CN113486531B - Vehicle driving path planning method, device and system - Google Patents
Vehicle driving path planning method, device and system Download PDFInfo
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- CN113486531B CN113486531B CN202110822308.4A CN202110822308A CN113486531B CN 113486531 B CN113486531 B CN 113486531B CN 202110822308 A CN202110822308 A CN 202110822308A CN 113486531 B CN113486531 B CN 113486531B
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Abstract
The invention relates to the technical field of roadblock simulation, in particular to a vehicle driving path planning method, which comprises the steps of taking a passable lane closest to a lane where a simulated vehicle is positioned as a target lane when the roadblock appears in front of the simulated vehicle; determining a target vehicle in the target lane and acquiring a driving path of the target vehicle; determining a lane change starting point of the simulated vehicle; acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint; fitting according to the lane change starting point and the lane change ending point to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle; simulating the vehicle to travel to a lane change end point along the second preset path under the condition that the second preset path and the traveling path of the target vehicle keep a safe distance; the method and the device are used for solving the technical problem that in the prior art, after congestion occurs, how a vehicle performs rapid and reasonable path planning is closer to a real scene.
Description
Technical Field
The invention relates to the technical field of roadblock simulation, in particular to a vehicle driving path planning method, device and system.
Background
In the urban traffic planning and design process, as the number of automobiles is continuously increased, due to randomness and unpredictability of driving behaviors of the automobiles, a traffic management department is difficult to establish an accurate mathematical model to predict the traffic congestion, so that how to solve the problem that the traffic congestion brings great pressure to road traffic becomes a great difficulty for the traffic management department.
With the appearance of automatic driving, virtual simulation tests are built in the automatic driving field and are commonly used for carrying out simulation tests on automatic driving vehicles, and congestion simulation and a vehicle driving path after congestion can be intuitively demonstrated in the simulation tests, so that the vehicle congestion is predicted by replacing a mathematical model, and the problems are solved.
The technical problem to be overcome when the simulation test is applied to the vehicle congestion prediction is as follows: after congestion occurs, how the vehicle performs rapid and reasonable path planning is closer to the real scene.
Disclosure of Invention
In view of this, the embodiments of the present invention provide a vehicle driving path planning method, apparatus and system, so as to solve the problem of vehicle driving path planning in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle driving path planning method, where the method includes:
when a roadblock appears in front of the simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
determining a target vehicle in the target lane and acquiring a driving path of the target vehicle;
determining a lane change starting point of the simulated vehicle;
acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint;
fitting according to the lane change starting point and the lane change ending point to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle;
when the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
or (b)
And when the obstacle in front of the simulated vehicle is the vehicle or the simulated vehicle cannot keep a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road.
Preferably, the lane where the roadblock is located is marked as an unvented lane, and the other lanes are marked as passable lanes.
Preferably, the determining the lane change starting point of the simulated vehicle includes the steps of:
the point which is away from the roadblock B (m) is taken as the lane changing starting point of the simulated vehicle, and the B is a safe lane changing distance.
Preferably, when a roadblock occurs in front of the simulated vehicle, a passable lane closest to a lane in which the simulated vehicle is located is taken as a target lane, and the method further comprises the following steps:
when a middle lane exists between the target lane and the lane where the simulated vehicle is located, the target vehicle changes to the middle lane firstly and then changes to the target lane from the middle lane.
Preferably, the target vehicle first changes lane to the middle lane, including the following steps:
dividing a safety frame which reaches the middle lane after the simulated vehicle changes lanes;
making the central point of the safety frame be a target point;
obtaining a Du Binsi curve by fitting according to preset Du Binsi parameters, and taking the Du Binsi curve as a first preset path of the simulated vehicle;
calculating a time period required by the simulated vehicle to reach the target point according to a first preset path;
and under the condition that no other vehicle enters the safety frame within the time period, the simulated vehicle runs along the first preset path to change the lane to the middle lane.
