CN109612496A - A kind of paths planning method, device and vehicle - Google Patents
A kind of paths planning method, device and vehicle Download PDFInfo
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- 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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- 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
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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
Technical Field
The invention relates to the technical field of unmanned control, in particular to a path planning method, a path planning device and a vehicle.
Background
In the field of unmanned driving, a global path is provided for an unmanned vehicle by adopting global path planning of a high-precision map, and the global path is a basis for ensuring that the unmanned vehicle reasonably completes driving decision. The method for global path planning by using a high-precision map usually only provides a path planning result at a lane level, but the path planning result obtained by adopting the method cannot ensure the lane changing capability of an unmanned vehicle.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a path planning device and a vehicle, and aims to solve the problem that the lane changing capability of an unmanned vehicle cannot be guaranteed in the prior art.
In a first aspect, an embodiment of the present invention provides a path planning method, including:
generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
acquiring an optional lane based on the attribute of each lane and the left-right adjacent relation of each lane in at least two lanes contained in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
and adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
In one embodiment, each of the at least one passing area includes at least two lanes with the same attribute, and adjacent lanes in each of the at least one passing area are adjacent in front and back.
In one embodiment, the generating a path planning result based on the starting point and the ending point includes:
and determining a minimum cost path passing through the starting point, the passing point and the end point, and taking at least two lanes contained in the minimum cost path as a path planning result.
In an embodiment, the obtaining of the selectable lane based on the attribute of each lane and the left-right adjacent relationship of each lane in at least two lanes included in the path planning result includes:
selecting a lane with variable lane attributes from at least two lanes contained in the path planning result;
and taking the left adjacent lane and/or the right adjacent lane of the lane with the variable lane attribute as selectable lanes.
In one embodiment, the method further comprises:
and selecting the left adjacent lane or the right adjacent lane of the selectable lane as another selectable lane.
In one embodiment, the method further comprises: determining the attribute of the lane as a variable lane attribute or an unchangeable lane attribute based on the communication relation representation mode between two adjacent left and right lanes in the high-precision map;
or,
judging whether the lane is a branched lane or an integrated lane or not based on the relationship between the lane and the adjacent lanes in the high-precision map, and determining that the attribute of the lane is a variable lane attribute or an immutable lane attribute based on the judgment result.
In a second aspect, an embodiment of the present invention provides a path planning apparatus, where the apparatus includes:
the path planning unit is used for generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
the lane selection unit is used for acquiring an optional lane based on the attribute of each lane and the left-right adjacent relation of each lane in at least two lanes contained in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
and the path planning processing unit is used for adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
In one embodiment, each of the at least one passing area includes at least two lanes with the same attribute, and adjacent lanes in each of the at least one passing area are adjacent in front and back.
In an embodiment, the path planning unit is configured to determine a minimum cost path passing through a starting point, a passing point, and an end point, and use at least two lanes included in the minimum cost path as a path planning result.
In an embodiment, the lane selection unit is configured to select a lane of which an attribute is a variable lane attribute from at least two lanes included in the path planning result; and taking the left adjacent lane and/or the right adjacent lane of the lane with the variable lane attribute as selectable lanes.
In one embodiment, the lane selection unit is configured to select, as another selectable lane, a left adjacent lane or a right adjacent lane of the selectable lane.
In one embodiment, the path planning processing unit is configured to determine an attribute of a lane as a variable lane attribute or an unchangeable lane attribute based on a communication relationship representation manner between two lanes adjacent to each other left and right in the high-precision map;
or,
judging whether the lane is a branched lane or an integrated lane or not based on the relationship between the lane and the adjacent lanes in the high-precision map, and determining whether the attribute of the lane is a variable lane attribute or an invariable lane attribute based on the judgment result
In a third aspect, an embodiment of the present invention provides a vehicle, where functions of the vehicle may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the vehicle is structured to include a processor and a memory, the memory is used for storing a program for supporting the device to execute the driving control method, and the processor is configured to execute the program stored in the memory. The apparatus may also include a communication interface for communicating with other devices or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method described in any of the above embodiments.
One of the above technical solutions has the following advantages or beneficial effects: on the basis of generating a path planning result, the lanes with the same attribute in the path planning result form a passing area with the corresponding attribute; therefore, the longer lane changing area can be obtained when the vehicle adopts the newly generated path planning result, so that the lane changing capability of the unmanned vehicle is improved, and the problem of road retardation is further reduced.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a first flowchart of a path planning method according to an embodiment of the present invention.
