CN109901575A - Vehicle routing plan adjustment method, device, equipment and computer-readable medium - Google Patents
Vehicle routing plan adjustment method, device, equipment and computer-readable medium Download PDFInfo
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- CN109901575A CN109901575A CN201910127120.0A CN201910127120A CN109901575A CN 109901575 A CN109901575 A CN 109901575A CN 201910127120 A CN201910127120 A CN 201910127120A CN 109901575 A CN109901575 A CN 109901575A
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Abstract
The present invention proposes a kind of vehicle routing plan adjustment method, device, equipment and computer-readable medium, the described method includes: obtaining the data boundary of the intersecting area of vehicle and barrier in following a period of time according to the prediction locus of the present running route of vehicle and barrier；According to the data boundary of vehicle and the intersecting area of barrier, the intersecting area of vehicle and barrier and the travelable region of vehicle are shown in the view；Go out the driving trace of vehicle with travelable regional planning according to the current running state of vehicle, and shows the driving trace of vehicle in the view.The embodiment of the present invention facilitates debugging by the boundary curve of rate curve and barrier to visualization vehicle so as to intuitively judge the interactive strategy of automatic driving vehicle and barrier.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of vehicle routing plan adjustment method and device, set
Standby and computer-readable medium.
Background technique
The automatic driving vehicle not still important component of intelligent transportation system and mobile robot research field
Research hotspot.When actually driving, need to carry out road with dynamic barrier for the static state under automatic driving vehicle current scene
Line gauge is drawn.Therefore, the route planning for automatic driving vehicle is needed to be debugged in practical R&D process.
However, the route pair at present when carrying out the route planning of automatic driving vehicle, after can not being intuitive to see planning
The speed and obstacles borders answered, it has not been convenient to which developer debugs automatic driving vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle routing plan adjustment method, device, equipment and computer-readable medium, with
Solve or alleviate one or more technical problems in the prior art.
In a first aspect, the embodiment of the invention provides a kind of vehicle routing plan adjustment methods, comprising:
According to the prediction locus of the present running route of vehicle and barrier, vehicle and obstacle in following a period of time are obtained
The data boundary of the intersecting area of object；
According to the data boundary of vehicle and the intersecting area of barrier, the intersection of vehicle and barrier is shown in the view
The travelable region in domain and vehicle；
Go out the driving trace of vehicle with travelable regional planning according to the current running state of vehicle, and in the view
Show the driving trace of vehicle.
In one embodiment, the intersecting area and vehicle of displaying vehicle and the barrier in the view is travelable
Region, comprising:
Using the displacement s of vehicle as the longitudinal axis, time t constructs st view as horizontal axis；
Using the up-and-down boundary data of vehicle and the intersecting area of barrier, shown in the st view intersecting area and
It can travel region.
In one embodiment, the row for going out vehicle with travelable regional planning according to the current running state of vehicle
Sail track, comprising:
The state parameter of current vehicle is obtained, the state parameter includes: displacement s, speedAccelerationAnd accelerationAt least one of in；
Driving trace route is planned in the travelable region of vehicle according to the state parameter of current vehicle.
In one embodiment, this method further include:
Vernier is set in the view, and is shown in the vernier and the point of intersection of track of vehicle, obstacles borders
Corresponding boundary value.
Second aspect, the embodiment of the invention provides a kind of vehicle routing plan debugging apparatus, comprising:
Data acquisition module, for obtaining future one according to the present running route of vehicle and the prediction locus of barrier
The data boundary of the intersecting area of vehicle and barrier in the section time；
View display module, for the data boundary according to vehicle and the intersecting area of barrier, exhibition vehicle in the view
With the intersecting area of barrier and the travelable region of vehicle；
Trajectory planning module, for going out the traveling rail of vehicle with travelable regional planning according to the current running state of vehicle
Mark, and in the view show vehicle driving trace.
In one embodiment, the view display module includes:
Submodule is constructed, for using the displacement s of vehicle as the longitudinal axis, time t to construct st view as horizontal axis；
Submodule is shown, for the up-and-down boundary data using vehicle and the intersecting area of barrier, in the st view
Middle displaying intersecting area and travelable region.
In one embodiment, the trajectory planning module includes:
Parameter acquisition submodule, for obtaining the state parameter of current vehicle, the state parameter includes: displacement s, speedAccelerationAnd accelerationAt least one of in；
Submodule is planned, for planning driving trace in the travelable region of vehicle according to the state parameter of current vehicle
Route.
In one embodiment, the device further include:
Vernier module, for being arranged vernier in the view, and in the vernier and track of vehicle, obstacles borders
Point of intersection shows corresponding boundary value.
The third aspect, the embodiment of the present invention provide a kind of vehicle routing plan commissioning device, and the equipment includes:
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 places
Reason device realizes vehicle routing plan adjustment method described in above-mentioned first aspect.
It include processor and memory, institute in the structure of vehicle routing plan commissioning device in a possible design
State memory for store support vehicle routing plan debugging side in the above-mentioned first aspect of vehicle routing plan commissioning device execution
The program of method, the processor is configured to for executing the program stored in the memory.The vehicle routing plan tune
Trying equipment can also include communication interface, for vehicle routing plan commissioning device and other equipment or communication.
Fourth aspect, the embodiment of the invention provides a kind of computer-readable mediums, for storing vehicle routing plan tune
Computer software instructions used are set in trial assembly comprising for executing the vehicle routing plan adjustment method institute of above-mentioned first aspect
The program being related to.
In a kind of above-mentioned scheme, the embodiment of the present invention passes through the side to the rate curve and barrier for visualizing vehicle
Boundary's curve facilitates debugging so as to intuitively judge the interactive strategy of automatic driving vehicle and barrier.
In another technical solution, the embodiment of the present invention in the view can the intersecting area of intuitive acquired disturbance object throw
The track of shadow and current vehicle planning can travel the distribution in space, and it can be seen that each moment in the view
Occurrence.It records a video in conjunction with actual test, judge the reasonability of current planned trajectory, and ideal planning rail with can be convenient
Thus the approximate state of mark rapidly finds out the defect when preplanning, revises accordingly, accelerate iterative development speed.
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 is the flow chart of the vehicle routing plan adjustment method of one embodiment of the invention；
Fig. 2 is the automatic driving vehicle of one embodiment of the invention and the trajectory predictions schematic diagram of obstacle vehicle；
Fig. 3 is the specific flow chart of the step S120 of one embodiment of the invention；
Fig. 4 is the vehicle of one embodiment of the invention and the view of barrier intersecting area；
Fig. 5 is the specific flow chart of the step S130 of one embodiment of the invention；
Fig. 6 is the schematic diagram that the track of vehicle of one embodiment of the invention is planned；
Fig. 7 is the flow chart of the vehicle routing plan adjustment method of another embodiment of the present invention；
Fig. 8 is the vernier schematic diagram of another embodiment of the present invention；
Fig. 9 is the connection block diagram of the vehicle routing plan debugging apparatus of another embodiment of the present invention；
Figure 10 is the internal frame diagram of the view display module of another embodiment of the present invention；
Figure 11 is the internal frame diagram of the trajectory planning module of another embodiment of the present invention；
Figure 12 is the connection block diagram of the vehicle routing plan debugging apparatus of another embodiment of the present invention；
Figure 13 is the vehicle routing plan commissioning device block diagram of another 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 mainly provides one kind
The method and device of logical vehicle routing plan debugging, is described by the expansion that following embodiment carries out technical solution separately below.
The present invention provides a kind of vehicle routing plan adjustment method and device, the embodiment of the present invention described in detail below
The specific process flow and principle of vehicle routing plan adjustment method and device.
As shown in Figure 1, its flow chart for the vehicle routing plan adjustment method of the embodiment of the present invention.In a kind of embodiment
In, the vehicle routing plan adjustment method of the embodiment of the present invention may comprise steps of:
S110: according to the prediction locus of the present running route of vehicle and barrier, vehicle in following a period of time is obtained
With the data boundary of the intersecting area of barrier.
As shown in Fig. 2, it is the trajectory predictions schematic diagram of current automatic driving vehicle and obstacle vehicle.As can be known from Fig. 2,
Current vehicle M straight-line travelling on current lane, and obstacle vehicle O is imported on the lane of side.According to the operation rail of current vehicle M
The running track of mark and obstacle vehicle O can calculate the intersecting area in some following two vehicle running track of time point.
For example, the section between the two points of s_lower (lower boundary) shown in Fig. 2 and s_upper (coboundary) is two vehicles
The intersecting area of track, wherein the point of s_lower is the lower boundary point of the intersecting area, and s_upper is the intersecting area
Coboundary point.Therefore, the relevant data of available this coboundary point and lower boundary point, such as the displacement with current vehicle
Distance and corresponding time point etc..
S120: according to the data boundary of vehicle and the intersecting area of barrier, vehicle and barrier are shown in the view
The travelable region of intersecting area and vehicle.
As shown in figure 3, in one embodiment, the phase of vehicle with barrier is shown in the step S120 in the view
May include: when handing over region and the travelable region of vehicle
S121: using the displacement s of vehicle as the longitudinal axis, time t constructs st view as horizontal axis.
S122: using the up-and-down boundary data of vehicle and the intersecting area of barrier, intersection is shown in the st view
Region and travelable region.
As shown in figure 4, the dash area in Fig. 4 indicates the intersecting area of vehicle and barrier, blank parts indicate vehicle
Travelable region.Wherein, the intersecting area indicates the region that vehicle and barrier collide.The travelable region table
Show that vehicle can be with the region of avoiding obstacles.
S130: go out the driving trace of vehicle with travelable regional planning according to the current running state of vehicle, and described
The driving trace of vehicle is shown in view.
It, can be in the driving trace for cooking up vehicle in the step S130 as shown in figure 5, in one embodiment
Include:
S131: obtaining the state parameter of current vehicle, and the state parameter includes: displacement s, speedAccelerationWith add
AccelerationAt least one of in.
S132: driving trace route is planned in the travelable region of vehicle according to the state parameter of current vehicle.
It in one embodiment, can be according to current vehicle when planning driving trace route in it can travel region
Velocity estimated avoids intersecting area in which way.For example, can pass through in the preacceleration that obstacle vehicle imports present road, to keep away
Open obstacle vehicle.Alternatively, speed can also be reduced, follows when obstacle vehicle imports present road at the rear of obstacle vehicle, avoid sending out
Raw collision.As shown in fig. 6, planned in Fig. 6 path when in the lower section of intersecting area, i.e., by vehicle drop M speed to avoid
It collides with obstacle vehicle O.
As shown in fig. 7, in another embodiment, the method can also include: step S140: being set in the view
Vernier is set, and shows corresponding boundary value with the point of intersection of track of vehicle, obstacles borders in the vernier.
As shown in figure 8, being represented by dotted lines the vernier in view in fig. 8.The vernier can move left and right, when moving
Vernier is shown into corresponding parameter with the point of intersection of track of vehicle, obstacles borders, such as: time point, displacement, speed (displacement
Single order is led), acceleration (displacement second order lead), acceleration (three ranks of displacement are led) etc..
In a kind of above-mentioned scheme, the embodiment of the present invention passes through the side to the rate curve and barrier for visualizing vehicle
Boundary's curve facilitates debugging so as to intuitively judge the interactive strategy of automatic driving vehicle and barrier.
In another technical solution, the embodiment of the present invention in the view can the intersecting area of intuitive acquired disturbance object throw
The track of shadow and current vehicle planning can travel the distribution in space, and it can be seen that each moment in the view
Occurrence.It records a video in conjunction with actual test, judge the reasonability of current planned trajectory, and ideal planning rail with can be convenient
Thus the approximate state of mark rapidly finds out the defect when preplanning, revises accordingly, accelerate iterative development speed.
As shown in figure 9, in another embodiment, the present invention also provides a kind of vehicle routing plan debugging apparatus, packets
It includes:
Data acquisition module 110, for obtaining future according to the present running route of vehicle and the prediction locus of barrier
The data boundary of the intersecting area of vehicle and barrier in a period of time.
View display module 120 is shown in the view for the data boundary according to vehicle and the intersecting area of barrier
The travelable region of the intersecting area and vehicle of vehicle and barrier.
Trajectory planning module 130, for going out the row of vehicle with travelable regional planning according to the current running state of vehicle
Track is sailed, and shows the driving trace of vehicle in the view.
As shown in Figure 10, the view display module 120 includes:
Submodule 121 is constructed, for using the displacement s of vehicle as the longitudinal axis, time t to construct st view as horizontal axis.
It shows submodule 122, for the up-and-down boundary data using vehicle and the intersecting area of barrier, is regarded in the st
Intersecting area and travelable region are shown in figure.
As shown in figure 11, in one embodiment, the trajectory planning module 130 includes:
Parameter acquisition submodule 131, for obtaining the state parameter of current vehicle, the state parameter include: displacement s,
SpeedAccelerationAnd accelerationAt least one of in.
It plans submodule 132, plans traveling in the travelable region of vehicle for the state parameter according to current vehicle
Path.
As shown in figure 12, in one embodiment, described device further include:
Vernier module 140, for vernier to be arranged in the view, and in the vernier and track of vehicle, barrier side
The point of intersection on boundary shows corresponding boundary value.
The original of the vehicle routing plan adjustment method of the vehicle routing plan debugging apparatus and above-described embodiment of the present embodiment
Manage similar, so it will not be repeated.
In another embodiment, the present invention also provides a kind of vehicle routing plan commissioning device, as shown in figure 13, this is set
Standby includes: memory 510 and processor 520, and the computer program that can be run on processor 520 is stored in memory 510.
The processor 520 realizes the vehicle routing plan adjustment method in above-described embodiment when executing the computer program.It is described
The quantity of memory 510 and processor 520 can be one or more.
The equipment further include:
Communication interface 530 carries out data interaction for being communicated with external device.
Memory 510 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 510, processor 520 and the independent realization of communication interface 530, memory 510,520 and of processor
Communication interface 530 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) bus or extended industry-standard architecture (EISA, Extended Industry Standard
Component) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For convenient for expression, Figure 13
In only indicated with a thick line, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 510, processor 520 and communication interface 530 are integrated in one piece of core
On piece, then memory 510, processor 520 and communication interface 530 can complete mutual communication by internal interface.
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.
Computer-readable medium described in the embodiment of the present invention can be computer-readable signal media or computer can
Read storage medium either the two any combination.The more specific example of computer readable storage medium is at least (non-poor
Property list to the greatest extent) include the following: there is the electrical connection section (electronic device) of one or more wirings, 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 storage medium even can be with
It is the paper or other suitable media that can print described program on it, because can be for example by paper or the progress of other media
Optical scanner is then edited, interpreted or is handled when necessary with other suitable methods and is described electronically to obtain
Program is then stored in computer storage.
In embodiments of the present invention, computer-readable signal media may include in a base band or as carrier wave a part
The data-signal of propagation, wherein carrying computer-readable program code.The data-signal of this propagation can use a variety of
Form, including but not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media is also
It can be any computer-readable medium other than computer readable storage medium, which can send, pass
It broadcasts or transmits for instruction execution system, input method or device use or program in connection.Computer can
The program code for reading to include on medium can transmit with any suitable medium, including but not limited to: wirelessly, electric wire, optical cable, penetrate
Frequently (Radio Frequency, RF) etc. or above-mentioned any appropriate combination.
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 (10)
1. a kind of vehicle routing plan adjustment method characterized by comprising
According to the prediction locus of the present running route of vehicle and barrier, vehicle and barrier in following a period of time are obtained
The data boundary of intersecting area；
According to the data boundary of vehicle and the intersecting area of barrier, show in the view vehicle and barrier intersecting area and
The travelable region of vehicle；
Go out the driving trace of vehicle with travelable regional planning according to the current running state of vehicle, and is shown in the view
The driving trace of vehicle.
2. the method according to claim 1, wherein the intersection for showing vehicle and barrier in the view
The travelable region in domain and vehicle, comprising:
Using the displacement s of vehicle as the longitudinal axis, time t constructs st view as horizontal axis；
Using the up-and-down boundary data of vehicle and the intersecting area of barrier, intersecting area and feasible is shown in the st view
Sail region.
3. the method according to claim 1, wherein it is described according to the current running state of vehicle with travelable area
Cook up the driving trace of vehicle in domain, comprising:
The state parameter of current vehicle is obtained, the state parameter includes: displacement s, speedAccelerationAnd accelerationIn
At least one of；
Driving trace route is planned in the travelable region of vehicle according to the state parameter of current vehicle.
4. the method according to claim 1, wherein further include:
Vernier is set in the view, and is shown to the point of intersection of track of vehicle, obstacles borders in the vernier corresponding
Boundary value.
5. a kind of vehicle routing plan debugging apparatus characterized by comprising
Data acquisition module, for according to the present running route of vehicle and the prediction locus of barrier, when obtaining one section following
The data boundary of the intersecting area of interior vehicle and barrier；
View display module, for the data boundary according to vehicle and the intersecting area of barrier, show in the view vehicle with
The intersecting area of barrier and the travelable region of vehicle；
Trajectory planning module, for going out the driving trace of vehicle with travelable regional planning according to the current running state of vehicle,
And the driving trace of vehicle is shown in the view.
6. device according to claim 5, which is characterized in that the view display module includes:
Submodule is constructed, for using the displacement s of vehicle as the longitudinal axis, time t to construct st view as horizontal axis；
It shows submodule, for the up-and-down boundary data using vehicle and the intersecting area of barrier, is opened up in the st view
Show intersecting area and travelable region.
7. device according to claim 5, which is characterized in that the trajectory planning module includes:
Parameter acquisition submodule, for obtaining the state parameter of current vehicle, the state parameter includes: displacement s, speedAdd
SpeedAnd accelerationAt least one of in；
It plans submodule, plans driving trace road in the travelable region of vehicle for the state parameter according to current vehicle
Line.
8. device according to claim 5, which is characterized in that further include:
Vernier module, for vernier to be arranged in the view, and in the intersection point of the vernier and track of vehicle, obstacles borders
Place shows corresponding boundary value.
9. a kind of vehicle routing plan commissioning device, which is characterized in that the equipment includes:
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 the vehicle routing plan adjustment method as described in any in claim 1-4.
10. a kind of computer-readable medium, is stored with computer program, which is characterized in that when the program is executed by processor
Realize the vehicle routing plan adjustment method as described in any in claim 1-4.
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| CN111736604A (en) * | 2020-06-24 | 2020-10-02 | 中国第一汽车股份有限公司 | Remote driving control method, device, equipment and storage medium |
| CN111879330A (en) * | 2020-08-05 | 2020-11-03 | 苏州挚途科技有限公司 | Method and device for planning crossing driving path, processor and automatic driving vehicle |
| CN112455445A (en) * | 2020-12-04 | 2021-03-09 | 苏州挚途科技有限公司 | Automatic driving lane change decision method and device and vehicle |
| WO2023005223A1 (en) * | 2021-07-27 | 2023-02-02 | 北京三快在线科技有限公司 | Trajectory planning method and apparatus, storage medium, device, and computer program product |
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