CN109612496A - A kind of paths planning method, device and vehicle - Google Patents

A kind of paths planning method, device and vehicle Download PDF

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Publication number
CN109612496A
CN109612496A CN201910127246.8A CN201910127246A CN109612496A CN 109612496 A CN109612496 A CN 109612496A CN 201910127246 A CN201910127246 A CN 201910127246A CN 109612496 A CN109612496 A CN 109612496A
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CN
China
Prior art keywords
lane
attribute
adjacent
lanes
route programming
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CN201910127246.8A
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Chinese (zh)
Inventor
付骁鑫
潘余昌
李洪业
朱帆
朱振广
陈至元
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百度在线网络技术(北京)有限公司
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Priority to CN201910127246.8A priority Critical patent/CN109612496A/en
Publication of CN109612496A publication Critical patent/CN109612496A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3446Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes

Abstract

The embodiment of the present invention proposes a kind of paths planning method, device and vehicle, which comprises is based on starting point and terminal, generates route programming result;It wherein, include at least two lanes in route programming result;And adjacent lane is that front and back is adjacent at least two lanes;In at least two lanes for including based on the route programming result, the left and right neighbouring relations in the attribute in each lane and each lane obtain optional lane;Wherein, the attribute in the lane include can lane change attribute and can not lane change attribute;The optional lane is added to route programming result, the route programming result after being expanded determines that at least one includes the traffic areas in the identical lane of attribute in the route programming result after the extension.Solve the problems, such as that automatic driving vehicle not can guarantee lane change ability.

Description

A kind of paths planning method, device and vehicle

Technical field

The present invention relates to unmanned control technology field more particularly to a kind of paths planning methods, device and vehicle.

Background technique

In unmanned field, global path is provided for unmanned vehicle by using the global path planning of high-precision map, is Guarantee that unmanned vehicle reasonably completes the basis of Driving Decision-making.Global path planning method is carried out using high-precision map, is usually only mentioned For the route programming result of lane rank, still, the route programming result obtained in this way not can guarantee unmanned vehicle Lane change ability.

Summary of the invention

The embodiment of the present invention provides a kind of paths planning method, device and vehicle, to solve not can guarantee in the prior art The problem of lane change ability of unmanned vehicle.

In a first aspect, the embodiment of the invention provides a kind of paths planning methods, comprising:

Based on starting point and terminal, route programming result is generated;It wherein, include at least two vehicles in route programming result Road;And adjacent lane is that front and back is adjacent at least two lanes;

In at least two lanes for including based on the route programming result, the attribute in each lane and described every The left and right neighbouring relations in one lane, obtain optional lane;Wherein, the attribute in the lane include can lane change attribute and not It can lane change attribute;

The optional lane is added to route programming result, the route programming result after being expanded, in the extension In route programming result afterwards, determine that at least one includes the traffic areas in the identical lane of attribute.

In one embodiment, at least one described traffic areas, each traffic areas includes that attribute is identical At least two lanes, and lane adjacent in each described traffic areas is that front and back is adjacent.

In one embodiment, described to be based on starting point and terminal, generate route programming result, comprising:

It determines the minimal cost path Jing Guo starting point, transit point and terminal, will include in the minimal cost path At least two lanes are as route programming result.

In one embodiment, at least two lanes for including based on the route programming result, each The left and right neighbouring relations in the attribute in lane and each lane, obtain optional lane, comprising:

From at least two lanes that the route programming result includes, choose lane attribute be can lane change attribute vehicle Road;

By it is described can lane change attribute lane left adjacent lane, and/or right adjacent lane, as optional lane.

In one embodiment, the method also includes:

Its left adjacent lane or right adjacent lane are chosen for optional lane, as another optional lane.

In one embodiment, the method also includes: based between two adjacent lanes of left and right in high-precision map Connected relation representation, determine lane attribute be can lane change attribute or can not lane change attribute;

Alternatively,

Based on the relationship between the adjacent lane in lane in high-precision map and its front and back, judge whether the lane is bifurcated Lane imports lane, based on the judging result determine the lane attribute be can lane change attribute or can not lane change attribute.

