CN110516880B - Path processing method, system, vehicle and computer readable storage medium - Google Patents

Path processing method, system, vehicle and computer readable storage medium Download PDF

Info

Publication number
CN110516880B
CN110516880B CN201910813132.9A CN201910813132A CN110516880B CN 110516880 B CN110516880 B CN 110516880B CN 201910813132 A CN201910813132 A CN 201910813132A CN 110516880 B CN110516880 B CN 110516880B
Authority
CN
China
Prior art keywords
path
original
point
points
path point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910813132.9A
Other languages
Chinese (zh)
Other versions
CN110516880A (en
Inventor
李弼超
孙崇尚
陈集辉
张超昱
李想
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Xiaopeng Motors Technology Co Ltd
Original Assignee
Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Xiaopeng Motors Technology Co Ltd filed Critical Guangzhou Xiaopeng Motors Technology Co Ltd
Priority to CN201910813132.9A priority Critical patent/CN110516880B/en
Publication of CN110516880A publication Critical patent/CN110516880A/en
Application granted granted Critical
Publication of CN110516880B publication Critical patent/CN110516880B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Databases & Information Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Automation & Control Theory (AREA)
  • Human Resources & Organizations (AREA)
  • Operations Research (AREA)
  • Computational Mathematics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Strategic Management (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Economics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Marketing (AREA)
  • Tourism & Hospitality (AREA)
  • Quality & Reliability (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Development Economics (AREA)
  • General Business, Economics & Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Game Theory and Decision Science (AREA)
  • Algebra (AREA)
  • Software Systems (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention relates to the technical field of automatic driving, and discloses a path processing method, a path processing system and a vehicle, wherein the method comprises the following steps: acquiring a preset number of original path points from an original path; determining the curvature of the original path point on the original path; screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points; fitting according to the first path point to obtain a target curve; mapping the first path point to a target curve to obtain a target path point; and connecting the target path point with a second path point by using a first preset line to obtain the automatic driving path, wherein the second path point is other path points except the first path point in the original path points. By implementing the embodiment of the invention, the transverse fluctuation in the vehicle running process can be reduced, so that the running stability of the vehicle is improved.

