CN110749333A - Unmanned vehicle motion planning method based on multi-objective optimization - Google Patents
Unmanned vehicle motion planning method based on multi-objective optimization Download PDFInfo
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Abstract
The invention discloses a multi-objective optimization-based unmanned vehicle motion planning method, which comprises the steps of mapping a vehicle and an environment from a Cartesian coordinate system to a Frenet coordinate system; establishing a mathematical model of the unmanned vehicle multi-target path planning problem; planning a path by using a linear dynamic planning method; describing a track by using a piecewise fifth-order polynomial, respectively taking a path nearest obtained by linear dynamic planning of track slope minimum, curvature minimum, riding comfort and distance as an optimization target, taking positions of connecting points of the piecewise fifth-order polynomial, first derivative, second derivative and third derivative as equality constraints, and taking a road natural boundary constraint and an obstacle boundary constraint as inequality constraints, and establishing a mathematical model of a multi-target track generation problem of the unmanned vehicle; and obtaining the optimal solution of the unmanned vehicle multi-target track generation problem. The invention solves the problem that the path obtained by the path planning method based on random point scattering is difficult to conform to the kinematic constraint of the vehicle.
Description
Technical Field
The invention belongs to the technical field of intelligent driving and planning thereof, and particularly relates to a multi-objective optimization-based unmanned vehicle motion planning method.
Background
Since more than one hundred times of the introduction of 1886, the automobile field has rapidly developed, and the technical development and the popularity of the automobile field become important marks for measuring the modernization degree and the civilization degree of a country or a region. However, with the popularity and exponential growth of automobiles, people are also suffering from increasingly severe traffic congestion and serious annoyances resulting from accidents. Therefore, intelligent driving technology has gained attention from people. Urban road environment, the road conditions of traveling are simple relatively, have the higher map of precision, consequently change and realize intelligent driving more easily. The national key research and development plan of 2017 clearly lists the automatic driving of the new energy electric automobile as a major common key technology.
Motion planning is a key technology of intelligent driving, and can be understood as follows in a broad sense: in order to realize safe and collision-free intelligent driving in a dynamic environment, the intelligent vehicle needs to predict the motion of the environmental vehicle so as to plan the future track of the intelligent vehicle. The motion planning includes path planning and trajectory generation. In the aspect of path planning, the search for the optimal path is mainly divided into an incremental search mode and a local search mode. Incremental search refers to a technique that does not fully specify the search configuration or state and uses a priori information to increase the search speed, and in recent years, research on incremental search has focused on two techniques: (1) fast-searching Random Trees (RRT); (2) lattice plans (Lattice planers, LP). In terms of trajectory generation, the trajectory has various expressions, including arcs, clothoids, Nelson polynomials, helical polynomials, splines, bezier curves, and the like. The automatic driving is a necessary product for the development of the intelligent era and the internet era, and the popularization of the automatic driving is a breakthrough in vehicle. On one hand, the development of public transportation and automatic driving is greatly promoted by national policies; on the other hand, automatic driving is easier to realize due to the fixed vehicle line. However, in the traditional path planning method based on random scattering points, such as RRT, the obtained path does not meet the vehicle kinematics and dynamics constraints; according to the traditional trajectory generation method based on curve fitting, multi-objective weighting in the multi-objective optimization problem is converted into the multi-objective optimization problem, and the weight is difficult to determine. Therefore, the path and trajectory generation method of the urban unmanned vehicle is in urgent need of further research.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of the prior art, the invention provides the unmanned vehicle motion planning method based on multi-objective optimization, so that the generated path and track are more in line with the actual road constraint. In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a multi-objective optimization-based unmanned vehicle motion planning method comprises the following steps:
1) mapping the vehicle and the environment from a Cartesian coordinate system to a Frenet coordinate system;
2) under a Frenet coordinate system, taking the weighted sum of the smooth cost, the barrier cost and the reference line cost as an evaluation index, and establishing a mathematical model of the unmanned vehicle multi-target path planning problem;
3) performing path planning by using a linear dynamic planning method, and solving a mathematical model of the multi-target path planning problem to obtain a path;
4) describing a track by using a piecewise fifth-order polynomial, respectively taking the path closest to linear dynamic programming, the track slope minimum, the curvature minimum and the riding experience comfort as optimization targets, taking the position, the first derivative, the second derivative and the third derivative at a connecting point of the piecewise fifth-order polynomial as equality constraints, and taking a road natural boundary constraint and an obstacle boundary constraint as inequality constraints, and establishing a mathematical model of the unmanned vehicle multi-target track generation problem;
5) and solving the mathematical model of the multi-target track generation problem by using the NSGA II to obtain the optimal solution of the multi-target track generation problem of the unmanned vehicle.
