A trajectory generation method of an unmanned system

Abstract

The application discloses a kind of trajectory generation methods of unmanned system, and its technical solution points are including main control system, the main control system includes layout module and trajectory arrangement module, positioning module is also provided in the main control system, the positioning module is positioned by GPS, modeling strategy is configured in the layout module, the modeling strategy includes obtaining parking space distribution, and forms parking space layout based on the distribution of parking space, arrangement module is configured with trajectory strategy, the trajectory strategy includes calling parking space layout, forms the trajectory of warehouse based on parking space layout.The application discloses a kind of trajectory generation methods of unmanned system, and the system has self-generating unmanned track, to realize the effect of accurately unmanned control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned driving, more particularly to a trajectory generation method of an unmanned driving system. BACKGROUND

[0002] With the rapid development of the automobile field, the technology of intelligent auxiliary driving is also constantly progressing. In the past, intelligent driving was more focused on intelligent constant speed cruise. Now, it has rapidly developed to the stage where the vehicle can automatically generate a driving route and intelligently control the vehicle to drive itself after setting a destination. However, the use of intelligent driving is limited in certain environments, especially in a battery swap station. In order to combine with the control system of autonomous battery swapping, the parking space in the battery swap station is highly regular. The method used in the prior art generally collects the parking space situation of the parking lot and forms a main trajectory. The vehicle is controlled to travel along the main trajectory after leaving the garage to the parking space position to the battery swap position for battery swapping. However, this control method of unmanned driving in a specific place in the battery swap station is relatively single. In the actual operation process, since the vehicle is parked in different parking spaces, the vehicle may deviate from the main trajectory when leaving the garage, causing a collision after the vehicle deviates from the track. Therefore, an unmanned driving trajectory generation system that can automatically generate an unmanned driving trajectory according to the vehicle position is urgently needed to achieve the effect of accurate driving. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a trajectory generation method of an unmanned driving system, which can automatically generate an unmanned driving trajectory to achieve the effect of accurate unmanned driving control.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0005] A trajectory generation method of an unmanned driving system, comprising a main control system, wherein the main control system comprises a layout module and a trajectory arrangement module, the layout module is configured with a modeling strategy, the modeling strategy comprises obtaining a parking space distribution and constructing a parking space layout map based on the distribution of the parking space, the arrangement module is configured with a trajectory strategy, the trajectory strategy comprises calling the parking space layout map and forming an out-of-garage trajectory based on the parking space layout map, and the method for forming the out-of-garage trajectory by the trajectory strategy specifically comprises the following steps:

[0006] S1: obtaining a parking space layout map, sorting the parking space layout map and forming a sequence mark, and forming a battery swap mark for a battery swap parking space used for battery swapping;

[0007] S2: obtaining a parking space at the end of the sequence mark and forming an origin mark;

[0008] S3: constructing a parking space coordinate based on the origin mark;

[0009] S4: constructing a main trajectory with the coordinate origin of the parking space as the starting point and the midpoint of the edge of the entrance of the battery swap parking space as the ending point;

[0010] S5: identifying the parking space position in the parking space layout to construct an auxiliary trajectory, and fitting the auxiliary trajectory with the main trajectory to form a driving trajectory.

[0011] As a further improvement of the present application, the step S1 further comprises:

[0012] S11: identifying the number of parking space arrangement layers along the length direction of the parking space to obtain the number of parking space arrangement layers;

[0013] S12: identifying the number of parking space array layers along the width direction of the parking space on the same side to obtain the number of parking space array layers;

[0014] S13: obtaining the total number of sequence markers based on the number of parking space arrangement layers and the number of parking space array layers;

[0015] S14: taking the parking space layer close to the battery swap parking space as the first parking space arrangement layer, taking the first parking space of the first parking space arrangement layer close to the battery swap parking space as the first sequence marker, sequentially marking the sequence markers along the number of parking space array layers, taking the parking space aligned with the last parking space of the first parking space arrangement layer as the first parking space of the second parking space arrangement layer and continuing to mark the sequence markers, and forming an S-shaped marking line to sequentially mark the sequence markers.