Description

Path processing method, system, vehicle and computer readable storage medium
Technical Field
The invention relates to the technical field of automatic driving, in particular to a path processing method and system and a vehicle.
Background
With the rapid development of automobile technology, the auxiliary driving technology of automobiles is more perfect, especially the automatic driving technology, so that the travel of people is improved. In the automatic driving process, the automobile can take the path which is stored in the database and is passed by the user through manual driving control as a reference path, and navigation is carried out according to the reference path. However, in practice it has been found that if the reference path is used directly for navigation, the vehicle may fluctuate laterally during autonomous driving. For example, when a user controls an automobile to run on a straight road through manual driving, a path that the automobile passes through can be acquired through a sensor, however, the driving habit of the user can rotate a steering wheel, and meanwhile, the path acquired by the sensor has certain noise, and if the path is directly used in the automatic driving process, the automobile can generate transverse fluctuation, so that the running of the automobile is not stable.
Disclosure of Invention
The embodiment of the invention discloses a path processing method and system and a vehicle, which can reduce the transverse fluctuation in the vehicle driving process so as to improve the vehicle driving stability.
The first aspect of the embodiments of the present invention discloses a path processing method, including:
acquiring a preset number of original path points from an original path;
determining a curvature of the original path point on the original path;
screening out first path points corresponding to curvatures smaller than a preset threshold value from the original path points;
fitting according to the first path point to obtain a target curve;
mapping the first path point to the target curve to obtain a target path point;
connecting the target path point with the second path point by using a first preset line to obtain an automatic driving path; the second path point is the other path points except the first path point in the original path points.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the acquiring a preset number of original path points from an original path includes:
acquiring a current position and a destination position of a vehicle, and taking the current position and the destination position as key information;
searching a historical driving path matched with the key information from a historical path database;
and determining a preset number of historical path points from the historical driving paths, and taking the historical path points as original path points on an original path.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining the curvature of the original path point on the original path includes:
connecting the original path points by using a second preset line;
and calculating the curvature corresponding to the original path point on the second preset line.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the mapping the first path point onto the target curve to obtain a target path point includes:
constructing a target coordinate system, and projecting the first path point and the target curve onto the target coordinate system;
acquiring the abscissa of the first path point and the ordinate of the first path point;
controlling the abscissa of the first path point to be kept unchanged, and adjusting the ordinate of the first path point to enable the first path point to be placed on the target curve;
and determining the path point on the target curve as a target path point.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the connecting the target waypoint and the second waypoint by using the first preset line to obtain the automatic driving route, the method further includes:
constructing a virtual road scene;
adding a vehicle icon and the automatic driving path in the virtual road scene to obtain a virtual automatic driving scene;
and sending the virtual automatic driving scene to intelligent glasses worn by a user, so that the intelligent glasses display the virtual automatic driving scene on lenses of the intelligent glasses and control the vehicle icon to run according to the automatic driving path.
A second aspect of the embodiments of the present invention discloses a path processing system, including:
the acquisition unit is used for acquiring a preset number of original path points from the original path;
a determining unit, configured to determine a curvature of the original path point on the original path;
the screening unit is used for screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points;
the fitting unit is used for obtaining a target curve according to the first path point fitting;
the mapping unit is used for mapping the first path point to the target curve so as to obtain a target path point;
the connecting unit is used for connecting the target path point with the second path point by using a first preset line so as to obtain an automatic driving path; the second path point is the other path points except the first path point in the original path points.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the obtaining unit includes:
the system comprises a first acquisition subunit, a second acquisition subunit and a third acquisition subunit, wherein the first acquisition subunit is used for acquiring the current position and the destination position of a vehicle and taking the current position and the destination position as key information;
the searching subunit is used for searching the historical driving path matched with the key information from a historical path database;
and the first determining subunit is used for determining a preset number of historical path points from the historical driving paths and taking the historical path points as original path points on an original path.
In a third aspect of the embodiment of the present invention, a vehicle is disclosed, which includes a route processing system disclosed in the second aspect of the embodiment of the present invention.
A fourth aspect of the present invention discloses a path processing system, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute a path processing method disclosed in the first aspect of the embodiment of the present invention.
A fifth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute a path processing method disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A seventh aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a path processing system acquires a preset number of original path points from an original path, determines curvatures of the original path points on the original path, screens out first path points corresponding to the curvatures smaller than a preset threshold value from the original path points, then obtains a target curve according to the first path point fitting, maps the first path points to the target curve to obtain target path points, and finally connects the target path points with second path points by using a first pre-line to obtain an automatic driving path, wherein the second path points are other path points except the first path points from the original path points. By implementing the embodiment of the invention, the first path point corresponding to the curvature smaller than the preset threshold value is screened out from the original path points, the target curve is obtained according to the fitting of the first path point, the first path point is mapped onto the target curve to obtain the target path point, and finally the target path point and other path points except the first path point in the original path points are connected by using the first preset line, so that the complete path information can be represented, the original path with the transverse fluctuation can be processed into a wide and continuous path, the transverse fluctuation in the vehicle driving process can be reduced, and the vehicle driving stability can be improved. In addition, the original path can be derived from a historical path database of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a path processing method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating another path processing method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a path processing system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another path processing system disclosed in the embodiments of the present invention;
FIG. 5 is a schematic structural diagram of another path processing system according to an embodiment of the present disclosure;
fig. 6 is a diagram illustrating an example of a process for mapping waypoints according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
The embodiment of the invention discloses a path processing method and system and a vehicle, which can reduce the transverse fluctuation in the vehicle driving process so as to improve the vehicle driving stability. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a path processing method according to an embodiment of the present invention. As shown in fig. 1, the method may include the following steps.
