CN110196592A - A kind of update method of trajectory line, system, terminal and storage medium - Google Patents
A kind of update method of trajectory line, system, terminal and storage medium Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The present invention provides update method, system, terminal and the storage medium of a kind of trajectory line, obtains current local map and global path planning, generates the first trajectory line；Vehicle driving obtains to current local map borderline region and preloads local map, generates the second trajectory line；Obtain initial time vehicle-state, last moment vehicle-state, initial time vehicle-state and last moment vehicle-state are fitted, form transverse path and longitudinal track, transverse path and longitudinal track are synthesized into two-dimentional tracing point again, is formed and refers to driving line from the first trajectory line to the switching of the second trajectory line.The present invention meets system real time requirement and track substantially meets demanding kinetics, keeps the formation speed of trajectory line more reasonable, and resource consumption rationally has certain reliability.
Description
Technical field
The present invention relates to technical field of automotive electronics, more particularly to a kind of update method of trajectory line, system, terminal and
Storage medium.
Background technique
It is the common module of one of map path planning service with reference to driving line, is obtaining user initial position, and
After obtaining user's input destination locations, map can generate a global road (global path), and global road is by dilute
Circuit node composition in road along thin, then the path planning line by terminating direction from initial position to destination locations is by these edges
Drawing lines circuit node connects to form global road (global path).
Global road (global path) is due to being direct line between node and node, and vehicle is in different roads
Under the scene of road, under the influence of the vehicle body kinetic parameter of different automobile types, vehicle actual travel path requires to meet vehicle vehicle
The requirement of body dynamics Controlling, and needs to meet real roads scene complex working condition, could drive as nobody of L4 or even L5 rank
It sails and is used with reference to driving line.
Actual scene is in application, the trajectory line generated is not as global path planning, from starting point until mesh
Ground.But vehicle only handles the trajectory line of vehicle present position locally around figure, the path length of trajectory line will not
It is very long, it can reduce the time-consuming of algorithm in this way.If vehicle has changed travel route in driving process, has changed destination, just
Trajectory line can be regenerated in real time.Generating referential driving line just for local map can also have the following problems, i.e., per more
A new local map will regenerate trajectory line, and between the trajectory line where newly-generated trajectory line and current vehicle by
Cause not being to be overlapped in local map Bonding Problem.At this moment it is urgently to be resolved ask that how vehicle, which switches with reference to driving line,
Topic.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of update sides of trajectory line
Method, system, terminal and storage medium, the present invention meets system real time requirement and track substantially meets demanding kinetics, makes
One trajectory line is updated to the second track line frequency and is refreshed with the frequency of 10Hz, keeps the formation speed of trajectory line more reasonable, and resource
Consumption rationally has certain reliability.
A kind of update method of trajectory line, comprising:
S01: obtaining current local map and global path planning, finds the path being present within the scope of current local map
It plans point, generates the first trajectory line；
S02: vehicle driving to current local map borderline region obtains and preloads local map, finds and be present in pre-add
The path planning point in body of a map or chart is carried, the second trajectory line is generated；
S03: enter after preloading map and travelled according to the first trajectory line, and find current vehicle position in each moment t
Subpoint p in the second trajectory line calculates the transversal displacement between current vehicle position p and the second trajectory line subpoint p '
L, the first derivative l ' of vertical misalignment amount s and transversal displacement, the second dervative l " of transversal displacement, vertical misalignment amount
First derivativeThe second dervative of vertical misalignment amount
S04: defining the t0 moment is the initial time that the first trajectory line is switched to the second trajectory line, and defining the t1 moment is first
Trajectory line is converted to the last moment of the second trajectory line, to initial time t0, end moment t1 to lateral direction of car offset l and its single order
Derivative l ', second dervative l ", vertical misalignment amount s and its first derivativeSecond dervativeIt is sampled, obtains initial time vehicle
State, end moment vehicle-state, initial time vehicle-state and last moment vehicle-state are fitted, and are formed transverse path and are indulged
Two-dimentional tracing point is synthesized to track, then by transverse path and longitudinal track, is formed from the first trajectory line to the second trajectory line
Switching refers to driving line.
