CN114889585B

CN114889585B - Path planning method for remote curve vehicle moving

Info

Publication number: CN114889585B
Application number: CN202210582307.1A
Authority: CN
Inventors: 吕雪慧; 盛进源; 任凡
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2024-07-23
Anticipated expiration: 2042-05-26
Also published as: CN114889585A

Abstract

The invention relates to a path planning method for remote curve vehicle moving, which comprises the following steps: activating a remote curve vehicle moving function at a mobile phone end, and judging that an activation condition is met after the mobile phone end receives a remote curve vehicle moving request signal to activate a vehicle; planning a remote curve vehicle moving path; controlling the vehicle to move according to the planned path, and simultaneously rendering video images of the vehicle moving process and surrounding environment and sending the video images to the mobile phone end through the vehicle end; and (3) carrying out parking control after the remote curve vehicle moving is completed and the vehicle moving condition is judged to be satisfied. The invention performs path planning aiming at a scene of remote vehicle moving, namely curved vehicle moving, which possibly occurs in daily life. The vehicle can be guaranteed to remotely realize the vehicle moving function, so that a user can select to park in situ, or the functions of AVP and APA (vehicle tail and vehicle head parking) can be switched. The problem that a car is moved by a car moving telephone in real life but does not need to be moved in a parking place of run back in person is solved.

Description

Path planning method for remote curve vehicle moving

Technical Field

The invention belongs to the technical field of parking path planning, and particularly relates to a path planning method for remote curve vehicle moving.

Background

At present, the quantity of the automobile in China is increased, and the problems of difficult parking and vexation in moving the automobile in daily life are more and more remarkable. People are increasingly experiencing the problem of needing to park and move vehicles. If only the mobile phone is needed to be taken out at this time, the trouble can be solved by carrying out vehicle remote control, and the user experience can be greatly improved.

In the prior art, as CN111016886a provides an automatic parking path planning method based on B-spline theory, the technical scheme adopts the B-spline theory, and the number of control points (8 control points are adopted) is reasonably selected to combine with the requirements to determine the coordinates of the control points, so that the spline curve approaches the control points, and a spline curve connecting the start position and the end position is formed; in order to reduce the calculated amount and meet the requirements of continuous smoothness of curves, continuous curvature radius, continuous steering wheel corner angle control and the like, the invention adopts a four-time B spline curve to conduct automatic parking path planning, combines the conditions of vehicle and parking position and pose data, such as front wheel steering angle constraint, steering wheel corner speed constraint, collision avoidance constraint and the like, conducts nonlinear multi-constraint function calculation, and solves a final automatic parking path equation; however, the technical means adopted by the patent for collision constraint analysis is too complex.

In addition, CN111674390B also provides an obstacle avoidance method for automatic parking path planning and a parking path planning system, which performs obstacle collision detection on a parking path track planned by taking the midpoint of a rear axis of a vehicle as a mass point, that is, by fitting a vehicle contour to each node on the parking path track, the overlap ratio of the projection of the vehicle contour and an obstacle on the X axis and the Y axis of a coordinate system is considered, so as to determine whether the parking path track is qualified according to the projection overlap ratio. The patent focuses on how to determine whether the planned parking path is acceptable, and does not fall on how to plan a path for moving a remote curve.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide a path planning method for moving vehicles on a remote curve, so that the problem of vehicle moving in a parking place of a driver run back in person is avoided, and the effect is achieved.

In order to solve the technical problems, the invention adopts the following technical scheme:

a path planning method for remote curve vehicle moving specifically comprises the following steps:

s1: activating a remote curve vehicle moving function at a mobile phone end, and judging that an activation condition is met after the mobile phone end receives a remote curve vehicle moving request signal to activate a vehicle;

s2: planning a remote curve vehicle moving path;

S3: controlling the vehicle to move according to the planned path, and simultaneously rendering video images of the vehicle moving process and surrounding environment and sending the video images to the mobile phone end through the vehicle end;

s4: and (3) carrying out parking control after the remote curve vehicle moving is completed and the vehicle moving condition is judged to be satisfied.

