CN110132279A - The test method and device of local paths planning - Google Patents
The test method and device of local paths planning Download PDFInfo
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- CN110132279A CN110132279A CN201910408008.4A CN201910408008A CN110132279A CN 110132279 A CN110132279 A CN 110132279A CN 201910408008 A CN201910408008 A CN 201910408008A CN 110132279 A CN110132279 A CN 110132279A
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
This application discloses local paths planning method and device, paths planning method and device and test method and device based on local paths planning.One specific embodiment of the test method based on local paths planning includes: the planning index for test for obtaining unmanned vehicle and being travelled based on road network Route Planning Data and local Route Planning Data；Obtain the actual planning index that unmanned vehicle is travelled based on details Route Planning Data；Compare the planning index and actual planning index for test；Rule is determined according to comparison result and planning reasonability, determines whether details Route Planning Data is reasonable.The embodiment is realized without manual testing's details Route Planning Data, improves the efficiency of test detail Route Planning Data, and improves the accuracy of test result.
Description
Cross reference to related applications
The application be on December 2nd, 2016 applying date, application No. is 201611110564.6, entitled " part
The divisional application of the Chinese patent application of path planning and test method and device based on it ".
Technical field
This application involves navigation and the field of test technology, and in particular to unmanned vehicle navigation the field of test technology, more particularly to
The test method and device of local paths planning.
Background technique
Existing unmanned vehicle path planning be by path planning module unmanned vehicle starting before, do based on details path planning,
And if in the process of moving if replacement lane line or unmanned traveling-position and early period are different based on details path planning
It when cause, will lead to frequently trigger details path planning, it is therefore desirable to which whether test detail path planning accurate and details road
Whether diameter planning is optimal path.
Currently, the method for generalling use manual testing comes whether test detail path planning accurate and details path planning
It whether is optimal path.
However, when being verified using the method for manual testing come the path planned these, when testing spent
Between it is longer, and the content tested usually is unable to test whether details path planning accurate and whether details path planning is most
Shortest path.
Summary of the invention
The purpose of the application is to propose a kind of improved local paths planning method and device, paths planning method and dress
It sets and test method and device based on local paths planning, to solve the technical issues of background section above is mentioned.
In a first aspect, this application provides a kind of local paths planning methods, which comprises obtain road network path rule
Draw data；It is travelled in unmanned vehicle based on the lane line of road network Route Planning Data, map datum and the real road perceived
During, it is located at sector planning region in response to the lane of present road or forward road, in the sector planning region
More than one directed connected graph of line direction before path construction is directed toward；Based on following one or more determinations of each directed connected graph
Local paths planning data: path distance, by way of traffic lights quantity and congestion amount.
In some embodiments, the method also includes: judge the sector planning region the road network path rule
Whether the path locus for drawing data is overlapped with the path locus of the local paths planning data；If be overlapped, instruct it is described nobody
Vehicle is travelled according to the road network Route Planning Data；If not being overlapped, instruct the unmanned vehicle according to the local paths planning number
According to traveling.
In some embodiments, the path distance based on each directed connected graph, by way of traffic lights quantity and congestion amount,
Determine local paths planning data include: based on to each directed connected graph path distance, by way of traffic lights quantity and congestion amount
Weighted scoring as a result, determining the highest directed connected graph of scoring in the one above directed connected graph；By the scoring
The corresponding Route Planning Data based on lane line of highest directed connected graph is determined as the local paths planning data.
In some embodiments, the sector planning region includes following one or more: barrier region, road transformation
Region, crossing region and directional translation regions.
In some embodiments, the road network Route Planning Data is the unmanned vehicle based on the determination of real road data from
Road network Route Planning Data of the initial point to terminating point；And/or the directed connected graph is by the lane in the sector planning region
Line is set mark point according to preset distance and is obtained using the oriented each mark point of connection of line.
Second aspect, this application provides a kind of paths planning methods, which comprises is based on road network road in unmanned vehicle
During the lane line traveling of diameter layout data, map datum and the real road perceived, in response to present road or
The lane of forward road is located at sector planning region, according to local paths planning method as described above, determines that local path is advised
Draw data.
The third aspect, this application provides a kind of test methods based on local paths planning, which comprises obtains
The planning index for test that unmanned vehicle is travelled based on road network Route Planning Data and local Route Planning Data；It obtains
The actual planning index that unmanned vehicle is travelled based on details Route Planning Data；Compare the planning index for test
With the actual planning index；Rule is determined according to comparison result and planning reasonability, determines the details path planning
Whether data are reasonable.
In some embodiments, the acquisition unmanned vehicle is based on road network Route Planning Data and local Route Planning Data row
The planning index for test sailed includes following one or more: the road network Route Planning Data is based on practical road
Road network Route Planning Data of the unmanned vehicle that circuit-switched data determines from starting point to terminating point；And the local paths planning data
For the local paths planning data determined based on sector planning method as described above.
In some embodiments, the acquisition unmanned vehicle is based on road network Route Planning Data and local Route Planning Data row
It includes: to obtain unmanned vehicle acquisition unmanned vehicle during frequently change road to be based on that sails, which is used for the planning index of test,
The planning index for test that road network Route Planning Data and local Route Planning Data travel；And the acquisition nothing
People's vehicle includes: to obtain unmanned vehicle in the frequent change based on the actual planning index that details Route Planning Data travels
The actual planning index travelled during road based on details Route Planning Data.