In step 1), the coordinates (s, l, l', l ") of the obstacle or vehicle in the Frenet coordinate system are calculated using the following formula:
wherein, (x, y, theta, kappa, v, a) is the position, heading, curvature, speed, acceleration of the obstacle or vehicle in the cartesian coordinate system; (s, l, l') is the coordinate (x, y, θ, κ, v, a) mapped to the Frenet coordinate system; (s, l, l', l ") is the distance along the reference line, the lateral distance from the reference line, the derivative of the lateral distance, the second derivative; Δ θ ═ θ - θr；(xr,yr,θr,κr) Is the closest point(s) to the obstacle or vehicle (x, y, theta, kappa, v, a)r,lr) A corresponding cartesian coordinate system.
In step 2), in the mathematical model of the multi-objective path planning problem, the cost function expression is as follows: ctotal(f(s))＝Csmooth(f)+Cobs(f)+Cguidance(f) (ii) a Wherein f(s) is a fifth order polynomial, Csmooth(f) For smoothing costs, Cobs(f) At a cost of obstacles, Cguidance(f) Is the reference line cost.
The expression of the smoothing cost is as follows:
wherein, w1，w2，w3Cost weights, s, of first, second and third derivatives, respectively0、seRespectively as the abscissa values of the starting point and the end point of the path;
the expression for the obstacle cost is as follows:
where d is the distance between the vehicle and the known obstacle, dnIs absoluteSafe distance, dcAs a dangerous distance, Cnudge、CcollisionIs a constant;
the reference line cost expression is as follows:
where g(s) is a fifth order polynomial representing the reference line.
In step 3), the specific implementation process of performing path planning by using the linear dynamic planning method includes:
1) calculating the total cost from the starting point to each point by using columns as stages, and recording the father node of each point;
2) and finding out the path point with the minimum cost in the last column, reversely searching along the father path point until the current position of the vehicle, wherein the obtained group of path points and the quintic polynomial among the path points are the results of path planning by using a linear dynamic planning method.
In step 4), the mathematical model of the unmanned vehicle multi-target track generation problem comprises an optimization target, equality constraint and inequality constraint, and the establishment process of the mathematical model comprises the following steps:
the path nearest obtained by the minimum track slope, the minimum curvature, the comfortable riding experience and the linear dynamic programming is respectively taken as an optimization target:
wherein h(s) is a fifth order polynomial representing the trajectory;
taking the position, the first derivative, the second derivative and the third derivative at the connecting point of the piecewise fifth-order polynomial as equality constraint:
wherein s isieRepresents the abscissa, s, of the end of the i-th segment(i+1)0Represents the abscissa of the starting point of the (i + 1) th segment;
determining constraints of the road natural boundary and the barrier boundary during trajectory planning by taking the constraint of the road natural boundary and the constraint of the barrier boundary as inequality constraints; wherein the left road boundary or obstacle boundary l is formed when the vehicle is runningleft corner boundSatisfies the following conditions: h(s)1)+sin(θ)l+w/2≤h(s1)+h'(s1)l+w/2≤lleft corner bound(ii) a Longitudinal coordinate l of left front vertex of vehicleleft front corner＝h(s1) + sin (θ) l + w/2; wherein, h(s)1)、h'(s1) Each represents s ═ s1The ordinate and the slope of the time trajectory, theta is the included angle between the vehicle and the reference line, and l and w are the vehicle length and the vehicle width respectively.