Second aspect, the embodiment of the invention provides a kind of path planning apparatus, described device includes:

Path planning unit generates route programming result for being based on starting point and terminal;Wherein, route programming result In include at least two lanes;And adjacent lane is that front and back is adjacent at least two lanes;

Lane selection unit, at least two lanes for including based on the route programming result, each lane Attribute and each lane left and right neighbouring relations, obtain optional lane;Wherein, the attribute in the lane includes Having can lane change attribute and can not lane change attribute;

Path planning processing unit, for the optional lane to be added to route programming result, the road after being expanded Diameter program results determine that at least one includes the FOH in the identical lane of attribute in the route programming result after the extension Domain.

In one embodiment, at least one described traffic areas, each traffic areas includes that attribute is identical At least two lanes, and lane adjacent in each described traffic areas is that front and back is adjacent.

In one embodiment, the path planning unit, for determining by starting point, transit point and terminal most Small cost path, using at least two lanes for including in the minimal cost path as route programming result.

In one embodiment, the lane selection unit, at least two for including from the route programming result In lane, choose lane attribute be can lane change attribute lane;By it is described can lane change attribute lane left adjacent lane, And/or right adjacent lane, as optional lane.

In one embodiment, the lane selection unit, for for optional lane choose its left adjacent lane or Right adjacent lane, as another optional lane.

In one embodiment, the path planning processing unit, for based on left and right in high-precision map it is adjacent two Connected relation representation between a lane, determine lane attribute be can lane change attribute or can not lane change attribute;

Alternatively,

Based on the relationship between the adjacent lane in lane in high-precision map and its front and back, judge whether the lane is bifurcated Lane imports lane, based on the judging result determine the lane attribute be can lane change attribute or can not lane change attribute

The third aspect, the embodiment of the invention provides a kind of vehicle, the function of the vehicle can by hardware realization, Corresponding software realization can be executed by hardware.The hardware or software include one or more corresponding with above-mentioned function Module.

It include processor and memory in the structure of the vehicle in a possible design, the memory is used for Storage supports described device to execute the program of above-mentioned driving control method, the processor is configured to for executing the storage The program stored in device.Described device can also include communication interface, be used for and other equipment or communication.

Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, The program realizes any method in above-described embodiment when being executed by processor.

A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that can advise generating path On the basis of check off fruit, the traffic areas of corresponding attribute is formed to the lane that will be provided with same alike result in route programming result;From And ensure that vehicle when using newly-generated route programming result, can obtain it is longer can lane change region, to mention The lane change ability for rising unmanned vehicle, is further reduced the retardance problem of road.

Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further Aspect, embodiment and feature, which will be, to be readily apparent that.

Detailed description of the invention

In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention Disclosed some embodiments, and should not serve to limit the scope of the present invention.

Fig. 1 shows the flow chart one of paths planning method according to an embodiment of the present invention.

Fig. 2 shows lane node schematic diagrames in high-precision map according to an embodiment of the present invention.

Fig. 3 shows the relation schematic diagram of each level in high-precision map according to an embodiment of the present invention.

Fig. 4 shows traffic areas composition schematic diagram according to an embodiment of the present invention.

Fig. 5 shows the flowchart 2 of paths planning method according to an embodiment of the present invention.

Fig. 6 shows the processing schematic diagram of a scenario in optional lane according to an embodiment of the present invention.

Fig. 7 shows a kind of path planning apparatus composed structure schematic diagram according to an embodiment of the present invention.

Fig. 8 shows vehicle structure block diagram according to an embodiment of the present invention.

Specific embodiment

Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes. Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.

The embodiment of the present invention provides a kind of paths planning method, generates route programming result based on starting point and terminal, then Optional lane is determined for the lane for including in route programming result, the path planning knot after being expanded based on optional lane Fruit finally sets the same traffic areas for the lane for having same alike result in the route programming result after extension.

In one embodiment, as shown in Figure 1, providing a kind of paths planning method, which comprises

Step 101: being based on starting point and terminal, generate route programming result;Wherein, include in route programming result to Few two lanes;And adjacent lane is that front and back is adjacent at least two lanes;

Step 102: at least two lanes for including based on the route programming result, the attribute in each lane, with And the left and right neighbouring relations in each lane, obtain optional lane;Wherein, the attribute in the lane include can lane change category Property and can not lane change attribute;

Step 103: the optional lane is added to route programming result, the route programming result after being expanded, In route programming result after the extension, determine that at least one includes the traffic areas in the identical lane of attribute.