In some embodiments, the method also includes: rule is determined according to comparison result and difference reasonability, is determined
The details Route Planning Data uses the local paths planning data, except the part in the sector planning region
Whether the region except planning region is reasonable using the difference of the road network Route Planning Data.
In some embodiments, the planning index includes at least following one or more: when driving trace, path planning
Between and overhead.
Fourth aspect, this application provides a kind of local paths planning device, described device includes: that railway network planning obtains list
Member, for obtaining road network Route Planning Data；Directed connected graph construction unit, for being based on road network path planning number in unmanned vehicle
During according to the lane line of, map datum and the real road perceived traveling, in response to present road or forward road
Lane be located at sector planning region, before the path construction in the sector planning region is directed toward line direction more than one is oriented
Connected graph；Sector planning determination unit, for following one or more determining local paths plannings based on each directed connected graph
Data: path distance, by way of traffic lights quantity and congestion amount.
In some embodiments, described device further include: track is overlapped judging unit, for judging in the sector planning
Whether the path locus of the road network Route Planning Data in region is overlapped with the path locus of the local paths planning data；
Railway network planning travel unit, if path locus and institute for the road network Route Planning Data in the sector planning region
The path locus for stating local paths planning data is overlapped, and the unmanned vehicle is instructed to be travelled according to the road network Route Planning Data；
Sector planning travel unit, if path locus and institute for the road network Route Planning Data in the sector planning region
The path locus for stating local paths planning data is not overlapped, and instructs the unmanned vehicle according to the local paths planning data line
It sails.
In some embodiments, the sector planning determination unit includes: that directed connected graph determines subelement, based on to each
The path distance of directed connected graph, by way of the weighted scoring of traffic lights quantity and congestion amount as a result, determine it is one more than have
The highest directed connected graph of scoring into connected graph；Sector planning determines subelement, by the highest oriented connection of scoring
Scheme the corresponding Route Planning Data based on lane line and is determined as the local paths planning data.
In some embodiments, the road network Route Planning Data is the unmanned vehicle based on the determination of real road data from
Road network Route Planning Data of the initial point to terminating point；And/or the directed connected graph is by the lane in the sector planning region
Line is set mark point according to preset distance and is obtained using the oriented each mark point of connection of line.
5th aspect, this application provides a kind of path planning apparatus, described device includes: local path as described above
Device for planning.
6th aspect, this application provides a kind of test device based on local paths planning, described device includes: test
Index selection unit, the use travelled for obtaining unmanned vehicle based on road network Route Planning Data and local Route Planning Data
In the planning index of test；Practical index selection unit travels to obtain for obtaining unmanned vehicle based on details Route Planning Data
Actual planning index；Planning index comparing unit, for comparing the planning index for test and described actual
Planning index；It plans reasonable determination unit, for determining rule according to comparison result and planning reasonability, determines the details
Whether Route Planning Data is reasonable.
In some embodiments, the test index acquiring unit is further used for following one or more: the road network
Route Planning Data is the road network Route Planning Data based on the determining unmanned vehicle of real road data from starting point to terminating point；
And the local paths planning data are the local paths planning data determined based on sector planning device as described above.
In some embodiments, the test index acquiring unit is further used for: obtaining unmanned vehicle in frequently change road
Unmanned vehicle is obtained during road to be used to test based on what road network Route Planning Data and local Route Planning Data travelled
Planning index；And the practical index selection unit is further used for: obtaining unmanned vehicle in the frequent change road
The actual planning index travelled in the process based on details Route Planning Data.
In some embodiments, described device further include: difference reasonability determination unit, for according to comparison result and
Difference reasonability determines rule, determines that the details Route Planning Data uses the local road in the sector planning region
Whether diameter layout data is closed in the region in addition to the sector planning region using the difference of the road network Route Planning Data
Reason.
Local paths planning method and device provided by the present application, paths planning method and device and it is based on local path
The test method and device of planning, first acquisition road network Route Planning Data, are based on road network path planning number in unmanned vehicle later
During according to the lane line of, map datum and the real road perceived traveling, in response to present road or forward road
Lane be located at sector planning region, before the path construction in the sector planning region is directed toward line direction more than one is oriented
Connected graph is then based on the path distance of each directed connected graph, by way of traffic lights quantity and congestion amount, determines local paths planning
Data, obtain later unmanned vehicle based on road network Route Planning Data and local Route Planning Data travel for test
Planning index obtains the actual planning index that unmanned vehicle is travelled based on details Route Planning Data later, compares later
For the planning index and actual planning index of test, rule is finally determined according to comparison result and planning reasonability, really
Whether reasonable determine details Route Planning Data.To realize without manual testing's details Route Planning Data, test is improved
The efficiency of details Route Planning Data, and improve the accuracy of test result.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the schematic flow chart according to one embodiment of the local paths planning method of the application；
Fig. 2 is the schematic flow according to one embodiment of the test method based on local paths planning of the application
Figure；
Fig. 3 shows the exemplary of one embodiment of the test method based on local paths planning according to the application
Application scenarios；
Fig. 4 is the exemplary block diagram according to one embodiment of the local paths planning device of the application；
Fig. 5 is the exemplary structure according to one embodiment of the test device based on local paths planning of the application
Figure；
Fig. 6 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present application
Figure.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the process 100 of one embodiment of the local paths planning method according to the application.The local path
Planing method, comprising the following steps:
Step 101, road network Route Planning Data is obtained.