Further perfecting the above technical solution, the step S1 further includes:

After receiving a remote curve vehicle moving request, the mobile phone terminal communicates with the vehicle terminal, and sends a signal for activating a remote curve vehicle moving function to the vehicle terminal, and the vehicle terminal gives a decision of whether the remote curve vehicle moving can be carried out or not according to the surrounding environment of the vehicle; and after judging that the activation condition is met, the vehicle end sends a signal for activating the remote curve vehicle moving function to the vehicle-mounted domain control, and the vehicle-mounted domain control receives the signal and activates the vehicle.

Further, planning the remote curve moving path in step S2 includes planning a vehicle parking path:

Detecting and sensing environmental information around a vehicle through a vehicle-mounted sensor, giving cluster information, and constructing a drivable space based on the cluster information;

After the running direction and the path of the first section of path are determined according to the running space and the vehicle positioning information, the initial pose is recorded, the running direction of each step is sequentially changed from the running direction of the last step, and the end point of the last section of path is the expected parking pose.

Further, the remote curve vehicle moving path comprises a first path, a second path, a third path and a fourth path;

The remote curve vehicle moving path when the vehicle is parked is a parking path, and the remote curve vehicle moving path when parked is a parking path;

the exit path and the entrance path are the same and opposite in direction, and specifically comprise:

The first path of the vehicle's parking path is matched with the fourth path of the parking path, the second path of the parking path is matched with the third path of the parking path, the third path of the parking path is matched with the second path of the parking path, and the fourth path of the parking path is matched with the first path of the parking path.

Further, when planning a vehicle parking path, before planning a first path, detecting whether a parking path planning condition is met, if so, the current pose of the vehicle is at the starting point of the first path, otherwise, performing library kneading until the parking path planning condition is met.

Further, the planning of the remote curve moving path in step S2 further includes planning a vehicle parking path:

calculating a parking start point according to the distance between the vehicle and the obstacle vehicle and the boundary information of the obstacle vehicle, wherein the parking start point is the end point of a fourth path of the parking path;

the pose of the vehicle at the end point of the fourth path when the vehicle is parked is the start pose when the vehicle is parked.

Further, after the vehicle finishes the planning of the parking path, the kneading and warehouse planning is carried out until the final pose of the vehicle is the expected parking pose.

Further, a first path of the parking path is an arc, a second path is a straight line, a third path is an arc, and a fourth path is a straight line;

Recording a starting point of the first path and an ending point of the third path of the parking path, wherein the ending point of the fourth path is a desired parking position.

Further, when planning a parking path, detecting whether the current vehicle pose and a front space meet a parking path planning condition, if so, recording the starting point of the first path when the current vehicle pose is at the starting point of the first path;

Then, a coordinate system is established by using a planned parking path and a plane where the obstacle vehicle is located, the center of a rear axle of the vehicle is taken as an origin when the vehicle is at a starting point of a first path, the positive direction of an x-axis points to a headstock, and the positive direction of a y-axis points to a left wheel of the vehicle;

According to the pose of the ending point of the vehicle in the third path, the circle center coordinate of the circular arc of the third path is obtained, then the pose of the starting point of the vehicle in the third path is obtained according to the minimum turning radius r and the safety calibration distance s, then the pose of the starting point of the vehicle in the second path is obtained through the calibrated linear distance of the second path, and finally the circle center coordinate of the circular arc of the first path is obtained according to the minimum turning radius r.

Compared with the prior art, the invention has the following beneficial effects:

The invention discloses a path planning method for remote curve vehicle moving, which aims at a scene of remote vehicle moving, namely curve vehicle moving, which possibly occurs in daily life, and performs path planning. The vehicle can be guaranteed to remotely realize the vehicle moving function, so that a user can select to park in situ, or the functions of AVP and APA (vehicle tail and vehicle head parking) can be switched. The problem that a car is moved by a car moving telephone in real life but does not need to be moved in a parking place of run back in person is solved. The invention plans the curve condition, which contains the straight road condition, and can solve the remote vehicle moving problem of most scenes.

Drawings

FIG. 1 is a schematic diagram of a curve remote vehicle moving scenario;

FIG. 2 is a schematic diagram of an interaction process between a mobile phone end and a vehicle end in an embodiment of the present invention;

FIG. 3 is a schematic diagram of the geometric relationship of the remote curve vehicle moving out of the embodiment;

FIG. 4 is a schematic diagram of the geometry of the remote curve moving vehicle parking according to the embodiment;

fig. 5 is a schematic flow chart of a method for planning a path for moving a vehicle on a remote curve.