Further, the generation of the second trajectory line can also include accelerating step in the local map:
S021: obtaining and preload map and global path planning, finds the path rule for being present in and preloading in body of a map or chart
Draw point and path direction；
S022: point is planned according to traveling difficulty split path:
When travelling difficulty higher than rated value, which is divided into highly difficult local path part, and give highly difficult
Local path grid numbering extracts the path planning point in highly difficult local path partial coverage, forms highly difficult part
Path planning point set；
When travelling difficulty lower than rated value, which is divided into low difficulty local path part, and give low difficulty
Path grid numbering extracts the path planning point in low difficulty local path partial coverage, forms low difficulty path planning
Point set；
The set of highly difficult local path part and low difficulty path sections is equal to global path rule in the preloading map
Draw part；
S023: the highly difficult path planning point set of highly difficult local path grid numbering, path planning point set are extracted one by one
Each of x coordinate information, y-coordinate information of the path planning point containing the path planning point,
Traverse the x coordinate information that highly difficult path planning point concentrates all path planning points, find out x coordinate maximum value and
The minimum value of x coordinate；
Traverse the y-coordinate information that highly difficult path planning point concentrates all path planning points, find out y-coordinate maximum value and
The minimum value of y-coordinate；
With x coordinate maximum value, x coordinate minimum value, y-coordinate maximum value, y-coordinate minimum value is that boundary forms highly difficult part
Passage zone；
S024: referring to driving line for the highly difficult path point in each highly difficult local path region with algorithm simulation, will
Path planning point is obtained with geometric ways and refers to driving line in each low difficulty local path region；By highly difficult local path
Planning and low difficulty local paths planning splice according to number, form the second trajectory line of local map.
Further, if step S024 executes failure, the ginseng in the highly difficult local path region is found with way of search
Examine driving line；If way of search can find highly difficult local path area reference driving line, with the highly difficult passage zone
With reference to driving line and remainder passage zone with reference to traveling splicing；If way of search finds highly difficult local path region ginseng
Driving line failure is examined, then finds the path planning point being present in preload in body of a map or chart and path again back to step S021
Direction.
Further, further include following scenario described:
Point is planned according to traveling difficulty split path: when travelling difficulty can not identify, being given and is preloaded in body of a map or chart
Path planning point is with unified grid numbering.
Further, path planning point and the path preloaded in map and preloading body of a map or chart is obtained in step S021
It further include step S0211 when direction: the previous local map height that judgement preloads the elevation information of map and vehicle driving is crossed
Whether consistent spend information；If consistent, S022 is entered step；If inconsistent, terminate.
Further, be with the algorithm that algorithm simulation trajectory line uses in step S024: Hybrid A star algorithm generates
With reference to driving line.The input layer of Hybrid A star algorithm includes: the centreline data for needing to complete two lanes turned around,
Each point data of center line includes position and direction (x, y, theta).Hybrid A star algorithm generates class meter to track
It calculates, the track an of position, curvature smoothing can be generated, vehicle can be completed to turn around to move.Hybrid A star algorithm
Output layer includes the complete trajectory for connecting two lanes, and each point includes position, direction and curvature data (x, y, th in track
eta,kappa)。
The second trajectory line is found using Hybrid A star algorithm.Hybrid A star is provided in the discrete case
Path be not travelable, but after the Dynamic Constraints of automobile are added in we, perhaps can achieve the knot of topic requirements
Fruit.
Hybrid A star algorithm in a program the following steps are included:
S0241: the expandable area of Hybrid A star algorithm, i.e., expansible grid are calculated using Dynamic Constraints
Sound of laughing son；While constrained dynamics model, HeuristicCost is also required to be carried out according to the scene of U-Turn appropriate excellent
Change；
S0242: deleting unreasonable region, and the unreasonable region includes barrier, map exterior domain, low efficiency
Region；
S0243: the Discrete Grid grid of continuous vehicle-state and state relation is recorded；
S0244: the associated continuous state point data (x, y, theta) in path is taken out after search result to be obtained；
S0245: check whether curvature is smooth.
Hybrid A star algorithm visualization problem in program realization: visualization portion uses python's
matplotlib。
Hybrid A star test of heuristics problem: code section does not introduce test frame (gtest, boosttest
Deng), but cooperate the lightweight scheme of c++assert with script, because needing many naked-eye observations in exploitation and test process
Auxiliary and the test file of batch read, it is more demanding to code maintenance using c++, and can not accomplish not couple with code
Visualization.