101. The vehicle determines a preset number of original path points from the original path.
In the embodiment of the present invention, optionally, the original waypoints may be determined from waypoints on the entire route drawn by a route planning module of the vehicle according to the current position and the destination position, in combination with information such as a navigation map or a SLAM map, and using a planning algorithm such as an a-or grid method.
Alternatively, the original waypoints may be determined from waypoints on the historical travel path that the user has traveled in the past by manual driving, which are stored in the historical path database.
In the embodiment of the present invention, it can be understood that an original path (for example, an overall path planned by the path planning module or a historical driving path stored in the database) is composed of a plurality of path points. The method for determining the original path points may be that one path point is selected from the original path at each preset distance as an original path point, so that a preset number of original path points can be determined from the original path; or, the original path point may be determined by selecting a more important path point on the original path as the original path point, such as a turning point, an intermediate point on a straight road, and the like, so that a preset number of original path points may be determined from the original path. The method for determining the original path point is not particularly limited in the embodiments of the present invention. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
102. The vehicle determines the curvature of the original waypoint on the original path.
In the embodiment of the invention, the curvature of a certain original path point on the original path represents the bending degree of the original path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is.
In the embodiment of the invention, the vehicle can firstly connect the original path points to obtain a curve, the curvature corresponding to the original path points can be determined according to the curve, and the curvature is used as the curvature of the original path points on the original path. For example, describing by taking a cubic B-spline curve as an example, the vehicle connects the original path points by using the cubic B-spline curve to obtain a cubic B-spline curve parameter equation, and then, the curvature corresponding to the original path points on the cubic B-spline curve can be calculated by using a parameter equation derivation method.
103. And screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points by the vehicle.
In the embodiment of the invention, the user can unconsciously rotate the steering wheel in a small range during the driving process, so that as an optional implementation mode, the preset threshold value can be set according to the driving habits of the user.
In an embodiment of the present invention, the collection of the original path may be derived from a historical driving path in a historical path database of the user, wherein the related data of the historical driving path may be collected by a sensor (e.g., a visual sensor, an ultrasonic sensor, etc.). Since the measurement error of the sensor may cause the fluctuation of the raw path point, the preset threshold may be set according to the noise distribution of the sensor as another alternative embodiment.
In the embodiment of the present invention, the preset threshold is used to screen the original path points, that is, the original path points with a curvature smaller than the preset threshold are selected as the first path points. For example, if the preset threshold is 0.05, the vehicle screens the curvature corresponding to the original path point according to the preset threshold, and the obtained first path point is the original path point with the curvature smaller than 0.05.
It can be understood that, since the vehicle in step 104 cannot fit the original path points with a larger curvature when obtaining the target curve according to the first path point fitting, the vehicle can screen the original path points with a larger curvature by executing step 103, so as to ensure the smooth fitting of the target curve in step 104.
104. And the vehicle fits according to the first path point to obtain a target curve.
In the embodiment of the invention, the target curve can be a polynomial curve, and the vehicle can obtain the polynomial curve according to the first path point fitting by using a least square method. The least square method (also called the least square method) is a mathematical optimization technique, which can easily find unknown data by minimizing the square sum of errors and finding the optimal function matching of the data, and minimize the square sum of errors between these found data and actual data.
In the embodiment of the present invention, for example, the fitting of the first path point to the polynomial curve by the least square method is taken as an example for description, and it is assumed that the first path point is pi(xi,yi) Where i is 1,2, …, n, n is the number of first path points. The polynomial curves fitted are as follows:
p(x)＝a0+a1x+a2x2+...+amxm∈∏m(m+1＜n)
and the polynomial curve satisfies
Figure GDA0003460307510000081
For convenience of understanding, the embodiments of the present invention may be provided with
Figure GDA0003460307510000082
That is to say:
Figure GDA0003460307510000083
the above equations can be collated to obtain:
Figure GDA0003460307510000084
by solving the above equation set, a can be obtained0，a1，a2，…，amThen according to a0，a1，a2，…，amA polynomial curve p (x) is obtained.
In the embodiment of the invention, by implementing the mode, the error of the target curve obtained by fitting can be minimized, and the smoothness degree of the target curve is improved.
Optionally, in the embodiment of the present invention, a polynomial form of a suitable target curve, such as a first order (straight line), a second order, a third order, or a fourth order, may be selected according to the path information that needs to be expressed, which is not limited in the embodiment of the present invention.
Optionally, in the embodiment of the present invention, in addition to the least square method, a gradient descent method, a gaussian-newton method, or the like may be adopted to obtain the target curve according to the first path point fitting, which is not limited in the embodiment of the present invention.
105. The vehicle maps the first path point to the target curve to obtain a target path point.
In the embodiment of the invention, the vehicle can obtain the expression of the target curve, then the abscissa of the first path point is substituted into the expression of the target curve, and the obtained ordinate is the ordinate of the target path point. For example, assume that the target curve is a quadratic polynomial curve, i.e., p (x) a0+a1x+a2x2The first path point is pi(xi,yi) Where i is 1,2, …, n, n is the number of first path points. The abscissa x of the first path pointiSubstituting into a quadratic polynomial curve p (x) to obtain p (x)i) And then the mapping of the first path point can be completed.
Referring to fig. 6, fig. 6 is a diagram illustrating an example of a process for mapping waypoints according to an embodiment of the disclosure. As shown in fig. 6, the vehicle uses the original path point with the curvature smaller than the preset threshold as the first path point, uses the original path point with the curvature greater than or equal to the preset threshold as the second path point, then obtains the target curve according to the first path point fitting, and then maps the first path point onto the target curve to obtain the target path point, i.e. the target path point is obtained by mapping the first path point onto the target curve.
106. And the vehicle connects the target path point with the second path point by using a first preset line so as to obtain an automatic driving path.
In the embodiment of the invention, the second path point is other path points except the first path point in the original path points.
In this embodiment of the present invention, the first preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
For convenience of understanding, the embodiment of the present invention is described by taking a cubic B-spline curve as an example, and since the complete path information can be represented by using the cubic B-spline curve, the limitation of the autopilot path represented by the cubic B-spline is small, and the motion of any segment in the vehicle coordinate system can be represented by using the cubic B-spline curve. However, since the polynomial curve is difficult to represent the path information in the closed path, the limitation of the automatic driving path represented by the polynomial curve is large. Therefore, in the embodiment of the present invention, the vehicle maps the first path point onto the target curve to obtain the target path point, and then connects the target path point with other path points except the first path point in the original path points by using the first preset line (e.g., cubic B-spline curve) to obtain the automatic driving path.