Detailed Description

The following describes the embodiments of the present invention in further detail with reference to the drawings.

Referring to the figure, a method for planning a path for moving a vehicle on a remote curve in a specific embodiment specifically includes the following steps:

s2: planning a remote curve vehicle moving path;

The embodiment of the method for planning the path of the remote curve vehicle moving is used for planning the path of the curve vehicle moving which is a scene of the remote vehicle moving possibly occurring in daily life. The vehicle can be guaranteed to remotely realize the vehicle moving function, so that a user can select to park in situ, or the functions of AVP and APA (vehicle tail and vehicle head parking) can be switched. The problem that a car is moved by a car moving telephone in real life but does not need to be moved in a parking place of run back in person is solved. The invention plans the curve condition, which contains the straight road condition, and can solve the remote vehicle moving problem of most scenes.

Referring to fig. 1, the curve remote moving scene includes an outer curve and an inner curve, which are mainly determined according to the position of the curve where the vehicle is activated, and the curve bending degree of the illustrated curve is larger mainly to highlight the curve attribute; in practice, if the curve curvature is greater than a certain value, this function is not activated, nor is parking in this case recommended. In the figure, the three vehicles above are outwards bent, the three vehicles below are inwards bent, and the shadow vehicle model is in a predicted parking position. The outward bending scene is a remote parking out and the front parking space is parked in by the vehicle head, and the inward bending scene is a remote vehicle moving parking out. The outer curve and the inner curve can be distinguished according to the curvature sign of the curve. In reality, the curve side attribute may be a road edge (low), a flower bed (high), an unknown (high or low), etc., where "unknown" refers to that under the condition that the curve side attribute is not accurately detected as low or high, the curve side attribute may be high, low or no side obstacle is possible. Therefore, the high-low attribute of the side obstacle needs to be considered in the actual path planning. The high attribute is not possible and the low attribute is vehicle rear overhang.

With continued reference to fig. 2, the step S1 further includes:

During implementation, the interaction process between the mobile phone end and the vehicle end is carried out. When a remote vehicle moving request is received, the mobile phone communicates with the vehicle end through a 4G network or Bluetooth, the mobile phone can send activation of a function for starting the remote vehicle moving to the vehicle end, and the vehicle end can give a decision of whether the remote vehicle moving function can be started or not through judgment of surrounding environments; when the vehicle terminal can activate the remote vehicle moving function, a vehicle-mounted domain control (ADC) activates the vehicle, plans a path of the remote vehicle moving, controls the vehicle to run according to the planned path, simultaneously renders video images of a remote vehicle moving process and surrounding environment, and sends the video images to the mobile phone terminal through the vehicle Terminal (TBOX); the vehicle moving progress situation can be observed in real time at the mobile phone end, when the remote vehicle moving process is finished, firstly the vehicle-mounted domain control can send a prompt for the remote vehicle moving completion, the prompt is sent to the mobile phone end through the vehicle end, the mobile phone end is requested to send a command for the remote vehicle moving completion, then after the mobile phone end sends a signal for the vehicle end, the vehicle end can send a signal for closing the remote vehicle moving function to the vehicle-mounted domain control, and finally the vehicle-mounted domain control performs parking control.

The step S2 of planning a remote curve vehicle moving path includes planning a vehicle parking path:

When the remote curve vehicle moving function is activated, the environment around the vehicle can be perceived through the sensor schemes of the 4 high-definition global cameras, the 12 ultrasonic radars, the 5 millimeter wave radars and the 1 forward-looking camera of the vehicle body layout, and cluster information is given. Based on the cluster information, the curvature of the curve and the boundary profiles of the front and rear vehicles can be known. And then the path planning work can be carried out.

Referring to fig. 3 and 4, the right delivery is taken as an example in this embodiment, because the left delivery path and the right delivery path are mirror images, and the vehicle head is put in the same way.