It is described to be based on starting point and terminal for above-mentioned steps 101, generate route programming result, comprising:

It determines the minimal cost path Jing Guo starting point, transit point and terminal, will include in the minimal cost path At least two lanes are as route programming result.

Embodiment of the present invention is to realize the global path planning of road grade based on high-precision map.Before being handled, The topological diagram that lane rank can be initially set up, in topological diagram, each lane is represented as the node of digraph, lane and vehicle Connected relation between road is then the boundary position of node each in digraph.When at least one boundary (i.e. left and right two of setting A side in two boundaries between boundary, or the lane adjacent with left and right) characterization lane is variable when be dotted line Road attribute, two boundaries (i.e. two boundaries in left and right, or two boundaries between the lane adjacent with left and right) be solid line then Expression lane is can not lane change attribute.Referring to fig. 2, there is shown with lane 1-6, wherein each lane shows direction, i.e., often One lane is expressed as the node of digraph, in addition, lane 1 due to cannot lane change, side between lane 1 and lane 2 Boundary is set as solid line, can be with lane change between the 2-3 of lane, therefore the boundary between the 2-3 of lane is set as dotted line, other similar, no It repeats again.

The aforementioned mode for carrying out path planning, can be with are as follows: the starting point provided, transit point and the end requested according to path planning Point is successively scanned on topological diagram using heuristic A * searching algorithm, and the program results of lane rank are obtained.

Wherein, high-precision map is indicated that then each lane may be considered an oriented node using topological diagram, because When this is illustrated below for the process flow of A* searching algorithm, " lane " is indicated using " node ", and be based on The processing that starting point, transit point and terminal are divided into two sections to carry out A* searching algorithm, such as:

Using the lane where starting point as start node, lane where transit point is handled to obtain this as destination node The corresponding first path program results of section;Again using lane where transit point as start node, using lane where terminal as mesh Mark node is handled, and corresponding second route programming result is obtained;By first path program results and the second path planning As a result it is stitched together to obtain a total route programming result.

It is illustrated by taking the wherein acquisition of one section of route programming result as an example below, it is to be appreciated that two sections of path rule The acquisition modes of check off fruit are identical, therefore are not repeated to illustrate.It specifically can be with are as follows:

Create two tables, OPEN table saves all generated and the node do not investigated, records and had accessed in CLOSED table Node, initialization OPEN table saves search starting point, and CLOSED table is empty table.

Replace the smallest node n of valence f from OPEN table every time;Wherein, f=g+h, g indicate road between starting point and present node The minimum cost of diameter, h indicate the heuristic estimation between present node and target point.

When search, if present node is identical as destination node, terminate search;Otherwise, for the institute of present node There is adjacent node X, if including X in CLOSED table, continue next adjacent node, otherwise, zequin passes through adjacent node To the cost of destination node, starting point is updated in OPEN table to the cost of X.

In order to describe the relationship between lane in the present embodiment, traffic areas and road, below in high-precision map Some expression ways be illustrated:

In high-precision map, being divided into road (road), channel (passage) i.e. traffic areas and lane (lane), this is several A level;Fig. 3 shows the inclusion relation between above-mentioned several levels, includes multiple traffic areas in each section of road, each Include multiple lanes in traffic areas, includes traffic areas 1,2 in road 1, in traffic areas 1 again than as shown in Figure 2 It include lane 1,2,3;Relationship between other roads, traffic areas and lane shown in figure is as previously shown, therefore No longer repeat one by one.

Further, traffic areas is made of at least one lane, the length of parallel traffic areas be it is identical, i.e., it is flat The lane quantity for including in capable several traffic areas is identical;Traffic areas 1,2 is parallel by taking Fig. 3 as an example, wherein including There are three lanes;Traffic areas 3 is then different from the lane quantity that traffic areas 1,2 includes.

Whether the attribute about lane generally refers to the connected relation between two adjacent lanes, that is, can become Therefore road can be arranged different when characterizing the boundary line between two or so adjacent lanes for different attributes Mode, prior figures 2 it has been shown that can be with lane change between two adjacent lanes when, that is, lane be can lane change attribute, needle To solid line can be expressed as using the boundary representation of lane change as dotted line, repeat no more.