Preferably, when the second preset path is kept at a safe distance from the driving path of the target vehicle, the simulated vehicle drives to the lane change destination along the second preset path, and the method comprises the following steps:
enabling the simulated vehicle to run at a constant speed, wherein the speed is equal to the speed v of the lane change starting point;
according to a speed-displacement formula, calculating the total time required by simulating the future passing of the vehicle through the second preset path, and calculating the number of frames traversed in the total time;
calculating the coordinate position of the simulated vehicle reached in each frame of image in the future;
acquiring the coordinate position reached by the target vehicle in each frame of image traversed in the future;
calculating the relative distance between the simulated vehicle and the target vehicle in each frame of image traversed in the future;
and when the relative distance is greater than a preset safety distance, the simulated vehicle runs along the second preset path.
Preferably, in the case that the simulated vehicle cannot maintain a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road, including:
when the second preset path and the running path of the vehicle in the passable lane cannot keep a safe distance, taking the position of the lane change starting point as a parking position;
the simulated vehicle runs at a reduced speed along the current road, and the speed of reaching the parking position is 0.
Preferably, when the obstacle in front of the simulated vehicle is a vehicle, the simulated vehicle runs at a reduced speed along the current road, comprising:
acquiring parking point coordinates of a front vehicle;
adding a lane change distance B (m) to the parking spot coordinates of the vehicle as a parking position of the simulated vehicle;
calculating acceleration and speed of the simulated vehicle according to the parking point coordinates and the current speed of the simulated vehicle;
the speed at which the simulated vehicle reaches the parking position is set to 0.
In a second aspect, an embodiment of the present invention provides a vehicle travel path planning apparatus, including: at least one processor, at least one memory, and computer program instructions stored in the memory.
In a third aspect, an embodiment of the present invention provides a vehicle travel path planning system, including:
a target lane locking module: when a roadblock appears in front of the simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
a target vehicle locking module: determining a target vehicle in the target lane and acquiring a driving path of the target vehicle;
the lane change starting point determining module: determining a lane change starting point of the simulated vehicle;
and a lane change end point determining module: acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint;
a second preset path planning module: fitting according to preset Du Binsi parameters to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle;
and simulating a vehicle lane change module: when the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
or (b)
And when the obstacle in front of the simulated vehicle is the vehicle or the simulated vehicle cannot keep a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road.
In summary, the beneficial effects of the invention are as follows:
1. according to the method, the three-dimensional scene road is built according to the road information in the real traffic monitoring video, the vehicle driving path in the monitoring video is obtained, a plurality of vehicles are generated in the three-dimensional scene road according to the real vehicle driving path, the number of the vehicles and the authenticity of the driving path are guaranteed, test data are provided for subsequent congestion simulation, and the simulation result is more real and has reference value.
2. According to the invention, real vehicle data are used as test data, the running path of each vehicle is firstly stored in the data table, when no obstacle appears, the vehicle runs in the road according to the established running path, in the subsequent obstacle avoidance mode, the simulated vehicle is convenient to quickly acquire the running paths of other related vehicles, whether the simulated vehicle changes lanes or not is determined based on the running paths, the prediction process of the future running paths of other related vehicles is reduced, and the obtained running paths are real data.