Fig. 2 shows a schematic diagram of a lane node in a high-precision map according to an embodiment of the invention.
Fig. 3 is a schematic diagram illustrating the relationship between the levels in the high-precision map according to the embodiment of the invention.
Fig. 4 shows a traffic zone composition diagram according to an embodiment of the invention.
Fig. 5 shows a second flowchart of a path planning method according to an embodiment of the present invention.
Fig. 6 shows a schematic view of a processing scenario of an alternative lane according to an embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating a component structure of a path planning apparatus according to an embodiment of the present invention.
Fig. 8 shows a vehicle structural block diagram according to an embodiment of the invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
The embodiment of the invention provides a path planning method, which comprises the steps of generating a path planning result based on a starting point and a terminal point, determining an optional lane aiming at lanes contained in the path planning result, obtaining an expanded path planning result based on the optional lane, and finally setting lanes with the same attribute in the expanded path planning result as the same passing area.
In one embodiment, as shown in fig. 1, a path planning method is provided, the method comprising:
step 101: generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
step 102: acquiring an optional lane based on the attribute of each lane and the left-right adjacent relation of each lane in at least two lanes contained in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
step 103: and adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
For the step 101, the generating a path planning result based on the starting point and the end point includes:
and determining a minimum cost path passing through the starting point, the passing point and the end point, and taking at least two lanes contained in the minimum cost path as a path planning result.
The implementation mode of the invention is based on a high-precision map, and realizes the global path planning of the road level. Before processing, a topological graph at a lane level may be established, in which each lane is represented as a node of the directed graph, and the communication relationship between the lanes is the boundary position of each node in the directed graph. When at least one boundary (namely, the left boundary and the right boundary, or one side of the two boundaries between the left lane and the right lane) is set as a dotted line, the lane is characterized as a variable lane attribute, and when both the two boundaries (namely, the left boundary and the right boundary, or the two boundaries between the left lane and the right lane) are solid lines, the lane is represented as an invariable lane attribute. Referring to fig. 2, lanes 1-6 are shown, where each lane shows a direction, that is, each lane is represented as a node of a directed graph, and in addition, since lane 1 cannot change, a boundary between lane 1 and lane 2 is set as a solid line, and lane 2-3 can change, and thus a boundary between lanes 2-3 is set as a dashed line, which is similar to the above, and is not described again.
The foregoing path planning method may be: and according to the starting point, the passing point and the end point given by the path planning request, sequentially searching on the topological graph by adopting a heuristic A-search algorithm to obtain a lane-level planning result.
In the description of the processing flow of the a-search algorithm, the "node" is used to represent the "lane", and the processing of the a-search algorithm is performed by dividing into two segments based on the starting point, the passing point, and the ending point, for example:
taking the lane where the starting point is located as an initial node, and taking the lane where the passing point is located as a target node to process to obtain a first path planning result corresponding to the section; then, the lane where the passing point is located is used as an initial node, and the lane where the end point is located is used as a target node for processing to obtain a corresponding second path planning result; and splicing the first path planning result and the second path planning result to obtain a total path planning result.
In the following, the acquisition of the path planning result of one segment is taken as an example, and it can be understood that the acquisition modes of the path planning results of two segments are the same, and therefore, the description is not repeated. Specifically, the method can be as follows:
creating two tables, wherein an OPEN table stores all generated nodes which are not investigated, a CLOSED table records accessed nodes, an initialized OPEN table stores a search starting point, and the CLOSED table is an empty table.
Taking the node n with the minimum cost f from the OPEN table each time; and f is g + h, g represents the minimum cost of the path between the starting point and the current node, and h represents the heuristic estimation between the current node and the target point.
During searching, if the current node is the same as the target node, the searching is finished; otherwise, for all adjacent nodes X of the current node, if the CLOSED table contains X, continuing to the next adjacent node, otherwise, calculating the cost from the starting point to the target node through the adjacent nodes, and updating the cost from the starting point to X in the OPEN table.