Hybrid A star algorithm when in use, does not use each map of true grid of three-dimensional array form, but uses
Std::vector<std::map<Point, State>>form are somewhat like the expression way of sparse matrix, and sky is greatly saved
Between consume, the work of the coordinate system that also mitigates significantly conversion.Final track have passed through fitting and resampling, in order to allow track
It is smooth, and for the calculating for calculating kappa kappa is obtained according to the formula:
Wherein, curve is by parametric equationIt provides, using parametric equation method of derivation it can be concluded that K value.
Further, the alternative scheme of Hybrid A star algorithm, can be generated half-round curve as reference
Then line is optimized using qp.Use the entrance of target lane as end-configuration space, then makes
Track can be performed with Jerk minimize direct solution automobile, then check that track is more than boundary or there is collision.This method
It may cause the physical characteristic that calculated trajectory is unsatisfactory for car, such as the curve of certain points excessive.
A kind of more new system with reference to driving line, comprising:
Mapping module, the mapping module include area the grade map, a certain small towns of the city-level map in a certain city, a certain area
Township level map, street-level map or a certain indoor scene map, indoor scene map local map；
Global path planning module, the global path planning module include the starting point of vehicle, terminating point position and
The road path point passed through from starting point to terminating point；
Trajectory line generation module, the trajectory line generation module combination mapping module road information and global path planning
The local path line of tracing point generation current map module；
Trajectory line switching module, the trajectory line switching module obtain initial time vehicle-state, last moment vehicle-state,
Initial time vehicle-state and last moment vehicle-state are fitted, form transverse path and longitudinal track, then by transverse path
Two-dimentional tracing point is synthesized with longitudinal track, is formed and refers to driving line from the first trajectory line to the switching of the second trajectory line.
It further, further include traveling difficulty segmentation module, the traveling difficulty segmentation module is used for segmenting system pre-add
The path for carrying local map is analyzed before segmentation by road driving difficulty, when assert that traveling difficulty is higher than rated value, by this
Part is divided into highly difficult local path part, extracts the path planning point in highly difficult local path partial coverage, shape
At highly difficult local paths planning point set；When travelling difficulty lower than rated value, which is divided into low difficulty local path
Part extracts the path planning point in low difficulty local path partial coverage, forms low difficulty path planning point set.
It further, further include with reference to driving line generation module, the reference driving line generation module is according to traveling difficulty
Divide module segmentation as a result, respectively in different ways by highly difficult local paths planning point and low difficulty local paths planning point
It generates traveling and refers to driving line, then traveling is referred into driving line at the traveling of completion with reference to traveling splicing.
Further, it when the highly difficult local paths planning point set of traveling difficulty segmentation module segmentation, first obtains high-leveled and difficult
Spend local path region, acquisition modes are as follows:
The highly difficult path planning point set of highly difficult local path grid numbering is extracted one by one, and path planning point is concentrated every
X coordinate information, y-coordinate information of one path planning point containing the path planning point, traverse highly difficult path planning point set
In all path planning points x coordinate information, find out the maximum value of x coordinate and the minimum value of x coordinate；Traverse highly difficult path rule
The y-coordinate information that point concentrates all path planning points is drawn, the maximum value of y-coordinate and the minimum value of y-coordinate are found out；Most with x coordinate
Big value, x coordinate minimum value, y-coordinate maximum value, y-coordinate minimum value are that boundary forms highly difficult local path region.
A kind of more new terminal of trajectory line, can such as execute above-mentioned trajectory line rapid generation smart phone or can be with
Execute the car-mounted terminal control equipment of above-mentioned trajectory line quick-speed generation system.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
Step in the update method of execution track line.
As described above, of the invention has the advantages that
One, meet system real time requirement
1) under paths planning method (Plan On Reference Line) mode based on reference driving line, the first track
Line, which is updated to the second track line frequency, can guarantee to refresh with the frequency of 10Hz, keep the formation speed of trajectory line more reasonable, when and
Trajectory line is only just calculated when receiving new map or new guidance path.Ginseng under indoor map scene, after accelerating step acceleration
It examines driving line to generate the used time 0.3 second or so, pure way of search is generated with reference to driving line or the trajectory line used time 0.8 second or so.And
In map overlapping region, trajectory line also has overlapping.
2) under Plan On Reference Line mode, it is easier to realize the scene of high dynamic (opposite direction is given another the right of way).