In the step 5), the specific implementation process for obtaining the optimal solution of the unmanned vehicle multi-target track generation problem comprises the following steps:
1) determining a fifth-order polynomial track coefficient and coding;
2) randomly initializing an initial population with the scale of N, wherein each individual in the population conforms to equality constraint and inequality constraint of a multi-target track generation problem mathematical model of the unmanned vehicle;
3) calculating the objective function value S of each individual in the initial population1、S2、S3、S4；
4) Any given two decision variables Bi、BjIf satisfied with
All have Sk(Bi)≤Sk(Bj) Is established, andso that Sk(Bi)＜Sk(Bj) Then call BiDominating Bj(ii) a Calculating the dominated number N of each individual p in the initial population NpAnd a set S of decision variables governed by the individualp；1≤i,j≤N；
5) For each objective function value SkK ∈ 1,2,3,4, for each levelThe individual of (1) is subjected to objective function value sorting, two individual crowdedness degrees with the maximum and minimum objective function values after sorting are set to be infinite, and the distance between the other individual crowdedness degrees is set to be
Wherein idIndicates the crowdedness distance of the ith individual,
the k-th objective function value of the (i + 1) -th individual after sorting,
the kth objective function value of the i-1 th individual after sorting;
6) selecting, crossing and mutating the decision variable population to generate a child population with the size of N, wherein each individual in the population conforms to equality constraint and inequality constraint of a mathematical model for generating a problem by the multi-target track of the unmanned vehicle;
7) judging whether the iteration times reach the specified times, if so, saving the optimized individuals and ending; otherwise, entering step 8);
8) merging the parent offspring population to generate a new population with the scale of 2N; calculating the objective function value of each individual in the new population; performing rapid non-dominated sorting layering and congestion degree distance calculation; and selecting N individuals with lower layering or same layering and larger crowding distance to form a new population, and returning to the step 4). The specific implementation process of the step 4) comprises the following steps:
A) initializing i to 1;
B) find all n in the populationpThe individual is 0, namely the ith layer;
C) for each individual in the ith layer, traversing each individual q in the decision variable set thereof, and executing
n* q＝nq-1；
D) Add 1 to the value of i and return to step 2) until the entire population is stratified.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention converts the vehicle, the barrier and the like from a Cartesian coordinate system to a Frenet coordinate system, so that the generated path and the generated track are more in line with the actual road constraint.
2. And carrying out horizontal and longitudinal sampling along the road direction, connecting by using multiple sections of fifth-order polynomials, and obtaining a path which accords with the kinematic constraint of the vehicle by using linear dynamic programming. And the path obtained by the traditional path planning method based on random point scattering is difficult to conform to the kinematic constraint of the vehicle.
3. According to the method, multiple targets such as safety, curvature, comfort and the like are directly considered, and the NSGA II method is used for solving the track generation model; the problem that the weight is difficult to determine when a weighted multi-objective optimization method is adopted is solved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a vehicle layout view;
FIG. 3 is a vehicle path plan;
FIG. 4 is a linearized vehicle model;
FIG. 5 is a NSGA II algorithm solving flow.
Detailed Description
The intelligent vehicle modified by the bus with the length of 12m and the width of 2.5m is provided with an infrared receiving and transmitting device, a laser radar, a millimeter wave radar, a camera and a GPS/IMU system.
An NSGA II algorithm-based unmanned vehicle motion planning method based on multi-objective optimization under an urban road environment comprises the following steps:
the method comprises the following steps: mapping the vehicle and the environment from a Cartesian coordinate system to a Frenet coordinate system, and performing the following path planning and track generation under the coordinate system;
step two: taking the weighted sum of the smooth cost, the barrier cost and the reference line cost as an evaluation index, and establishing a mathematical model of the unmanned vehicle multi-target path planning problem;
step three: performing path planning by using a linear dynamic planning method, and solving a mathematical model of a multi-target path planning problem to obtain a path;
step four: describing a track by using a piecewise fifth-order polynomial, respectively taking a path nearest obtained by linear dynamic planning of track slope minimum, curvature minimum, riding comfort and distance as an optimization target, taking positions of connecting points of the piecewise fifth-order polynomial, first derivative, second derivative and third derivative as equality constraints, and taking a road natural boundary constraint and an obstacle boundary constraint as inequality constraints, and establishing a mathematical model of a multi-target track generation problem of the unmanned vehicle;
step five: and solving the multi-target track generation problem mathematical model by using the NSGA II to obtain the optimal solution of the unmanned vehicle multi-target track generation problem.