In order to describe the relationship between the lanes, the passing areas, and the roads in the present embodiment, some expressions in the high-precision map are explained below:
in the high-precision map, the high-precision map is divided into several levels, namely a road (road), a passage (passage), namely a passing area, and a lane (lane); fig. 3 shows the inclusion relationship among the above several levels, each road segment includes a plurality of traffic areas, each traffic area includes a plurality of lanes, for example, as shown in fig. 2, a road 1 includes traffic areas 1 and 2, and a traffic area 1 includes lanes 1, 2 and 3; the relationships among other roads, traffic areas and lanes shown in the figure are as described above, and therefore are not described in detail.
Furthermore, the traffic zone is composed of at least one lane, and the length of the parallel traffic zones is the same, i.e. the number of lanes contained in the parallel traffic zones is the same; taking fig. 3 as an example, the traffic areas 1 and 2 are parallel, and each traffic area includes three lanes; the traffic zone 3 contains a different number of lanes than the traffic zones 1, 2.
The attribute of the lane mainly refers to a communication relationship between two adjacent lanes, that is, whether lane change is possible or not, and therefore, different modes can be set for different attributes when a boundary line between two left and right adjacent lanes is represented, as shown in fig. 2, when lane change is possible between two adjacent lanes, that is, the lane is a lane change attribute, and a boundary where lane change is possible is represented as a dotted line, otherwise, the boundary is represented as a solid line, and details are not repeated.
It should be further noted that the attribute of at least one lane included in the same passing area is the same, and then on the high-precision map, the representation manner of the boundary in the same passing area is consistent, for example, the type of the boundary in the passing area can be represented by a line segment type in the high-precision map, that is, the attribute can be used for representing the communication area; wherein the attributes of the traffic zone may include a variable lane attribute and an immutable lane attribute.
In the high-precision map, the scheme provided by this embodiment adopts different representation manners for lanes with different attributes, for example, the boundaries of lanes with variable lane attributes may be expressed by dashed lines, and the boundaries of lanes with non-variable lane attributes may be expressed by solid lines. In this case, there may be a case where one side of a lane can change and the other side cannot change, and the lane is still divided into lanes with variable lane attributes, and when the lane is represented in a high-precision map, a broken line is used to represent the side of the variable lane, and a solid line is used to represent the side of the non-variable lane.
In addition, the lane attributes included in the passing areas are the same, and therefore, the boundary representation manner of the same passing area is also the same, for example, the passing area boundary with the variable lane attribute is represented by a dotted line, and the passing area boundary with the non-variable lane attribute is represented by a solid line. For example, referring to fig. 4, the traffic areas may be divided along the lane direction, only traffic areas 1-7 are shown in the figure, and in fact, more traffic areas may exist in the high-precision map, which is not exhaustive. As shown in the figure, if the traffic area 1 includes the lanes 1 and 2, the lanes 1 and 2 are both lanes with variable lane attributes, the boundary between the lanes 1 and 3 is indicated by a broken line, the boundary between the lanes 2 and 4 is also indicated by a broken line, and the boundary between the traffic areas 1 and 2 is indicated by a broken line. Whereas the traffic zones 2, 3 are not variable lanes, the boundary between the traffic zones 2, 3 is shown as a solid line, and the other traffic zones and lanes are shown as described above and are not exhaustive.
In this embodiment, in the at least one finally generated passing area, each passing area includes at least two lanes with the same attribute, and adjacent lanes in each passing area are adjacent in the front-back direction. That is, when the passing area may be a variable lane attribute or an unchangeable lane attribute, after the above scheme is adopted, since the passing area with the variable lane attribute can be finally formed, and since the passing area is composed of at least two lanes adjacent to each other in front and back, the variable lane area is increased.
Therefore, by adopting the scheme, the lanes with the same attribute can form the passing area with the corresponding attribute in the path planning result on the basis of generating the path planning result; therefore, the longer lane changing area can be obtained when the vehicle adopts the newly generated path planning result, so that the lane changing capability of the unmanned vehicle is improved, and the problem of road retardation is further reduced.
In one embodiment, a method for path planning, as shown in fig. 5, includes:
step 101: generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
step 1021: selecting a lane with variable lane attributes from at least two lanes contained in the path planning result; taking a left adjacent lane and/or a right adjacent lane of the lane with the variable lane attribute as selectable lanes; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
step 103: and adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
Step 101 in this embodiment is the same as that in the previous embodiment, and is not described again.