3. According to the invention, the roadblock is generated by random clicking in a three-dimensional scene road, and the position and the width of the roadblock can be set freely; after the roadblock is generated, after the road block is detected by a rear vehicle, starting an obstacle avoidance mode, and obtaining a Du Binsi curve, namely a preset path of a lane change, through preset Du Binsi parameter fitting; at this time, the stopped vehicle is taken as an obstacle by the coming vehicle at the rear, and the coming vehicle at the rear also starts the obstacle avoidance mode, so that the process is repeated. And recording the congestion process and the congestion degree, and providing reference and guidance for subsequent traffic planning.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described, and it is within the scope of the present invention to obtain other drawings according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method in an embodiment of the invention;
FIG. 2 is a schematic view of a road in a three-dimensional scene according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a road in a three-dimensional scene according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals or letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1 to 3, in the present invention, before step S1, the method further includes:
s01, dividing a three-dimensional scene road into a plurality of lanes, and storing position information of each lane, wherein the method specifically comprises the following steps: accessing openmaptreet data of a road in a traffic monitoring video, wherein the openmaptreet data comprises a path and a width of each lane in the road; constructing a three-dimensional scene road according to the openmaptreet data, dividing the three-dimensional scene road into a plurality of lanes, and numbering the lanes in sequence;
in this embodiment, a three-dimensional scene road is built in a development platform, where the development platform includes UE4 and Unity, unigine, OSG, and in this embodiment, the UE4 development platform is preferably adopted. The three-dimensional scene road comprises lanes in two directions, and a road object is created in the UE4 platform and used for storing the number of each lane and the boundary line and central line path information of the lane.
S02, mapping traffic flow in the traffic monitoring video to a three-dimensional scene road to generate a plurality of vehicles;
the method specifically comprises the following steps:
s021, cutting the traffic monitoring video according to the number of frames to obtain a plurality of frame images;
s022, recording the position information of the vehicles in each frame of image, and storing the acquired position information of each vehicle into a data table;
s023, reading the position information of the vehicle in each frame of image according to time sequence, and generating a corresponding vehicle at a corresponding position in the three-dimensional scene road;
s024, generating a continuous three-dimensional scene video stream; in this embodiment, the data in the data table is continuously read, and the coordinate positions of the vehicles are continuously updated in the three-dimensional scene road, so as to form a continuous three-dimensional scene video stream.
S03, randomly clicking in a three-dimensional scene road to generate a roadblock, and calculating position information of the roadblock;
s04, in the non-passable lane, when an obstacle is detected to exist in front of the vehicle, cutting off the mapping relation between the vehicle and the traffic monitoring video, and marking the vehicle as a simulated vehicle, wherein the obstacle comprises a roadblock and the vehicle.
Based on the above steps, the embodiment of the invention provides a vehicle driving path planning method, which includes the following steps, please refer to fig. 2 and 3:
s1, when a roadblock appears in front of a simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
s10, when an intermediate lane exists between the target lane and the lane where the simulated vehicle is located, the target vehicle firstly changes the lane to the intermediate lane, and then changes the lane from the intermediate lane to the target lane;
based on the above embodiment, the step S10 specifically includes the following steps:
s101, dividing a safety frame which reaches the middle lane after the simulated vehicle changes lanes;
specifically, a longitudinal coordinate value Y1 of the head of the simulated vehicle is obtained, an area of A (m) is divided on a middle lane along the running direction of the simulated vehicle by taking the longitudinal coordinate value Y1 as a reference and is used as a safety frame, the A value is determined to be 1.5-2 times of the length of the vehicle according to the type of the vehicle, for example, the safety frame of the trolley is [6.5,9] m;
s102, enabling the central point of the safety frame to be a target point O;
s103, fitting according to preset Du Binsi parameters to obtain a Du Binsi curve, taking the Du Binsi curve as a first preset path for simulating a vehicle, wherein the Du Binsi parameters comprise a preset turning radius, a starting point and a finishing point, the finishing point is a target point O, and the turning radius is preset according to the vehicle type and the running speed;
s104, calculating a time period required by the simulated vehicle to reach the target point O according to a first preset path;
s105, under the condition that no other vehicle enters a safety frame in the time period, the simulated vehicle runs along the first preset path and changes the lane to a middle lane;
when other vehicles enter the safety frame in the time period, the simulated vehicle runs at a reduced speed along the original lane, and the position of the safety frame is continuously updated in the running process until no other vehicles exist in the safety frame, and the simulated vehicle changes lanes.