In the present embodiment, road network Route Planning Data refer to based on real road data determine automatic driving vehicle from
For starting point to the layout data of terminating point, it may include road that real road here, which refers to road present in real world,
Trend and road connection, therefore, road network Route Planning Data is a kind of coarseness layout data, is used to indicate unmanned vehicle
The road passed through needed for traveling, does not limit specific lane or lane line.
Step 102, in vehicle of the unmanned vehicle based on road network Route Planning Data, map datum and the real road perceived
During diatom travels, it is located at sector planning region in response to the lane of present road or forward road, in sector planning area
More than one directed connected graph of line direction before the path construction in domain is directed toward.
In the present embodiment, map datum refer to Machine oriented the high-precision map used for automatic driving vehicle or from
The map of the network being made of roads at different levels restored in high-precision map, absolute precision generally all can in sub-meter grade,
It is exactly within the precision within 1 meter, such as 20 centimetres, and lateral relative accuracy is (for example, lane and lane, lane and vehicle
The relative positional accuracy of diatom) it is higher toward contact.And high-precision map not only has high-precision coordinate, while there are also accurate
Road shape, and contain the gradient in each lane, curvature, course, the data of elevation and inclination.High-precision map is not only
Describe road, how many lane on a road more depicted, can really reflect the practical pattern of road, such as really
Road broadens in some places, then the road data in high-precision map accordingly broadens, and real roads in some places because
Narrow to converge, high-precision map is also equally to narrow because of converging.In addition, the lane line between every lane and lane
It is what kind of, is dotted line, solid line or double amber lines, the color of line, the isolation strip of road, the material of isolation strip, road curb
Son what, the arrow in what material or even road, the content of text, position can be all described.Moreover, in order to
The considerations of automatic Pilot, the speed limit in such as every lane, advisory speed are also required to provide together.And as crossing, road edge
The billboard of line, isolation strip, speed(-)limit sign, traffic lights, the telephone booth in roadside etc., this kind of we are commonly refereed to as traffic participation object
Absolute geographical coordinate, physical size and their speciality characteristic etc. also can all appear in the data of high-precision map.Together
When, high-precision map, which needs to have auxiliary, to be completed to realize high-precision position location function, the planning energy of road grade and lane grade
The guidance capability of power and lane grade.
Here sector planning region refers to the area that sector planning can be triggered caused by the running environment detected variation
Domain may include following one or more: barrier region, road domain transformation, crossing region and directional translation regions.Here
Barrier region refer to the region apart from barrier first distance；Road domain transformation, which refers to, shifts one's position second apart from road
The region of distance；Crossing region refers to the region apart from crossing third distance；Directional translation regions refer to range direction transformation the
The region of four distances.Here first distance, second distance, third distance and the 4th distance only represent and different meterings pair
As the distance between, do not represent the restriction to the application, first distance, second distance, third distance and the 4th distance away from
It can need to set according to user from length, may be the same or different.
Here more than one connected graph of line direction before the direction constructed, refer to by the lane line in sector planning region according to
Preset distance sets mark point, and is obtained using the oriented each mark point of connection of line.Using the oriented each mark point of connection of line
When, can by the lane line for being located at lane two sides and line perpendicular to lane center two two-way companies of mark point
It is logical, diconnected line is obtained, by the two o'clock for being located at same lane line or is located on two lane lines and line out of plumb
In lane center two o'clock before unmanned vehicle line direction unilaterally connected, unilaterally connected line is obtained, to obtain in sector planning
More than one directed connected graph of line direction before the direction of the path construction in region.
Step 103, based on following one or more determining local paths planning data of each directed connected graph: path away from
From, by way of traffic lights quantity and congestion amount.
In the present embodiment, local paths planning data are the Route Planning Datas based on lane line, are a kind of fine granularities
Route Planning Data.It can be based on path distance, one or more in traffic lights quantity and congestion amount, to determine office
Portion's Route Planning Data.For example, when determining local paths planning data based on path distance, it can be shortest by path distance
The corresponding Route Planning Data based on lane line of directed connected graph is determined as local paths planning data；In another example being based on
When approach traffic lights quantity determines local paths planning data, it can will be corresponded to by way of the directed connected graph of traffic lights minimum number
The Route Planning Data based on lane line be determined as local paths planning data；In another example determining part based on congestion amount
When Route Planning Data, the corresponding Route Planning Data based on lane line of the smallest directed connected graph of congestion amount can be determined
For local paths planning data.
Local paths planning is being determined based on path distance, two in traffic lights quantity and congestion amount or three
When data, every score can be obtained first according to every preset scoring rule；Every score is calculated later to multiply respectively
With the score for each single item that every weight obtains；The sum of score of each single item is determined as to the total score of directed connected graph later；
Finally using the highest directed connected graph of total score it is corresponding based on the Route Planning Data of lane line as local paths planning data.
To consider that multi-party factor determines local paths planning data, the reasonability of local paths planning data is improved.That is, being based on
Path distance, two in traffic lights quantity and congestion amount or three are come when determining local paths planning data, according to each
The weighted scoring of item is as a result, determine the highest directed connected graph of scoring in more than one directed connected graph；It will score highest
The corresponding Route Planning Data based on lane line of directed connected graph is determined as local paths planning data.
It optionally, can also include: step 104, step 105 and step 106 in above-mentioned local paths planning method.
Wherein, step 104: judging the path locus and local path in the road network Route Planning Data in sector planning region
Whether the path locus of layout data is overlapped.