It may also be noted that the attribute at least one lane for including in the same traffic areas is identical, then On high-precision map, the boundary representation mode in the same traffic areas is consistent, such as can be with line in high-precision map Segment type embodies the type on the boundary in traffic areas, that is to say, that can be used to indicate that the attribute of communication zone;Wherein, The attribute of traffic areas may include can lane change attribute and can not lane change attribute.

In high-precision map, scheme provided in this embodiment, for the lane of different attribute, using different expression sides Formula, for example, can be variable its boundary of the lane of road attribute using dotted line expression, can not lane change attribute lane, boundary is adopted It is expressed with solid line.Wherein, it is understood that there may be a kind of situation, lane can be unable to lane change on one side with lane change another side, then still should Driveway partition extremely can in the lane of lane change attribute, when expression in high-precision map, adopt be represented by dashed line can lane change side, it is real Line indicate can not lane change side.

On this basis, the lane attribute for including in traffic areas be it is identical, therefore, its boundary of the same traffic areas Representation is also identical, for example, can the traffic areas boundary of lane change attribute adopt and be represented by dashed line, can not lane change attribute it is logical Row region, boundary are adopted indicated by the solid line.For example, referring to fig. 4, traffic areas can be divided along track direction, only shown in figure logical Row region 1-7, there may also be more traffic areas in actually high-precision map, only no longer exhaustive.FOH in such as figure In domain 1 include lane 1,2, lane 1,2 be can lane change attribute lane, and the boundary between lane 1,3 be dotted line indicate, Boundary between lane 2,4 also is indicated as dotted line, then the boundary between traffic areas 1,2 is dotted line expression.And traffic areas 2,3 Between can not lane change, then boundary representation between traffic areas 2,3 is solid line, other traffic areas and lane are as above Mode is stated to indicate, no longer carries out exhaustion.

In present embodiment, at least one described traffic areas for ultimately generating, each traffic areas includes attribute Identical at least two lanes, and lane adjacent in each described traffic areas is that front and back is adjacent.That is, when passing through Region can may be for variable road attribute can not lane change attribute, and using the above scheme after, due to that can ultimately form Can lane change attribute traffic areas, and since traffic areas is the adjacent at least two lanes composition in front and back, increase It can lane change region.

As it can be seen that by using above scheme, it will be able on the basis of generating route programming result, to route programming result In will be provided with the lane of same alike result and form the traffic areas of corresponding attribute;To ensure that vehicle is using newly-generated road When diameter program results, can obtain it is longer can lane change region, to promote the lane change ability of unmanned vehicle, into The retardance problem of one step reduction road.

In one embodiment, a kind of paths planning method, as shown in Figure 5, comprising:

Step 101: being based on starting point and terminal, generate route programming result;Wherein, include in route programming result to Few two lanes;And adjacent lane is that front and back is adjacent at least two lanes;

Step 1021: from least two lanes that the route programming result includes, it is variable for choosing the attribute in lane The lane of road attribute;By it is described can lane change attribute lane left adjacent lane, and/or right adjacent lane, as optional lane; Wherein, the attribute in the lane include can lane change attribute and can not lane change attribute;

Step 103: the optional lane is added to route programming result, the route programming result after being expanded, In route programming result after the extension, determine that at least one includes the traffic areas in the identical lane of attribute.

Step 101 is identical as aforementioned embodiments in present embodiment, repeats no more.

The method that step 1021 then specifically obtains optional lane for one kind of abovementioned steps 102.That is, from path In program results, choose at least one have can lane change attribute lane;Then for each select come can lane change category The lane of property is extended, and obtains at least one corresponding optional lane.

About can lane change attribute lane definition and representation in high-precision map in aforementioned embodiments In provide description, can may be dotted line there is only an edge in the lane of lane change attribute when indicating lane, that is, The lane of selection can be with lane change between the adjacent lane of the edge side, another edge is solid line, that is, the lane chosen It can not lane change between the adjacent lane of this edge side.It, can be with then when determining optional lane specifically:

When can between the lane and its right adjacent lane of lane change attribute can lane change when, using its right adjacent lane as optional vehicle Road;And/or when can between the lane and its left adjacent lane of lane change attribute can lane change when, using its left adjacent lane as optional Lane.

That is, when can lane the right and left of lane change attribute be dotted line when, by the adjacent vehicle in its left and right two Road is used as optional lane;If only caned while namely only having for dotted line with lane change, side connection will be changed Adjacent lane is arrived as optional vehicle.