In the first step, the specific process of mapping the vehicle and the environment from the cartesian coordinate system to the Frenet coordinate system is as follows: the Frenet coordinate system enables the scene to be easier to understand, and the motion relation of different objects on the road can be more intuitively reflected. In a cartesian coordinate system, an obstacle or a self-vehicle can be described as a combination of position, heading, curvature, speed, acceleration (x, y, θ, κ, v, a). Mapped to the Frenet coordinate system as (s, l, l', l "), which represents the distance along the reference line, the lateral distance from the reference line, and the derivative, second derivative, of the lateral distance, respectively. The reference line is generally a road middle line or a global path collected in advance.
First, a point(s) closest to an obstacle or a host vehicle (x, y, θ, κ, v, a) is found on a reference liner,lr) Corresponding to the Cartesian coordinate System (x)r,yr,θr,κr). Calculating coordinates (s, l, l') of the obstacle or the vehicle in a Frenet coordinate system:
s＝sr
l'＝(1-κrl)tanΔθ
wherein Δ θ is θ - θr。
In the second step, the mathematical model of the unmanned vehicle multi-target path planning problem is specifically established as follows:
(1) describing paths by piecewise fifth-order polynomials
In the Frenet coordinate system, the path points are sampled at equal intervals in the horizontal and vertical directions. And the sampling points of adjacent columns are connected by a fifth-order polynomial. The ith segment of the path may be denoted as fi(s)＝ai0+ai1s+ai2s2+ai3s3+ai4s4+ai5s5Wherein a isi0-ai5Is the coefficient of the ith segment of the path function.
(2) And taking the weighted sum of the smoothing cost, the obstacle cost and the reference line cost as an evaluation index, wherein the position, the first derivative and the second derivative are required to be equal at the joint. The method comprehensively considers the vehicle kinematic constraint and the traffic rule, and the cost function consists of three parts:
Ctotal(f(s))＝Csmooth(f)+Cobs(f)+Cguidance(f)
wherein f(s) is a fifth order polynomial, Csmooth(f) For smoothing costs, Cobs(f) At a cost of obstacles, Cguidance(f) Is the reference line cost.
The smoothing cost is composed of a first derivative, a second derivative and a third derivative:
wherein, w1，w2，w3The cost weights of the first derivative, the second derivative and the third derivative are respectively obtained according to experience, and the range 5000 is more than or equal to w1≥10000、1≥w2≥10、0.1≥w3Not less than 1, in this example, w is the value1＝8000、w2＝5、w3＝0.5。s0、seRespectively, the abscissa values of the starting point and the ending point of the path.
The obstacle cost is as follows:
where d is the distance between the vehicle and the known obstacle, dnTo an absolute safety distance, dcAs a dangerous distance, Cnudge、CcollisionIs a constant, the empirical value d is taken in this examplen＝10、dc＝0.5、Cnudge＝20、Ccollision100000000. When d > dnThe vehicle is safe, and the barrier cost is 0; when d isc＜d＜dnThe barrier cost decreases with increasing distance; when d < dcWhen the collision happens, the obstacle cost is very large constant Ccollision。
The reference line cost is as follows:
where g(s) is a fifth order polynomial representing the reference line. The cost is the distance cost of the planned path from the reference line. When there is no obstacle, the planned path should be close to the reference line, which is typically the road center line.