S2, determining a target vehicle in the target lane, and acquiring a driving path of the target vehicle from a data table;
specifically, the vehicle closest to the simulated vehicle in the target lane is marked as the target vehicle, and it should be noted that, here, the vehicle running in front of the simulated vehicle in the closest target lane is not required to be considered, and only the vehicle running in back of the simulated vehicle is required to be considered;
s3, determining a lane change starting point of the simulated vehicle; specifically, a point distant from the roadblock B (m) is taken as a lane changing start point of the simulated vehicle, B is a safe lane changing distance, B e is 1,3, and preferably, in this embodiment, b=1.3m;
the simulated vehicle runs at a reduced speed according to a predetermined running path in a data table from the position of the detected obstacle to the lane change starting point, so that the vehicle speed v is less than or equal to 5m/s when the simulated vehicle reaches the lane change starting point;
s4, determining a lane change end point of the simulated vehicle reaching the target lane after lane change, specifically, acquiring a longitudinal coordinate value Y2 of a roadblock end point close to the target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as the lane change end point;
s5, fitting according to a lane change starting point and a lane change ending point to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle; the turning radius is set according to the radius of the roadblock, so that a simulated vehicle can run along the curve of the roadblock to change the road;
s6, under the condition that the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
based on the above embodiment, the step S6 specifically includes the following steps:
s61, enabling the simulated vehicle to run at a constant speed, wherein the speed is equal to the speed v of the lane change starting point;
s62, calculating the total time t required by simulating the future passing of the vehicle through the second preset path according to a speed-displacement formula, and calculating the number of frames traversed in the total time t in the future;
s63, calculating the coordinate position of the simulated vehicle reached in each frame of image in the future;
s64, acquiring the coordinate position reached by the target vehicle in the nearest target lane in each frame of image traversed in the future;
s65, calculating the relative distance between the simulated vehicle and the target vehicle in each frame of image traversed in the future;
s66, comparing the relative distance with a preset safety distance, wherein the preset safety distance is set according to the shape and the size of the vehicle, preferably, the safety distance is the distance between two vehicle bodies, and preferably, the safety distance is set to be 0.7m in the embodiment.
Specifically, when the relative distance is greater than the safe distance, the simulated vehicle is indicated to travel along the second preset path without collision with the target vehicle according to the second preset path, and the simulated vehicle is caused to travel along the second preset path according to the speed v.
In the present embodiment, since the vehicle travel paths in the travelable lanes are stored in the data table, the vehicle identification control object can directly acquire the path information of each vehicle.
S67, under the condition that the safety distance between the simulated vehicle and the target vehicle cannot be kept, the simulated vehicle runs at a reduced speed along the current road;
based on the above embodiment, the step S67 specifically includes the following steps:
s671. when the second preset path and the driving path of the vehicle in the passable lane cannot keep a safe distance, taking the position of the lane change starting point as a parking position;
s672, the simulated vehicle runs at a reduced speed along the current road, and the speed of reaching the parking position is 0.
S7, when the obstacle in front of the simulated vehicle is a vehicle, the simulated vehicle runs at a reduced speed along the current road;
based on the above embodiment, the step S7 specifically includes the following steps:
s71, acquiring parking point coordinates of a front vehicle (if the front vehicle is in the running process, acquiring the parking point coordinates of the front vehicle);
s72, adding a lane changing distance B (m) to the parking spot coordinates of the vehicle to serve as a parking position of the simulated vehicle;
s73, calculating acceleration and speed of the simulated vehicle according to the parking spot coordinates and the current speed of the simulated vehicle;
s74, enabling the speed of the simulated vehicle to reach the parking position to be 0.
In the embodiment, a judgment rule is formulated according to a straight-going priority rule in traffic road rights, a simulated vehicle needing lane changing calculates whether a running path of a straight-going vehicle in a passable lane is disturbed or not before lane changing, and a lane changing strategy is executed under the condition that the running path is not disturbed.