Except of course that there may also be a kind of modes except aforesaid way, and though can its both sides of the lane of lane change attribute be No is dotted line, can regard two adjacent lanes of its left and right as optional lane.

Still further, can also include: to choose its left phase for optional lane in the extension referred in present embodiment Adjacent lane or right adjacent lane, as another optional lane.

That is, present embodiment can also be again based on optional lane chooses new optional lane again.Namely It says, it, can be in the following ways when carrying out lane extension (choosing optional lane):

For can lane change attribute lane, using its left adjacent lane as an optional lane;It is based on the optional lane again, sentences It is disconnected whether can be with lane change, if can be between the left adjacent lane in the optional lane, its left adjacent lane is also used as one can Lane is selected, and so on, it can not be until lane change until determining between optional lane and its left adjacent lane;

Again for can lane change attribute lane, using its right adjacent lane as an optional lane;Based on the optional lane, sentence Whether disconnected lane adjacent with its right side can be with lane change, if can be also to regard its right adjacent lane as another optional lane, together Sample is until can not be until lane change between optional lane and its right adjacent lane.

Due in route programming result there may be it is multiple can lane change attribute lane, each lane is all made of above-mentioned place Reason mode carries out the selection in optional lane, and each can lane change attribute lane can choose to obtain at least one it is optional Lane.

Still further, the optional lane is added to route programming result, the route programming result after being expanded. That is, at least one the optional lane selected is merged with original route programming result, the road after being expanded Diameter program results.

Be illustrated in conjunction with Fig. 6, it is assumed that above Fig. 6 figure indicate step 101 execute after obtain as a result, i.e. from A-B Program results between point, have passed through lane 1-6;Illustrate below Fig. 6 execution complete step 102 (or after step 1021), The schematic diagram optional lane being added to after route programming result is based on lane 1 in figure, elects three optional lanes, i.e., Lane 1-1~lane 1-3 is equally also elected as optional lane in lane 1-1,1-2,1-3, lane 2;In addition, for lane 5, 6, it is dotted line since lane 5,6 only has a line circle, that is, only have between lane 5-1 and lane 6-1 can in lane 5,6 Lane change relationship, at this point it is possible to which further progress extension is chosen, obtaining final optional lane is lane 5-1,5-2 and lane 6-1,6-1.In addition, can also be illustrated based on Fig. 6, can not judge lane 5,6 on earth which side can with lane change which side can not With lane change, but the adjacent lane in left and right is added, that is, in the result after last extension include lane 5-3 and Lane 6-3.Which kind of processing mode is specifically used, can be configured according to the actual situation.For Fig. 6 it should also be noted that, Lane relevant to route programming result is only shown in figure, and other lanes do not show that, do not represent and do not set at other positions Set lane.

Further, after extending route programming result, can also for extension after route programming result in can Lane is selected to be screened.The mode of the screening can be the lane judged whether with the program results in its preceding adjacent road, And/or optional lane can be connected to, if it is not possible, can be deleted;For example, some is optional along vehicle heading Optional lane that lane can not be connected in next section of adjacent road or the lane planned in original route program results, then deleting should Optional lane;In Fig. 6, lane 1-3 can be connect with optional lane 2-3 and optional lane 2-2, therefore be retained, and lane 2-3 then can not standdle carrier road be connected to lane 3, therefore delete optional lane 2-3.

It can also be same by least two driveway partitions of identical lane attribute in route programming result after expansion A traffic areas, for example, in figure below Fig. 6, although not showing that final traffic areas in Fig. 6, it is to be understood that: Lane 1,2 can be divided into identical traffic areas 1, which has attribute identical with lane, can lane change category Property;In addition lane 1-2 and lane 2-2 can be set to the same traffic areas also and be can lane change attribute traffic areas 2;Vehicle Road 3,4 can be divided into identical traffic areas 3, the traffic areas 3 with can the front and back of traffic areas 1 it is adjacent;Remaining no longer into Row repeats.Wherein, it is also stated that, left and right adjacent two can the traffic areas lane quantity that is included be it is identical, And the lane quantity that the adjacent traffic areas in front and back is included is not necessarily identical.