As an alternative embodiment, after the vehicle connects the target waypoint and the second waypoint by using the first preset line to obtain the automatic driving route in step 106, the following steps may be further performed:
constructing a virtual road scene;
adding a vehicle icon and an automatic driving path in the virtual road scene to obtain a virtual automatic driving scene; wherein the vehicle icon is a vehicle model of the vehicle;
the virtual automatic driving scene is sent to intelligent glasses worn by a user, so that the intelligent glasses display the virtual automatic driving scene on lenses of the intelligent glasses and control vehicle icons to run according to an automatic driving path.
In the embodiment of the invention, the intelligent glasses worn by the user have a Virtual Reality (VR) technology, and the phenomenon that the vehicle icon runs according to the automatic driving path can be displayed to the user. VR technology is a computer simulation system that creates and experiences virtual worlds, which uses computers to create a simulated environment into which a user is immersed. That is, the VR technology can utilize real-life data, combine electronic signals generated by computer technology with various output devices to convert them into phenomena that can be felt by people, and these phenomena can be real objects in reality, or substances that can not be seen by our naked eyes, and are expressed by a three-dimensional model.
By implementing the optional implementation mode, a virtual automatic driving scene is simulated, and the phenomenon that the vehicle icon runs according to the automatic driving path is displayed to the user through the intelligent glasses worn by the user, so that the driving experience of the user is improved, the user can perceive the running state of the vehicle when the vehicle runs according to the automatic driving path, and the transverse fluctuation condition of the vehicle when the vehicle runs according to the automatic driving path is further verified.
As another alternative, after the vehicle connects the target waypoint and the second waypoint by using the first preset line to obtain the automatic driving route in step 106, the following steps may be further performed:
constructing a virtual road scene on a vehicle-mounted display screen of a vehicle;
placing a vehicle icon on the virtual road scene, the vehicle icon being a vehicle model of a vehicle;
the vehicle icon is controlled to travel according to the automatic driving route so that the user observes the traveling state of the vehicle.
By implementing the optional implementation mode, the driving condition of the vehicle according to the automatic driving path is displayed on the vehicle-mounted display screen, so that a user can sense the driving state of the vehicle when the vehicle drives according to the automatic driving path, and the transverse fluctuation condition of the vehicle when the vehicle drives according to the automatic driving path is further checked.
It can be seen that, by implementing the method described in fig. 1, the first path points corresponding to the curvatures smaller than the preset threshold are screened from the original path points, the target curve is obtained according to the fitting of the first path points, the first path points are mapped onto the target curve to obtain the target path points, and finally the first preset line is used to connect the target path points with other path points except the first path points in the original path points, so that not only can the complete path information be represented, but also the original path with the lateral fluctuation can be processed into a wide and continuous path, thereby reducing the lateral fluctuation in the vehicle driving process and improving the vehicle driving stability. In addition, the original path can be derived from a historical path database of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another path processing method according to an embodiment of the present invention. As shown in fig. 2, the method may include the following steps.
201. The vehicle acquires a current position and a destination position of the vehicle, and uses the current position and the destination position of the vehicle as key information.
In the embodiment of the present invention, a Positioning module, such as a Global Positioning System (GPS) module and a beidou satellite Positioning System, may be built in the vehicle. The GPS module has high integration sensitivity and low power consumption, can simultaneously track up to 20 satellites, quickly position and realize 1Hz navigation updating, so that the vehicle can acquire the current position of the vehicle through the built-in GPS module in the embodiment of the invention.
In the embodiment of the invention, the vehicle can obtain the destination position corresponding to the destination information by accessing the positioning service equipment according to the destination information (such as the name of the destination) input by the user.
202. And the vehicle searches the historical driving path matched with the key information from the historical path database.
In the embodiment of the present invention, the historical path database stores the historical driving path formed in the past driving process of the vehicle, and the historical driving path matched with the key information can be searched from the historical path database according to the current position and the destination position of the vehicle obtained in step 201, that is, the starting point and the end point on the original path.
203. And the vehicle determines a preset number of historical path points from the historical driving paths matched with the key information, and the historical path points are used as original path points on the original path.
In the embodiment of the invention, it can be understood that one original path is composed of a plurality of path points, so that the vehicle can determine a preset number of historical path points from historical driving paths matched with the key information. The historical path points are determined in a mode that one path point is selected from the historical driving paths at each preset distance interval to serve as the historical path point, and therefore a preset number of historical path points can be determined from the historical driving paths; alternatively, the historical route points may be determined by selecting some important route points in the historical driving route as the historical route points, such as turning points, intermediate points on a straight road, and the like, so that a preset number of historical route points may be determined from the historical driving route. The embodiment of the present invention is not particularly limited to the determination method of the historical waypoint. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
In the embodiment of the invention, step 201-step 203 are implemented, and a method for acquiring the original route point is provided, wherein the historical route point in the historical driving route matched with the current position and the destination position of the vehicle, which is searched from the historical route database, is used as the original route point, so that the reliability of the original route point can be improved.
204. And connecting the original path points by the vehicle by using a second preset line.
In this embodiment of the present invention, the second preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, for convenience of understanding, a cubic B-spline curve is taken as an example for description, and it is assumed that there are four original path points P0(x0,y0)、P1(x1,y1)、P2(x2,y2) And P3(x3,y3) Connecting P by cubic B-spline curve0、P1、P2And P3The expression of the four original path points is as follows:
Figure GDA0003460307510000121
where t is a parameter, and represents a start point of the cubic B-spline curve when t is 0, and represents an end point of the cubic B-spline curve when t is 1.
205. And the vehicle calculates the curvature corresponding to the original path point on the second preset line.
In the embodiment of the invention, the curvature corresponding to the original path point on the second preset line represents the bending degree of the original path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is.
In the embodiment of the present invention, for convenience of understanding, a cubic B-spline curve is taken as an example for description, and it is assumed that step 204 connects the original path points through the cubic B-spline curve, and the obtained cubic B-spline curve parameter equation is
Figure GDA0003460307510000131
Then, the curvature corresponding to the original path point on the cubic B-spline curve can be calculated by using a parametric equation derivation method, and a specific expression is as follows:
Figure GDA0003460307510000132
it can be understood that, through the expression, the curvature K corresponding to the original path point on the cubic B-spline curve can be calculated.
In the embodiment of the present invention, steps 204 to 205 are implemented, the original path points are connected by using a second preset line to obtain a parameter equation, and then the curvature corresponding to the original path points on the second preset line is obtained by using a parameter equation derivation method, so that the efficiency of curvature calculation can be improved.