Two, reliability
3) using more set planning modes
Traveling difficulty segmentation is carried out to local map road, highly difficult row is combined by low difficulty travel (straight path)
Road (curvilinear path) composition is sailed, computational efficiency is improved.Under Plan On Reference Line mode, curve smoothing considers ground
Scheme to can travel range constraint, avoids the smooth caused collision with fixed obstacle.
Three, track substantially meets demanding kinetics
4) Dynamic Programming is used in Plan On Reference Line, considers turning radius about in step from n to n+1
Beam；Dynamics of vehicle constraint is considered in Reference line generating process.
Four, resource consumption is reasonable
5) after trajectory line generates, the redundancy (local map, heuristic map etc.) in memory can be removed
The search space of Plan On Reference Line is much smaller than the search space hybrid A star, occupies system
Resource is few.
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 described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as the schematic diagram of the first trajectory line and the second trajectory line in road of the invention.
Fig. 2 is shown as the schematic diagram of the first trajectory line, the second trajectory line and third trajectory line in road of the invention.
Fig. 3 is shown as trajectory line of the present invention and accelerates the flow chart generated.
Fig. 4 is shown as the schematic diagram that traveling in parking garage of the present invention refers to driving line.
Fig. 5 is shown as the schematic diagram that traveling in subsequent time parking garage of the present invention refers to driving line.
Fig. 6 is shown as the present invention and preloads the schematic diagram after local map traveling difficulty segmentation module segmentation.
Fig. 7 is shown as the schematic diagram of highly difficult driving path after local map traveling difficulty segmentation module segmentation of the present invention.
Fig. 8 is shown as the schematic diagram of low difficulty driving path after local map traveling difficulty segmentation module segmentation of the present invention.
Fig. 9 is shown as the present invention and preloads the low difficulty traveling of another part after local map traveling difficulty segmentation module segmentation
The schematic diagram in path.
The first low difficulty local path of 100- part；The highly difficult local path part 200- first；The low difficulty of 300- second
Local path part；The path point of the first low difficulty local path of 101~106- part；The highly difficult part 201~211- first
The path point of path sections；The path point of the second low difficulty local path of 301~305- part；The first trajectory line of 1001-；
The second trajectory line of 2001-；3001- third trajectory line.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to FIG. 1 to FIG. 9,
A kind of update method of trajectory line, comprising:
S01: obtaining current local map and global path planning, finds the path being present within the scope of current local map
It plans point, generates the first trajectory line；
S02: vehicle driving to current local map borderline region obtains and preloads local map, finds and be present in pre-add
The path planning point in body of a map or chart is carried, the second trajectory line is generated；
S03: enter after preloading map and travelled according to the first trajectory line, and find current vehicle position in each moment t
Subpoint p in the second trajectory line calculates the transversal displacement between current vehicle position p and the second trajectory line subpoint p '
L, the first derivative l ' of vertical misalignment amount s and transversal displacement, the second dervative l " of transversal displacement, vertical misalignment amount
First derivativeThe second dervative of vertical misalignment amount
S04: defining the t0 moment is the initial time that the first trajectory line is switched to the second trajectory line, and defining the t1 moment is first
Trajectory line is converted to the last moment of the second trajectory line, to initial time t0, end moment t1 to lateral direction of car offset l and its single order
Derivative l ', second dervative l ", vertical misalignment amount s and its first derivativeSecond dervativeIt is sampled, obtains initial time vehicle
State, end moment vehicle-state, initial time vehicle-state and last moment vehicle-state are fitted, and are formed transverse path and are indulged
Two-dimentional tracing point is synthesized to track, then by transverse path and longitudinal track, is formed from the first trajectory line to the second trajectory line
Switching refers to driving line.