In the present embodiment, in order to determine unmanned vehicle whether need according to local paths planning data change current driving vehicle
Road needs to judge the path of the path locus and local paths planning data in the road network Route Planning Data in sector planning region
Whether track is overlapped.
Step 105: if being overlapped, unmanned vehicle being instructed to be travelled according to road network Route Planning Data.
In the present embodiment, if path locus and local path in the road network Route Planning Data in sector planning region are advised
The path locus for drawing data is overlapped, namely shows that unmanned vehicle is travelled according to the road network Route Planning Data in current location,
Without cutting local paths planning data to instruct unmanned vehicle to travel.
Step 106: if not being overlapped, unmanned vehicle being instructed to be travelled according to local paths planning data.
In the present embodiment, if path locus and local path in the road network Route Planning Data in sector planning region are advised
The path locus for drawing data is not overlapped, namely needs to cut local paths planning data to instruct unmanned vehicle to advise according to local path
Draw data traveling.
When detecting that running environment variation has been driven out to the region of triggering sector planning, due to road network Route Planning Data
It does not indicate that specific lane or lane line, unmanned vehicle is only needed to indicate road driving along road network Route Planning Data at this time.
The local paths planning method that the above embodiments of the present application provide, first acquisition road network Route Planning Data, later
In the process that unmanned vehicle is travelled based on the lane line of road network Route Planning Data, map datum and the real road perceived
In, it is located at sector planning region in response to the lane of present road or forward road, the path construction in sector planning region refers to
More than one directed connected graph of line direction forward, finally based on following one or more determining local roads of each directed connected graph
Diameter layout data: path distance, by way of traffic lights quantity and congestion amount provides the paths planning method based on regional area,
It improves and carries out the accuracy of path planning in sector planning region, ensure that layout data adapts to the energy of a variety of traffic conditions
Power.
In this application, a kind of paths planning method is additionally provided, this method comprises: advising in unmanned vehicle based on road network path
During the lane line traveling for drawing data, map datum and the real road perceived, in response to present road or move ahead
The lane of road is located at sector planning region, according to unmanned vehicle local paths planning method as described above, determines local path
Layout data.
Paths planning method provided by the embodiments of the present application, can based on road network Route Planning Data, map datum and
The lane line of the real road perceived travels, and when the lane of present road or forward road is located at sector planning region,
According to unmanned vehicle local paths planning method as described above, local paths planning data are determined, realize in sector planning area
Domain improves the accuracy of path planning, ensure that the ability that layout data adapts to a variety of traffic conditions.
With further reference to Fig. 2, Fig. 2 shows a realities according to the test method based on local paths planning of the application
Apply the process 200 of example.The test method based on local paths planning, comprising the following steps:
Step 201, the use that unmanned vehicle is travelled based on road network Route Planning Data and local Route Planning Data is obtained
In the planning index of test.
In the present embodiment, road network Route Planning Data refers to the unmanned vehicle based on the determination of real road data from starting point
To the layout data of terminating point, real road here refers to road present in real world, may include trend of road with
And road connection, therefore, road network Route Planning Data indicates the road passed through needed for unmanned vehicle traveling, does not indicate that traveling
When specific lane or lane line, be a kind of coarseness layout data.Local paths planning data are the part based on such as figure 1 above
The local paths planning data that paths planning method determines.
Here the planning index for test, refers to the index relevant to path planning for test.Optionally, it advises
It at least may include following one or more for drawing index: driving trace, path planning time and overhead.Row for test
It sails track and refers to rational driving trace for test detail Route Planning Data, be based on road network path planning for unmanned vehicle
The driving trace that data and local Route Planning Data travel；The path planning time for test refers to thin for testing
The rational path planning time of Route Planning Data is saved, road network Route Planning Data is based on for unmanned vehicle and local path is advised
Draw the path planning time that data travel；Overhead for test refers to for test detail Route Planning Data
Rational planning system expense is travelled for unmanned vehicle based on road network Route Planning Data and local Route Planning Data
Planning system expense.
Step 202, the actual planning index that unmanned vehicle is travelled based on details Route Planning Data is obtained.
In the present embodiment, details Route Planning Data refers to the Route Planning Data based on lane line.Actual planning
Index refers to the index relevant to path planning travelled according to details Route Planning Data.In some optional realization sides
In formula, planning index at least may include following one or more: driving trace, path planning time and overhead.Here
Actual driving trace refer to the driving trace travelled based on details Route Planning Data；The actual path planning time
Refer to the path planning time travelled based on details Route Planning Data；Actual overhead refers to based on details path
The planning system expense that layout data travels.
Step 203, the planning index and actual planning index for test are compared.
In the present embodiment, the project for including in planning index can be compared one by one, for example, can compare respectively
When for the driving trace of test and actual driving trace, the path planning time for test with actual path planning
Between, the overhead for test and actual overhead etc..Data in projects can also be scored and be weighted,
Compare later planning index for test according to scoring and the obtained total score of weighting and actual planning index according to scoring and
Weight obtained total score.Such as obtain the driving trace for test, for the path planning time of test and for test
The weighted scoring of overhead is as a result, and obtaining actual driving trace, actual path planning time and actual system and opening
The weighted scoring of pin is as a result, be finally compared two weighted scoring results.
Step 204, rule is determined according to comparison result and planning reasonability, determines whether details Route Planning Data closes
Reason.
In the present embodiment, planning reasonability determines that rule is for determining details path planning number according to comparison result
Whether reasonably the rule according to, if comparison result meets planning, reasonability determines rule, it is determined that details Route Planning Data is reasonable,
If comparison result does not meet planning, reasonability determines rule, it is determined that details Route Planning Data is unreasonable.
Illustratively, can illustrate so that the project for including in planning index is compared one by one as an example according to comparison result
And planning reasonability determines rule, determines whether details Route Planning Data is reasonable: herein, can be based on comparison for surveying
The driving trace of examination is with actual driving trace as a result, to determine whether details Route Planning Data can provide shortest path
Determine whether details Route Planning Data is reasonable, that is, if details Route Planning Data can provide shortest path, details
Route Planning Data is reasonable, if details Route Planning Data can not provide shortest path, details Route Planning Data does not conform to
Reason.Alternatively, being also based on for whether the overhead of test and the comparison result of actual overhead to can satisfy nothing
People's vehicle specifically travels demand to determine whether details Route Planning Data is reasonable, such as according to the comparison result of following overhead
Whether can satisfy unmanned vehicle and travel demand specifically to determine whether details Route Planning Data is reasonable: path planning software module
The central processing unit CPU that uses, memory hardware expense MEMORY, frequently position caused by GPS result processing elapsed time,
For the calculating time of path planning software module and response time etc., if the comparison result of overhead meets unmanned vehicle tool
Body travels demand, it is determined that details Route Planning Data is reasonable, if the comparison result of overhead is unsatisfactory for unmanned vehicle particular row
Sail demand, it is determined that details Route Planning Data is unreasonable.
In some optional implementations, available unmanned vehicle obtains unmanned vehicle base during frequently change road
In the planning index for test that road network Route Planning Data and local Route Planning Data travel, and obtain nobody
The actual planning index that vehicle is travelled during frequently change road based on details Route Planning Data, compares later
Planning index and actual planning index for test；Rule is finally determined according to comparison result and planning reasonability, really
Whether reasonable determine details Route Planning Data.
Illustratively, whether can quickly and effectively can be provided according to details Route Planning Data at frequently replacement path
Whether programme path and details Route Planning Data can provide shortest path to determine whether details Route Planning Data closes
Reason, that is, if details Route Planning Data can provide in the given time programme path at frequently replacement path and can
Shortest path is provided, then details Route Planning Data is reasonable, if details Route Planning Data can not at frequently replacement path
Shortest path can not be provided by providing programme path or details Route Planning Data in the given time, then details path planning number
According to unreasonable.
In some optional implementations, the above-mentioned test method based on local paths planning can also include: root
Rule is determined according to comparison result and difference reasonability, determines that details Route Planning Data uses part in sector planning region
Whether Route Planning Data uses the difference of road network Route Planning Data reasonable in the region in addition to sector planning region.
In this implementation, difference reasonability determines that rule is for determining details path planning according to comparison result
Data use road network road using local paths planning data, in the region in addition to sector planning region in sector planning region
The whether reasonable rule of the difference of diameter layout data, if comparison result meets difference reasonability and determines rule, it is determined that details road
Diameter layout data is used in sector planning region using local paths planning data, in the region in addition to sector planning region
The difference of road network Route Planning Data is reasonable, if comparison result does not meet difference reasonability and determines rule, it is determined that details path
Layout data uses road using local paths planning data, in the region in addition to sector planning region in sector planning region
The difference of net Route Planning Data is unreasonable.
Illustratively, the overhead and actual overhead of test can be used for based on following one or more determinations
Comparison result: it is central processing unit CPU that path planning software module uses, memory hardware expense MEMORY, frequently fixed
GPS result caused by position handles elapsed time, for the calculating time of path planning software module and response time and reality
Path planning software module use central processing unit CPU, memory hardware expense MEMORY, frequently positioning caused by
GPS result handles elapsed time, for the calculating time of path planning software module and response time etc., later according to comparison
As a result whether can satisfy unmanned vehicle and travel demand specifically to determine that details Route Planning Data is used in sector planning region
Whether local paths planning data are closed in the region in addition to sector planning region using the difference of road network Route Planning Data
Reason.
The test method based on local paths planning that the above embodiments of the present application provide, by obtaining unmanned vehicle base first
In the planning index for test that road network Route Planning Data and local Route Planning Data travel, and obtain unmanned vehicle
Based on the actual planning index that details Route Planning Data travels, compare later the planning index for test and
The actual planning index finally determines rule according to comparison result and planning reasonability, determines the details path rule
It whether reasonable draws data, realizes and be based on details Route Planning Data without manual testing, improve test based on details path
The efficiency of layout data, and improve the accuracy of test result.
Below in conjunction with Fig. 3, one embodiment of the test method based on local paths planning according to the application is described
Exemplary application scene.
As shown in figure 3, unmanned vehicle path planning module can be according to the starting point 301 and terminal 302 of road, to unmanned vehicle
It is planned in the path of 330 travelings.
During being planned based on road network Route Planning Data and local Route Planning Data, unmanned vehicle first
330 since starting point 301, enters sector planning region 304 according to the traveling of road network Route Planning Data 311, detects at this time
There are barriers 303 in front, to trigger local paths planning: path planning module finds unmanned vehicle 330 first and is currently located
Position, the lane line location point nearest apart from the position is found according to GPS coordinate, such as A point and B point in figure；Later along vehicle
Diatom direction is marked according to preset distance, and carries out by the way of directed connected graph line between each point；Later based on each
The path distance of directed connected graph is scored by way of traffic lights quantity and congestion amount using weighting scheme calculating optimal path
Highest directed connected graph, such as the directed connected graph B-D-E in figure；Later, path planning module is according to directed connected graph B-
The center line in lane position and path termination lane where D-E, unmanned vehicle, can determine sector planning path 312；Later,
Unmanned vehicle 330 drives to corresponding lane position according to sector planning path 312, and is driven out to sector planning region in unmanned vehicle 330
After 304, the not changed road network Route Planning Data of reference continues to move ahead, until because front needs doubling to enter local rule
Partition domain 305, unmanned vehicle planning module sets out local paths planning again later: from one generated by mark point F, G, H, I and K
In a above directed connected graph, select directed connected graph G-I-K for optimal path, later according to directed connected graph G-I-K, place
The center line in lane position and path termination lane determines sector planning path 313, later, along 313 row of sector planning path
It sails until being driven out to sector planning region 305, the road of road network Route Planning Data planning at this time changes, 330 edge of unmanned vehicle
The traveling of path 314 to terminal 302 of road network Route Planning Data planning, so that the planning index for test is got, such as
Driving trace, path planning time and overhead etc..
Based on details Route Planning Data planned during, unmanned vehicle 330 first since starting point 301,
Path 321 along the planning of details Route Planning Data travels, and when reaching sector planning region 304, detects that front has barrier
Hinder object 303, planning path 322, the path 322 are corresponding with sector planning route 312 again for details Route Planning Data at this time；
Later, unmanned vehicle 330 along details Route Planning Data in response to planned again there are barrier 303 path 322,323,
324 move forward, until 302 are reached home, to get actual planning index, such as when driving trace, path planning
Between and overhead etc..
It, can be in the planning index of test after obtaining for the planning index and actual planning index of test
The project indicator is compared one by one with the project indicator in actual planning index, thus according to comparison result and planning reasonability
It determines rule, determines whether the details Route Planning Data is reasonable.It further, can also basis in this application scene
Comparison result and difference reasonability determine rule, determine that the details Route Planning Data is used in the sector planning region
The local paths planning data use the road network Route Planning Data in the region in addition to the sector planning region
Whether difference is reasonable.
The test method based on local paths planning that the above-mentioned application scenarios of the application provide, improves for details path
The testing efficiency of layout data, and advised since this method can be determined by various test results based on details path
The reasonability for drawing data, improves the accuracy of test detail Route Planning Data.
With further reference to Fig. 4, as an implementation of the above method, this application provides a kind of local paths planning devices
One embodiment, the Installation practice is corresponding with embodiment of the method shown in FIG. 1, as a result, above with respect to the behaviour of method description
Make and feature is equally applicable to device 400 and unit wherein included, details are not described herein.The device specifically can be applied to respectively
In kind electronic equipment.
As shown in figure 4, the local paths planning device 400 of the present embodiment include: railway network planning acquiring unit 410, it is oriented
Connected graph construction unit 420 and sector planning determination unit 430.
Wherein, railway network planning acquiring unit 410, for obtaining road network Route Planning Data.
Directed connected graph construction unit 420, for being based on road network Route Planning Data, map datum and sense in unmanned vehicle
During the lane line traveling for the real road known, it is located at sector planning in response to the lane of present road or forward road
Region, more than one directed connected graph of line direction before the path construction in sector planning region is directed toward.
Sector planning determination unit 430, for following one or more determining local paths based on each directed connected graph
Layout data: path distance, by way of traffic lights quantity and congestion amount.
In some optional implementations, device further include: track is overlapped judging unit, for judging in sector planning area
Whether the path locus of the road network Route Planning Data in domain is overlapped with the path locus of local paths planning data；Railway network planning row
Unit is sailed, if for the path locus of the road network Route Planning Data in sector planning region and the road of local paths planning data
Diameter track is overlapped, and unmanned vehicle is instructed to be travelled according to road network Route Planning Data；Sector planning travel unit, if in local rule
The path locus of the road network Route Planning Data in partition domain is not overlapped with the path locus of local paths planning data, instructs nobody
Vehicle is travelled according to local paths planning data.
In some optional implementations, sector planning determination unit includes: that directed connected graph determines subelement, based on pair
The path distance of each directed connected graph, by way of the weighted scoring of traffic lights quantity and congestion amount as a result, determining that more than one is oriented
The highest directed connected graph of scoring in connected graph；Sector planning determines subelement, and the highest directed connected graph that will score is corresponding
The Route Planning Data based on lane line be determined as local paths planning data.
In some optional implementations, road network Route Planning Data be based on real road data determine unmanned vehicle from
Road network Route Planning Data of the starting point to terminating point；And/or directed connected graph be by the lane line in sector planning region according to
Preset distance setting mark point is simultaneously obtained using the oriented each mark point of connection of line.
Present invention also provides a kind of path planning apparatus, path planning apparatus includes: local path rule as described above
Draw device.
With further reference to Fig. 5, as an implementation of the above method, this application provides a kind of based on local paths planning
One embodiment of test device, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, as a result, above with respect to side
The operation of method description and feature are equally applicable to device 500 and unit wherein included, and details are not described herein.The device specifically may be used
To be applied in various electronic equipments.
As shown in figure 5, the test device 500 based on local paths planning of the present embodiment includes: that test index obtains list
Member 510, practical index selection unit 520, planning index comparing unit 530 and the reasonable determination unit 540 of planning.
Wherein, test index acquiring unit 510 is based on road network Route Planning Data and local path for obtaining unmanned vehicle
The planning index for test that layout data travels.
Practical index selection unit 520, the reality travelled for obtaining unmanned vehicle based on details Route Planning Data
Planning index.
Planning index comparing unit 530, for comparing the planning index and actual planning index that are used for test.
It plans reasonable determination unit 540, for determining rule according to comparison result and planning reasonability, determines details road
Whether diameter layout data is reasonable.
In some optional implementations, test index acquiring unit is further used for following one or more: road network road
Diameter layout data is the road network Route Planning Data based on the determining unmanned vehicle of real road data from starting point to terminating point；With
And local paths planning data are the local paths planning data determined based on sector planning device as above.
In some optional implementations, test index acquiring unit is further used for: obtaining unmanned vehicle and is frequently changing
Unmanned vehicle is obtained during road to be used to survey based on what road network Route Planning Data and local Route Planning Data travelled
The planning index of examination；And practical index selection unit is further used for: obtaining unmanned vehicle during frequently change road
The actual planning index travelled based on details Route Planning Data.
In some optional implementations, device further include: difference reasonability determination unit, for according to comparison result with
And difference reasonability determines rule, determines that details Route Planning Data uses local paths planning number in sector planning region
According to, the region in addition to sector planning region using road network Route Planning Data difference it is whether reasonable.
Below with reference to Fig. 6, it illustrates the calculating of the terminal device or server that are suitable for being used to realize the embodiment of the present application
The structural schematic diagram of machine system 600.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 606 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 609, and/or from removable
Medium 611 is unloaded to be mounted.When the computer program is executed by central processing unit (CPU) 601, execute in the present processes
The above-mentioned function of limiting.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one unit of table, program segment or code, a part of the unit, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include railway network planning acquiring unit, directed connected graph construction unit, sector planning determination unit.Wherein, the title of these units exists
The restriction to the unit itself is not constituted in the case of certain, for example, railway network planning acquiring unit is also described as " obtaining
The unit of road network Route Planning Data ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating
Machine storage medium can be nonvolatile computer storage media included in device described in above-described embodiment；It is also possible to
Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited
One or more program is contained, when one or more of programs are executed by an equipment, so that the equipment: obtaining
Road network Route Planning Data；In unmanned vehicle based on road network Route Planning Data, map datum and the real road that perceives
During lane line travels, it is located at sector planning region in response to the lane of present road or forward road, in sector planning
More than one directed connected graph of line direction before the path construction in region is directed toward；Based on each directed connected graph with the next item down or more
Determine local paths planning data: path distance, by way of traffic lights quantity and congestion amount.
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating
Machine storage medium can be nonvolatile computer storage media included in device described in above-described embodiment；It is also possible to
Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited
One or more program is contained, when one or more of programs are executed by an equipment, so that the equipment: obtaining
The planning index for test that unmanned vehicle is travelled based on road network Route Planning Data and local Route Planning Data；It obtains
The actual planning index that unmanned vehicle is travelled based on details Route Planning Data；Compare the planning index and reality for test
The planning index on border；Rule is determined according to comparison result and planning reasonability, determines whether details Route Planning Data is reasonable.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (16)
1. a kind of test method based on local paths planning, which is characterized in that the test side based on local paths planning
Method includes:
Obtain the planning for test that unmanned vehicle is travelled based on road network Route Planning Data and local Route Planning Data
Index；
Obtain the actual planning index that unmanned vehicle is travelled based on details Route Planning Data；
Compare the planning index and the actual planning index for test；
Rule is determined according to comparison result and planning reasonability, determines whether the details Route Planning Data is reasonable.
2. the test method according to claim 1 based on local paths planning, which is characterized in that the acquisition unmanned vehicle
The planning index for test travelled based on road network Route Planning Data and local Route Planning Data includes with next
Item is multinomial:
The road network Route Planning Data is the road network based on the determining unmanned vehicle of real road data from starting point to terminating point
Route Planning Data；And
The local paths planning data are the local paths planning data determined based on local paths planning method；
Wherein, the local paths planning method includes:
Obtain road network Route Planning Data；
In the mistake that unmanned vehicle is travelled based on the lane line of road network Route Planning Data, map datum and the real road perceived
Cheng Zhong is located at sector planning region in response to the lane of present road or forward road, in the path in the sector planning region
More than one directed connected graph of line direction before building is directed toward；
Based on following one or more determining local paths planning data of each directed connected graph: path distance, by way of traffic lights
Quantity and congestion amount.
3. the test method according to claim 2 based on local paths planning, which is characterized in that the local path rule
The method of drawing further include:
Judge the path locus and the local paths planning in the road network Route Planning Data in the sector planning region
Whether the path locus of data is overlapped；
If being overlapped, the unmanned vehicle is instructed to be travelled according to the road network Route Planning Data；
If not being overlapped, the unmanned vehicle is instructed to be travelled according to the local paths planning data.
4. the test method according to claim 2 based on local paths planning, which is characterized in that described based on each oriented
The path distance of connected graph, by way of traffic lights quantity and congestion amount, determine that local paths planning data include:
Based on to each directed connected graph path distance, by way of the weighted scoring of traffic lights quantity and congestion amount as a result, determine institute
State the highest directed connected graph of scoring in more than one directed connected graph；
The corresponding Route Planning Data based on lane line of the highest directed connected graph of scoring is determined as the local road
Diameter layout data.
5. the test method according to claim 2 based on local paths planning, which is characterized in that the sector planning area
Domain includes following one or more: barrier region, road domain transformation, crossing region and directional translation regions.
6. the test method according to claim 2 based on local paths planning, which is characterized in that the road network path rule
Drawing data is the road network Route Planning Data based on the determining unmanned vehicle of real road data from starting point to terminating point；And/or
The directed connected graph is that the lane line in the sector planning region is set mark point and the company of use according to preset distance
The oriented each mark point of connection of line obtains.
7. the test method based on local paths planning described in -6 any one according to claim 1, which is characterized in that described
Obtain the planning index for test that unmanned vehicle is travelled based on road network Route Planning Data and local Route Planning Data
Include:
It obtains unmanned vehicle and obtains unmanned vehicle based on road network Route Planning Data and local path during frequently change road
The planning index for test that layout data travels；And
The acquisition unmanned vehicle includes: based on the actual planning index that details Route Planning Data travels
Acquisition unmanned vehicle is travelled during the frequent change road based on details Route Planning Data actual
Planning index.
8. the test method according to claim 1 based on local paths planning, which is characterized in that described based on local road
The test method of diameter planning further include:
Rule is determined according to comparison result and difference reasonability, determines that the details Route Planning Data is advised in the part
Partition domain uses the road network path using the local paths planning data, in the region in addition to the sector planning region
Whether the difference of layout data is reasonable.
9. the test method according to claim 1 based on local paths planning, which is characterized in that the planning index is extremely
It less include following one or more: driving trace, path planning time and overhead.
10. a kind of test device based on local paths planning, which is characterized in that the test dress based on local paths planning
It sets and includes:
Test index acquiring unit is based on road network Route Planning Data and local Route Planning Data traveling for obtaining unmanned vehicle
The obtained planning index for test；
Practical index selection unit is referred to for obtaining unmanned vehicle based on the actual planning that details Route Planning Data travels
Mark；
Planning index comparing unit, for comparing the planning index and the actual planning index for test；
It plans reasonable determination unit, for determining rule according to comparison result and planning reasonability, determines the details path
Whether layout data is reasonable.
11. the test device according to claim 10 based on local paths planning, which is characterized in that the test index
Acquiring unit is further used for following one or more:
The road network Route Planning Data is the road network based on the determining unmanned vehicle of real road data from starting point to terminating point
Route Planning Data；And
The local paths planning data are the local paths planning data determined based on local paths planning device；Wherein, institute
Stating local paths planning device includes:
Railway network planning acquiring unit, for obtaining road network Route Planning Data；
Directed connected graph construction unit, for based on road network Route Planning Data, map datum and being perceived in unmanned vehicle
During the lane line traveling of real road, it is located at sector planning region in response to the lane of present road or forward road,
More than one directed connected graph of line direction before the path construction in the sector planning region is directed toward；
Sector planning determination unit, for following one or more determining local paths planning numbers based on each directed connected graph
According to: path distance, by way of traffic lights quantity and congestion amount.
12. the test device according to claim 11 based on local paths planning, which is characterized in that the local path
Device for planning further include:
Track is overlapped judging unit, for judging the path rail in the road network Route Planning Data in the sector planning region
Whether mark is overlapped with the path locus of the local paths planning data；
Railway network planning travel unit, if the path locus for the road network Route Planning Data in the sector planning region
It is overlapped with the path locus of the local paths planning data, instructs the unmanned vehicle according to the road network Route Planning Data row
It sails；
Sector planning travel unit, if the path locus for the road network Route Planning Data in the sector planning region
It is not overlapped with the path locus of the local paths planning data, instructs the unmanned vehicle according to the local paths planning data
Traveling.
13. the test device according to claim 11 based on local paths planning, which is characterized in that the sector planning
Determination unit includes:
Directed connected graph determines subelement, based on to each directed connected graph path distance, by way of traffic lights quantity and congestion amount
Weighted scoring as a result, determining the highest directed connected graph of scoring in the one above directed connected graph；
Sector planning determines subelement, by the corresponding path planning number based on lane line of the highest directed connected graph of scoring
According to being determined as the local paths planning data.
14. the test device according to claim 11 based on local paths planning, which is characterized in that
The road network Route Planning Data is the road network based on the determining unmanned vehicle of real road data from starting point to terminating point
Route Planning Data；And/or
The directed connected graph is that the lane line in the sector planning region is set mark point and the company of use according to preset distance
The oriented each mark point of connection of line obtains.
15. the test device based on local paths planning described in 0-14 any one according to claim 1, which is characterized in that
The test index acquiring unit is further used for:
It obtains unmanned vehicle and obtains unmanned vehicle based on road network Route Planning Data and local path during frequently change road
The planning index for test that layout data travels；And
The practical index selection unit is further used for:
Acquisition unmanned vehicle is travelled during the frequent change road based on details Route Planning Data actual
Planning index.
16. the test device according to claim 10 based on local paths planning, which is characterized in that described based on part
The test device of path planning further include:
Difference reasonability determination unit determines the details road for determining rule according to comparison result and difference reasonability
Diameter layout data with the sector planning region using the local paths planning data, except the sector planning region it
Whether outer region is reasonable using the difference of the road network Route Planning Data.
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| CN106767866B (en) | 2021-02-12 |
| CN110132279B (en) | 2021-07-27 |
| CN106767866A (en) | 2017-05-31 |
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