206. And screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points by the vehicle.
In the embodiment of the invention, the user can unconsciously rotate the steering wheel in a small range during the driving process, so that as an optional implementation mode, the preset threshold value can be set according to the driving habits of the user.
In an embodiment of the present invention, the collection of the original path may be derived from a historical driving path in a historical path database of the user, wherein the related data of the historical driving path may be collected by a sensor (e.g., a visual sensor, an ultrasonic sensor, etc.). Since the measurement error of the sensor may cause the fluctuation of the raw path point, as another alternative, the preset threshold may be set according to the noise distribution of the sensor.
In the embodiment of the present invention, the preset threshold is used to screen the original path points, that is, the original path points with the curvature smaller than the preset threshold are selected as the first path points. For example, if the preset threshold is 0.05, the vehicle screens the curvature corresponding to the original path point according to the preset threshold, and the obtained first path point is the original path point with the curvature smaller than 0.05.
It can be understood that, since the vehicle cannot fit the original path points with larger curvature when obtaining the target curve according to the first path point fitting in step 207, the original path points with larger curvature may be filtered out by executing step 206, so as to ensure the smooth fitting of the target curve in step 207.
207. And the vehicle fits according to the first path point to obtain a target curve.
In the embodiment of the invention, the target curve can be a polynomial curve, and the vehicle can obtain the polynomial curve according to the first path point fitting by using a least square method. The least square method (also called the least square method) is a mathematical optimization technique, which can easily find unknown data by minimizing the square sum of errors and finding the optimal function matching of the data, and minimize the square sum of errors between these found data and actual data.
Optionally, in the embodiment of the present invention, a polynomial form of a suitable target curve, such as a first order (straight line), a second order, a third order, or a fourth order, may be selected according to the path information that needs to be expressed, which is not limited in the embodiment of the present invention.
Optionally, in the embodiment of the present invention, in addition to the least square method, a gradient descent method, a gaussian-newton method, or the like may be adopted to obtain the target curve according to the first path point fitting, which is not limited in the embodiment of the present invention.
208. The vehicle maps the first path point to a target curve to obtain a target path point.
As an alternative embodiment, the step 208 of the vehicle mapping the first path point to the target curve to obtain the target path point includes:
constructing a target coordinate system, and projecting the first path point and the target curve onto the target coordinate system;
acquiring the abscissa of the first path point and the ordinate of the first path point;
controlling the abscissa of the first path point to be kept unchanged, and adjusting the ordinate of the first path point to enable the first path point to be placed on the target curve;
and determining the path point on the target curve as the target path point.
In the embodiment of the present invention, for example, the target curve fitted in step 207 is assumed to be a quadratic polynomial curve, i.e. p (x) ═ a0+a1x+a2x2The first path point is pi(xi,yi) Where i is 1,2, …, n, n is the number of first path points. The abscissa x of the first path pointiSubstituting into a quadratic polynomial curve p (x) to obtain p (x)i) And then the mapping of the first path point can be completed.
By implementing the optional implementation mode, the first path point and the target curve are projected on the same coordinate system, and then the coordinate of the first path point is adjusted, so that the first path point is mapped on the target curve, the transverse fluctuation in the vehicle running process can be reduced, and the vehicle running stability is improved.
209. And the vehicle connects the target path point with the second path point by using a first preset line so as to obtain an automatic driving path.
In the embodiment of the invention, the second path point is other path points except the first path point in the original path points.
In this embodiment of the present invention, the first preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
It can be seen that, compared with the implementation of the method described in fig. 1, the implementation of the method described in fig. 2 provides a method for acquiring original waypoints, and the original waypoints can be enhanced in reliability by using the historical waypoints in the historical driving route matching the current position and the destination position of the vehicle, which are found from the historical route database, as the original waypoints. In addition, by implementing the method described in fig. 2, the original path points are connected by using the second preset line to obtain a parameter equation, and then the curvature corresponding to the original path points on the second preset line is obtained by using a parameter equation derivation method, so that the efficiency of curvature calculation can be improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a path processing system according to an embodiment of the present invention. The route processing system is applied to a vehicle, so that the vehicle can execute any one of the route processing methods of fig. 1 to 2. As shown in fig. 3, the path processing system may include:
an obtaining unit 301, configured to determine a preset number of original path points from an original path.
In the embodiment of the present invention, optionally, the original waypoints may be determined from waypoints on the entire route drawn by a route planning module of the vehicle according to the current position and the destination position, in combination with information such as a navigation map or a SLAM map, and using a planning algorithm such as an a-or grid method.
Alternatively, the original waypoints may be determined from waypoints on the historical travel path that the user has traveled in the past by manual driving, which are stored in the historical path database.
In the embodiment of the present invention, it can be understood that an original path (for example, an overall path planned by the path planning module or a historical driving path stored in the database) is composed of a plurality of path points. The method for determining the original path points comprises the following steps of selecting one path point from an original path at intervals of a preset distance as the original path point, and thus, determining a preset number of original path points from the original path; or, the original path point may be determined by selecting a more important path point on the original path as the original path point, such as a turning point, an intermediate point on a straight road, and the like, so that a preset number of original path points may be determined from the original path. The method for determining the original path point is not particularly limited in the embodiments of the present invention. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
A determining unit 302, configured to determine a curvature of the original path point on the original path.
In the embodiment of the invention, the curvature of a certain original path point on the original path represents the bending degree of the original path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is.
In this embodiment of the present invention, the determining unit 302 may first connect the original path points to obtain a curve, and determine the curvature corresponding to the original path point according to the curve, and use the curvature as the curvature of the original path point on the original path. For example, taking cubic B-spline curve as an example for description, the determining unit 302 uses the cubic B-spline curve to connect the original path points to obtain a cubic B-spline curve parameter equation, and then, the curvature corresponding to the original path points on the cubic B-spline curve may be calculated by using a parameter equation derivation method.
The screening unit 303 is configured to screen out a first path point corresponding to a curvature smaller than a preset threshold from the original path points.
In the embodiment of the invention, the user can unconsciously rotate the steering wheel in a small range during the driving process, so that as an optional implementation mode, the preset threshold value can be set according to the driving habits of the user.