Step 1021 is a specific method for acquiring the selectable lane in step 102. That is, at least one lane with variable lane attributes is selected from the path planning results; and then expanding the lane with the variable lane attribute for each selected lane to obtain at least one corresponding selectable lane.
The definition of the lanes related to the variable lane attribute and the representation manner in the high-precision map are described in the foregoing embodiments, and when the lanes are represented, only one edge of the lanes related to the variable lane attribute may be a dotted line, that is, the selected lane may be changed between lanes adjacent to the edge side, and the other edge is a solid line, that is, the selected lane may not be changed between lanes adjacent to the edge side. When determining the selectable lane, the following may be specific:
when lane change is carried out between the lane with the variable lane attribute and the right adjacent lane thereof, the right adjacent lane thereof is taken as an optional lane; and/or when the lane between the lane with the variable lane attribute and the left adjacent lane of the lane is variable, the left adjacent lane of the lane is taken as the selectable lane.
That is, when the left and right sides of the lane with variable lane attributes are dotted lines, the left and right adjacent lanes are both used as selectable lanes; if only one side is a broken line, namely only one side can change lanes, the adjacent lane connected with the changed side is taken as an optional vehicle.
Of course, in addition to the above-described manner, there may be a manner in which the lane with the variable lane attribute, regardless of whether both sides thereof are broken lines, may be used as the selectable lane.
Still further, the extension mentioned in the present embodiment may further include: and selecting the left adjacent lane or the right adjacent lane of the selectable lane as another selectable lane.
That is, the present embodiment may also select a new selectable lane again based on the selectable lane. That is, when performing lane expansion (i.e., selecting an alternative lane), the following may be employed:
regarding the lane with variable lane attributes, taking the left adjacent lane as an optional lane; judging whether lane changing can be performed between the lane and the left adjacent lane of the selectable lane or not based on the selectable lane, if so, taking the left adjacent lane as the selectable lane, and repeating the steps until the lane changing between the selectable lane and the left adjacent lane is determined to be impossible;
then regarding the lane with variable lane attribute, taking the right adjacent lane as an optional lane; and judging whether the lane change of the lane adjacent to the right of the selectable lane is possible or not based on the selectable lane, and if so, taking the lane adjacent to the right of the selectable lane as another selectable lane until the lane change between the selectable lane and the lane adjacent to the right of the selectable lane is impossible.
As the path planning result may include a plurality of lanes with variable lane attributes, each lane may select the selectable lane by using the above processing method, and each lane with variable lane attributes may select at least one selectable lane.
And further, adding the selectable lane to a path planning result to obtain an expanded path planning result. That is, the selected at least one selectable lane is combined with the original path planning result to obtain the expanded path planning result.
To explain with reference to fig. 6, it is assumed that the upper graph of fig. 6 represents the result obtained after step 101 is executed, i.e., the result of planning between points a-B, passes through lanes 1-6; fig. 6 shows a schematic diagram of the optional lanes added to the path planning result after step 102 (or step 1021) is completed, in which three optional lanes, i.e. lanes 1-1, 1-2, and 1-3, are selected based on lane 1, and lane 2 also selects lanes 1-1 to 1-3 as optional lanes; in addition, for the lanes 5 and 6, only one boundary of the lanes 5 and 6 is a dotted line, that is, only the lanes 5 and 6 have a variable lane relationship with the lane 5-1 and the lane 6-1, at this time, further extension selection can be performed to obtain the final selectable lanes 5-1 and 5-2 and the lanes 6-1 and 6-1. In addition, it can be further explained based on fig. 6 that the lanes 5 and 6 can be changed and the lanes can not be changed at any side, but the lanes adjacent to the left and right are added, that is, the final expanded result includes the lane 5-3 and the lane 6-3. Specifically, which processing method is adopted can be set according to actual conditions. It should be further explained with reference to fig. 6 that only the lanes related to the path planning result are shown, and the other lanes are not shown, and do not represent that no lanes are provided at other positions.