[0016] As a further improvement of the present application, the step S2 further comprises:

[0017] S21: fitting a virtual car frame map in the last marked parking space of the sequence marker;

[0018] S22: setting an edge threshold in the last marked parking space, the distance between the four corners of the car frame map and the edge of the parking space being the edge threshold to construct the car frame map;

[0019] S23: determining the rear axle center of gravity position of the vehicle in the virtual car frame map to form an origin marker.

[0020] As a further improvement of the present application, the step S3 further comprises:

[0021] S31: taking the origin marker as the coordinate origin of the parking space and recording it as point A, taking the direction along the number of parking space array layers as the X axis, and taking the direction along the number of parking space arrangement layers as the Y axis to construct the parking space coordinate.

[0022] As a further improvement of the present application, the step S4 further comprises:

[0023] S41: identifying the distance between adjacent parking space arrangement layers and recording it as the out-of-warehouse spacing;

[0024] S42: Form a warehouse-out midline along the direction of the parking space array layer at the midpoint of the warehouse-out interval, and form a warehouse-out midline in front of any layer of the parking space array layer. The arrangement module is configured with a warehouse-out edge distance. The edge of the parking space away from the battery swap parking space is bounded by the warehouse-out edge distance. The edge trajectory is formed by the warehouse-out edge distance to the edge of the parking space. The edge trajectory is connected to the warehouse-out midline with the origin marker as the starting point. The warehouse-in trajectory is formed at the midpoint of the side line of the battery swap parking space entrance along the length direction of the swap point parking space, and the terminal position is recorded as B. The end of the warehouse-out midline away from the edge trajectory on the side close to the battery swap parking space is connected to the warehouse-in trajectory. The warehouse-out corners are formed at the connection of the origin marker and the warehouse-out midline, the connection of the warehouse-out midline and the edge trajectory, and the connection of the warehouse-out midline and the warehouse-in trajectory.

[0025] S43: Take the intersection of the warehouse-out midline position and the Y-axis as the corner origin. The arrangement module is also configured with a corner radian value. A 1 / 4 reference circular arc is formed with the corner origin as the center and the corner radian value as the radius. The intersection of the reference circular arc and the Y-axis is recorded as A1, and the intersection of the reference circular arc and the warehouse-out midline is recorded as A2. A1 and A2 are connected, and the reference circular arc is mirrored with the connection line of A1 and A2 as the mirror axis to form the warehouse-out corner.

[0026] As a further improvement of the application, the step S5 comprises:

[0027] S51: Form a virtual vehicle frame diagram in the adjacent parking spaces of the same layer of the parking space array layer with the origin marker. An auxiliary marker V point is formed at the rear axle center of gravity position of the vehicle in the vehicle frame diagram. The distance between V point and Y-axis is recorded as x_offset, and the distance between V point and X-axis is recorded as y_offset.

[0028] S52: Translate the trajectory composed of A, A1, and A2 to V point to form auxiliary trajectories V, V1, and V2. The auxiliary trajectories are connected to the warehouse-out midline.

[0029] S53: Array the auxiliary trajectories in sequence to the edge parking spaces in the same layer of the parking space array layer.

[0030] As a further improvement of the application, the step S5 further comprises:

[0031] S54: Identify whether there is still a parking space array layer in the Y-axis direction of the origin marker;

[0032] S541: judge the number of the existing parking array layers, when the odd number of parking array layers, translate the auxiliary trajectory V, V1, V2 to the odd number of parking array layers, and mirror V1, V2 with V, V1 as the axis to form V1, V2', take V, V1, V2' as the auxiliary trajectory one, and array the auxiliary trajectory one to the edge parking space in the same layer of parking array layers;

[0033] S542: when the even number of parking array layers, translate the auxiliary trajectory V, V1, V2 to the even number of parking array layers, and array the auxiliary trajectory to the edge parking space in the same layer of parking array layers.

[0034] As a further improvement of the application, the master control system is further provided with a positioning module, which realizes positioning through GPS.