As a preferred embodiment, the generation for preloading the second trajectory line in map can also include accelerating step:
S021: obtaining and preload map and global path planning, finds the path rule for being present in and preloading in body of a map or chart
Draw point and path direction；
S022: point is planned according to traveling difficulty split path:
When travelling difficulty higher than rated value, which is divided into highly difficult local path part, and give highly difficult
Local path grid numbering extracts the path planning point in highly difficult local path partial coverage, forms highly difficult part
Path planning point set；
When travelling difficulty lower than rated value, which is divided into low difficulty local path part, and give low difficulty
Path grid numbering extracts the path planning point in low difficulty local path partial coverage, forms low difficulty path planning
Point set；
The set of highly difficult local path part and low difficulty path sections is equal to global path rule in the preloading map
Draw part；
S023: the highly difficult path planning point set of highly difficult local path grid numbering, path planning point set are extracted one by one
Each of x coordinate information, y-coordinate information of the path planning point containing the path planning point,
Traverse the x coordinate information that highly difficult path planning point concentrates all path planning points, find out x coordinate maximum value and
The minimum value of x coordinate；
Traverse the y-coordinate information that highly difficult path planning point concentrates all path planning points, find out y-coordinate maximum value and
The minimum value of y-coordinate；
With x coordinate maximum value, x coordinate minimum value, y-coordinate maximum value, y-coordinate minimum value is that boundary forms highly difficult part
Passage zone；
S024: referring to driving line for the highly difficult path point in each highly difficult local path region with algorithm simulation, will
Path planning point is obtained with geometric ways and refers to driving line in each low difficulty local path region；By highly difficult local path
Planning and low difficulty local paths planning splice according to number, form the second trajectory line of local map.
As a preferred embodiment, if step S024 executes failure, which is found with way of search
The reference driving line in domain；If way of search can find highly difficult local path area reference driving line, with the highly difficult road
Diameter area reference driving line and remainder passage zone are with reference to traveling splicing；If way of search finds highly difficult local path
The failure of area reference driving line, then find the path planning point for being present in and preloading in body of a map or chart again back to step S021
And path direction.
As a preferred embodiment, further include situation:
Point is planned according to traveling difficulty split path: when travelling difficulty can not identify, being given and is preloaded in body of a map or chart
Path planning point is with unified grid numbering.
As a preferred embodiment, the path planning point preloaded in map and preloading body of a map or chart is obtained in step S021
It further include step S0211 when with path direction: the previous part that judgement preloads the elevation information of map and vehicle driving is crossed
Whether map height information is consistent；If consistent, S022 is entered step；If inconsistent, terminate.
As a preferred embodiment, it is with the algorithm that algorithm simulation is used with reference to driving line in step S024: Hybrid A
Star algorithm, which generates, refers to driving line.The input layer of Hybrid A star algorithm includes: two lanes for needing to complete to turn around
Centreline data, each point data of center line include position and direction (x, y, theta).Hybrid A star algorithm to
Track generates class and calculates, and can generate the track an of position, curvature smoothing, vehicle can be completed to turn around to move.Hybrid
The output layer of A star algorithm includes the complete trajectory for connecting two lanes, and each point includes position, direction and curvature in track
Data (x, y, theta, kappa).
The second trajectory line is found using Hybrid A star algorithm.Hybrid A star is provided in the discrete case
Path be not travelable, but after the Dynamic Constraints of automobile are added in we, perhaps can achieve the knot of topic requirements
Fruit.
Hybrid A star algorithm in a program the following steps are included:
S0241: the expandable area of Hybrid A star algorithm, i.e., expansible grid are calculated using Dynamic Constraints
Sound of laughing son；While constrained dynamics model, HeuristicCost is also required to be carried out according to the scene of U-Turn appropriate excellent
Change；
S0242: deleting unreasonable region, and the unreasonable region includes barrier, map exterior domain, low efficiency
Region；
S0243: the Discrete Grid grid of continuous vehicle-state and state relation is recorded；
S0244: the associated continuous state point data (x, y, theta) in path is taken out after search result to be obtained；
S0245: check whether curvature is smooth.
Hybrid A star algorithm visualization problem in program realization: visualization portion uses python's
matplotlib。
Hybrid A star algorithm when in use, does not use the grating map of three-dimensional array form, but uses
Std::vector<std::map<Point, State>>form are somewhat like the expression way of sparse matrix, and sky is greatly saved
Between consume, the work of the coordinate system that also mitigates significantly conversion.Final track have passed through fitting and resampling, in order to allow track
It is smooth, and for the calculating for calculating kappa kappa is obtained according to the formula:
Wherein, curve is by parametric equationIt provides, using parametric equation method of derivation it can be concluded that K value.