Finally it should also be noted that, in aforementioned embodiments for can the lane of lane change attribute be illustrated, can be with The connected relation representation being understood as based between two adjacent lanes of left and right in high-precision map, determines that the attribute in lane is It can lane change attribute or can not lane change attribute;

It is practical there may also be it is another can lane change attribute lane, i.e., based on adjacent before and after lane in high-precision map and its Lane between relationship, judge the lane whether be bifurcated lane or import lane, institute is determined based on the judging result State lane attribute be can lane change attribute or can not lane change attribute.

Wherein, the concrete mode of judgement can be, when a lane before it is adjacent there are two lanes or after adjacent presence When two lanes, then the two preceding adjacent lanes can be bifurcated lane, it is determined that its for can lane change attribute lane, After two adjacent lane can for import lane, then or can lane change attribute lane.

Above-mentioned each step can be applied in unmanned vehicle, can also be applied to server, when applied to clothes When business device, finally obtained route programming result can be sent in automatic driving vehicle, so that unmanned vehicle root Driving control is carried out according to final route programming result.

As it can be seen that by using above scheme, it will be able on the basis of generating route programming result, to route programming result In will be provided with the lane of same alike result and form the traffic areas of corresponding attribute;To ensure that vehicle is using newly-generated road When diameter program results, can obtain it is longer can lane change region, to promote the lane change ability of unmanned vehicle, into The retardance problem of one step reduction road.

In one embodiment, Fig. 7 shows a kind of path planning apparatus, and described device includes:

Path planning unit 71 generates route programming result for being based on starting point and terminal;Wherein, path planning knot It include at least two lanes in fruit;And adjacent lane is that front and back is adjacent at least two lanes;

Lane selection unit 72, at least two lanes for including based on the route programming result, each vehicle The left and right neighbouring relations in the attribute in road and each lane, obtain optional lane;Wherein, the attribute packet in the lane Containing can lane change attribute and can not lane change attribute;

Path planning processing unit 73, for the optional lane to be added to route programming result, after being expanded Route programming result determines that at least one includes the passage in the identical lane of attribute in the route programming result after the extension Region.

In at least one described traffic areas, each traffic areas includes identical at least two lanes, and institute of attribute Stating lane adjacent in each traffic areas is that front and back is adjacent.

Path planning unit 71, for determining the minimal cost path Jing Guo starting point, transit point and terminal, by described in most At least two lanes for including in small cost path are as route programming result.

The lane selection unit 72, for choosing vehicle from least two lanes that the route programming result includes The attribute in road be can lane change attribute lane;By it is described can lane change attribute lane left adjacent lane, and/or right adjacent vehicle Road, as optional lane.

The lane selection unit 72, for choosing its left adjacent lane or right adjacent lane for optional lane, as Another optional lane.

Path planning processing unit 73, for based on the connected relation between two adjacent lanes of left and right in high-precision map Representation, determine lane attribute be can lane change attribute or can not lane change attribute;

Alternatively,

Based on the relationship between the adjacent lane in lane in high-precision map and its front and back, judge whether the lane is bifurcated Lane imports lane, based on the judging result determine the lane attribute be can lane change attribute or can not lane change attribute.

Fig. 8 shows the structural block diagram of vehicle according to an embodiment of the present invention.As shown in figure 8, the vehicle includes: memory 810 and processor 820, the computer program that can be run on processor 820 is stored in memory 810.The processor 820 The driving control method in above-described embodiment is realized when executing the computer program.The memory 810 and processor 820 Quantity can be one or more.

The vehicle further include:

Communication interface 830 carries out data interaction for being communicated with external device.

Memory 810 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non- Volatile memory), a for example, at least magnetic disk storage.

If memory 810, processor 820 and the independent realization of communication interface 830, memory 810,820 and of processor Communication interface 830 can be connected with each other by bus and complete mutual communication.The bus can be Industry Standard Architecture Structure (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral Component Interconnect) bus or extended industry-standard architecture (EISA, Extended Industry Standard Architecture) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For Convenient for indicating, only indicated with a thick line in Fig. 8, it is not intended that an only bus or a type of bus.

Optionally, in specific implementation, if memory 810, processor 820 and communication interface 830 are integrated in one piece of core On piece, then memory 810, processor 820 and communication interface 830 can complete mutual communication by internal interface.

The embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, the program quilt Processor realizes any method in above-described embodiment when executing.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples Sign is combined.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise Clear specific restriction.

Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention Embodiment person of ordinary skill in the field understood.

Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media Suitable method is handled electronically to obtain described program, is then stored in computer storage.

It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..

Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.

It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement, These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim It protects subject to range.

Claims (13)

1. a kind of paths planning method, which is characterized in that the described method includes:
Based on starting point and terminal, route programming result is generated;It wherein, include at least two lanes in route programming result; And adjacent lane is that front and back is adjacent at least two lanes;
In at least two lanes for including based on the route programming result, the attribute in each lane and each The left and right neighbouring relations in lane, obtain optional lane;Wherein, the attribute in the lane include can lane change attribute and immutable Road attribute;
The optional lane is added to route programming result, the route programming result after being expanded, after the extension In route programming result, determine that at least one includes the traffic areas in the identical lane of attribute.
2. the method according to claim 1, wherein at least one described traffic areas, each FOH Domain includes identical at least two lanes of attribute, and lane adjacent in each described traffic areas is that front and back is adjacent.
3. generating path planning knot the method according to claim 1, wherein described be based on starting point and terminal Fruit, comprising:
It determines the minimal cost path Jing Guo starting point, transit point and terminal, will include at least in the minimal cost path Two lanes are as route programming result.
4. the method according to claim 1, wherein include based on the route programming result at least two In lane, the left and right neighbouring relations in the attribute in each lane and each lane obtain optional lane, comprising:
From at least two lanes that the route programming result includes, choose lane attribute be can lane change attribute lane;
By it is described can lane change attribute lane left adjacent lane, and/or right adjacent lane, as optional lane.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
Its left adjacent lane or right adjacent lane are chosen for optional lane, as another optional lane.
6. method according to claim 1-5, which is characterized in that the method also includes:
Based on the connected relation representation between two adjacent lanes of left and right in high-precision map, determine lane attribute be can Lane change attribute can not lane change attribute;
Alternatively,
Based on the relationship between the adjacent lane in lane in high-precision map and its front and back, judge whether the lane is bifurcated lane Or import lane, based on the judging result determine the lane attribute be can lane change attribute or can not lane change attribute.
7. a kind of path planning apparatus, which is characterized in that described device includes:
Path planning unit generates route programming result for being based on starting point and terminal;Wherein, it is wrapped in route programming result Contain at least two lanes;And adjacent lane is that front and back is adjacent at least two lanes;
Lane selection unit, at least two lanes for including based on the route programming result, the category in each lane Property and the left and right neighbouring relations in each lane, obtain optional lane;Wherein, the attribute in the lane include can Lane change attribute and can not lane change attribute;
Path planning processing unit, the path rule for the optional lane to be added to route programming result, after being expanded It draws as a result, determining that at least one includes the traffic areas in the identical lane of attribute in the route programming result after the extension.
8. device according to claim 7, which is characterized in that at least one described traffic areas, each FOH Domain includes identical at least two lanes of attribute, and lane adjacent in each described traffic areas is that front and back is adjacent.
9. device according to claim 7, which is characterized in that the path planning unit passes through starting point, way for determining Minimal cost path through point and terminal, using at least two lanes for including in the minimal cost path as path planning As a result.
10. device according to claim 7, which is characterized in that the lane selection unit is used for from the path planning As a result at least two lanes for including, choose lane attribute be can lane change attribute lane;By it is described can lane change attribute The left adjacent lane, and/or right adjacent lane in lane, as optional lane.
11. device according to claim 10, which is characterized in that the lane selection unit, for being directed to optional lane Its left adjacent lane or right adjacent lane are chosen, as another optional lane.
12. according to the described in any item devices of claim 7-11, which is characterized in that the path planning processing unit is used for Based on the connected relation representation between two adjacent lanes of left and right in high-precision map, determine lane attribute be can lane change Attribute can not lane change attribute;
Alternatively,
Based on the relationship between the adjacent lane in lane in high-precision map and its front and back, judge whether the lane is bifurcated lane Or import lane, based on the judging result determine the lane attribute be can lane change attribute or can not lane change attribute.
13. a kind of vehicle characterized by comprising
One or more processors;
Storage device, for storing one or more programs;
When one or more of programs are executed by one or more of processors, so that one or more of processors Realize such as method described in any one of claims 1 to 6.
CN201910127246.8A 2019-02-20 2019-02-20 A kind of paths planning method, device and vehicle CN109612496A (en)

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