Further, after the path planning result is expanded, the selectable lanes in the expanded path planning result can be screened. The screening mode can be that whether the lanes and/or the optional lanes in the planning result on the adjacent road before the lane can be communicated or not is judged, and if not, the lanes and/or the optional lanes can be deleted; for example, along the driving direction of the vehicle, if a certain selectable lane cannot be communicated with a selectable lane in the next adjacent road or a lane planned in the original path planning result, the selectable lane is deleted; as in fig. 6, lanes 1-3, may be connected to alternate lane 2-3 and alternate lane 2-2, and therefore remain, while lanes 2-3 may not be connected across lanes to lane 3, and thus alternate lane 2-3 is eliminated.
In the expanded path planning result, at least two lanes with the same lane attribute may also be divided into the same passing area, for example, in the lower diagram of fig. 6, although the final passing area is not shown in fig. 6, it can be understood that: the lanes 1 and 2 can be divided into the same passing area 1, and the passing area 1 has the same attribute with the lanes, namely lane-changing attribute; in addition, the lane 1-2 and the lane 2-2 can be set as a same passing area which is also a passing area 2 with variable lane attributes; the lanes 3, 4 can be divided into identical traffic areas 3, which traffic areas 3 are adjacent to the passable area 1 in front and behind; the rest will not be described in detail. It should be noted that the number of lanes included in the two right and left adjacent passable areas is the same, and the number of lanes included in the adjacent front and rear passable areas is not necessarily the same.
Finally, it should be noted that, in the foregoing embodiment, the lane with the variable lane attribute is described, and it may be understood that the attribute of the lane is determined to be the variable lane attribute or the non-variable lane attribute based on the communication relationship representation manner between the two lanes adjacent to each other on the left and right in the high-precision map;
there may actually be another lane with a variable lane attribute, that is, it is determined whether the lane is a diverging lane or an merging lane based on a relationship between the lane and its adjacent lanes in the high-precision map, and it is determined that the attribute of the lane is a variable lane attribute or an invariable lane attribute based on the determination result.
The specific manner of the determination may be that, when two lanes exist in front of and adjacent to one lane or two lanes exist in back of one lane, the two lanes in front of and adjacent to one lane may be branched lanes, and it is determined that the two lanes in front of and adjacent to one lane are lanes with variable lane attributes, and the two lanes in back of the one lane may be merging lanes, and may also be lanes with variable lane attributes.
The steps can be applied to the unmanned vehicle and can also be applied to the server, and when the steps are applied to the server, the finally obtained path planning result can be sent to the unmanned vehicle, so that the unmanned vehicle carries out driving control according to the final path planning result.
Therefore, by adopting the scheme, the lanes with the same attribute can form the passing area with the corresponding attribute in the path planning result on the basis of generating the path planning result; therefore, the longer lane changing area can be obtained when the vehicle adopts the newly generated path planning result, so that the lane changing capability of the unmanned vehicle is improved, and the problem of road retardation is further reduced.
In one embodiment, fig. 7 illustrates a path planning apparatus, the apparatus comprising:
a path planning unit 71, configured to generate a path planning result based on the start point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
the lane selecting unit 72 is configured to obtain an optional lane based on an attribute of each lane and a left-right adjacent relationship of each lane in at least two lanes included in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
and the path planning processing unit 73 is configured to add the selectable lane to a path planning result to obtain an expanded path planning result, and determine at least one passing area including lanes with the same attribute in the expanded path planning result.
In the at least one passing area, each passing area comprises at least two lanes with the same attribute, and adjacent lanes in each passing area are adjacent in the front and back direction.
The path planning unit 71 is configured to determine a minimum cost path passing through the starting point, the passing point, and the ending point, and use at least two lanes included in the minimum cost path as a path planning result.
The lane selecting unit 72 is configured to select a lane whose attribute is a variable lane attribute from at least two lanes included in the path planning result; and taking the left adjacent lane and/or the right adjacent lane of the lane with the variable lane attribute as selectable lanes.
The lane selecting unit 72 is configured to select a left adjacent lane or a right adjacent lane of the selectable lane as another selectable lane.
The route planning processing unit 73 is configured to determine that the attribute of the lane is a variable lane attribute or an unchangeable lane attribute based on a communication relationship representation manner between two lanes adjacent to each other on the left and right in the high-precision map;
or,
judging whether the lane is a branched lane or an integrated lane or not based on the relationship between the lane and the adjacent lanes in the high-precision map, and determining that the attribute of the lane is a variable lane attribute or an immutable lane attribute based on the judgment result.