The remote curve vehicle moving path comprises a first path, a second path, a third path and a fourth path, namely a four-section path; the remote curve vehicle moving path when the vehicle is parked is a parking path, and the remote curve vehicle moving path when parked is a parking path; the exit path and the entrance path are four-section paths; the exit path and the entrance path are the same and opposite in direction, and specifically comprise:

When planning a vehicle parking path, before planning a first path, detecting whether a parking path planning condition is met, if so, the current pose of the vehicle is at the starting point of the first path, otherwise, performing library kneading until the parking path planning condition is met.

The first path of the berthing path is an arc, the second path is a straight line, the third path is an arc, and the fourth path is a straight line; recording a starting point of the first path and an ending point of the third path of the parking path, wherein the ending point of the fourth path is a desired parking position.

When planning a parking path, detecting whether the current vehicle pose and a front space meet a parking path planning condition, if so, recording the starting point of a first path when the current vehicle pose is at the starting point of the first path;

When the vehicle is at the end point of the third path, the current pose of the vehicle is parallel to the pose of the obstacle vehicle, the position of the obstacle vehicle is known, and the course angle (parallel to the obstacle vehicle) and the y coordinate (the same as the y coordinate of the end point of the fourth path) of the vehicle are known when the vehicle is at the end point of the third path, so that the center y coordinate of the circular arc of the third path can be obtained; the arc radius of the third path is the minimum turning radius r of the vehicle, the minimum turning radius r is known, and at the moment, the pose of the vehicle at the starting point of the third path can be obtained through the safe calibration distance s between the vehicle contour and the corner point of the obstacle when the vehicle is at the starting point of the third path; the course angle of the vehicle at the starting point of the third path is the linear slope k of the second path, the pose of the vehicle at the starting point of the second path can be obtained through the calibrated linear distance of the second path, and finally the circle center coordinate of the circular arc of the first path can be obtained according to the minimum turning radius r.

It is understood that planning a parking path is the reverse operation of planning a parking path. The step S2 of planning a remote curve vehicle moving path further includes planning a vehicle parking path:

After the vehicle finishes the planning of the parking path, the vehicle is kneaded and planned until the final pose of the vehicle is the expected parking pose.

When the vehicle is in implementation, the vehicle carries out a vehicle head berthing planning, and the ending point of the third path recorded during berthing planning is the starting point of the second path of the berthing path; the starting point of the first path of the berthing-out path is the ending point of the fourth path of the berthing-in path. And similarly, after finishing planning of the four-section path of the vehicle head, the vehicle head needs to be kneaded and planned until the final pose of the vehicle is the expected parking pose.

Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims

1. A path planning method for remote curve vehicle moving is characterized in that: the method specifically comprises the following steps:

s2: planning a remote curve vehicle moving path;

s4: the remote curve vehicle moving is completed, and parking control is performed after the completion of vehicle moving conditions is judged;

After the running direction and the path of the first section of path are determined according to the running space and the vehicle positioning information, recording the initial pose at the moment, wherein the running direction of each step is sequentially changed from the running direction of the last step, and the ending point of the last section of path is the pose of the expected parking space;

The remote curve vehicle moving path comprises a first path, a second path, a third path and a fourth path;

2. The method for planning a path for moving a vehicle on a remote curve according to claim 1, wherein: the step S1 further includes:

3. The method for planning a path for moving a vehicle on a remote curve according to claim 1, wherein: when planning a vehicle parking path, before planning a first path, detecting whether a parking path planning condition is met, if so, the current pose of the vehicle is at the starting point of the first path, otherwise, performing library kneading until the parking path planning condition is met.

4. The method for planning a path for moving a vehicle on a remote curve according to claim 1, wherein: the step S2 of planning a remote curve vehicle moving path further includes planning a vehicle parking path:

5. The method for planning a path for moving a vehicle on a remote curve according to claim 4, wherein: after the vehicle finishes the planning of the parking path, the vehicle is kneaded and planned until the final pose of the vehicle is the expected parking pose.

6. A method for planning a path for moving a vehicle on a remote curve according to claim 3, wherein: the first path of the berthing-out path is an arc, the second path is a straight line, the third path is an arc, and the fourth path is a straight line;

7. The method for planning a path for moving a vehicle on a remote curve according to claim 6, wherein: when planning a parking path, detecting whether the current vehicle pose and a front space meet a parking path planning condition, if so, recording the starting point of a first path when the current vehicle pose is at the starting point of the first path;