In an embodiment of the present invention, the collection of the original path may be derived from a historical driving path in a historical path database of the user, wherein the related data of the historical driving path may be collected by a sensor (e.g., a visual sensor, an ultrasonic sensor, etc.). Since the measurement error of the sensor may cause the fluctuation of the raw path point, the preset threshold may be set according to the noise distribution of the sensor as another alternative embodiment.
And a fitting unit 304, configured to obtain a target curve according to the first path point.
In the embodiment of the present invention, the target curve may be a polynomial curve, and the path processing system may obtain the polynomial curve by fitting the first path point using a least square method. The least square method (also called the least square method) is a mathematical optimization technique, which can easily find unknown data by minimizing the square sum of errors and finding the optimal function matching of the data, and minimize the square sum of errors between these found data and actual data.
Optionally, in the embodiment of the present invention, a polynomial form of a suitable target curve, such as a first order (straight line), a second order, a third order, or a fourth order, may be selected according to the path information that needs to be expressed, which is not limited in the embodiment of the present invention.
Optionally, in the embodiment of the present invention, in addition to the least square method, a gradient descent method, a gaussian-newton method, or the like may be adopted to obtain the target curve according to the first path point fitting, which is not limited in the embodiment of the present invention.
A mapping unit 305, configured to map the first path point onto the target curve to obtain a target path point.
In this embodiment of the present invention, the mapping unit 305 may obtain an expression of a target curve, and then substitute the abscissa of the first path point into the expression of the target curve, where the obtained ordinate is the ordinate of the target path point. For example, assume that the target curve is a quadratic polynomial curve, i.e., p (x) a0+a1x+a2x2The first path point is pi(xi,yi) Where i is 1,2, …, n, n is the number of first path points. The abscissa x of the first path pointiSubstituting a quadratic polynomial curve p (x) to obtain p (x)i) And then the mapping of the first path point can be completed.
A connecting unit 306, configured to connect the target waypoint and the second waypoint by using a first preset line to obtain an automatic driving route.
In the embodiment of the invention, the second path point is other path points except the first path point in the original path points.
In this embodiment of the present invention, the first preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
As an alternative embodiment, after the connection unit 306 connects the target waypoint and the second waypoint by using the first preset line to obtain the automatic driving route, the following steps may be further performed:
constructing a virtual road scene;
adding a vehicle icon and an automatic driving path in the virtual road scene to obtain a virtual automatic driving scene; wherein the vehicle icon is a vehicle model of the vehicle;
the virtual automatic driving scene is sent to intelligent glasses worn by a user, so that the intelligent glasses display the virtual automatic driving scene on lenses of the intelligent glasses, and the vehicle icon is controlled to run according to an automatic driving path.
In the embodiment of the invention, the intelligent glasses worn by the user have a Virtual Reality (VR) technology, and the phenomenon that the vehicle icon runs according to the automatic driving path can be displayed to the user. VR technology is a computer simulation system that creates and experiences virtual worlds, which uses computers to create a simulated environment into which a user is immersed. That is, the VR technology can utilize real-life data, combine electronic signals generated by computer technology with various output devices to convert them into phenomena that can be felt by people, and these phenomena can be real objects in reality, or substances that can not be seen by our naked eyes, and are expressed by a three-dimensional model.
By implementing the optional implementation mode, a virtual automatic driving scene is simulated, and the phenomenon that the vehicle icon runs according to the automatic driving path is displayed to the user through the intelligent glasses worn by the user, so that the driving experience of the user is improved, the user can perceive the running state of the vehicle when the vehicle runs according to the automatic driving path, and the transverse fluctuation condition of the vehicle when the vehicle runs according to the automatic driving path is further verified.
As another alternative, after the connection unit 306 connects the target waypoint and the second waypoint by using the first preset line to obtain the automatic driving route, the following steps may be further performed:
constructing a virtual road scene on a vehicle-mounted display screen of a vehicle;
placing a vehicle icon on the virtual road scene, the vehicle icon being a vehicle model of a vehicle;
the vehicle icon is controlled to travel according to the automatic driving route so that the user observes the traveling state of the vehicle.
By implementing the optional implementation mode, the driving condition of the vehicle according to the automatic driving path is displayed on the vehicle-mounted display screen, so that a user can sense the driving state of the vehicle when the vehicle drives according to the automatic driving path, and the transverse fluctuation condition of the vehicle when the vehicle drives according to the automatic driving path is further checked.
It can be seen that, with the path processing system described in fig. 3, the first path points corresponding to the curvatures smaller than the preset threshold are screened from the original path points, the target curve is obtained according to the fitting of the first path points, the first path points are mapped onto the target curve to obtain the target path points, and finally the target path points and the other path points except the first path points in the original path points are connected by using the first preset line, so that the complete path information can be represented, and the original path with the transverse fluctuation can be processed into a wide and continuous path, thereby reducing the transverse fluctuation in the vehicle driving process and improving the vehicle driving stability. In addition, the original path can be derived from a historical path database of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another path processing system according to an embodiment of the disclosure. The route processing system is applied to a vehicle, so that the vehicle can execute any one of the route processing methods of fig. 1 to 2. Wherein the path processing system shown in fig. 4 is further optimized by the path processing system shown in fig. 3. Compared to the path processing system shown in fig. 3, the path processing system shown in fig. 4 may further include:
the acquisition unit 301 includes:
a first acquisition subunit 3011 configured to acquire a current position and a destination position of the vehicle, and use the current position and the destination position of the vehicle as key information;
a searching subunit 3012, configured to search, from the historical path database, a historical travel path that matches the key information;
and a first determining subunit 3013, configured to determine a preset number of historical path points from the historical travel paths matched with the key information, and take the historical path points as original path points on the original path.
In the embodiment of the present invention, the first obtaining subunit 3011 may be embedded with a Positioning module, for example, a Global Positioning System (GPS) module and a beidou satellite Positioning System. The GPS module has high integration sensitivity and low power consumption, and can track up to 20 satellites at the same time, perform quick positioning, and implement 1Hz navigation update, so that the first obtaining subunit 3011 in the embodiment of the present invention can obtain the current position of the vehicle through the built-in GPS module.
In this embodiment of the present invention, the first obtaining sub-unit 3011 may obtain the destination location corresponding to the destination information by accessing the location service device according to the destination information (e.g., the name of the destination) input by the user.
In the embodiment of the present invention, it may be understood that one original path is composed of a plurality of path points, and therefore, the first determining subunit 3013 may determine a preset number of historical path points from the historical travel paths matched with the key information. The historical path points are determined in a mode that one path point is selected from the historical driving paths at each preset distance interval to serve as the historical path point, and therefore a preset number of historical path points can be determined from the historical driving paths; alternatively, the historical route points may be determined in such a manner that some important route points in the historical driving route are selected as the historical route points, such as turning points, intermediate points on a straight road, and the like, so that a preset number of historical route points can be determined from the historical driving route. The embodiment of the present invention is not particularly limited to the determination method of the historical waypoint. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