Fig. 8 shows a block diagram of a vehicle according to an embodiment of the invention. As shown in fig. 8, the vehicle includes: a memory 810 and a processor 820, the memory 810 having stored therein computer programs operable on the processor 820. The processor 820 implements the driving control method in the above-described embodiment when executing the computer program. The number of the memory 810 and the processor 820 may be one or more.
The vehicle further includes:
and a communication interface 830, configured to communicate with an external device, and perform data interactive transmission.
Memory 810 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 810, the processor 820 and the communication interface 830 are implemented independently, the memory 810, the processor 820 and the communication interface 830 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 810, the processor 820 and the communication interface 830 are integrated on a chip, the memory 810, the processor 820 and the communication interface 830 may complete communication with each other through an internal interface.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program is used for implementing the method of any one of the above embodiments when being executed by a processor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (13)
1. A method of path planning, the method comprising:
generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
acquiring an optional lane based on the attribute of each lane and the left-right adjacent relation of each lane in at least two lanes contained in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
and adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
2. The method according to claim 1, wherein each of the at least one traffic zone comprises at least two lanes with the same property, and adjacent lanes in each of the at least one traffic zone are adjacent in front and back.
3. The method of claim 1, wherein generating a path plan result based on the start point and the end point comprises:
and determining a minimum cost path passing through the starting point, the passing point and the end point, and taking at least two lanes contained in the minimum cost path as a path planning result.
4. The method according to claim 1, wherein the obtaining of the selectable lane based on the attribute of each lane and the left-right adjacent relationship of each lane in at least two lanes included in the path planning result comprises:
selecting a lane with variable lane attributes from at least two lanes contained in the path planning result;
and taking the left adjacent lane and/or the right adjacent lane of the lane with the variable lane attribute as selectable lanes.
5. The method of claim 4, further comprising:
and selecting the left adjacent lane or the right adjacent lane of the selectable lane as another selectable lane.
6. The method according to any one of claims 1-5, further comprising:
determining the attribute of the lane as a variable lane attribute or an unchangeable lane attribute based on the communication relation representation mode between two adjacent left and right lanes in the high-precision map;
or,
judging whether the lane is a branched lane or an integrated lane or not based on the relationship between the lane and the adjacent lanes in the high-precision map, and determining that the attribute of the lane is a variable lane attribute or an immutable lane attribute based on the judgment result.
7. A path planning apparatus, the apparatus comprising:
the path planning unit is used for generating a path planning result based on the starting point and the end point; wherein, the path planning result comprises at least two lanes; adjacent lanes in the at least two lanes are adjacent in the front and back;
the lane selection unit is used for acquiring an optional lane based on the attribute of each lane and the left-right adjacent relation of each lane in at least two lanes contained in the path planning result; the attribute of the lane comprises a lane-changeable attribute and a lane-unchangeable attribute;
and the path planning processing unit is used for adding the selectable lanes to a path planning result to obtain an expanded path planning result, and determining at least one passing area containing lanes with the same attribute in the expanded path planning result.
8. The apparatus of claim 7, wherein each of the at least one traffic zone comprises at least two lanes with the same property, and adjacent lanes in each of the at least one traffic zone are adjacent in front and back.
9. The apparatus according to claim 7, wherein the path planning unit is configured to determine a minimum cost path passing through the starting point, the passing point, and the ending point, and use at least two lanes included in the minimum cost path as a path planning result.
10. The apparatus according to claim 7, wherein the lane selection unit is configured to select a lane with a variable lane attribute from at least two lanes included in the path planning result; and taking the left adjacent lane and/or the right adjacent lane of the lane with the variable lane attribute as selectable lanes.
11. The apparatus of claim 10, wherein the lane selection unit is configured to select, as another selectable lane, a left adjacent lane or a right adjacent lane thereof for the selectable lane.
12. The apparatus according to any one of claims 7 to 11, wherein the path planning processing unit is configured to determine the attribute of the lane as a variable lane attribute or an invariable lane attribute based on a communication relationship representation manner between two lanes adjacent to each other on the left and right in the high-precision map;
or,
judging whether the lane is a branched lane or an integrated lane or not based on the relationship between the lane and the adjacent lanes in the high-precision map, and determining that the attribute of the lane is a variable lane attribute or an immutable lane attribute based on the judgment result.
13. A vehicle, characterized by comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-6.
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