Example 2
The embodiment of the invention also provides a vehicle driving path planning system, which comprises:
a target lane locking module: when a roadblock appears in front of the simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
a target vehicle locking module: determining a target vehicle in the target lane and acquiring a driving path of the target vehicle;
the lane change starting point determining module: determining a lane change starting point of the simulated vehicle;
and a lane change end point determining module: acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint;
a second preset path planning module: fitting according to preset Du Binsi parameters to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle;
and simulating a vehicle lane change module: when the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
or (b)
And when the obstacle in front of the simulated vehicle is the vehicle or the simulated vehicle cannot keep a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road.
It should be noted that, regarding the system in the above embodiment, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment regarding the method, and will not be described in detail herein.
Example 3
Corresponding to the above method embodiments, the embodiments of the present disclosure further provide a vehicle driving path planning apparatus, and a congestion simulation apparatus based on real-time traffic data described below and a vehicle driving path planning method described above may be referred to correspondingly with each other.
The electronic device may include: a processor, a memory. The electronic device may also include one or more of a multimedia component, an input/output (I/O) interface, and a communication component.
The processor is used for controlling the whole operation of the electronic equipment so as to complete all or part of the steps in the vehicle driving path planning method. The memory is used to store various types of data to support operation at the electronic device, which may include, for example, instructions for any application or method operating on the electronic device, as well as application-related data, such as contact data, messages, pictures, audio, video, and so forth. The memory may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable Read-only memory (EEPROM), erasable programmable Read-only memory (EPROM), programmable Read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia components may include a screen and audio components. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in a memory or transmitted through a communication component. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface provides an interface between the processor and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component is used for wired or wireless communication between the electronic device and other devices. Wireless communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more thereof, so that the corresponding communication component may comprise: wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the electronic device may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the vehicle travel path planning method described above.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the vehicle travel path planning method described above. For example, the computer readable storage medium may be the memory described above that includes program instructions executable by a processor of an electronic device to perform the vehicle travel path planning method described above.
Example 4
Corresponding to the above method embodiments, the present disclosure further provides a readable storage medium, and a readable storage medium described below and a vehicle travel path planning method described above may be referred to correspondingly.
A readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle travel path planning method of the above method embodiment.
The readable storage medium may be a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a magnetic disk, or an optical disk, and the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle travel path planning method, characterized in that the method comprises:
when a roadblock appears in front of the simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
determining a target vehicle in the target lane and acquiring a driving path of the target vehicle;
determining a lane change starting point of the simulated vehicle;
acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint;
fitting according to the lane change starting point and the lane change ending point to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle;
when the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
or in the case that the obstacle in front of the simulated vehicle is a vehicle or the simulated vehicle cannot keep a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road.
2. The vehicle travel path planning method according to claim 1, characterized in that the lane where the roadblock is located is marked as an unvented lane, and the other lanes are marked as navigable lanes.
3. The vehicle travel path planning method according to claim 1, characterized in that the determining the lane change starting point of the simulated vehicle includes the steps of:
the point which is away from the roadblock B (m) is taken as a lane changing starting point of the simulated vehicle, and B is the lane changing distance.
4. The vehicle travel path planning method according to claim 1, characterized in that when a roadblock occurs in front of the simulated vehicle, a passable lane closest to a lane in which the simulated vehicle is located is taken as a target lane, further comprising the steps of:
when a middle lane exists between the target lane and the lane where the simulated vehicle is located, the target vehicle changes to the middle lane firstly and then changes to the target lane from the middle lane.
5. The vehicle travel path planning method according to claim 4, characterized in that the target vehicle first changes lane to the intermediate lane, comprising the steps of:
dividing a safety frame which reaches the middle lane after the simulated vehicle changes lanes;
making the central point of the safety frame be a target point;
obtaining a Du Binsi curve by fitting according to preset Du Binsi parameters, and taking the Du Binsi curve as a first preset path of the simulated vehicle;
calculating a time period required by the simulated vehicle to reach the target point according to a first preset path;
and under the condition that no other vehicle enters the safety frame within the time period, the simulated vehicle runs along the first preset path to change the lane to the middle lane.