The determination unit 302 includes:
a connection subunit 3021, configured to connect the original path points by using a second preset line;
and the calculating subunit 3022 is configured to calculate a curvature corresponding to the original path point on the second preset line.
In this embodiment of the present invention, the second preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, the curvature corresponding to the original path point on the second preset line represents the bending degree of the original path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is.
As an alternative implementation, the mapping unit 305 may include the following sub-units not shown in the drawing:
the projection subunit is used for constructing a target coordinate system and projecting the first path point and the target curve onto the target coordinate system;
the second acquiring subunit is used for acquiring the abscissa of the first path point and the ordinate of the first path point;
the adjusting subunit is used for controlling the abscissa of the first path point to be kept unchanged and adjusting the ordinate of the first path point so as to enable the first path point to be arranged on the target curve;
and the second determining subunit is used for determining the path points on the target curve as the target path points.
By implementing the optional implementation mode, the first path point and the target curve are projected on the same coordinate system, and then the coordinate of the first path point is adjusted, so that the first path point is mapped on the target curve, the transverse fluctuation in the vehicle running process can be reduced, and the vehicle running stability is improved.
It can be seen that, compared with the implementation of the route processing system described in fig. 3, the implementation of the route processing system described in fig. 4 provides a method for acquiring original route points, and the original route points can be regarded as the historical route points in the historical driving route matched with the current position and the destination position of the vehicle, which are found from the historical route database, so that the reliability of the original route points can be improved. In addition, by implementing the path processing system described in fig. 4, the original path points are connected by using the second preset line to obtain a parameter equation, and then the curvature corresponding to the original path points on the second preset line is obtained by using a parameter equation derivation method, so that the efficiency of curvature calculation can be improved.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another path processing system according to an embodiment of the disclosure. As shown in fig. 5, the path processing system may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute any one of the path processing methods shown in fig. 1 to 2.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute any one of the path processing methods of fig. 1 to 2.
An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the path processing methods of fig. 1 to 2.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
In various embodiments of the present invention, it is understood that the meaning of "a and/or B" means that a and B are each present alone or both a and B are included.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The method, the system and the vehicle for processing the path disclosed by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A path processing method, comprising:
acquiring a preset number of original path points from an original path;
determining a curvature of the original path point on the original path;
screening out first path points corresponding to curvatures smaller than a preset threshold value from the original path points;
fitting according to the first path point to obtain a target curve;
mapping the first path point to the target curve to obtain a target path point;
connecting the target path point with the second path point by using a first preset line to obtain an automatic driving path; the second path point is the other path points except the first path point in the original path points.
2. The method according to claim 1, wherein the obtaining a preset number of original path points from the original path comprises:
acquiring a current position and a destination position of a vehicle, and taking the current position and the destination position as key information;
searching a historical driving path matched with the key information from a historical path database;
and determining a preset number of historical path points from the historical driving paths, and taking the historical path points as original path points on an original path.
3. The method of claim 2, wherein said determining the curvature of said original path point on said original path comprises:
connecting the original path points by using a second preset line;
and calculating the curvature corresponding to the original path point on the second preset line.
4. The method according to any one of claims 1 to 3, wherein said mapping said first path point onto said target curve to obtain a target path point comprises:
constructing a target coordinate system, and projecting the first path point and the target curve onto the target coordinate system;
acquiring the abscissa of the first path point and the ordinate of the first path point;
controlling the abscissa of the first path point to be kept unchanged, and adjusting the ordinate of the first path point to enable the first path point to be placed on the target curve;
and determining the path point on the target curve as a target path point.
5. The method of claim 4, wherein after said connecting the target waypoint and the second waypoint using the first preset line to obtain the autonomous driving route, the method further comprises:
constructing a virtual road scene;
adding a vehicle icon and the automatic driving path in the virtual road scene to obtain a virtual automatic driving scene;
and sending the virtual automatic driving scene to intelligent glasses worn by a user, so that the intelligent glasses display the virtual automatic driving scene on lenses of the intelligent glasses and control the vehicle icon to run according to the automatic driving path.
6. A path processing system, comprising:
the acquisition unit is used for acquiring a preset number of original path points from an original path;
a determining unit, configured to determine a curvature of the original path point on the original path;
the screening unit is used for screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points;
the fitting unit is used for obtaining a target curve according to the first path point fitting;
a mapping unit, configured to map the first path point onto the target curve to obtain a target path point;
the connecting unit is used for connecting the target path point with the second path point by using a first preset line so as to obtain an automatic driving path; the second path point is the other path points except the first path point in the original path points.
7. The system of claim 6, wherein the obtaining unit comprises:
the system comprises a first acquisition subunit, a second acquisition subunit and a third acquisition subunit, wherein the first acquisition subunit is used for acquiring the current position and the destination position of a vehicle and taking the current position and the destination position as key information;
the searching subunit is used for searching the historical driving path matched with the key information from a historical path database;
and the first determining subunit is used for determining a preset number of historical path points from the historical driving paths and taking the historical path points as original path points on an original path.
8. A vehicle, characterized in that the vehicle comprises a path processing system according to any one of claims 6-7.
9. A path processing system, comprising:
a memory storing executable program code;
a central processor coupled to the memory;
the central processor calls the executable program code stored in the memory for executing a path processing method as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program causes a computer to execute a path processing method according to any one of claims 1 to 5.
CN201910813132.9A 2019-08-29 2019-08-29 Path processing method, system, vehicle and computer readable storage medium Active CN110516880B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910813132.9A CN110516880B (en) 2019-08-29 2019-08-29 Path processing method, system, vehicle and computer readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910813132.9A CN110516880B (en) 2019-08-29 2019-08-29 Path processing method, system, vehicle and computer readable storage medium

