
Calculating to obtain the yaw angle change correlation speed of each interval; wherein, Vlim-yawRepresenting a yaw angle change associated speed; yawraterefAn upper limit value representing a change in the yaw angle,
s4: according to the formula
Calculating to obtain the transverse acceleration change correlation speed of each interval; wherein, Vlim-AyIndicating the velocity, Ay, associated with the change in lateral accelerationrefAn upper limit value indicating a lateral acceleration;
s5: and comparing the magnitude of the steering wheel angular speed change associated speed, the yaw angle change associated speed and the lateral acceleration change associated speed for each interval to obtain the minimum associated speed, wherein the minimum associated speed is the planned speed of the vehicle in the corresponding interval.
Further, the clothoid segments include a first clothoid segment that increases at a fixed rate of change of curvature and a second clothoid segment that decreases at a fixed rate of change of curvature.
Further, when the vehicle runs in the first straight-going section, the vehicle does not turn the steering wheel yet and is in a straight-going state.
Further, when the vehicle runs in the first turning curvature section, the steering wheel is turned, the vehicle is in a turning state, and the curvature gradually increases.
Further, when the vehicle travels in the second turning curvature section, the steering wheel starts to turn, and the curvature is gradually reduced.
Further, the curvature of the vehicle is kept unchanged when the vehicle runs on the fixed arc segment.
Further, when the vehicle runs on the second straight-going segment, the steering wheel is adjusted to be straight, and the vehicle keeps running straight until the vehicle stops.
A storage device stores instructions and data for implementing a method for automatic parking speed planning based on path curvature.
An automatic parking speed planning apparatus based on a path curvature, comprising: a processor and a storage device; and the processor loads and executes the instructions and the data in the storage device to realize the automatic parking speed planning method based on the path curvature.
The technical scheme provided by the invention has the beneficial effects that: the vehicle speed is planned by comprehensively considering the upper limit of the angular speed of the steering wheel, the upper limit of the change of the yaw angle and the upper limit of the lateral acceleration in a classified manner of the planned path, so that the comfort and the stability in the parking and turning process are improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for automatic parking speed planning based on path curvature according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the invention in an embodiment in which the zones are separated by curvature and arc length;
fig. 3 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides an automatic parking speed planning method, automatic parking speed planning equipment and automatic parking speed planning storage equipment based on path curvature. The automatic parking system comprises a sensing module, a planning module and a control module, wherein the sensing module is used for identifying the final parking frame end point of parking, the planning module plans a path comprising arc length information and curvature information according to the starting point and the final parking frame end point, and the control module plans a vehicle speed according to the path and issues instructions of braking, accelerating and steering to enable the vehicle to run according to the planned track.
Referring to fig. 1, fig. 1 is a flowchart of an automatic parking speed planning method based on path curvature according to an embodiment of the present invention, which specifically includes the following steps:
s1: as shown in fig. 2, according to the curvature and arc length information of the acquired parking path, dividing the entire parking path into 5 sections, where the abscissa represents the arc length information and the ordinate represents the curvature information, the 1 st section is a first straight section, the 2 nd section is a first turning curvature section increasing with a fixed curvature change rate, the 3 rd section is a fixed arc section, the 4 th section is a second turning curvature section decreasing with a fixed curvature change rate, and the 5 th section is a second straight section; the differentiation of the 5 intervals is based on: the absolute value of the curvature of the 2 nd interval to the 4 th interval is more than 0, and the curvature change rate of the 2 nd interval and the 4 th interval is more than 0;
s2: according to the formula
Calculating to obtain the angular speed change correlation speed of the steering wheel in each interval; wherein, Vlim-strIndicating the speed associated with the change in angular velocity of the steering wheel,
an upper limit value representing the change of the angular velocity of the steering wheel, ρ represents the curvature corresponding to a straight line or a curve in a section, L represents the arc length corresponding to a straight line or a curve in a section, Δ ρ represents the change of the curvature, Δ L represents the change of the arc length,
the inverse number of curvature to represent the change in steering wheel angle;
s3: according to the formula
Calculating to obtain the yaw angle change correlation speed of each interval; wherein, Vlim-yawRepresenting a yaw angle change associated speed; yawraterefAn upper limit value representing a change in the yaw angle,
s4: according to the formula
Calculating to obtain the transverse acceleration change correlation speed of each interval; wherein, Vlim-AyIndicating the velocity, Ay, associated with the change in lateral accelerationrefAn upper limit value indicating a lateral acceleration;
s5: for each interval, comparing the magnitude of the steering wheel angular velocity change associated speed, the yaw angle change associated speed and the lateral acceleration change associated speed, namely through a formula Vlim＝min(Vlim-str,Vlim-yaw,Vlim-Ay) And obtaining the minimum associated speed, namely the planned speed of the vehicle in the corresponding section.
