CN109974724A - A kind of paths planning method for intelligent driving system - Google Patents
A kind of paths planning method for intelligent driving system Download PDFInfo
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- CN109974724A CN109974724A CN201711443646.7A CN201711443646A CN109974724A CN 109974724 A CN109974724 A CN 109974724A CN 201711443646 A CN201711443646 A CN 201711443646A CN 109974724 A CN109974724 A CN 109974724A
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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
A kind of paths planning method for intelligent driving system, comprising: Step 1: carrying out road to the running environment information of intelligent driving vehicle analyzes and determines whether intelligent driving vehicle drives into special road section, wherein, if intelligent driving vehicle does not drive into special road section, two are thened follow the steps, step 3 is otherwise executed；Step 2: carrying out path planning according to the running condition information of the intelligent driving vehicle got using the first preset path plan model, first path program results are obtained；Step 3 reads the latitude and longitude information of special road section, and determines the second route programming result according to the latitude and longitude information read.Road is divided into two types by this method: special road section and general section, carries out path planning in different ways for different types of road.In this way, this method can reduce the data processing amount and time cost of path planning.
Description
Technical field
The present invention relates to intelligent driving technical fields, specifically, being related to a kind of path rule for intelligent driving system
The method of drawing.
Background technique
Intelligent driving vehicle relies primarily on vehicle-mounted sensor-based system perception road environment, can automatic planning travelling line simultaneously
It controls vehicle and reaches predeterminated target.Intelligent driving vehicle is to collect numerous technologies such as automatic control, vision calculating, architecture in one
The product of the high development of body is the important symbol for measuring national a research strength and industrial level, in national defence and national warp
Ji field has broad application prospects.
In intelligent driving system, Global motion planning is always an indispensable subsystem, it can be current according to vehicle
Position and destination locations cook up a most suitable global path, this paths is used to inform that control loop will travel
Road and driving behavior (i.e. navigation feature) at crossing.Existing navigation and intelligent driving system are typically only capable to enough mention
For the Global motion planning work of point-to-point, to provide navigation feature for user.
Summary of the invention
To solve the above problems, the present invention provides a kind of paths planning method for intelligent driving system, the side
Method includes:
Step 1: carrying out road to the running environment information of intelligent driving vehicle analyzes and determines that the intelligent driving vehicle is
It is no to drive into special road section, wherein if the intelligent driving vehicle does not drive into the special road section, to then follow the steps two, otherwise
Execute step 3；
Step 2: using the first preset path plan model according to the running condition information of the intelligent driving vehicle got
Path planning is carried out, first path program results are obtained；
Step 3 reads the latitude and longitude information of the special road section, and determines according to the latitude and longitude information read
Two route programming results.
According to one embodiment of present invention, in the step 2, using the first preset path plan model according to obtaining
The running condition information of the intelligent driving vehicle got carries out the step of path planning and includes:
Path planning is carried out using driving status of the GIS database to the intelligent driving vehicle, obtains temporary path rule
Check off fruit；
Coordinate point interpolation is carried out to the temporary path program results, obtains the first path program results.
According to one embodiment of present invention, the step of carrying out coordinate point interpolation to the temporary path program results is wrapped
It includes:
The latitude and longitude information of adjacent coordinates point in the temporary path program results is obtained, and is determined according to latitude and longitude information
The spacing of the adjacent coordinates point；
Based on preset coordinate point spacing threshold, determined according to the spacing of adjacent coordinates point in the temporary path program results
Interpolated coordinates point quantity；
According to the interpolated coordinates point quantity and preset coordinate point spacing threshold, to phase in the temporary path program results
Adjacent coordinate points carry out coordinate point interpolation, obtain the first path program results.
According to one embodiment of present invention, in said step 1, the spy configured by reading the special road section
Different section beacon judges whether the intelligent driving vehicle drives into special road section.
According to one embodiment of present invention, the special road section beacon includes that mark vertex type and special road section are numbered,
Wherein, the mark vertex type includes entering index point and leaving index point.
According to one embodiment of present invention, when detect it is described leave index point when, the method executes the step
Two, to carry out path planning using the first preset path plan model.
According to one embodiment of present invention, in the step 3, the latitude and longitude information and Qi Lu of each special road section
Segment number is corresponding, is numbered according to the special road section to read the warp for obtaining the special road section to corresponding latitude and longitude information
Latitude information.
According to one embodiment of present invention, in the step 3, the latitude and longitude information using the special road section is straight
It obtains and takes path coordinate information, obtain second route programming result.
According to one embodiment of present invention, the special road section includes any one of institute's list or several:
Fork in the road, lane line cross street and wireless lane line section.
The present invention also provides a kind of Global Plannings for intelligent driving system, which comprises
Timer thread is called, the timer thread carries out global path rule using as above described in any item methods
It draws.
According to one embodiment of present invention, the timer thread configuration are as follows:
The vehicle status data of intelligent driving vehicle is obtained, and according to the vehicle position data in the vehicle status data
Update the vehicle location in display map；
Judge whether the intelligent driving vehicle is in automatic Pilot state according to the vehicle status data, wherein such as
Fruit is in automatic Pilot state, then start position and terminal position in the display map are updated according to the vehicle status data
It sets, and carries out global path planning using as above described in any item methods.
According to one embodiment of present invention, the method also includes:
Calling station data more new thread periodically generates in the position data more new thread and sends position
Data request information, and the vehicle position data fed back for the position data request information is received, and to the position
Data are stored.
According to one embodiment of present invention, the method also includes:
It calls path data to send thread, is sent in thread in the path data, periodically obtain global path point
Coordinate data and vehicle position data, and coordinate system is carried out to the global path point coordinate data and vehicle position data and is turned
It changes, generates corresponding ZMQ message according to the data after conversion, and the ZMQ message is sent to intelligent driving system.
Road is divided into two types by the paths planning method provided by the present invention for intelligent driving system: special
Section and general section carry out path planning in different ways for different types of road.In this way, our
Method can simplify map, reduce the data processing amount and time cost of path planning.
Meanwhile for method provided by the present invention, when carrying out independent navigation, this method uses interpolation algorithm
(such as 5 meters of interpolation algorithms) improve the path accuracy in section.Meanwhile for special road section, this method uses reference point identifying
Mode to determine whether into or sail out of special road section, also can just make in this way vehicle enter special road section opportunity more adduction
Reason.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technical description to do simple introduction:
Fig. 1 is that the implementation process of the paths planning method according to an embodiment of the invention for intelligent driving system is shown
It is intended to；
Fig. 2 is the reality according to an embodiment of the invention that path planning is carried out using the first preset path plan model
Existing flow diagram；
Fig. 3 is the implementation process according to an embodiment of the invention that temporary path program results are carried out with coordinate point interpolation
Schematic diagram；
Fig. 4 is coordinate points interpolation result schematic diagram according to an embodiment of the invention；
Fig. 5 is the implementation process schematic diagram of position data according to an embodiment of the invention more new thread；
Fig. 6 is the implementation process schematic diagram that path data according to an embodiment of the invention sends thread；
Fig. 7 is the implementation process schematic diagram of timer thread according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
Many navigation products exist in the prior art, these navigation products can provide the Global motion planning work of point-to-point
Make, to provide navigation feature for user.But the navigation feature that these existing products have much is unable to satisfy intelligent drive
Sail the demand of system, these products can not non-intelligent driving system the longitude and latitude point and lane information of expected path are provided, because
And intelligent driving system needs more suitable Global Planning.
The present invention provides a kind of new paths planning methods for intelligent driving system, and this method is especially suitable for right
The planning of the global path of intelligent driving system.Wherein, Fig. 1 is shown provided by the present embodiment for intelligent driving system
The implementation process schematic diagram of paths planning method.
As shown in Figure 1, the paths planning method is first in step s101 to the intelligent driving got in the present embodiment
The running environment information of vehicle carries out road analysis, to judge intelligent driving according to above-mentioned analysis result in step s 102
Whether vehicle enters special road section.
Since intelligent driving system realizes that the intelligent driving of vehicle relies primarily on the identification to lane line, the present embodiment
In, above-mentioned special road section mainly includes the section of lane line exception, specifically may include: fork in the road, lane line cross street
With no lane part of path.Certainly, in other embodiments of the invention, above-mentioned special road section both can only include item listed above
In a certain item or a few items, also may include other unlisted reasonable items, the invention is not limited thereto.
In the present embodiment, the section entrance of each special road section and section exit are provided with special road section beacon, this
Sample intelligent driving system is by reading the special road section beacon that is configured of special road section also it may determine that intelligent driving vehicle out
Whether drive into special road section or is driven out to special road section.
Specifically, in the present embodiment, special road section beacon provisioned in special road section preferably include mark vertex type and
Special road section number.Intelligent driving vehicle is also assured that out that intelligent driving vehicle is by reading above-mentioned special road section beacon
It is no to drive into special road section or be driven out to special road section, while the special road section can also be determined by above-mentioned special road section number
Corresponding related data.
In the present embodiment, this method, which passes through, reads preferably available four decimal datas of special road section signal,
In, bit data and ten bit data are for characterizing the mark vertex type of the index point.Above-mentioned mark vertex type includes entering mark
Put and leave index point.For example, in the present embodiment, if the ten bit data and bit data of obtained four decimal datas
Composed numerical value is " 11 ", then the mark vertex type of the index point will also be determined as entering index point by this method；And
If numerical value composed by the ten bit data and bit data of four obtained decimal datas is " 12 ", this method is also
The mark vertex type of the index point can be determined as to leave index point.Therefore, this method according to above-mentioned data also it may determine that
Whether intelligent driving vehicle enters or leaves special road section out.
In the present embodiment, this method takes quotient is both available should by calculating obtained four decimal datas to 100
(index point that enters with a road section can have same special road section volume with index point is left to the special road section number of index point
Number).For example, this method is also assured that if the numerical value that four obtained decimal datas are constituted is " 7611 "
Locate the index point be into index point, while the special road section special road section number be " 76 ".
Certainly, in other embodiments of the invention, this method is also to judge intelligent driving vehicle using other way
Whether enter or leave special road section, the invention is not limited thereto.For example, in other embodiments of the invention, above-mentioned intelligence is driven
The road section information that the running environment information of vehicle can also will be travelled comprising current vehicle position information and vehicle is sailed, in this way
The paths planning method also can judge intelligence according to the road section information that current vehicle position information and vehicle will travel
It can drive whether vehicle drives into special road section.
As shown in Figure 1, if intelligent driving vehicle does not drive into special road section, i.e. intelligent driving vehicle exists in the present embodiment
It is travelled on no special section (such as lane line clearly linear road etc.), then this method can utilize first in step s 103
Preset path plan model carries out path planning, to obtain first path program results.
Specifically, Fig. 2 shows the realities for carrying out path planning in the present embodiment using the first preset path plan model
Existing flow diagram.
As shown in Fig. 2, in the present embodiment, if intelligent driving vehicle travels on no special section, this method meeting
Path planning is carried out using driving status of the GIS database to intelligent driving vehicle in step s 201, to obtain interim road
Diameter program results.
In the present embodiment, this method is preferably by the road analysis library function of ArcGIS offer in step s 201 to obtain
Take a shortest path.After carrying out path planning using the analysis library function of road provided by ArcGIS, this method also can
To extract the latitude and longitude information of the temporary path.Specifically, in the present embodiment, this method in step s 201 used in road
It is preferably Di Jiesitela shortest path first that library function is analyzed on road.Certainly, in other embodiments of the invention, this method
GIS database can also be utilized to carry out path planning using other reasonable algorithms, the invention is not limited thereto.
It in the present embodiment, is found by analysis, track is sat in obtained temporary path program results in step s 201
Punctuate is more sparse (such as between 20 meters to 30 meters), obviously influences whether the precision in path in this way.Therefore it is advised to improve
Draw the obtained precision in path, in the present embodiment, this method will be in step S202 to obtained interim in step S201
Route programming result carries out coordinate point interpolation, to obtain the more intensive first path program results of trajectory coordinates point.
Specifically, as shown in figure 3, in the present embodiment, this method is carrying out coordinate point interpolation to temporary path program results
When, the latitude and longitude information of adjacent coordinates point in temporary path program results can be obtained in step S301 first, and in step
The spacing of the adjacent coordinates point is determined in S302 according to above-mentioned latitude and longitude information.
Then, this method can be based on preset coordinate point spacing threshold in step S303, according to above-mentioned interim program results
The spacing of middle adjacent coordinates point determines interpolated coordinates point quantity.Finally again in step s 304 according to obtained in step S303
Interpolated coordinates point quantity and above-mentioned preset coordinate point spacing threshold carry out coordinate to adjacent coordinates point in temporary path program results
Point interpolation, to obtain the more intensive first path program results of trajectory coordinates point.
For example, as shown in figure 4, this method adjacent coordinates point in obtained temporary path program results in step s 201
Spacing between A1 and A2 is 25 meters, if preset coordinate point spacing threshold is 5 meters, is just needed between coordinate points A1 and A2
4 coordinate points of interpolation (i.e. coordinate points B1 to B4) in Fig. 4, such this method also can be obtained by after completing coordinate point interpolation as
Result shown in Fig. 4.
It should be pointed out that in different embodiments of the invention, the specific value of above-mentioned preset coordinate point spacing threshold
It can be actually needed and be configured to different reasonable values, the invention is not limited thereto.
Certainly, in other embodiments of the invention, this method can also be utilized first pre- using other rational methods
If path planning model carries out path planning to intelligent driving vehicle, to obtain first path program results, the present invention is unlimited
In this.
Again as shown in Figure 1, in the present embodiment, if intelligent driving vehicle drives into special road section, i.e. this method is read
Into index point and unread to index point is left, then this method can read the longitude and latitude of the special road section in step S104
Information, and the second route programming result is determined according to the latitude and longitude information read in step S104 in step s105.
In the present embodiment, since all there is each special road section unique special road section to number, this method also can
It is corresponding with special road section number to obtain to be numbered by the special road section read when entering the special road section
Latitude and longitude information, to obtain the latitude and longitude information of the special road section, and then according to the latitude and longitude information of the special road section come really
The path coordinate information of the special road section is made, to obtain above-mentioned second route programming result.
In the present embodiment, for special road section, this method does not need to carry out the latitude and longitude information of special road section additional
Data processing, can use the latitude and longitude information of the special road section to directly obtain path coordinate information, and then obtain above-mentioned
Second route programming result.
Certainly, in other embodiments of the invention, this method can also be determined special using other rational methods
The route programming result in section, the invention is not limited thereto.
Road is divided into two types by the paths planning method provided by the present invention for intelligent driving system: special
Section and general section carry out path planning in different ways for different types of road.In this way, our
Method can simplify map, reduce the time cost of path planning.
Meanwhile for method provided by the present invention, when carrying out independent navigation, this method uses interpolation algorithm
(such as 5 meters of interpolation algorithms) improve the path accuracy in section.Meanwhile for special road section, this method uses reference point identifying
Mode to determine whether into or sail out of special road section, also can just make in this way vehicle enter special road section opportunity more adduction
Reason.
The present invention also provides a kind of Global Plannings for intelligent driving system, in the method, global path
Planning procedure is preferably provided with three threads, and (including timer thread, position data more new thread and path data send line
Journey), these three threads are mutually indepedent and according to the periodic duty of itself.This method realizes intelligence by calling above three thread
The global path planning of vehicle can be driven.
Fig. 5 shows the implementation process schematic diagram of position data more new thread in the present embodiment.
As shown in figure 5, updating the positional number of intelligent driving vehicle in calling station data more new thread in the present embodiment
According to when, this method ZMQ messaging parameter can be configured in step S501 first and established in step S502 with the connection of data pool,
Also data can be written into data pool in this way or read related data from data pool.
Then, this method can send position data request information to data pool in step S503.Data pool is receiving
After above-mentioned position data request information, the position data request information can be responded, and send the feedback comprising vehicle position data
Information.In the present embodiment, after this method receives above-mentioned feedback information, feedback information can be parsed in step S503,
To obtain vehicle position data, to be carried out more using obtained vehicle position data to existing vehicle position data
Newly.
In the present embodiment, after the vehicle position data for obtaining parsing is sent to data pool, this method can be in step
Judge whether that end position data is needed to update process in S505.Wherein, process, the party are updated if necessary to end position data
Method also will stop position data acquisition and update；And if be somebody's turn to do there is still a need for continuing to execute position data to update process
Method can then wait next period in step S506, and be then returned to step S503 to enter next execution period.
Fig. 6 shows the implementation process schematic diagram of data transmission line journey in path in the present embodiment.
As shown in fig. 6, obtained global path data are sent calling path data to send thread in the present embodiment
When to intelligent driving system, this method can configure ZMQ messaging parameter in step s 601 first and established in step S502 with
The connection of data pool also can be written data into data pool in this way or read related data from data pool.
In step S603, this method can obtain global road, and through point data and vehicle position data, (such as vehicle is current
GPS data), and coordinate system conversion is carried out to above-mentioned data accessed in step S603 in step s 604.The present embodiment
In, by carrying out coordinate system conversion through point data to global road, this method can filter out intelligent driving vehicle front it is specified away from
From the path point in (specific value can be configured to different reasonable values according to actual needs).
After completing the coordinate system conversion of data, this method can in step s 605 be carried out the data after coordinate system conversion
Format is converted and is sent to intelligent driving system.Specifically, in the present embodiment, this method preferably first can in step s 605
Data after coordinate system is converted are converted to the character string (such as jason format string) of preset format, will then obtain
The character string of preset format be converted to ZMQ information and sending to intelligent driving system.
In the present embodiment, in order to guarantee the reliability of data transmission, this method can exist after the transmission for completing ZMQ message
Reception intelligent driving system responds above-mentioned ZMQ message and returns the feedback information come, and the root in step S607 in step S606
Judge whether the transmission process of ZMQ message is successful (i.e. whether data are successfully transmitted) according to above-mentioned feedback information.Wherein, if data
It is failed to send, then party's rule meeting return step S603 is to re-start data transmission；And if data are successfully transmitted, that
Party's rule can further determine whether that needing to terminate path data sends thread in step S608.
Terminate path data if necessary and send thread, this method will also stop the transmission of related route data；And such as
Fruit sends thread there is still a need for path data is continued, then party's rule can wait next period in step S609, and then returns
Step S603 is returned to enter next execution period.
Fig. 7 shows the implementation process schematic diagram of the present embodiment Timer thread.
As shown in fig. 7, in the present embodiment, when calling timer thread to carry out global path planning, this method can be
The vehicle status data of intelligent driving vehicle is obtained in step S701, and according in above-mentioned vehicle status data in step S702
Vehicle position data update map in vehicle location.
Then, this method can judge whether intelligent driving vehicle enters according to above-mentioned vehicle status data in step S703
Automatic Pilot state.Wherein, if into automatic Pilot state, party's rule in step S704 according to vehicle status data more
Start position and final position in new map, and carried out using paths planning method as described above entirely in step S705
Office's path planning.
Complete intelligent driving vehicle global path planning after, this method can in step S706 on map to step
Obtained vehicle planning path carries out visualization display in S705.Meanwhile this method can drive in step S707 according to intelligence
The vehicle position data of vehicle is sailed to judge whether vehicle arrives at the destination.Wherein, if vehicle has arrived at destination,
This method can stop automatic Pilot in step S708, and refresh map in step S709；And if vehicle misses one's purpose
Ground, then party's rule can directly keep straight on, step S709 is to refresh map.
After completing map and refreshing, this method can further determine whether to need to terminate timer line in step S710
Journey.Terminate timer thread if necessary, this method will also stop introductory path program operation；And if there is still a need for continue to count
When device thread, then party's rule can wait next period in step S711, and it is next to enter to be then returned to step S703
Execute the period.
It, should if this method judges that vehicle does not enter automatic Pilot state in step S704 in the present embodiment
Method can keep straight on step S709 directly then to refresh map.
It must be single thread to the operation of ArcGIS map due to the limitation of the interface of ArcGIS tool in the present embodiment
, therefore the function of Global motion planning is put into timer and runs by this method, and Global motion planning is periodically executed.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (13)
1. a kind of paths planning method for intelligent driving system, which is characterized in that the described method includes:
Step 1: carrying out road to the running environment information of intelligent driving vehicle analyzes and determines whether the intelligent driving vehicle is sailed
Enter special road section, wherein if the intelligent driving vehicle does not drive into the special road section, then follow the steps two, otherwise execute
Step 3；
Step 2: being carried out using the first preset path plan model according to the running condition information of the intelligent driving vehicle got
Path planning obtains first path program results；
Step 3 reads the latitude and longitude information of the special road section, and determines the second tunnel according to the latitude and longitude information read
Diameter program results.
2. the method as described in claim 1, which is characterized in that in the step 2, plan mould using the first preset path
Type according to the running condition information of the intelligent driving vehicle got carry out path planning the step of include:
Path planning is carried out using running condition information of the GIS database to the intelligent driving vehicle, obtains temporary path rule
Check off fruit；
Coordinate point interpolation is carried out to the temporary path program results, obtains the first path program results.
3. method according to claim 2, which is characterized in that carry out coordinate point interpolation to the temporary path program results
Step includes:
The latitude and longitude information of adjacent coordinates point in the temporary path program results is obtained, and the phase is determined according to latitude and longitude information
The spacing of adjacent coordinate points；
Based on preset coordinate point spacing threshold, interpolation is determined according to the spacing of adjacent coordinates point in the temporary path program results
Coordinate points quantity；
According to the interpolated coordinates point quantity and preset coordinate point spacing threshold, to adjacent seat in the temporary path program results
Punctuate carries out coordinate point interpolation, obtains the first path program results.
4. method according to any one of claims 1 to 3, which is characterized in that in said step 1, described in reading
The special road section beacon that special road section is configured judges whether the intelligent driving vehicle drives into special road section.
5. method as claimed in claim 4, which is characterized in that the special road section beacon includes mark vertex type and special road
Segment number, wherein the mark vertex type includes entering index point and leaving index point.
6. method as claimed in claim 5, which is characterized in that when detect it is described leave index point when, the method executes
The step 2, to carry out path planning using the first preset path plan model.
7. such as method described in claim 5 or 6, which is characterized in that in the step 3, the longitude and latitude of each special road section
Information is corresponding with its section number, is numbered according to the special road section to read to corresponding latitude and longitude information, obtains the spy
The latitude and longitude information in different section.
8. such as method according to any one of claims 1 to 7, which is characterized in that in the step 3, using described special
The latitude and longitude information in section directly acquires path coordinate information, obtains second route programming result.
9. such as method according to any one of claims 1 to 8, which is characterized in that the special road section includes institute's list
Any one of or several:
Fork in the road, lane line cross street and wireless lane line section.
10. a kind of Global Planning for intelligent driving system, which is characterized in that the described method includes:
Timer thread is called, the timer thread uses method according to any one of claims 1 to 9 such as to carry out the overall situation
Path planning.
11. method as claimed in claim 10, which is characterized in that the timer thread configuration are as follows:
The vehicle status data of intelligent driving vehicle is obtained, and is updated according to the vehicle position data in the vehicle status data
Show the vehicle location in map；
Judge whether the intelligent driving vehicle is in automatic Pilot state according to the vehicle status data, wherein if place
In automatic Pilot state, then start position and final position in the display map are updated according to the vehicle status data,
And global path planning is carried out using method described in any one of claim 1~9.
12. method as described in claim 10 or 11, which is characterized in that the method also includes:
Calling station data more new thread periodically generates in the position data more new thread and sends position data
Solicited message, and the vehicle position data fed back for the position data request information is received, and to the position data
It is stored.
13. the method as described in any one of claim 10~12, which is characterized in that the method also includes:
It calls path data to send thread, is sent in thread in the path data, periodically obtain global path point coordinate
Data and vehicle position data, and coordinate system conversion, root are carried out to the global path point coordinate data and vehicle position data
Corresponding ZMQ message is generated according to the data after conversion, and the ZMQ message is sent to intelligent driving system.
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