In the third step, the specific steps of planning the path by using the linear dynamic programming method are as follows:
dynamic programming is one approach, one method to solve the optimization problem. Linear dynamic programming algorithms are typically used to solve problems with some optimal nature. In such problems, there may be many possible solutions. Each solution corresponds to a value in order to find the solution with the optimal value. The basic idea of the linear dynamic programming algorithm is to decompose a problem to be solved into a plurality of sub-problems, the sub-problems obtained through decomposition are often not mutually independent, the sub-problems are solved first, and then the solution of the original problem is obtained through the solution of the sub-problems. By saving the answers of the solved subproblems and finding out the obtained answers when needed, a large amount of repeated calculation is avoided, and the time is saved.
Firstly, taking a path point as a decision object; then, since the total cost from the starting point to all the points in the i-1 column needs to be utilized when calculating the total cost from the starting point to the ith column point, the total cost calculation from the starting point to the scattered point of each column path is taken as a stage; taking the total cost from the path point to the starting point as a state variable of each stage; and finally, establishing the transfer process of the state variables of each stage. The method comprises the following specific steps:
first, the total cost from the starting point to each point is calculated in stages by columns, and the parent node of each point is recorded. With Ci,jRepresents the total cost from the starting point to the point of the ith (0. ltoreq. i.ltoreq.M) column j (0. ltoreq. j.ltoreq.N) row. Ci,j＝min(Ci-1,k+Ctotal(f (s)) where k is 0. ltoreq. N, f(s) is a fifth order polynomial between the path point (i-1, k) and the path point (i, j), Ctotal(f (s)) is the cost of the fifth order polynomial. If k is m, Ci,jAnd (5) obtaining the minimum value, and setting the parent path point of the path point (i, j) as (i-1, m).
And then, finding out the path point with the minimum cost in the last column, reversely searching along the father path point until the current position of the vehicle, wherein the obtained group of path points and the quintic polynomial among the path points are the results of path planning by using a linear dynamic planning method.
In the fourth step, the mathematical model of the unmanned vehicle multi-target trajectory generation problem comprises an optimization target, equality constraints and inequality constraints, and the mathematical model is specifically established by the following steps:
(1) the path nearest obtained by the minimum track slope, the minimum curvature, the comfortable riding experience and the linear dynamic programming is respectively taken as an optimization target:
where h(s) is a fifth order polynomial representing the trajectory. The first three terms represent the degree of path smoothness and the last term represents the distance cost from the path.
(2) Taking the position, the first derivative, the second derivative and the third derivative at the connecting point of the piecewise fifth-order polynomial as equality constraint:
wherein s isieRepresents the abscissa, s, of the end of the i-th segment(i+1)0Represents the abscissa of the start of the i +1 th segment.
(3) And (4) taking the natural boundary constraint of the road and the boundary constraint of the obstacle as inequality constraints to add a semicircle at the front and the back of the vehicle, and converting the nonlinear constraint into linear constraint. If the midpoint of the tail of the vehicle is used as a positioning point, when the included angle between the vehicle and the reference line is positive, the vertical coordinate of the vertex of the left front of the vehicle can be expressed as follows:
lleft front corner＝h(s1)+sin(θ)l+w/2
wherein, h(s)1) When s is equal to s1And a time track ordinate, theta is an included angle between the vehicle and the reference line, and l and w are the vehicle length and the vehicle width respectively. When θ is small, sin (θ) can be approximated by h'(s)1) Represents:
h(s1)+sin(θ)l+w/2≤h(s1)+h'(s1)l+w/2≤lleft corner bound
wherein lleft corner boundIndicating the left road boundary or obstacle boundary as the vehicle travels. The equation represents the constraints of the natural boundary and the obstacle boundary of the road in the trajectory planning.
Similarly, the constraints of other three angles can be obtained.