[0035] The application has the following advantages: the obtained parking layout map is sorted to form a sequence mark, and the parking coordinates are constructed in the parking layout map, the main trajectory is constructed from the origin of the parking coordinates as the starting point to the midpoint of the edge line of the entrance of the battery swap parking space as the ending point, and the auxiliary trajectory is constructed for the parking spaces in the parking layout map, so as to realize the effect of accurately driving according to the trajectory of the unmanned vehicle when the parking spaces in the parking layout map have vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The first vehicle out-of-garage trajectory diagram is used to embody the application.

[0037] Figure 2 The second vehicle out-of-garage trajectory diagram is used to embody the application. DETAILED DESCRIPTION

[0038] The application will be further described in detail below in combination with the drawings and examples. The same parts are denoted by the same reference numerals. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a specific part.

[0039] REFERENCE Figure 1 and Figure 2The embodiment of the trajectory generation method of the unmanned system of the application is shown, including a master control system, the master control system includes a layout module and a trajectory arrangement module, a positioning module is also arranged in the master control system, the positioning module realizes positioning through GPS, a modeling strategy is configured in the layout module, the modeling strategy includes obtaining parking space distribution and constructing a parking space layout based on the distribution of parking spaces, a trajectory strategy is configured in the arrangement module, the trajectory strategy includes calling the parking space layout and forming an outbound trajectory based on the parking space layout, the method for forming the outbound trajectory by the trajectory strategy specifically includes the following steps:

[0040] S1: obtaining a parking space layout, sorting the parking space layout and forming a sequence marker, and forming a battery swap marker for a battery swap parking space;

[0041] S2: obtaining a parking space at the end of the sequence marker and forming a origin marker;

[0042] S3: constructing a parking space coordinate based on the origin marker;

[0043] S4: constructing a main trajectory with the parking space coordinate origin as the starting point and the midpoint of the edge line of the entrance of the battery swap parking space as the ending point;

[0044] S5: identifying the parking space position in the parking space layout to construct an auxiliary trajectory, and fitting the auxiliary trajectory with the main trajectory to form a driving trajectory.

[0045] The step S1 further includes:

[0046] S11: identifying the number of parking space arrangement layers along the length direction of the parking space to obtain the number of parking space arrangement layers;

[0047] S12: identifying the number of parking space array layers along the width direction of the parking space on the same side to obtain the number of parking space array layers;

[0048] S13: obtaining the total number of sequence markers based on the number of parking space arrangement layers and the number of parking space array layers;

[0049] S14: taking the parking space layer close to the battery swap parking space as the first parking space arrangement layer, taking the first parking space close to the battery swap parking space in the first parking space arrangement layer as the first sequence marker, sequentially marking the sequence markers along the number of parking space array layers, taking the parking space aligned with the last parking space in the first parking space arrangement layer as the first parking space in the second parking space arrangement layer and continuing to mark the sequence markers, and forming an S-shaped marking line to sequentially mark the sequence markers.

[0050] The step S2 further includes:

[0051] S21: fitting a virtual parking frame map in the parking space at the end of the sequence marker;

[0052] S22: Set an edge threshold in the end-labeled parking space, the distance between the four sides of the parking frame and the edge of the parking space is the edge threshold to construct the parking frame;

[0053] S23: Determine the rear axle center of gravity position of the vehicle in the virtual parking frame as the origin marker.

[0054] The step S3 further comprises:

[0055] S31: Take the origin marker as the origin of the parking space coordinates and mark it as point A, take the direction along the parking array layer as the X axis, and take the direction along the parking array layer as the Y axis to construct the parking space coordinates.

[0056] The step S4 further comprises:

[0057] S41: Identify the distance between adjacent parking array layers and mark it as the outbound spacing;

[0058] S42: Form the outbound center line in the direction of the parking array layer at the midpoint position of the outbound spacing, and form the outbound center line in front of any layer of the parking array layer, the outbound edge distance is configured in the arrangement module, the edge distance to the parking edge away from the battery swap parking space in the direction of the parking array layer is taken as the boundary, the edge trajectory is formed from the edge distance to the parking edge, the outbound center line is connected to the edge trajectory from the origin marker, and the inbound trajectory is formed at the midpoint of the edge line of the battery swap parking space entrance in the direction of the swap point parking space length, and the endpoint position is marked as B. The end of the outbound center line away from the edge trajectory on the side close to the battery swap parking space is connected to the inbound trajectory, and the outbound corners are formed at the connection of the origin marker and the outbound center line, the connection of the outbound center line and the edge trajectory, and the connection of the outbound center line and the inbound trajectory.

[0059] S43: Take the intersection of the outbound center line position and the Y axis as the corner origin, the corner radian value is also configured in the arrangement module, form a 1 / 4 reference circular arc with the corner origin as the center and the corner radian value as the radius, mark the intersection of the reference circular arc and the Y axis as A1, mark the intersection of the reference circular arc and the outbound center line as A2, connect A1 and A2, and mirror the reference circular arc with the connecting line of A1 and A2 as the mirror axis to form the outbound corner.

[0060] The step S5 comprises:

[0061] S51: Form a virtual parking frame in the adjacent parking spaces of the same layer of the parking array layer of the origin marker, and form an auxiliary marker V point in the rear axle center of gravity position of the vehicle in the parking frame;

[0062] S52: Translate the track composed of A, A1, and A2 to V point to form the auxiliary track of V, V1, and V2, and connect the auxiliary track with the outbound center line;

[0063] S53: sequentially array auxiliary track to the edge parking space in the same layer parking space array layer.

[0064] The step S5 further comprises:

[0065] S54: identify whether there is still a parking space array layer along the Y axis direction of the origin mark;

[0066] S541: determine the number of existing parking space array layers, when the parking space array layer is odd, translate the auxiliary track V, V1, V2 to the parking space array layer marked with an odd number, and mirror V1, V2 with V, V1 as the axis to form V1, V2', and take V, V1, V2' as the auxiliary track, and array the auxiliary track to the edge parking space in the same layer parking space array layer.

[0067] S542: when the parking space array layer is even, translate the auxiliary track V, V1, V2 to the parking space array layer marked with an even number, and array the auxiliary track to the edge parking space in the same layer parking space array layer.

[0068] Working principle and its effect:

[0069] By obtaining the parking layout map and sorting the parking layout map to form a sequence mark, and constructing parking coordinates in the parking layout map, the main track is constructed from the origin of the parking coordinates as the starting point to the midpoint of the edge line of the entrance of the battery swap parking space as the ending point, and the auxiliary track is constructed in the parking layout map, so as to realize the effect of constructing the track for unmanned driving according to the main control system, thereby realizing the effect of accurately driving according to the track for unmanned driving when there is a vehicle in the parking layout map.

[0070] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, and any technical solution falling within the scope of the present application shall be considered as falling within the protection scope of the present application. It should be noted that for ordinary skilled persons in the art, some improvements and decorations without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A trajectory generation method for an unmanned driving system, characterized in that: The application relates to a parking lot layout and track arrangement system, which comprises a master control system, a layout module and a track arrangement module, the layout module is internally provided with a modeling strategy, the modeling strategy comprises acquiring a parking space distribution and constructing a parking space layout based on the distribution of the parking space, the arrangement module is internally provided with a track strategy, the track strategy comprises calling the parking space layout, forming an outbound track based on the parking space layout, and the track strategy comprises the following steps: S1: acquiring the parking space layout, sorting the parking space layout and forming a sequence mark, and forming a battery swap mark for a battery swap parking space; S2: acquiring a parking space at the end of the sequence mark and forming an origin mark; S3: constructing a parking space coordinate based on the origin mark; S4: constructing a main track with the parking space coordinate origin as a starting point and the midpoint of the edge line of the entrance of the battery swap parking space as an ending point; S5: constructing an auxiliary track by identifying the parking space position in the parking space layout, and fitting the auxiliary track and the main track to form a driving track; The step S1 comprises: S11: identifying the number of parking space arrangement layers along the parking space length direction to obtain the number of parking space arrangement layers; S12: identifying the number of parking space array layers along the parking space width direction of the same side to obtain the number of parking space array layers; The step S4 comprises: S41: identifying the distance between the adjacent parking space arrangement layers and recording the distance as an outbound interval; S42: forming an outbound center line along the number of parking space array layers with the midpoint position of the outbound interval, and forming the outbound center line in front of any layer of the number of parking space array layers, the arrangement module is internally provided with an outbound edge distance, the outbound edge distance is used as a boundary to the edge of the parking space away from the battery swap parking space, the edge distance to the edge of the parking space is used to form a marginal track, the origin mark is used as a starting point to be connected to the outbound center line, the outbound center line is connected to the marginal track, the entry track is formed along the length of the battery swap parking space at the midpoint of the edge line of the entrance of the battery swap parking space, and the ending point position is recorded as B, the end of the outbound center line away from the marginal track on the side close to the battery swap parking space is connected to the entry track, and outbound corners are formed at the connection positions of the origin mark and the outbound center line, the outbound center line and the marginal track and the outbound center line and the entry track; S43: taking the intersection of the outbound center line position and the Y axis as a corner origin, the arrangement module is further internally provided with a corner radian value, a reference circular arc of 1 / 4 is formed with the corner origin as a center and the corner radian value as a radius, the intersection of the reference circular arc and the Y axis is recorded as A1, the intersection of the reference circular arc and the outbound center line is recorded as A2, A1 and A2 are connected, and the reference circular arc is imaged to form the outbound corner with the connecting line of A1 and A2 as a mirror axis. 2.The trajectory generation method of claim 1, wherein: The step S1 further comprises: S13: obtaining the total number of sequence marks based on the number of parking space arrangement layers and the number of parking space array layers; S14: taking the parking space layer close to the battery swap parking space as the first layer of the number of parking space arrangement layers, taking the first parking space close to the battery swap parking space in the first layer of the number of parking space arrangement layers as the first sequence mark, sequentially marking the sequence marks along the number of parking space array layers, taking the parking space aligned with the last parking space in the first layer of the number of parking space arrangement layers as the first parking space in the second layer of the number of parking space arrangement layers and continuing to mark the sequence marks, and sequentially marking the sequence marks to form an S-shaped marking line. 3.The trajectory generation method of claim 2, wherein: The step S2 comprises: S21: fitting a virtual vehicle frame map in the end-marked parking space with sequence marking; S22: setting an edge threshold in the end-marked parking space, the distance between the four sides of the vehicle frame map and the edge of the parking space is the edge threshold to build the vehicle frame map; S23: determining the rear axle gravity center position of the vehicle in the virtual vehicle frame map to form an origin mark. 4.The trajectory generation method of claim 3, wherein: The step S3 comprises: S31: taking the origin mark as the origin of the parking space coordinates and recording as point A, taking the direction along the parking space array layer number as the X axis, and taking the direction along the parking space array layer number as the Y axis to build the parking space coordinates. 5.The trajectory generation method of claim 4, wherein: The step S5 comprises: S51: forming a virtual vehicle frame map in the adjacent parking spaces of the same layer parking space array layer number with the origin mark, and forming an auxiliary mark in the rear axle gravity center position of the vehicle in the vehicle frame map and recording as point V; S52: translating the track composed of A, A1 and A2 to point V to form the auxiliary track of V, V1 and V2, and connecting the auxiliary track with the outbound center line; S53: arraying the auxiliary track to the edge parking space in the same layer parking space array layer number in turn. 6.The trajectory generation method of claim 5, wherein: The step S5 further comprises: S54: identifying whether there is still a parking space array layer number in the Y axis direction of the origin mark; S541: judging the number of the existing parking space array layer number, when the parking space array layer number is odd, translating the auxiliary track V, V1 and V2 to the parking space array layer number recording the odd layer, and mirroring V1 and V2 with V and V1 as the axis to form V1 and V2', taking the track V, V1 and V2' as the auxiliary track one, and arraying the auxiliary track one to the edge parking space in the same layer parking space array layer number; S542: when the parking space array layer number is even, translating the auxiliary track V, V1 and V2 to the parking space array layer number recording the even layer, and arraying the auxiliary track to the edge parking space in the same layer parking space array layer number.

7. The trajectory generation method of claim 6, wherein: The main control system is further provided with a positioning module, and the positioning module realizes positioning through GPS.

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