Publications (2)

Publication Number Publication Date
CN110516880A CN110516880A (en) 2019-11-29
CN110516880B true CN110516880B (en) 2022-05-13

Family

ID=68629393

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910813132.9A Active CN110516880B (en) 2019-08-29 2019-08-29 Path processing method, system, vehicle and computer readable storage medium

Country Status (1)

Country Link
CN (1) CN110516880B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113286983A (en) * 2019-12-20 2021-08-20 百度时代网络技术（北京）有限公司 Reference line smoothing method based on spline curve and spiral curve
CN111121815B (en) * 2019-12-27 2023-07-07 重庆利龙中宝智能技术有限公司 Path display method, system and computer storage medium based on AR-HUD navigation
CN111665845B (en) * 2020-06-24 2023-09-22 阿波罗智能技术(北京)有限公司 Method, apparatus, device and storage medium for planning path
CN113844460B (en) * 2020-06-28 2024-04-12 华为技术有限公司 Vehicle control method and device and vehicle
CN112378402B (en) * 2020-11-11 2022-02-22 四川长虹电器股份有限公司 Mobile robot path planning method and device capable of adaptively adjusting path point tolerance
CN112644487B (en) * 2021-01-07 2022-12-13 广州小鹏自动驾驶科技有限公司 Automatic driving method and device
TWI819289B (en) * 2021-03-30 2023-10-21 財團法人工業技術研究院 Distributed collaborative computing method and system
CN113495562B (en) * 2021-06-07 2024-03-29 深圳市塞防科技有限公司 Simulation path generation method, device, equipment and computer storage medium
CN113932826B (en) * 2021-10-13 2024-05-07 北京经纬恒润科技股份有限公司 Optimization method and system for vehicle navigation path
CN117348733B (en) * 2023-12-06 2024-03-26 山东大学 Dynamic curvature manipulation mapping-based redirection method, system, medium and equipment

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104571112A (en) * 2015-01-14 2015-04-29 中国科学院合肥物质科学研究院 Pilotless automobile lateral control method based on turning curvature estimation
KR20160136640A (en) * 2015-05-20 2016-11-30 주식회사 만도 Vechile auto driving system and method
CN109263639A (en) * 2018-08-24 2019-01-25 武汉理工大学 Driving path planing method based on state Grid Method
CN109521763A (en) * 2017-09-18 2019-03-26 百度（美国）有限责任公司 The path optimization based on constraint smoothing spline for automatic driving vehicle
CN109976321A (en) * 2017-12-27 2019-07-05 湖南中车时代电动汽车股份有限公司 A kind of method for planning track and intelligent driving system for intelligent driving system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104571112A (en) * 2015-01-14 2015-04-29 中国科学院合肥物质科学研究院 Pilotless automobile lateral control method based on turning curvature estimation
KR20160136640A (en) * 2015-05-20 2016-11-30 주식회사 만도 Vechile auto driving system and method
CN109521763A (en) * 2017-09-18 2019-03-26 百度（美国）有限责任公司 The path optimization based on constraint smoothing spline for automatic driving vehicle
CN109976321A (en) * 2017-12-27 2019-07-05 湖南中车时代电动汽车股份有限公司 A kind of method for planning track and intelligent driving system for intelligent driving system
CN109263639A (en) * 2018-08-24 2019-01-25 武汉理工大学 Driving path planing method based on state Grid Method

Also Published As

Publication number Publication date
CN110516880A (en) 2019-11-29

Similar Documents

Publication Publication Date Title
CN110516880B (en) Path processing method, system, vehicle and computer readable storage medium
CN109392307B (en) Path planning method and system
CN108089572B (en) Method and device for vehicle positioning
CN110531771B (en) Speed planning method and device and vehicle
CN110686686B (en) System and method for map matching
CN112868036B (en) System and method for location recommendation
US10810431B2 (en) Method, apparatus and computer program product for disambiguation of points-of-interest in a field of view
CN102538810A (en) Human emotion metrics for navigation plans and maps
EP3009798B1 (en) Providing alternative road navigation instructions for drivers on unfamiliar roads
CN103512581A (en) Path planning method and device
CN111859178B (en) Method and system for recommending get-on point
CN111295569B (en) System and method for generating road map
CN101166952A (en) Device and method for compiling a combined picture and showing it on a display
US9243926B2 (en) Electronic map system
CN111433795A (en) System and method for determining estimated arrival time of online-to-offline service
CN111415024A (en) Arrival time estimation method and estimation device
CN105910613B (en) A kind of adaptive walking navigation method and system based on virtual reality
CN111465936A (en) System and method for determining new roads on a map
CN110785751A (en) System and method for online-to-offline services
US20210270629A1 (en) Method and apparatus for selecting a path to a destination
US8909474B2 (en) Methods and apparatus for socioeconomic routing in navigation systems
US20230168101A1 (en) Navigation Directions Preview
JP6506142B2 (en) Navi server and navigation system
CN102853839A (en) Vehicle navigation device and method
CN111143486A (en) Service position acquisition method and device, electronic equipment and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant