CN114894207A - Roundabout path planning method and device - Google Patents

Roundabout path planning method and device Download PDF

Info

Publication number
CN114894207A
CN114894207A CN202210420539.7A CN202210420539A CN114894207A CN 114894207 A CN114894207 A CN 114894207A CN 202210420539 A CN202210420539 A CN 202210420539A CN 114894207 A CN114894207 A CN 114894207A
Authority
CN
China
Prior art keywords
vehicle
road
roundabout
information
lane
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.)
Pending
Application number
CN202210420539.7A
Other languages
Chinese (zh)
Inventor
隋记魁
孟丽芬
陈远龙
李勇
李超群
罗凤梅
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.)
Hozon New Energy Automobile Co Ltd
Original Assignee
Hozon New Energy Automobile 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 Hozon New Energy Automobile Co Ltd filed Critical Hozon New Energy Automobile Co Ltd
Priority to CN202210420539.7A priority Critical patent/CN114894207A/en
Publication of CN114894207A publication Critical patent/CN114894207A/en
Priority to PCT/CN2022/115691 priority patent/WO2023201954A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a roundabout path planning method and a roundabout path planning device, relates to the technical field of path planning, and mainly aims to solve the problem that a vehicle cannot plan a proper path due to poor accuracy of a high-precision map, so that smooth, safe and rapid passing of the vehicle is guaranteed. The main technical scheme of the invention is as follows: when a vehicle enters a roundabout area, acquiring road information and obstacle information around the vehicle in real time; planning a lane-level optimal driving path for the vehicle in a specified road section by using the road information and the corresponding high-precision map information; and optimizing the lane-level optimal driving path according to the barrier information in the specified road section and the driving information of the vehicle to obtain a real-time driving path of the vehicle in the rotary island. The method is used for path planning of the rotary island.

Description

Roundabout path planning method and device
Technical Field
The invention relates to the technical field of path planning, in particular to a method and a device for planning a roundabout path.
Background
The roundabout is also called annular traffic, is a special form of traffic node, belongs to plane road intersection, and the section of the annular intersection is also commonly called roundabout, rotary table and the like, and is composed of an annular lane and a central island, so that after traffic flow coming from any direction enters the roundabout, the roundabout needs to rotate in a single direction by using the central ring of the roundabout until the traffic flow leaves in a required driving direction, and along with the development of unmanned vehicle technology, the roundabout is one of scenes which are difficult to overcome by unmanned vehicles in urban complex scenes.
At present, path planning for a roundabout road usually applies a reference line path at the roundabout provided by a high-precision map, and optimizes the reference line path by adding a planning algorithm. However, the high-precision map cannot guarantee the accuracy of the reference line path at the roundabout, and for the roundabout road with more dynamic obstacles, the suitable path cannot be planned, so that the passing of the unmanned vehicle is adversely affected.
Disclosure of Invention
In view of the above problems, the present invention provides a roundabout path planning method and apparatus, and mainly aims to solve the problem that a vehicle cannot plan a suitable path due to poor accuracy of a high-precision map, so as to ensure smooth, safe and rapid passing of the vehicle.
In order to solve the technical problems, the invention provides the following scheme:
in a first aspect, the present invention provides a roundabout path planning method, including:
when a vehicle enters a roundabout area, acquiring road information and obstacle information around the vehicle in real time;
planning a lane-level optimal driving path for the vehicle in a specified road section by using the road information and the corresponding high-precision map information;
and optimizing the lane-level optimal driving path according to the barrier information in the specified road section and the driving information of the vehicle to obtain a real-time driving path of the vehicle in the rotary island.
In a second aspect, the present invention provides a roundabout path planning apparatus, including:
the acquisition unit is used for acquiring road information and obstacle information around the vehicle in real time when the vehicle enters the roundabout area;
the planning unit is used for planning a lane-level optimal driving path for the vehicle in a specified road section by using the road information obtained in the acquisition unit and the corresponding high-precision map information;
and the optimization unit is used for optimizing the lane-level optimal driving path obtained in the planning unit according to the barrier information in the specified road section and the driving information of the vehicle to obtain the real-time driving path of the vehicle in the rotary island.
In order to achieve the above object, according to a third aspect of the present invention, a storage medium is provided, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute the roundabout path planning method according to the first aspect.
In order to achieve the above object, according to a fourth aspect of the present invention, a processor is provided, where the processor is configured to execute a program, where the program executes the roundabout path planning method according to the first aspect.
According to the technical scheme, when the driving path of the vehicle in the roundabout is planned, firstly, road information and obstacle information around the vehicle are collected in real time when the vehicle enters the roundabout area, then, the road information and the corresponding high-precision map information are used for planning the optimal driving path of the lane level for the vehicle in the specified road section, and finally, the optimal driving path of the lane level is optimized according to the obstacle information in the specified road section and the driving information of the vehicle, so that the real-time driving path of the vehicle in the roundabout is obtained. According to the roundabout path planning scheme provided by the embodiment of the invention, the road information acquired by the vehicle in real time is fused with the corresponding high-precision map, so that the accuracy of the high-precision map is improved, the vehicle can plan the lane-level optimal driving path in the specified road section conveniently, and the lane-level optimal driving path is further optimized through the obstacle information acquired by the vehicle in real time in the specified road section, so that the vehicle can automatically plan the most appropriate driving path in real time when the number of dynamic obstacles in the roundabout road is large, and the vehicle can smoothly, safely and quickly pass through the roundabout.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of a roundabout path planning method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating another roundabout path planning method according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating a roundabout path planning apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram illustrating another roundabout path planning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a roundabout road network model after road segments are divided according to an embodiment of the present invention;
fig. 6 shows a schematic diagram of shortest paths for different exits in the roundabout network model provided by the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The roundabout is also called annular traffic, is a special road form in traffic nodes, belongs to plane road intersection, has annular intersection, and consists of an annular lane and a central island. The road arrangement ensures that the traffic flow coming from any direction enters the rotary island, the rotary island is required to rotate in a single direction by the central circle of the rotary island until the traffic flow turns to the required driving direction and leaves, along with the development of the unmanned vehicle technology, the rotary island is one of the scenes which are difficult to overcome by unmanned vehicles in the urban complex scene, because the urban rotary island is often provided with a plurality of intersections, a plurality of routes are selected, and a plurality of traffic flows are provided, therefore, if the unmanned vehicles want to pass through the rotary island smoothly, safely and quickly, the driving routes of the unmanned vehicles need to be planned, while the prior art takes a route guide line carried by a high-precision map as the basis of the planning of the driving routes and optimizes the route guide line on the basis of the route guide line, but the mode has the disadvantages that on one hand, the high-precision map cannot ensure the accuracy of the reference route at the rotary island, on the other hand, because a plurality of dynamic obstacles are provided in the rotary island road, the vehicle is easy to mark a proper path without regulation, thereby influencing the passing of the unmanned vehicle. The embodiment of the invention provides a roundabout path planning method, which can solve the problem that a vehicle cannot plan a proper path due to poor accuracy of a high-precision map, thereby ensuring smooth, safe and quick passing of the vehicle, and the specific execution steps are shown in figure 1 and comprise the following steps:
101. when a vehicle enters a roundabout area, road information and obstacle information around the vehicle are collected in real time.
In this step, road information and obstacle information around the vehicle may be collected in real time by sensors such as a laser radar, a camera, and a millimeter wave radar, where the road information mainly refers to static factors affecting normal traffic of the vehicle on each lane of the roundabout, such as lane width, lateral clearance, road surface properties and conditions, actual guaranteed line of sight length, size of a longitudinal slope, and slope length, and the obstacle information mainly refers to dynamic factors affecting normal traffic of the vehicle on each lane of the roundabout, such as road congestion caused by the vehicle or people, construction conditions, traffic accidents, traffic control conditions, and weather conditions. Therefore, the vehicles can pass on the roundabout along the correct road by acquiring the information of the road around the vehicles and the information of the obstacles in real time.
102. And planning a lane-level optimal driving path for the vehicle in the specified road section by using the road information and the corresponding high-precision map information.
In this step, a High Definition Map (HD Map) is a Map having High positioning accuracy and capable of updating data in real time. Unlike the conventional map, the high-precision map can provide navigation information at a lane (lane) level in addition to navigation information at a road (link) level, and a main user thereof is an automatic driving system of an automobile. Specifically, a roundabout local map can be constructed through road information acquired by a vehicle in real time, a roundabout road network model can be constructed based on the roundabout local map and a corresponding high-precision map, the roundabout local map can be constructed through road information composed of multi-sensor fusion data, the precision error of the high-precision map can be compensated, the construction of the roundabout road network model is more accurate, the roundabout road in the roundabout road network model is divided into a plurality of road sections according to preset rules, the vehicle can run through different road sections, and finally a lane-level optimal running path is planned in a specified road section, wherein the lane-level optimal running path represents a path which the vehicle runs based on an optimal lane in different road sections on the premise that no person or vehicle exists in the roundabout. Based on the above, an optimal driving path at lane level can be planned for the vehicle in the specified road section, so as to execute step 103 subsequently.
103. And optimizing the lane-level optimal driving path according to the barrier information in the specified road section and the driving information of the vehicle to obtain the real-time driving path of the vehicle in the roundabout.
In this step, the driving information of the vehicle refers to driving data such as driving speed, start-stop frequency, start-stop time, and the like of the vehicle, and as can be seen from step 102, the lane-level optimal driving path represents a path where the vehicle drives based on the optimal lane in different road sections on the premise that no vehicle is present in the roundabout, and therefore, when the vehicle drives on the lane-level optimal driving path, the influence of the obstacle in the specified road section on the normal traffic needs to be considered, and therefore, the lane-level optimal driving path can be optimized by judging whether the obstacle information acquired in step 101 in real time meets the traffic rule of the vehicle, such as changing the lane on which the vehicle drives in the specified road section, and the vehicle can smoothly, safely, and quickly pass through the roundabout.
Based on the implementation manner shown in fig. 1, it can be seen that the roundabout path planning method provided in the embodiment of the present invention is to plan a driving path of a vehicle in a roundabout, first collect road information and obstacle information around the vehicle in real time when the vehicle enters the roundabout area, then plan a lane-level optimal driving path for the vehicle in a specified road segment by using the road information and corresponding high-precision map information, and finally optimize the lane-level optimal driving path according to the obstacle information in the specified road segment and the driving information of the vehicle, so as to obtain a real-time driving path of the vehicle in the roundabout. According to the roundabout path planning scheme provided by the embodiment of the invention, the road information acquired by the vehicle in real time is fused with the corresponding high-precision map, so that the accuracy of the high-precision map is improved, the vehicle can plan the lane-level optimal driving path in the specified road section conveniently, and the lane-level optimal driving path is further optimized through the obstacle information acquired by the vehicle in real time in the specified road section, so that the vehicle can automatically plan the most appropriate driving path in real time when the number of dynamic obstacles in the roundabout road is large, and the vehicle can smoothly, safely and quickly pass through the roundabout.
Further, a preferred embodiment of the present invention is a detailed description of a process of planning a roundabout path based on the foregoing fig. 1, and specific steps of the detailed description are shown in fig. 2, and include:
201. when a vehicle enters a roundabout area, road information and obstacle information around the vehicle are collected in real time.
The content of this step is the same as that of step 101 in the above embodiment, and reference may be made to the content of the above step, which is not described herein again.
202. And constructing a local map of the rotary island according to the road information.
In the step, the roundabout local map is constructed based on road information acquired by the vehicle in real time, and the corresponding roundabout local map construction algorithms include, but are not limited to, map construction algorithms such as a laser Slam algorithm and the like.
203. And establishing a roundabout road network model based on the roundabout local map and the corresponding high-precision map.
In this step, the high-precision map may be pre-stored in the automatic driving system of the vehicle, and when the vehicle enters the roundabout area, the high-precision map corresponding to the current roundabout area may be automatically obtained, so as to obtain the exit information, lane information, etc. on the roundabout road.
204. Dividing the roundabout road in the roundabout road network model into a plurality of road sections according to a preset rule.
In this step, the preset rule refers to a characterization equation for dividing each lane into segments in the roundabout road network model. Specifically, the exit positions, the exit number and the lane number in the roundabout road network model are substituted into a representation equation for road section division of each lane in the roundabout road network model, so as to determine different road sections which can be correspondingly driven by the vehicle in the roundabout road network model for different exit positions.
Wherein, the characterization equation is specifically as follows:
Figure BDA0003607403020000071
as shown in FIG. 5, wherein O i Denoted as roundabout Exit, N o Denotes the number of roundabout exits, O 0 Indicating the lane in which the vehicle is located, O t Representing a target exit lane; r j Representing road sections in a road network, N r Representing the number of lanes in the roundabout, M (i, j) representing the road section O i O i+1 R of (A) to j A road segment. Through the above manner, the road segments of the lanes in the roundabout road network model can be divided, so as to obtain different road segments that the vehicle can correspondingly travel for different exit positions in the roundabout road network model, so as to execute the subsequent step 205.
205. And determining a target driving road section of the vehicle in the roundabout road network model according to the current position of the vehicle and the target exit.
In this step, the current position of the vehicle may be obtained in real time, and the target exit may also be known when the vehicle enters the roundabout area, and the driving road section that the vehicle needs to pass through in the roundabout road network model may be determined according to the current position of the vehicle and the target exit, where the target driving road section is the driving road section that the vehicle needs to pass through in the roundabout road network model.
206. And determining the target driving road section as a specified road section to be driven by the vehicle.
In this step, based on the above step 205, the target travel link means the travel link that the vehicle needs to pass through in the roundabout road network model, and therefore, the target travel link may be determined as the specified link to be traveled by the vehicle, so as to execute the following step 207.
According to the method in step 206 and step 207, the driving road section required to pass through in the roundabout road network model can be quickly determined through the current position of the vehicle and the target exit, so as to determine the specified road section to be driven by the vehicle, and the driving path of the vehicle can be planned according to different road sections in the roundabout road network model, so that the planning of the driving path is more precise and accurate.
207. And planning the driving path of the vehicle in the specified road section by using a preset algorithm to obtain the lane-level optimal driving path.
The preset algorithm is an algorithm set for ensuring the shortest running path length of the vehicle. In this step, a MinRoad algorithm may be used for calculation, and assuming that the link length is represented by LM (i, j), a specific algorithm for calculating the shortest path from the vehicle position to the target exit is as follows:
Figure BDA0003607403020000081
for the shortest path obtained by the above algorithm, in order to facilitate that subsequent vehicles can directly learn the corresponding shortest path without repeated calculation in the area entering the roundabout, a road network list of the shortest path corresponding to different target outlets can be created, as shown in fig. 6, the number of outlets is 4, the number of lanes is 2, and the specific road network list is as follows:
outlet number/vehicle position O 0
O 1 R1：M(0，2)
O 2 R2：M(0，1)->M(1，1)
O 3 R3：M(0，1)->M(1，1)->M(2，1)
O 4 R4：M(0，1)->M(1，1)->M(2，1)->M(3，2)
According to the method of this step, since the specified road section to be traveled by the vehicle has been determined in step 206, the travel path of the vehicle can be planned based on different lanes in the specified road section according to the setting of the preset algorithm, so that the vehicle can travel from the current position to the target exit in the shortest path, the vehicle can rapidly pass through the roundabout, and the traffic efficiency of the vehicle in the roundabout is ensured.
208. And acquiring the running information of the vehicle in real time.
In this step, since the vehicle is dynamically driven on the lane-level optimal driving path, the driving information of the vehicle itself needs to be acquired in real time in order to execute the subsequent step 209.
209. And judging whether the obstacle information of the current lane in the specified road section meets a preset passing rule of the vehicle or not based on the driving information.
In this step, the traffic rule is a rule set for ensuring the traffic efficiency of the vehicle in the roundabout, and the factors affecting the traffic efficiency include, but are not limited to, road congestion caused by the vehicle or people, construction conditions, traffic accidents, traffic control conditions, weather conditions, and the like, and since all the factors affect the driving state of the vehicle, the obstacle information of the current lane can be determined by acquiring the driving information of the vehicle in real time, if the obstacle information is satisfied, the vehicle continues to drive along the current lane in the specified road section, and if the obstacle information is not satisfied, step 210 is executed.
According to the method of step 208 and step 209, the vehicle driving information obtained in real time can be used as a determining factor for determining whether the vehicle is in accordance with the traffic rule when driving on the current lane in the specified road section, so as to further ensure the traffic efficiency of the vehicle in the specified road section.
210. And determining the lane to be changed of the vehicle in the specified road section based on the road information of other lanes in the specified road section and the obstacle information.
In this step, since it has been determined in the above-described step 209 that the current lane within the specified section cannot satisfy its preset traffic rule, in order to ensure the smooth traffic of the vehicle, an optimal lane needs to be selected from other lanes in the designated road section as the lane to be changed, specifically, the road information of other lanes in the specified road section and the passing rate and the number of each obstacle in the obstacle information can be respectively obtained, determining the lane to be changed according to the road information and the passing rate and the number of each obstacle, wherein, whether the road conditions of other lanes can ensure the normal traffic of vehicles is determined through the road information, and the passing speed and the number of each obstacle can determine an optimal lane with faster obstacle moving speed and less number in other lanes capable of ensuring normal passing of the vehicle, so that the determined optimal lane is used as the lane to be changed of the vehicle.
211. And updating the optimal driving path of the lane level according to the lane to be changed.
In this step, because the vehicle needs to switch from the current lane in the specified road section to the lane to be changed to update the lane-level optimal driving path, in the process of determining the changed path, the space can be divided according to the obstacle information, hard constraints can be added to the changed path to ensure that the changed path is changed in a mode of smoother curve (smaller curvature), and the constraint can be performed in a mode of adding a cost function which can make the path curve smooth and continuous, and the specific mode is as follows:
Figure BDA0003607403020000101
Figure BDA0003607403020000102
Figure BDA0003607403020000103
Figure BDA0003607403020000104
Figure BDA0003607403020000105
I″ i+1 ＝I″ i +I″′ i→i+1 ×Δs
the cost function is used for constraint, so that the path curve is smooth and continuous when the vehicle enters or exits the roundabout, the lanes between adjacent road sections are switched and the lanes are changed in real time, and the real-time driving path of the vehicle in the roundabout, namely the lane-level optimal driving path of the vehicle in the specified road section at this time, is obtained.
According to the method of step 210 plus 211, when the current lane in the specified road section cannot meet the preset traffic rule, the optimal driving lane in other lanes is quickly determined through the road information and the obstacle information of other lanes in the specified road section, and the optimal driving lane is used as the lane to be changed for the vehicle to change, so that the traffic efficiency of the vehicle in the specified road section is ensured, the vehicle can smoothly and quickly pass in the specified road section, and the vehicle can enter or exit the roundabout, the lane switching between adjacent road sections and the path curve during the lane real-time changing are smooth and continuous based on the set constraint function in the process of determining the changed path, so that the real-time driving path of the vehicle in the roundabout is obtained, namely the lane-level optimal driving path of the vehicle in the specified road section.
Based on the implementation manner of fig. 2, it can be seen that, when planning a driving path of a vehicle in a roundabout, the roundabout path planning method provided by the embodiment of the present invention firstly acquires road information and obstacle information around the vehicle in real time when the vehicle enters the roundabout area, then constructs a roundabout local map according to the road information, can accurately find a current position of the vehicle and restore an environmental situation around the vehicle, and then constructs a roundabout road network model based on the roundabout local map and a corresponding high-precision map, so that the information in the high-precision map is fused with the roundabout local map, the current position of the vehicle and the environmental information around the vehicle can be quickly and accurately determined, thereby supplementing and correcting the information on the high-precision map in the constructed roundabout road network model, so that the constructed roundabout road network model is more accurate and comprehensive, the accuracy of a subsequent vehicle planning path in the roundabout is guaranteed, then the roundabout road in the roundabout road network model is divided into a plurality of road sections according to preset rules, each lane in the roundabout road network model can be divided into road sections, different road sections which can be correspondingly driven by the vehicle aiming at different exit positions in the roundabout road network model are further obtained, then a target driving road section of the vehicle in the roundabout road network model is determined according to the current position and the target exit of the vehicle, the target driving road section is determined as a specified road section to be driven by the vehicle, the driving road section required to pass through in the roundabout road network model can be rapidly determined through the current position and the target exit of the vehicle, the specified road section to be driven by the vehicle is determined, the driving path of the vehicle can be planned according to different road sections in the roundabout road network model, and the planning of the driving path is more fine, Accurately planning the driving path of the vehicle in the specified road section by using a preset algorithm to obtain a lane-level optimal driving path, planning the driving path of the vehicle based on different lanes in the specified road section so that the vehicle can drive to a target exit from the current position by the path with the shortest length, enabling the vehicle to rapidly pass through the roundabout, ensuring the passing efficiency of the vehicle in the roundabout, simultaneously acquiring the driving information of the vehicle in real time, judging whether the obstacle information of the current lane in the specified road section meets the preset passing rule of the vehicle based on the driving information, taking the vehicle driving information acquired in real time as a determining factor for judging whether the vehicle meets the passing rule when driving on the current lane in the specified road section so as to further ensure the passing efficiency of the vehicle in the specified road section, and finally determining the lane to be changed in the specified road section based on the road information of other lanes in the specified road section and the obstacle information, updating the optimal driving path of the lane level according to the lane to be changed, when the current lane in the appointed road section cannot meet the preset traffic rule, quickly determining the optimal driving lane in other lanes by the road information and the obstacle information of other lanes in the appointed road section, and using the optimal driving lane as the lane to be changed for the vehicle to change, thereby ensuring the traffic efficiency of the vehicle in the appointed road section, enabling the vehicle to smoothly and quickly pass in the appointed road section, and enabling the vehicle to drive in or out of the roundabout, switch lanes between adjacent road sections and smooth and continuous path curves during real-time lane change on the basis of the set constraint function in the process of determining the changed path, thereby obtaining the real-time driving path of the vehicle in the roundabout, namely the lane level optimal driving path of the vehicle in the appointed road section.
Further, as an implementation of the method embodiment shown in fig. 1-2, an embodiment of the present invention provides a roundabout path planning apparatus, which is used for solving a problem that a vehicle cannot plan a suitable path due to poor accuracy of a high-precision map, so as to ensure smooth, safe and rapid passing of the vehicle. The embodiment of the apparatus corresponds to the foregoing method embodiment, and details in the foregoing method embodiment are not repeated in this embodiment for convenience of reading, but it should be clear that the apparatus in this embodiment can correspondingly implement all the contents in the foregoing method embodiment. As shown in fig. 3 in detail, the apparatus includes:
the acquisition unit 31 is used for acquiring road information and obstacle information around the vehicle in real time when the vehicle enters the roundabout area;
the planning unit 32 is configured to plan a lane-level optimal driving path for the vehicle in a specified road segment by using the road information obtained in the acquisition unit 31 and the corresponding high-precision map information;
and the optimizing unit 33 is configured to optimize the lane-level optimal driving path obtained in the planning unit 32 according to the obstacle information in the specified road segment and the driving information of the vehicle, so as to obtain a real-time driving path of the vehicle in the roundabout.
Further, as shown in fig. 4, the planning unit 32 includes:
the building module 321 is configured to build a local roundabout map according to the road information;
the establishing module 322 is configured to establish a roundabout road network model based on the roundabout local map obtained by the establishing module 321 and the corresponding high-precision map;
a dividing module 333, configured to divide the roundabout road in the roundabout road network model obtained by the establishing module 322 into a plurality of road segments according to a preset rule;
a planning module 334, configured to plan a lane-level optimal driving path within the specified road segment obtained by the dividing module 333.
Further, as shown in fig. 4, the dividing module 333 is further configured to substitute the exit positions, the number of exits, and the number of lanes in the roundabout road network model into a characterization equation for dividing each lane into road segments in the roundabout road network model, so as to determine different road segments that can be traveled by the vehicle in the roundabout road network model for different exit positions.
Further, as shown in fig. 4, the planning module 334 includes:
the first determining submodule 3341 is configured to determine a target driving road section of the vehicle in the roundabout road network model according to the current position of the vehicle and a target exit;
a second determining submodule 3342, configured to determine the target travel road segment obtained by the first determining submodule 3341 as a specified road segment to be traveled by the vehicle;
a planning submodule 3343, configured to plan a driving path of the vehicle within the specified road segment obtained by the second determining submodule 3342 by using a preset algorithm, so as to obtain the lane-level optimal driving path, where the preset algorithm is an algorithm set to ensure that the driving path length of the vehicle is the shortest.
Further, as shown in fig. 4, the optimizing unit 33 includes:
the obtaining module 331 is configured to obtain the driving information of the vehicle in real time;
a judging module 332, configured to judge whether the obstacle information of the current lane in the specified road section meets a preset passing rule of the vehicle based on the driving information obtained by the obtaining module 331;
a determining module 333, configured to determine, if the obstacle information of the current lane in the specified road segment does not meet a preset passing rule of the vehicle, a lane of the vehicle to be changed in the specified road segment based on the road information and the obstacle information of other lanes in the specified road segment;
an updating module 334, configured to update the lane-level optimal driving path according to the lane to be changed obtained by the determining module 333.
Further, as shown in fig. 4, the determining module 333 includes:
the obtaining submodule 3331 is configured to obtain road information of other lanes in the specified road segment and a traffic rate and a number of each obstacle in the obstacle information respectively;
and the third determining submodule 3332 is configured to determine the lane to be changed according to the road information obtained by the obtaining submodule 3331 and the traffic rate and the number of the obstacles.
Further, an embodiment of the present invention further provides a storage medium, where the storage medium is used to store a computer program, where the computer program controls, when running, a device in which the storage medium is located to execute the roundabout path planning method described in fig. 1-2.
Further, an embodiment of the present invention further provides a processor, where the processor is configured to execute a program, where the program executes the roundabout path planning method described in fig. 1 to 2 when running.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the method and apparatus described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system is apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In addition, the memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A roundabout path planning method is characterized by comprising the following steps:
when a vehicle enters a roundabout area, acquiring road information and obstacle information around the vehicle in real time;
planning a lane-level optimal driving path for the vehicle in a specified road section by using the road information and the corresponding high-precision map information;
and optimizing the lane-level optimal driving path according to the barrier information in the specified road section and the driving information of the vehicle to obtain a real-time driving path of the vehicle in the rotary island.
2. The method of claim 1, wherein using the road information and corresponding high-precision map information to plan a lane-level optimal driving path for the vehicle within a specified road segment comprises:
constructing a local map of the rotary island according to the road information;
establishing a roundabout road network model based on the roundabout local map and the corresponding high-precision map;
dividing the roundabout road in the roundabout road network model into a plurality of road sections according to a preset rule;
and planning a lane-level optimal driving path in the specified road section.
3. The method according to claim 2, wherein dividing the roundabout road in the roundabout network model into a plurality of road segments according to a preset rule comprises:
and substituting the exit positions, the exit number and the lane number in the roundabout road network model into a representation equation for road section division of each lane in the roundabout road network model so as to determine different road sections which can be correspondingly driven by the vehicle in the roundabout road network model aiming at different exit positions.
4. The method of claim 2, wherein planning a lane-level optimal travel path within a specified road segment comprises:
determining a target driving road section of the vehicle in the roundabout road network model according to the current position of the vehicle and a target outlet;
determining the target driving road section as a specified road section to be driven by the vehicle;
planning the driving path of the vehicle in the specified road section by using a preset algorithm to obtain the lane-level optimal driving path, wherein the preset algorithm is set for ensuring that the length of the driving path of the vehicle is shortest.
5. The method according to claim 1, wherein optimizing the lane-level optimal travel path according to obstacle information within the specified road segment and travel information of the vehicle includes:
acquiring the driving information of the vehicle in real time;
judging whether the obstacle information of the current lane in the specified road section meets a preset passing rule of the vehicle or not based on the driving information;
if the lane change information does not meet the preset lane change requirement, determining the lane of the vehicle to be changed in the specified road section based on the road information and the obstacle information of other lanes in the specified road section;
and updating the lane-level optimal driving path according to the lane to be changed.
6. The method of claim 5, wherein determining the lane of the vehicle to change within the specified road segment based on road information and obstacle information for other lanes within the specified road segment comprises:
respectively acquiring the road information of other lanes in the specified road section and the passing speed and the number of each obstacle in the obstacle information;
and determining the lane to be changed according to the road information and the passing rate and the number of the obstacles.
7. A roundabout path planning device, comprising:
the acquisition unit is used for acquiring road information and obstacle information around the vehicle in real time when the vehicle enters the roundabout area;
the planning unit is used for planning a lane-level optimal driving path for the vehicle in a specified road section by using the road information obtained in the acquisition unit and the corresponding high-precision map information;
and the optimization unit is used for optimizing the lane-level optimal driving path obtained in the planning unit according to the barrier information in the specified road section and the driving information of the vehicle to obtain the real-time driving path of the vehicle in the roundabout.
8. The apparatus of claim 7, wherein the planning unit comprises:
the building module is used for building a local map of the rotary island according to the road information;
the building module is used for building a roundabout road network model based on the roundabout local map obtained by the building module and the corresponding high-precision map;
the dividing module is used for dividing the roundabout road in the roundabout road network model obtained by the establishing module into a plurality of road sections according to a preset rule;
and the planning module is used for planning the optimal driving path of the lane level in the specified road section obtained by the dividing module.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein the apparatus on which the storage medium is located is controlled to perform the method according to any one of claims 1 to 6 when the program is run.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any one of claims 1 to 6.
CN202210420539.7A 2022-04-21 2022-04-21 Roundabout path planning method and device Pending CN114894207A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210420539.7A CN114894207A (en) 2022-04-21 2022-04-21 Roundabout path planning method and device
PCT/CN2022/115691 WO2023201954A1 (en) 2022-04-21 2022-08-30 Roundabout path planning method and apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210420539.7A CN114894207A (en) 2022-04-21 2022-04-21 Roundabout path planning method and device

Publications (1)

Publication Number Publication Date
CN114894207A true CN114894207A (en) 2022-08-12

Family

ID=82717017

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210420539.7A Pending CN114894207A (en) 2022-04-21 2022-04-21 Roundabout path planning method and device

Country Status (2)

Country Link
CN (1) CN114894207A (en)
WO (1) WO2023201954A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023201954A1 (en) * 2022-04-21 2023-10-26 合众新能源汽车股份有限公司 Roundabout path planning method and apparatus

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101046382B (en) * 2007-04-27 2010-07-21 江苏华科导航科技有限公司 Circular navigation method for navigation instrument
JP6993759B2 (en) * 2017-09-14 2022-01-14 アルパイン株式会社 Display control device and display control method
EP3598414A1 (en) * 2018-07-20 2020-01-22 Volvo Car Corporation System and method for avoiding a collision course
CN111731324A (en) * 2020-05-29 2020-10-02 徐帅 Control method and system for guiding AGV intelligent vehicle based on vision
CN112735134B (en) * 2020-12-30 2022-04-19 惠州华阳通用电子有限公司 Multi-lane roundabout entering method for automatically driving vehicle
CN114116927A (en) * 2021-09-10 2022-03-01 高德软件有限公司 Roundabout road identification method and device, electronic equipment and storage medium
CN114894207A (en) * 2022-04-21 2022-08-12 合众新能源汽车有限公司 Roundabout path planning method and device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023201954A1 (en) * 2022-04-21 2023-10-26 合众新能源汽车股份有限公司 Roundabout path planning method and apparatus

Also Published As

Publication number Publication date
WO2023201954A1 (en) 2023-10-26

Similar Documents

Publication Publication Date Title
EP3699048A1 (en) Travelling track prediction method and device for vehicle
WO2021104180A1 (en) Map generation method, positioning method, apparatus, device, storage medium, and computer program
WO2020108207A1 (en) Method and device for constructing high-resolution map
CN100423040C (en) Vehicular navigation system
JP2022020044A (en) Method and device for autonomous parking, electronic device, computer readable storage medium and computer program
JP6558238B2 (en) Automatic driving support system, automatic driving support method, and computer program
JP2018087763A (en) Travelable region setting device and setting method of travelable region
JP6638556B2 (en) Automatic driving support device and computer program
CN108171967B (en) Traffic control method and device
CN113341941B (en) Control method and device of unmanned equipment
CN101469992B (en) Processing method and apparatus for vehicle navigation and vehicle navigation system
CN108663059A (en) A kind of navigation path planning method and device
CN107664993A (en) A kind of paths planning method
JP7347522B2 (en) Driving support equipment and computer programs
JP7439529B2 (en) Driving support equipment and computer programs
CN114724377B (en) Unmanned vehicle guiding method and system based on vehicle-road cooperation technology
WO2022227878A1 (en) Lane line labeling method and apparatus
WO2023201954A1 (en) Roundabout path planning method and apparatus
JP2022502311A (en) Feature point extraction method and equipment for environmental targets
CN113968243B (en) Obstacle track prediction method, device, equipment and storage medium
CN112748736B (en) Vehicle driving assisting method and device
CN113033527A (en) Scene recognition method and device, storage medium and unmanned equipment
CN112747762A (en) Local travelable path planning method and device, electronic equipment and storage medium
CN113074748A (en) Path planning method and device for unmanned equipment
JP2021196874A (en) Driving support method and driving support device

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
CB02 Change of applicant information

Address after: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang

Applicant after: United New Energy Automobile Co.,Ltd.

Address before: 314500 988 Tong Tong Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang

Applicant before: Hezhong New Energy Vehicle Co.,Ltd.

CB02 Change of applicant information