In the fifth step, the NSGA II is used for solving the mathematical model, and the step of obtaining the optimal solution of the unmanned vehicle multi-target track generation problem is as follows:
aiming at the above described problem of generating the multi-target track of the unmanned vehicle, an NSGA II algorithm is designed for calculation and solution: using trajectory quintic polynomial coefficient vector B ═ B0,b1,b2,b3,b4,b5]As decision variables, the decision variables are independent of one another; the method comprises the steps of taking the path closest obtained by the minimum track slope, the minimum curvature, the comfortable riding experience and the linear dynamic planning as an independent optimization target, taking the position of a piecewise fifth-degree polynomial connecting point, first derivative, second derivative and third derivative as equality constraints, and taking the road natural boundary constraint and the obstacle boundary constraint as inequality constraints. The floating-point number coding mode is adopted, and an arithmetic crossover operator and a Gaussian mutation operator are adopted.
The method comprises the following steps: determining parameters to be optimized, namely fifth-order polynomial trajectory coefficients and encoding;
step two: randomly initializing an initial population with the scale of N, wherein each individual in the population conforms to equality constraint and inequality constraint of a multi-target track generation problem mathematical model of the unmanned vehicle;
step three: calculating the objective function value S of each individual in the population1、S2、S3、S4；
Step four: fast non-dominated ordering hierarchy: any given two decision variables Bi、Bj(1. ltoreq. i, j. ltoreq. N), if satisfied for
All have Sk(Bi)≤Sk(Bj) Is established, and
so that Sk(Bi)＜Sk(Bj) Then call BiDominating Bj. Calculating the dominated number N of each individual p in the population NpAnd a set S of decision variables governed by the individualp。
Layering: (1) The initialization i is 1. (2) Find all n in the populationpThe i-th layer is the individual 0. (3) For each individual in the ith layer, traversing each individual q in the decision variable set, and executing nq＝nq-1. (4) i ═ i + 1. Repeating the steps (2), (3) and (4) until the whole population is stratified.
Step five: and (3) calculating the crowding degree distance: for each target Sk(k ∈ 1,2,3,4), sorting the objective function values of the individuals in each hierarchy, setting the two individual congestion degrees with the largest and the smallest objective function values after sorting to ∞, and setting the remaining individual congestion degree distances to infinity
Wherein idIndicates the crowdedness distance of the ith individual,
the k-th objective function value of the (i + 1) -th individual after sorting,
the kth objective function value of the i-1 th individual after sorting;
step six: genetic operation, including selecting, crossing and mutating the decision variable population, generating the offspring population with the size of N, wherein each individual in the population conforms to the equality constraint and the inequality constraint of the unmanned vehicle multi-target track generation problem mathematical model;
step seven: and judging whether the iteration times reach the specified times. If yes, saving the optimized individuals and finishing; otherwise, entering step eight;
step eight: an elite strategy comprising: merging the parent offspring population to generate a new population with the scale of 2N; calculating the objective function value of each individual in the new population; performing rapid non-dominated sorting layering and congestion degree distance calculation; and selecting N individuals with lower layering or same layering and larger crowding distance to form a new population. And entering the step four.
Claims (8)
1. A multi-objective optimization-based unmanned vehicle motion planning method is characterized by comprising the following steps:
1) mapping the vehicle and the environment from a Cartesian coordinate system to a Frenet coordinate system;
2) under a Frenet coordinate system, taking the weighted sum of the smooth cost, the barrier cost and the reference line cost as an evaluation index, and establishing a mathematical model of the unmanned vehicle multi-target path planning problem;
3) performing path planning by using a linear dynamic planning method, and solving a mathematical model of the multi-target path planning problem to obtain a path;
4) describing a track by using a piecewise fifth-order polynomial, respectively taking the path closest to linear dynamic programming, the track slope minimum, the curvature minimum and the riding experience comfort as optimization targets, taking the position, the first derivative, the second derivative and the third derivative at a connecting point of the piecewise fifth-order polynomial as equality constraints, and taking a road natural boundary constraint and an obstacle boundary constraint as inequality constraints, and establishing a mathematical model of the unmanned vehicle multi-target track generation problem;
5) and solving the mathematical model of the multi-target track generation problem by using the NSGA II to obtain the optimal solution of the multi-target track generation problem of the unmanned vehicle.
2. The method for multi-objective optimization-based unmanned vehicle motion planning according to claim 1, wherein in step 1), coordinates (s, l, l', l ") of the obstacle or vehicle in the Frenet coordinate system are calculated using the following formula:
wherein, (x, y, theta, kappa, v, a) is the position, heading, curvature, speed, acceleration of the obstacle or vehicle in the cartesian coordinate system; (s, l, l') is the coordinate (x, y, θ, κ, v, a) mapped to the Frenet coordinate system; (s, l, l', l ") is the distance along the reference line, the lateral distance from the reference line, the derivative of the lateral distance, the second derivative; Δ θ ═ θ - θr；(xr,yr,θr,κr) Is the closest point(s) to the obstacle or vehicle (x, y, theta, kappa, v, a)r,lr) A corresponding cartesian coordinate system.
3. The multi-objective optimization-based unmanned vehicle motion planning method according to claim 1, wherein in the step 2), in the mathematical model of the multi-objective path planning problem, the cost function expression is as follows: ctotal(f(s))＝Csmooth(f)+Cobs(f)+Cguidance(f) (ii) a Wherein f(s) is a fifth order polynomial, Csmooth(f) For smoothing costs, Cobs(f) At a cost of obstacles, Cguidance(f) Is the reference line cost.
4. The multi-objective optimization-based unmanned vehicle motion planning method of claim 3, wherein the smoothing cost is expressed as follows:
wherein, w1，w2，w3Cost weights, s, of first, second and third derivatives, respectively0、seRespectively as the abscissa values of the starting point and the end point of the path;
the expression for the obstacle cost is as follows:
where d is the distance between the vehicle and the known obstacle, dnTo an absolute safety distance, dcAs a dangerous distance, Cnudge、CcollisionIs a constant;
the reference line cost expression is as follows:
where g(s) is a fifth order polynomial representing the reference line.
5. The unmanned vehicle motion planning method based on multi-objective optimization of claim 3, wherein the specific implementation process of performing path planning by using the linear dynamic planning method in the step 3) comprises:
1) calculating the total cost from the starting point to each point by using columns as stages, and recording the father node of each point;
2) and finding out the path point with the minimum cost in the last column, reversely searching along the father path point until the current position of the vehicle, wherein the obtained group of path points and the quintic polynomial among the path points are the results of path planning by using a linear dynamic planning method.
6. The unmanned vehicle motion planning method based on multi-objective optimization of claim 1, wherein in the step 4), the mathematical model of the unmanned vehicle multi-objective trajectory generation problem comprises an optimization objective, an equality constraint and an inequality constraint, and the establishment process of the mathematical model comprises:
the path nearest obtained by the minimum track slope, the minimum curvature, the comfortable riding experience and the linear dynamic programming is respectively taken as an optimization target:
wherein h(s) is a fifth order polynomial representing the trajectory;
taking the position, the first derivative, the second derivative and the third derivative at the connecting point of the piecewise fifth-order polynomial as equality constraint:
wherein s isieRepresents the abscissa, s, of the end of the i-th segment(i+1)0Represents the abscissa of the starting point of the (i + 1) th segment;
using the natural boundary constraint of road and the boundary constraint of obstacle as inequalityConstraint, namely determining the constraint of a natural boundary and an obstacle boundary of a road during trajectory planning; wherein the left road boundary or obstacle boundary l is formed when the vehicle is runningleft corner boundSatisfies the following conditions: h(s)1)+sin(θ)l+w/2≤h(s1)+h'(s1)l+w/2≤lleft corner bound(ii) a Longitudinal coordinate l of left front vertex of vehicleleft front corner＝h(s1) + sin (θ) l + w/2; wherein, h(s)1)、h'(s1) Each represents s ═ s1The ordinate and the slope of the time trajectory, theta is the included angle between the vehicle and the reference line, and l and w are the vehicle length and the vehicle width respectively.
