CN109974731A - A kind of method and apparatus of Unmanned Systems' path planning target selection - Google Patents
A kind of method and apparatus of Unmanned Systems' path planning target selection Download PDFInfo
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- CN109974731A CN109974731A CN201910199325.XA CN201910199325A CN109974731A CN 109974731 A CN109974731 A CN 109974731A CN 201910199325 A CN201910199325 A CN 201910199325A CN 109974731 A CN109974731 A CN 109974731A
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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Abstract
The invention discloses a kind of methods and apparatus of Unmanned Systems' path planning target selection, can not quickly determine the object of planning in current unmanned technology to solve the problems, such as.According to the location information that the corresponding planning distance parameter of the current travel speed of target vehicle and the target vehicle are current in the embodiment of the present invention, the current planned range of the target vehicle is determined；Object other than being filtered out in the planned range in the object that the sensor by the target vehicle detects；It determines in the object in the planned range and exists to the object for causing obstruction in the target vehicle driving process.During above method path planning, the object information of consideration is reduced, path planning can be carried out faster, and the emphasis object of planning has been determined in planning process, safety is higher, wherein, planned range is determined in real time according to the travel speed of vehicle, more adaptable.
Description
Technical field
The present invention relates to unmanned technical field, in particular to a kind of Unmanned Systems' path planning target selection
Method and apparatus.
Background technique
With the rapid development of information technology, unmanned technology also becomes the hot spot direction of current research.It is described nobody
Driving is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, is relied primarily on interior with computer system
Based on intelligent driving instrument it is unmanned to realize.
Current unmanned technology in application process, when vehicle is more especially in garden, travel speed is slower, vehicle
It often cannot achieve unmanned, need artificially to carry out vehicle driving intervention.Meanwhile existing automatic driving vehicle carries out route and leads
Endurance mainly obtains the position of vehicle itself and the location information of surrounding vehicles, then basis by global position system
The nearby vehicle of feedback and the location information of vehicle carry out route planning, but feedback data amount is more, and specific aim is poor,
Overhead is larger, so that safely and effectively path planning scheme can not be determined quickly.
Summary of the invention
The present invention provides a kind of method of Unmanned Systems' path planning target selection, unmanned at present to solve
The problem of effective object of planning can not be quickly determined in technology.
In a first aspect, a kind of method packet of Unmanned Systems' path planning target selection provided in an embodiment of the present invention
It includes:
According to the current position of the corresponding planning distance parameter of the current travel speed of target vehicle and the target vehicle
Information determines the current planned range of the target vehicle；The mistake from the object that the sensor by the target vehicle detects
Object other than filtering in the planned range；It determines to exist in the object in the planned range and the target vehicle is travelled
The object hindered is caused in the process.
The above method, the vehicle is when carrying out unmanned, according to planning distance parameter and the current vehicle position
Information determines planned range, thus according to planned range to the vehicle detection to all objects be filtered, reduce row
It sails in path determination process, object information in need of consideration, therefore the driving path planning of the vehicle can be carried out faster,
Meanwhile the object for causing to hinder in driving process is determined also in the planned range, to preferably be determined that emphasis is planned
Target keeps the path planning safety of the vehicle higher, in addition, the planned range is the travel speed according to the vehicle
It determines in real time, it is more adaptable.
In one possible implementation, the planning distance parameter is determined in the following manner:
According to the corresponding relationship of travel speed and planning distance parameter, the current travel speed pair of the target vehicle is determined
The planning distance parameter answered.
The above method, by the corresponding relationship of travel speed and planning distance parameter, so that it is determined that current driving speed pair
The planning distance parameter answered, because the planned range is to determine that adaptability is more in real time according to the travel speed of the vehicle
By force.
In one possible implementation, with the presence or absence of to the mesh in the object in the determination planned range
Mark vehicle causes the object hindered, comprising: if there are the fore-and-aft distances of target vehicle described in object distance in the planned range
It is less than minimum lateral safe distance less than minimum longitudinal safe distance and/or lateral distance, it is determined that the object is to described
Target vehicle causes the object hindered.
The above method, after planned range has been determined, also according to there are targets described in object distance in the planned range
The fore-and-aft distance of vehicle is less than minimum longitudinal safe distance and/or lateral distance is less than minimum lateral safe distance, further really
The object hindered is caused to the target vehicle in the fixed planned range, preferably improves the target vehicle in driving process
In safety.
In one possible implementation, the mistake from the object that the sensor by the target vehicle detects
After filtering the object other than the planned range, further includes: determine the current lane of the target vehicle by high-precision map
Width；Filter out the object for being greater than the lane width in the object in the planned range with the lateral distance of the target vehicle
Body.
The above method, further according to the width of the current lane, filters out institute after determining the planned range
The object for being greater than the lane width in the object in planned range with the lateral distance of the target vehicle is stated, path rule are reduced
Physical quantities in need of consideration during drawing, to keep specific aim during path planning stronger.
In one possible implementation, exist in the object in the determination planned range to the target carriage
After causing the object hindered in driving process, further includes: determine the current lane of the target vehicle by high-precision map
Center line；Determine to caused in the target vehicle driving process hinder object in the position of the lane center.
The above method, after determining to the object hindered is caused in the target vehicle driving process, according to the object
The position of the object is preferably determined in the position of the lane center.
Second aspect, the embodiment of the invention also provides a kind of equipment of Unmanned Systems' path planning target selection,
The terminal includes: at least one processing unit and at least one storage unit, wherein the storage unit is stored with program generation
Code, when said program code is executed by the processing unit, so that the processing unit executes each reality of above-mentioned first aspect
Apply the function of example.
The third aspect, the embodiment of the present invention also provide a kind of equipment of Unmanned Systems' path planning target selection, should
Equipment comprises determining that module, filtering module, processing module, which has the function for each embodiment for realizing above-mentioned first aspect
Energy.
Fourth aspect, the application also provide a kind of computer storage medium, are stored thereon with computer program, the program quilt
The step of first aspect the method is realized when processor executes.
In addition, second aspect technical effect brought by any one implementation into fourth aspect can be found in first party
Technical effect brought by different implementations in face, details are not described herein again.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of schematic diagram of a scenario of Unmanned Systems' path planning target selection of the embodiment of the present invention；
Fig. 2 is a kind of method schematic diagram of Unmanned Systems' path planning target selection of the embodiment of the present invention；
Fig. 3 is the first determination planned range schematic diagram of the embodiment of the present invention；
Fig. 4 is second of the embodiment of the present invention determining planned range schematic diagram；
Fig. 5 is the third determination planned range schematic diagram of the embodiment of the present invention；
Fig. 6 is that the embodiment of the present invention filters out the object schematic diagram outside planned range；
Fig. 7 is the object schematic diagram that the embodiment of the present invention filters out that lateral distance is greater than the lane width；
Fig. 8 is that the embodiment of the present invention determines the object schematic diagram that obstruction is caused to the target vehicle；
Fig. 9 is a kind of Unmanned Systems' path planning target selecting method flow diagram of the embodiment of the present invention；
Figure 10 is the first Unmanned Systems' path planning target selection equipment schematic diagram of the embodiment of the present invention；
Figure 11 is second of Unmanned Systems' path planning target selection equipment schematic diagram of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The some words occurred in text are explained below:
(1) term " multiple " refers to two or more in the embodiment of the present application, and other quantifiers are similar therewith.
(2) term "and/or" in the embodiment of the present application describes the incidence relation of affiliated partner, indicates may exist three kinds
Relationship, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.Character "/"
Typically represent the relationship that forward-backward correlation object is a kind of "or".
(3) " the high-precision map " in the embodiment of the present invention refers to higher relative to general map precision that accuracy rate is higher, can
To determine the map of the information such as road axis and road width.
Main application scenarios can be as shown in Figure 1, for example, the vehicle A in garden be that the present invention is real in the embodiment of the present invention
The automatic driving vehicle for needing to carry out goal filtering in example is applied, because the vehicle A can carry out the vehicle of other in garden
Filter, and the vehicle for generating obstruction in the process of moving is determined from filtered vehicle, thus according to the result after goal filtering
Carry out driving path planning.
As shown in Fig. 2, the embodiment of the present invention provides a kind of method of Unmanned Systems' path planning target selection, the party
Method includes:
Step 200 is worked as according to the corresponding planning distance parameter of the current travel speed of target vehicle and the target vehicle
Preceding location information determines the current planned range of the target vehicle；
Step 201 filters out in the planned range from the object that the sensor by the target vehicle detects
Object in addition；
Step 202 determines in object in the planned range exist to causing to hinder in the target vehicle driving process
The object hindered.
By the above method, the vehicle is current according to planning distance parameter and the vehicle when carrying out unmanned
Location information determines planned range, thus according to planned range to the vehicle detection to all objects be filtered, reduce
In driving path determination process, object information in need of consideration, therefore can carry out the driving path of the vehicle faster
Planning, meanwhile, the object for causing to hinder in driving process is determined also in the planned range, so that emphasis preferably be determined
The object of planning keeps the path planning safety of the vehicle higher, in addition, the planned range is the traveling according to the vehicle
Speed determines in real time, more adaptable.
Further, in the embodiment of the present invention when carrying out goal filtering, it is thus necessary to determine that planned range, the planned range
It is to be determined according to the current location information and planning distance parameter of the vehicle.
For example, as shown in Figure 3, it is assumed that in A point, the planning distance parameter is 10 meters for target vehicle current location, then may be used
Using using the target vehicle current location as dot, i.e. A point is dot, circle is drawn for radius with described 10 meters of planning distance parameter,
To which the range in obtained circle is determined as planned range.
Under normal circumstances, vehicle in the process of moving, may only consider the object in front of the target vehicle, therefore, institute
Stating planned range can be as shown in figure 4, be determined as planned range for the range of the semicircle R in circle shown in described Fig. 3.
Wherein, the planning distance parameter may be the combination of multiple parameters, such as include in the planning distance parameter
Planning is apart from width parameter and planning distance length parameter.
For example, as shown in fig. 5, it is assumed that planning of the target vehicle current location in A point, the planning distance parameter
It is 3 meters apart from width parameter, the planning distance length parameter in the planning distance parameter is 10 meters, then can be with the vehicle
Centered on current location A point, the A point is expanded 3 meters to the left, expand 3 meters to the right, expand 10 meters forward, to form one
Width is 6 meters, a length of 10 meters of planned range.
Further, planning distance parameter described in the embodiment of the present invention is the traveling speed current according to the target vehicle
What degree was determined, wherein root can specifically be not limited to following methods of determination there are many method of determination.
Method of determination 1: according to the corresponding relationship of travel speed and planning distance parameter, determine that the travel speed is corresponding
Plan distance parameter.
For example, the travel speed and the corresponding relationship of planning distance parameter are as shown in table 1, it is assumed that the target vehicle is worked as
Preceding travel speed is 40km/h, therefore, according to corresponding relationship shown in table 1 it is found that the target vehicle current driving speed pair
The planning distance parameter answered is 12 meters.
| Travel speed | Plan distance parameter |
| 0km/h~20km/h | 10m |
| 20km/h~30km/h | 11m |
| 30km/h~40km/h | 12m |
| 40km/h~50km/h | 13m |
| 50km/h~60km/h | 14m |
| 60km/h or more | 16m |
The corresponding relationship (1) of 1 travel speed of table and planning distance parameter
For example, the travel speed and the corresponding relationship of planning distance parameter are as shown in table 2, it is assumed that the target vehicle is worked as
Preceding travel speed is 40km/h, therefore, according to corresponding relationship shown in table 2 it is found that the vehicle current driving speed is corresponding
Planning distance parameter in planning apart from width parameter be 4 meters, planning distance length parameter be 12 meters.
| Travel speed | Plan distance parameter |
| 0km/h~20km/h | Width 3m, length 10m |
| 20km/h~30km/h | Width 3m, length 11m |
| 30km/h~40km/h | Width 4m, length 12m |
| 40km/h~50km/h | Width 4m, length 13m |
| 50km/h~60km/h | Width 4m, length 14m |
| 60km/h or more | Width 4m, length 16m |
The corresponding relationship (2) of 2 travel speed of table and planning distance parameter
Method of determination 2: according to the size relation of the target vehicle current driving speed and standard travel speed, in standard
Corresponding planning distance parameter is determined on the basis of planning distance parameter.
Assuming that the standard travel speed set is 20km/h, standard planning distance parameter is 10m, the target vehicle is worked as
Preceding traveling speed increase 1km/h more every than standard travel speed, the then corresponding planning distance of the target vehicle current driving speed
Parameter increases 0.1m on the basis of standard planning distance parameter.For example, the target vehicle current driving speed is 25km/h, than
The fast 5km/h of standard travel speed, therefore, current driving speed 25km/h corresponding planning distance parameter are 10.5m；
Wherein, if the target vehicle current driving speed is less than standard travel speed, the target vehicle current line
Sailing the corresponding planning distance parameter of speed is standard planning distance parameter.For example, the target vehicle current driving speed is
18km/h, smaller than standard travel speed, therefore, the corresponding planning distance parameter of current driving speed 18km/h is 10m.
It is all from being detected by the target vehicle sensor in the embodiment of the present invention after determining planned range
The object except the planned range is filtered out in object, wherein the object detected includes but is not limited to vehicle, tree
Wood, pedestrian.
For example, as shown in fig. 6, being planned range inside semicircle dotted line shown in figure, the target vehicle vehicle A passes through
The object that sensor detects has vehicle B, vehicle C, vehicle D, vehicle E, vehicle F, wherein vehicle B, vehicle E are in the planning
In range, vehicle C, vehicle D then retain vehicle B, vehicle E not in the planned range, filter out vehicle D, vehicle C, vehicle
F。
It should be noted that if some vehicle sections is in planned range, such as the vehicle E in Fig. 6, then it can be according to tool
Body filtering rule determine the vehicle E whether in planned range, for example, if part of the vehicle E in planned range not
Less than 2/3rds of entire vehicle body, it is determined that the vehicle E is in planned range；Alternatively, if the vehicle E has part to be located at
In planned range, it is determined that the vehicle E is in planned range.
Further, in the embodiment of the present invention when carrying out vehicle filtering, the target vehicle is determined by high-precision map
Current lane width filters out in the object in the planned range and is greater than the vehicle with the lateral distance of the target vehicle
The object of road width.
For example, as shown in fig. 7, being planned range inside semicircle dotted line shown in figure, by described in the determination of high-precision map
The current lane width of target vehicle be 5 meters, wherein vehicle B, vehicle E in the planned range, but vehicle E with it is described
The lateral distance of target vehicle is greater than the lane width, therefore, filters out vehicle E, retains vehicle B.
Further, after completing above-mentioned filtering, then the object retained after filtering can be determined as to the target vehicle and carried out
Target object in need of consideration during path planning, so that the target vehicle carries out path rule according to the target object
It draws.
It is detected it should be noted that can also first filter out the target vehicle in the embodiment of the present invention by sensor
Object in be greater than the object of the lane width with the lateral distance of the target vehicle, then logical from the target vehicle
Cross the object filtered out except planned range in the remaining object that sensor detects.
Further, in the embodiment of the present invention after filtering out the vehicle except planned range, it is also necessary to from the planning
It is determined in vehicle in range and the object hindered is caused to the target vehicle.
Specifically, if there are the fore-and-aft distances of target vehicle described in object distance to be less than minimum longitudinal direction in the planned range
Safe distance and/or lateral distance are less than minimum lateral safe distance, it is determined that the object is to cause to the target vehicle
The object of obstruction.
For example, as shown in Figure 8, it is assumed that longitudinal minimum safe distance is 4m, is planning inside semicircle dotted line shown in figure
Range, vehicle B, vehicle E are in the planned range, wherein the distance of vehicle described in vehicle B fore-and-aft distance is 5m, and vehicle E is vertical
It is 3m to the distance apart from the vehicle, it is determined that the vehicle E is the object for causing to hinder to the target vehicle.
Further, it after the object for causing to hinder to the target vehicle has been determined, can also be determined by high-precision map
Then the current lane center of the target vehicle determines and exists to the object for causing obstruction in the target vehicle driving process
The position of the lane center.
It wherein, may be on a left side for the lane center to the object for causing obstruction in the target vehicle driving process
Side, right side, it is also possible on the lane center.
Further, by determining to the object for causing obstruction in the target vehicle driving process, in the lane
The position of heart line, so that it is determined that the target vehicle next step driving instruction, such as follow the bus, stopping, detour.
Which kind of it should be noted that above-named mode is merely illustrative, can specifically be set by user using mode
It sets.To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made further below in conjunction with attached drawing
Detailed description, it is clear that the described embodiments are only some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
With reference to the accompanying drawings of the specification, to a kind of side of Unmanned Systems' path planning target selection provided by the invention
Method process is chosen a kind of scene and is introduced.
As shown in figure 9, a kind of method of Unmanned Systems' path planning target selection provided in an embodiment of the present invention, tool
Body the following steps are included:
Step 900, according to travel speed and planning distance parameter corresponding relationship, determine the current row of the target vehicle
Sail the corresponding planning distance parameter of speed；
Step 901, the planning distance parameter according to the determination, determine the current planned range of the target vehicle；
Step 902 filters out in the planned range from the object that the sensor by the target vehicle detects
Object in addition；
Step 903 determines the current lane width of the target vehicle by high-precision map；
Step 904, filter out in object in the planned range be greater than with the lateral distance of the target vehicle it is described
The object of lane width；
Step 905 judges that object whether there is with the fore-and-aft distance of the target vehicle less than most in the planned range
Small longitudinal direction safe distance and/or lateral distance are less than minimum lateral safe distance, and if it exists, step 906 are executed, if it is not, executing
Step 907；
Step 906 determines that the object is the object for causing to hinder to the target vehicle.
Step 907 carries out driving path planning according to current filter result.
Step 908 determines the current lane center of the target vehicle by high-precision map, determines to the target carriage
Cause the object hindered in the position of the lane center in driving process.
In some possible embodiments, a kind of Unmanned Systems' path planning target provided in an embodiment of the present invention
The various aspects of the method for selection are also implemented as a kind of form of program product comprising program code works as described program
When code is run on a computing device, said program code is described in this specification for executing the computer equipment
Step in the method for Unmanned Systems' path planning target selection of various illustrative embodiments according to the present invention.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, red
The system of outside line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing
(non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
(RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The program product for the target selection of Unmanned Systems' path planning of embodiment according to the present invention, can
To use portable compact disc read only memory (CD-ROM) and including program code, and can be run on server apparatus.
However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing, which can be, any includes or storage program
Tangible medium, which can be transmitted by information, device or device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Medium is read, which can send, propagates or transmit for being used by periodic network moving system, device or device
Or program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to user calculating equipment, or, it may be connected to external computing device.
As shown in Figure 10, the embodiment of the present invention provides a kind of equipment of Unmanned Systems' path planning target selection, should
Equipment includes: at least one processing unit 1000 and at least one storage unit 1001, wherein the storage unit 1001 is deposited
Program code is contained, when said program code is executed by the processing unit 1000, so that the processing unit 1000 executes
Following process:
According to the current position of the corresponding planning distance parameter of the current travel speed of target vehicle and the target vehicle
Information determines the current planned range of the target vehicle；The mistake from the object that the sensor by the target vehicle detects
Object other than filtering in the planned range；It determines to exist in the object in the planned range and the target vehicle is travelled
The object hindered is caused in the process.
Optionally, the planning distance parameter is determined in the following manner:
According to the corresponding relationship of travel speed and planning distance parameter, the current travel speed pair of the target vehicle is determined
The planning distance parameter answered.
Optionally, the processing unit 1000 is specifically used for:
If in the planned range there are the fore-and-aft distance of target vehicle described in object distance be less than minimum longitudinal safety away from
From and/or lateral distance be less than minimum lateral safe distance, it is determined that the object be to the target vehicle cause hinder
Object.
Optionally, the processing unit 1000 is also used to:
The current lane width of the target vehicle is determined by high-precision map；
The lateral distance for filtering out target vehicle described in distance in the object in the planned range is wide greater than the lane
The object of degree.
Optionally, the processing unit 1000 is also used to:
The current lane center of the target vehicle is determined by high-precision map；
Determine to caused in the target vehicle driving process hinder object in the position of the lane center.
As shown in figure 11, the embodiment of the present invention provides a kind of equipment of Unmanned Systems' path planning target selection, packet
Include determining module 1100, filtering module 1101 and processing module 1102:
Determining module 1100: for according to the corresponding planning distance parameter of the current travel speed of target vehicle and the mesh
The current location information of vehicle is marked, determines the current planned range of the target vehicle；
Filtering module 1101: for filtering out the rule from the object that the sensor by the target vehicle detects
Object other than drawing in range；
Processing module 1102: exist for determining in the object in the planned range to the target vehicle driving process
In cause hinder object.
Optionally, the determining module 1100 determines the planning distance parameter in the following manner:
According to the corresponding relationship of travel speed and planning distance parameter, the current travel speed pair of the target vehicle is determined
The planning distance parameter answered.
Optionally, the processing module 1102 is specifically used for:
If in the planned range there are the fore-and-aft distance of target vehicle described in object distance be less than minimum longitudinal safety away from
From and/or lateral distance be less than minimum lateral safe distance, it is determined that the object be to the target vehicle cause hinder
Object.
Optionally, the filtering module 1101 is also used to:
The current lane width of the target vehicle is determined by high-precision map；
The lateral distance for filtering out target vehicle described in distance in the object in the planned range is wide greater than the lane
The object of degree
Optionally, the processing module 1102 is also used to:
The current lane center of the target vehicle is determined by high-precision map；
Determine to caused in the target vehicle driving process hinder object in the position of the lane center.
The embodiment of the present invention also provides a kind of computer-readable non-volatile memory medium, including program code, when described
When program code is run on the computing device, said program code is for making the calculating equipment execute the embodiments of the present invention
The step of method of inter-thread communication.
Above by reference to showing according to the method, apparatus (system) of the embodiment of the present application and/or the frame of computer program product
Figure and/or flow chart describe the application.It should be understood that can realize that block diagram and or flow chart is shown by computer program instructions
The combination of the block of a block and block diagram and or flow chart diagram for figure.These computer program instructions can be supplied to logical
With computer, the processor of special purpose computer and/or other programmable data processing units, to generate machine, so that via meter
The instruction that calculation machine processor and/or other programmable data processing units execute creates for realizing block diagram and or flow chart block
In specified function action method.
Correspondingly, the application can also be implemented with hardware and/or software (including firmware, resident software, microcode etc.).More
Further, the application can take computer usable or the shape of the computer program product on computer readable storage medium
Formula has the computer realized in the medium usable or computer readable program code, to be made by instruction execution system
It is used with or in conjunction with instruction execution system.In the present context, computer can be used or computer-readable medium can be with
It is arbitrary medium, may include, stores, communicates, transmits or transmit program, is made by instruction execution system, device or equipment
With, or instruction execution system, device or equipment is combined to use.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of Unmanned Systems' path planning target selection, which is characterized in that this method comprises:
According to the corresponding planning distance parameter of the current travel speed of target vehicle and the current location information of the target vehicle,
Determine the current planned range of the target vehicle；
Object other than being filtered out in the planned range in the object that the sensor by the target vehicle detects；
It determines in the object in the planned range and exists to the object for causing obstruction in the target vehicle driving process.
2. the method as described in claim 1, which is characterized in that determine the planning distance parameter in the following manner:
According to the corresponding relationship of travel speed and planning distance parameter, determine that the current travel speed of the target vehicle is corresponding
Plan distance parameter.
3. the method as described in claim 1, which is characterized in that whether there is in the object in the determination planned range
The object hindered is caused to the target vehicle, comprising:
If in the planned range there are the fore-and-aft distance of object and the target vehicle be less than minimum longitudinal safe distance and/or
Lateral distance is less than minimum lateral safe distance, it is determined that the object is the object for causing to hinder to the target vehicle.
4. the method as described in claim 1, which is characterized in that described to detect from the sensor by the target vehicle
After filtering out the object other than the planned range in object, further includes:
The current lane width of the target vehicle is determined by high-precision map；
Filter out the object for being greater than the lane width in the object in the planned range with the lateral distance of the target vehicle
Body.
5. the method as described in Claims 1 to 4 is any, which is characterized in that in the object in the determination planned range
After to the object for causing obstruction in the target vehicle driving process, further includes:
The current lane center of the target vehicle is determined by high-precision map；
Determine to caused in the target vehicle driving process hinder object in the position of the lane center.
6. a kind of equipment of Unmanned Systems' path planning target selection, which is characterized in that the equipment includes: at least one
Manage unit and at least one storage unit, wherein the storage unit is stored with program code, when said program code is by institute
When stating processing unit execution, so that the processing unit executes following process:
According to the corresponding planning distance parameter of the current travel speed of target vehicle and the current location information of the target vehicle,
Determine the current planned range of the target vehicle；Institute is filtered out from the object that the sensor by the target vehicle detects
Object other than stating in planned range；It determines in the object in the planned range and exists in the target vehicle driving process
Cause the object hindered.
7. equipment as claimed in claim 6, which is characterized in that determine the planning distance parameter in the following manner:
According to the corresponding relationship of travel speed and planning distance parameter, determine that the current travel speed of the target vehicle is corresponding
Plan distance parameter.
8. equipment as claimed in claim 6, which is characterized in that the processing unit is specifically used for:
If in the planned range there are the fore-and-aft distance of target vehicle described in object distance be less than minimum longitudinal safe distance and/
Or lateral distance is less than minimum lateral safe distance, it is determined that the object is the object for causing to hinder to the target vehicle.
9. equipment as claimed in claim 6, which is characterized in that the processing unit is also used to:
The current lane width of the target vehicle is determined by high-precision map；
The lateral distance for filtering out target vehicle described in distance in the object in the planned range is greater than the lane width
Object.
10. the equipment as described in claim 6~9 is any, which is characterized in that the processing unit is also used to:
The current lane center of the target vehicle is determined by high-precision map；
Determine to caused in the target vehicle driving process hinder object in the position of the lane center.
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