6. The vehicle travel path planning method according to claim 1, characterized in that the simulated vehicle travels along the second preset path to a lane change destination in a case where the second preset path maintains a safe distance from a travel path of a target vehicle, comprising the steps of:
enabling the simulated vehicle to run at a constant speed, wherein the speed is equal to the speed v of the lane change starting point;
according to a speed-displacement formula, calculating the total time required by simulating the future passing of the vehicle through the second preset path, and calculating the number of frames traversed in the total time;
calculating the coordinate position of the simulated vehicle reached in each frame of image in the future;
acquiring the coordinate position reached by the target vehicle in each frame of image traversed in the future;
calculating the relative distance between the simulated vehicle and the target vehicle in each frame of image traversed in the future;
and when the relative distance is greater than a preset safety distance, the simulated vehicle runs along the second preset path.
7. The vehicle travel path planning method according to claim 1, wherein in the case where the simulated vehicle cannot maintain a safe distance from the target vehicle, the simulated vehicle travels at a reduced speed along the current road, comprising:
when the second preset path and the running path of the vehicle in the passable lane cannot keep a safe distance, taking the position of the lane change starting point as a parking position;
the simulated vehicle runs at a reduced speed along the current road, and the speed of reaching the parking position is 0.
8. A vehicle travel path planning method according to claim 3, characterized in that when the obstacle in front of the simulated vehicle is a vehicle, the simulated vehicle travels at a reduced speed along the current road, comprising:
acquiring parking point coordinates of a front vehicle;
adding a lane change distance B (m) to the parking spot coordinates of the vehicle as a parking position of the simulated vehicle;
calculating acceleration and speed of the simulated vehicle according to the parking point coordinates and the current speed of the simulated vehicle;
the speed at which the simulated vehicle reaches the parking position is set to 0.
9. A vehicle travel path planning apparatus characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of any one of claims 1-7.
10. A vehicle travel path planning system, comprising:
a target lane locking module: when a roadblock appears in front of the simulated vehicle, taking a passable lane closest to a lane where the simulated vehicle is located as a target lane;
a target vehicle locking module: determining a target vehicle in the target lane and acquiring a driving path of the target vehicle;
the lane change starting point determining module: determining a lane change starting point of the simulated vehicle;
and a lane change end point determining module: acquiring a longitudinal coordinate value Y2 of a roadblock endpoint close to a target lane, and taking a point with the longitudinal coordinate value Y2 on the central line of the target lane as a lane changing endpoint;
a second preset path planning module: fitting according to preset Du Binsi parameters to obtain a Du Binsi curve, and taking the Du Binsi curve as a second preset path of the simulated vehicle;
and simulating a vehicle lane change module: when the second preset path and the running path of the target vehicle keep a safe distance, the simulated vehicle runs to a lane change end point along the second preset path;
or in the case that the obstacle in front of the simulated vehicle is a vehicle or the simulated vehicle cannot keep a safe distance from the target vehicle, the simulated vehicle runs at a reduced speed along the current road.
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| CN114103957B (en) * | 2021-12-22 | 2024-02-06 | 阿波罗智联(北京)科技有限公司 | Lane change control method, apparatus, electronic device and storage medium |
| CN114543828A (en) * | 2022-02-21 | 2022-05-27 | 中国第一汽车股份有限公司 | Vehicle cut-in scene generation method and device, electronic equipment and storage medium |
| CN114580797B (en) * | 2022-05-09 | 2022-07-29 | 湖南省交通科学研究院有限公司 | Small-radius precast beam erection path planning method based on BIM simulation |
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| CN114879705B (en) * | 2022-07-13 | 2022-10-28 | 智道网联科技(北京)有限公司 | Method, apparatus and computer-readable storage medium for optimizing path for lane change of unmanned vehicle |
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