7. The unmanned vehicle motion planning method based on multi-objective optimization of claim 1, wherein in the step 5), the specific implementation process for obtaining the optimal solution of the unmanned vehicle multi-objective trajectory generation problem comprises:
1) determining a fifth-order polynomial track coefficient and coding;
2) randomly initializing an initial population with the scale of N, wherein each individual in the population conforms to equality constraint and inequality constraint of a multi-target track generation problem mathematical model of the unmanned vehicle;
3) calculating the objective function value S of each individual in the initial population1、S2、S3、S4；
4) Any given two decision variables Bi、BjIf satisfied with
All have Sk(Bi)≤Sk(Bj) Is established, and
so that Sk(Bi)＜Sk(Bj) Then call BiDominating Bj(ii) a Calculating the dominated number N of each individual p in the initial population NpAnd a set S of decision variables governed by the individualp；1≤i,j≤N；
5) For each objective function value SkK belongs to 1,2,3 and 4, the individuals in each hierarchy are sorted by the objective function value, two individual crowdedness degrees with the maximum and minimum objective function values after sorting are set as infinity, and the distance between the rest individual crowdedness degrees is set as infinity
Wherein idIndicates the crowdedness distance of the ith individual,
the k-th objective function value of the (i + 1) -th individual after sorting,
the kth objective function value of the i-1 th individual after sorting;
6) selecting, crossing and mutating the decision variable population to generate a child population with the size of N, wherein each individual in the population conforms to equality constraint and inequality constraint of a mathematical model for generating a problem by the multi-target track of the unmanned vehicle;
7) judging whether the iteration times reach the specified times, if so, saving the optimized individuals and ending; otherwise, entering step 8);
8) merging the parent offspring population to generate a new population with the scale of 2N; calculating the objective function value of each individual in the new population; performing rapid non-dominated sorting layering and congestion degree distance calculation; and selecting N individuals with lower layering or same layering and larger crowding distance to form a new population, and returning to the step 4).
8. The multi-objective optimization-based unmanned vehicle motion planning method according to claim 7, wherein the specific implementation process of the step 4) comprises the following steps:
A) initializing i to 1;
B) find all n in the populationpThe individual is 0, namely the ith layer;
C) for each individual in the ith layer, traversing its decision-making variationEach individual q in the set of quantities, perform n* q＝nq-1；
D) Add 1 to the value of i and return to step 2) until the entire population is stratified.
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| CN115416656A (en) * | 2022-08-23 | 2022-12-02 | 华南理工大学 | Automatic driving lane changing method, device and medium based on multi-target track planning |
| CN115127576A (en) * | 2022-09-02 | 2022-09-30 | 青岛慧拓智能机器有限公司 | Path planning method, device, chip, terminal, electronic equipment and storage medium |
| CN115489548A (en) * | 2022-09-20 | 2022-12-20 | 重庆大学 | Intelligent automobile park road path planning method |
| CN115489548B (en) * | 2022-09-20 | 2024-06-04 | 重庆大学 | Intelligent automobile park road path planning method |
| CN115371685A (en) * | 2022-10-24 | 2022-11-22 | 成都市以太节点科技有限公司 | Unmanned equipment dominant path planning method and device in industrial control scene and storage medium |
| CN116147654A (en) * | 2023-04-19 | 2023-05-23 | 广东工业大学 | Path planning method based on offline path library |
| CN117606501A (en) * | 2023-10-19 | 2024-02-27 | 中国科学院空间应用工程与技术中心 | Multi-target path planning method, system, storage medium and computing equipment for planet probe vehicle |
| CN117308964B (en) * | 2023-11-24 | 2024-02-13 | 陕西欧卡电子智能科技有限公司 | Path planning method and device for intelligent pleasure boat, unmanned boat and medium |
| CN117308964A (en) * | 2023-11-24 | 2023-12-29 | 陕西欧卡电子智能科技有限公司 | Path planning method and device for intelligent pleasure boat, unmanned boat and medium |
| CN118293946A (en) * | 2024-06-06 | 2024-07-05 | 北京赛目科技股份有限公司 | Path planning method and device |
| CN118579058A (en) * | 2024-08-05 | 2024-09-03 | 深圳佑驾创新科技股份有限公司 | Speed planning method and device |
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