As shown in table 1, the steering wheel angular velocity change-related velocity, the yaw angle change-related velocity, and the lateral acceleration change-related velocity of each of the 5 sections are respectively obtained to obtain the planned velocity corresponding to each section.
V in Table 1 abovemaxIndicating the maximum speed that can be driven throughout the parking process, as required by the vehicle design.
Referring to fig. 3, fig. 3 is a schematic diagram of a hardware device according to an embodiment of the present invention, where the hardware device specifically includes: an automatic parking speed planning apparatus 401 based on path curvature, a processor 402 and a storage device 403.
An automatic parking speed planning apparatus 401 based on a curvature of a path: the automatic parking speed planning device 401 based on the path curvature realizes the automatic parking speed planning method based on the path curvature.
The processor 402: the processor 402 loads and executes the instructions and data in the storage device 403 to implement the automatic parking speed planning method based on the curvature of the path.
The storage device 403: the storage device 403 stores instructions and data; the storage device 403 is used to implement the automatic parking speed planning method based on the curvature of the path.
The invention has the beneficial effects that: the vehicle speed is planned by comprehensively considering the upper limit of the angular speed of the steering wheel, the upper limit of the change of the yaw angle and the upper limit of the lateral acceleration in a classified manner of the planned path, so that the comfort and the stability in the parking and turning process are improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An automatic parking speed planning method based on path curvature comprises a sensing module, a planning module and a control module, wherein the sensing module is used for identifying a final parking frame end point of parking, the planning module plans a path comprising arc length information and curvature information according to a starting point and the final parking frame end point, and the control module plans a vehicle speed according to the path and issues instructions of braking, accelerating and steering to enable a vehicle to run according to a planned track; the method is characterized in that: the method comprises the following steps:
s1: dividing the whole parking path into a plurality of sections according to the acquired curvature and arc length information of the parking path, wherein the plurality of sections comprise a first straight section, a circular curvature section, a fixed arc section and a second straight section;
s2: according to the formula
Calculating to obtain the angular speed change correlation speed of the steering wheel in each interval; wherein, Vlim-strIndicating the speed associated with the change in angular velocity of the steering wheel,
an upper limit value, δ, representing the change in angular velocity of the steering wheelstrIndicating the steering wheel angle at the current sampling moment, ρ representing the curvature corresponding to a straight line or a curve in the interval, L representing the arc length corresponding to a straight line or a curve in the interval, Δ ρ representing the change in curvature, Δ L representing the change in arc length,
the inverse number of curvature to represent the change in steering wheel angle;
s3: according to the formula
Calculating to obtain the yaw angle change correlation speed of each interval; wherein, Vlim-yawRepresenting a yaw angle change associated speed; yawraterefAn upper limit value representing a change in the yaw angle,
s4: according to the formula
Calculating to obtain the transverse acceleration change correlation speed of each interval; wherein, Vlim-AyIndicating the velocity, Ay, associated with the change in lateral accelerationrefAn upper limit value indicating a lateral acceleration;
s5: and comparing the magnitude of the steering wheel angular speed change associated speed, the yaw angle change associated speed and the lateral acceleration change associated speed for each interval to obtain the minimum associated speed, wherein the minimum associated speed is the planned speed of the vehicle in the corresponding interval.
2. A method for automatic parking speed planning based on path curvature according to claim 1, characterized in that: the clothoid curvature segments include a first clothoid curvature segment that increases at a fixed rate of change of curvature and a second clothoid curvature segment that decreases at a fixed rate of change of curvature.
3. A method for automatic parking speed planning based on path curvature according to claim 1, characterized in that: when the vehicle runs in the first straight-going section, the vehicle does not turn a steering wheel yet and is in a straight-going state.
4. A method for automatic parking speed planning based on path curvature according to claim 2, characterized in that: when the vehicle runs at the first gyration curvature section, the steering wheel is started to turn, and the curvature is gradually increased.
5. A method for automatic parking speed planning based on path curvature according to claim 2, characterized in that: when the vehicle runs in the second turning curvature section, the vehicle starts to turn back to the steering wheel, and is in a turning state, and the curvature is gradually reduced.
6. A method for automatic parking speed planning based on path curvature according to claim 1, characterized in that: when the vehicle runs on the fixed arc segment, the curvature is kept unchanged.
7. A method for automatic parking speed planning based on path curvature according to claim 1, characterized in that: when the vehicle runs on the second straight-going section, the steering wheel returns to the right position and keeps running straight until the vehicle stops.
8. A storage device, characterized by: the storage device stores instructions and data for implementing the automatic parking speed planning method based on the path curvature according to any one of claims 1 to 7.
9. An automatic parking speed planning apparatus based on a path curvature, characterized in that: the method comprises the following steps: a processor and a storage device; the processor loads and executes the instructions and data in the storage device to realize the automatic parking speed planning method based on the path curvature according to any one of claims 1 to 7.
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| CN112937557B (en) * | 2021-03-09 | 2022-08-12 | 东风汽车集团股份有限公司 | Curvature control-based passenger-riding parking path planning method and system |
| CN113428136B (en) * | 2021-07-23 | 2022-10-14 | 国汽智控(北京)科技有限公司 | Parking method and device and electronic equipment |
| CN114132304B (en) * | 2021-10-13 | 2023-10-13 | 武汉光庭信息技术股份有限公司 | Speed planning method and device in autonomous parking |
| CN114475782A (en) * | 2022-02-28 | 2022-05-13 | 东风汽车集团股份有限公司 | Automatic parking control optimization method and system |
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| DE19940007A1 (en) * | 1999-08-24 | 2001-03-08 | Bosch Gmbh Robert | Method and device for supporting the parking of a motor vehicle |
| CN102398596B (en) * | 2010-09-07 | 2015-04-22 | 北京经纬恒润科技有限公司 | Parking control device and system and parking control method |
| KR101362326B1 (en) * | 2012-08-06 | 2014-02-24 | 현대모비스 주식회사 | Rear camera system for vehicle having parking alignment function and parking guide system using the same |
| DE102014221835A1 (en) * | 2014-10-27 | 2016-04-28 | Ford Global Technologies, Llc | Method and device for vehicle control |
| DE102016103899A1 (en) * | 2016-03-04 | 2017-09-07 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous parking of a motor vehicle in a parking space with specification of a speed profile, driver assistance system and motor vehicle |
| CN108423067A (en) * | 2017-02-15 | 2018-08-21 | 联创汽车电子有限公司 | Level is parked control method and control system |
| CN108725585B (en) * | 2017-04-14 | 2021-05-25 | 上海汽车集团股份有限公司 | Trajectory tracking control method and device for autonomous parking of vehicle |
| CN107618502B (en) * | 2017-08-21 | 2019-12-13 | 上海蔚来汽车有限公司 | Parking trajectory determination method, parking control method and related equipment |
| DE102017221097A1 (en) * | 2017-11-24 | 2019-05-29 | Daimler Ag | Method and device for operating a motor vehicle |
| CN108515966B (en) * | 2018-03-12 | 2020-01-14 | 广东工业大学 | Automatic parking speed control method and system and vehicle |
| JP7199905B2 (en) * | 2018-10-18 | 2023-01-06 | フォルシアクラリオン・エレクトロニクス株式会社 | AUTOMATIC DRIVING CONTROL DEVICE AND AUTOMATED DRIVING ROUTE CALCULATION METHOD |
| CN109720342B (en) * | 2019-01-16 | 2020-09-01 | 杭州湘滨电子科技有限公司 | Path planning design method for vertical parking |
| CN110806218B (en) * | 2019-11-29 | 2021-09-07 | 北京京东乾石科技有限公司 | Parking path planning method, device and system |
| CN111409625A (en) * | 2020-04-02 | 2020-07-14 | 北京四维智联科技有限公司 | Parking track determination method and device |
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