A kind of more new system with reference to driving line, comprising:
Mapping module, the mapping module include area the grade map, a certain small towns of the city-level map in a certain city, a certain area
Township level map, street-level map or a certain indoor scene map, indoor scene map local map；
Global path planning module, the global path planning module include the starting point of vehicle, terminating point position and
The road path point passed through from starting point to terminating point；
Trajectory line generation module, the trajectory line generation module combination mapping module road information and global path planning
The local path line of tracing point generation current map module；
Trajectory line switching module, the trajectory line switching module obtain initial time vehicle-state, last moment vehicle-state,
Initial time vehicle-state and last moment vehicle-state are fitted, form transverse path and longitudinal track, then by transverse path
Two-dimentional tracing point is synthesized with longitudinal track, is formed and refers to driving line from the first trajectory line to the switching of the second trajectory line.
It as a preferred embodiment, further include traveling difficulty segmentation module, the traveling difficulty segmentation module is for dividing system
System preloads the path of local map, analyzes before segmentation by road driving difficulty, when identification traveling difficulty is higher than rated value
When, which is divided into highly difficult local path part, extracts the path rule in highly difficult local path partial coverage
Point is drawn, highly difficult local paths planning point set is formed；When travelling difficulty lower than rated value, which is divided into low difficulty office
Portion's path sections extract the path planning point in low difficulty local path partial coverage, form low difficulty path planning point
Collection.
It as a preferred embodiment, further include with reference to driving line generation module, the reference driving line generation module is according to row
Difficulty segmentation module segmentation is sailed as a result, respectively by highly difficult local paths planning point and low difficulty local paths planning point with difference
Mode generate traveling with reference to driving line, then traveling with reference to traveling splicing is referred into driving line at the traveling of completion.
As a preferred embodiment, it when the highly difficult local paths planning point set of traveling difficulty segmentation module segmentation, first obtains
Take highly difficult local path region, acquisition modes are as follows:
The highly difficult path planning point set of highly difficult local path grid numbering is extracted one by one, and path planning point is concentrated every
X coordinate information, y-coordinate information of one path planning point containing the path planning point, traverse highly difficult path planning point set
In all path planning points x coordinate information, find out the maximum value of x coordinate and the minimum value of x coordinate；Traverse highly difficult path rule
The y-coordinate information that point concentrates all path planning points is drawn, the maximum value of y-coordinate and the minimum value of y-coordinate are found out；Most with x coordinate
Big value, x coordinate minimum value, y-coordinate maximum value, y-coordinate minimum value are that boundary forms highly difficult local path region.
A kind of more new terminal of trajectory line, can such as execute above-mentioned trajectory line rapid generation smart phone or can be with
Execute the car-mounted terminal control equipment of above-mentioned trajectory line quick-speed generation system.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
Step in the update method of execution track line.
As a preferred embodiment, the present embodiment also provides a kind of terminal device, can such as execute the smart phone of program, put down
Plate computer, laptop, desktop computer, rack cloud, blade type cloud, tower cloud or cabinet-type cloud (including
Cloud cluster composed by independent cloud or multiple clouds) etc..The terminal device of the present embodiment includes at least but unlimited
In: memory, the processor of connection can be in communication with each other by system bus.It should be pointed out that with assembly storage, processing
The terminal device of device, it should be understood that being not required for implementing all components shown, the update for the trajectory line that can be substituted
Method implements more or less component.
As a preferred embodiment, memory (i.e. readable storage medium storing program for executing) includes flash memory, hard disk, multimedia card, card-type storage
Device (for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only storage
Device (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD etc..In some embodiments, memory can be the internal storage unit of computer equipment, such as the computer is set
Standby hard disk or memory.In further embodiments, memory is also possible to the External memory equipment of computer equipment, such as should
The plug-in type hard disk being equipped in computer equipment, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Certainly, memory can also have been deposited both the inside including computer equipment
Storage unit also includes its External memory equipment.In the present embodiment, memory is installed on the behaviour of computer equipment commonly used in storage
Make system and types of applications software, such as update method program code of the trajectory line in embodiment etc..In addition, memory may be used also
For temporarily storing the Various types of data that has exported or will export.
The present embodiment also provides a kind of computer readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory
(for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only memory
(ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD, cloud, App are stored thereon with computer program using store etc., realize when program is executed by processor corresponding
Function.The computer readable storage medium of the present embodiment is used to store the more new procedures with reference to driving line, when being executed by processor
Realize the update method of the trajectory line in the update method program embodiment with reference to driving line.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (12)
1. a kind of update method of trajectory line characterized by comprising
S01: obtaining current local map and global path planning, finds the global path being present within the scope of current local map
It plans point, generates the first trajectory line；
S02: vehicle driving to current local map borderline region obtains and preloads local map, finds and is present in preloading ground
Path planning point within the scope of figure generates the second trajectory line；
S03: entering after preloading map and travel according to the first trajectory line, and finds current vehicle position the in each moment t
Subpoint p in two trajectory lines calculates the transversal displacement l between current vehicle position p and the second trajectory line subpoint p ', indulges
To the first derivative l ' of offset s and transversal displacement, the second dervative l " of transversal displacement, vertical misalignment amount single order
DerivativeThe second dervative of vertical misalignment amount
S04: defining the t0 moment is the initial time that the first trajectory line is switched to the second trajectory line, and the definition t1 moment is the first track
Line is converted to the last moment of the second trajectory line, to initial time t0, end moment t1 to lateral direction of car offset l and its first derivative
L ', second dervative l ", vertical misalignment amount s and its first derivativeSecond dervativeIt is sampled, obtains initial time vehicle shape
State, last moment vehicle-state, initial time vehicle-state and last moment vehicle-state are fitted, transverse path and longitudinal direction are formed
Track, then transverse path and longitudinal track are synthesized into two-dimentional tracing point, form cutting from the first trajectory line to the second trajectory line
It changes with reference to driving line.
2. the update method of trajectory line according to claim 1, which is characterized in that the second trajectory line in the local map
Generation can also include accelerating step:
S021: obtaining and preload map and global path planning, finds the path planning point for being present in and preloading in body of a map or chart
And path direction；
S022: point is planned according to traveling difficulty split path:
When travelling difficulty higher than rated value, which is divided into highly difficult local path part, and give highly difficult part
Path grid numbering extracts the path planning point in highly difficult local path partial coverage, forms highly difficult local path
Plan point set；
When travelling difficulty lower than rated value, which is divided into low difficulty local path part, and give low difficulty path
Grid numbering extracts the path planning point in low difficulty local path partial coverage, forms low difficulty path planning point set；
The set of highly difficult local path part and low difficulty path sections is equal to global path planning portion in the preloading map
Point；
S023: extracting the highly difficult path planning point set of highly difficult local path grid numbering one by one, what path planning point was concentrated
X coordinate information, y-coordinate information of each path planning point containing the path planning point,
The x coordinate information that highly difficult path planning point concentrates all path planning points is traversed, the maximum value and x for finding out x coordinate are sat
Target minimum value；
The y-coordinate information that highly difficult path planning point concentrates all path planning points is traversed, the maximum value and y for finding out y-coordinate are sat
Target minimum value；
With x coordinate maximum value, x coordinate minimum value, y-coordinate maximum value, y-coordinate minimum value is that boundary forms highly difficult local path
Region；
S024: referring to driving line for the highly difficult path point in each highly difficult local path region with algorithm simulation, will be each
Path planning point is obtained with geometric ways and refers to driving line in a low difficulty local path region；By highly difficult local paths planning
Splice with low difficulty local paths planning according to number, forms the second trajectory line of local map.
3. the update method of trajectory line according to claim 2, which is characterized in that if step S024 executes failure, with
Way of search finds the reference driving line in the highly difficult local path region；If way of search can find highly difficult local path
Area reference driving line is then spelled with reference to driving line and remainder passage zone with reference to driving line with the highly difficult passage zone
It connects；If way of search finds highly difficult local path area reference driving line failure, finds and deposit again back to step S021
It is to preload the path planning point and path direction in body of a map or chart.
4. the update method of trajectory line according to claim 2, which is characterized in that further include following scenario described:
Point is planned according to traveling difficulty split path: when travelling difficulty can not identify, being given and is preloaded path in body of a map or chart
Planning point is with unified grid numbering.
5. the update method of trajectory line according to claim 2, which is characterized in that obtained in step S021 and preload map
Further include step S0211 when with preloading the path planning point and path direction in body of a map or chart: judgement preloads the height of map
Whether degree information and the previous local map elevation information that vehicle driving is crossed are consistent；If consistent, S022 is entered step；If no
Unanimously, then terminate.
6. the update method of trajectory line according to claim 2, which is characterized in that with algorithm simulation track in step S024
The algorithm that line uses is: Hybrid A star algorithm, which generates, refers to driving line.The input layer of Hybrid A star algorithm includes:
Need the centreline data in two lanes for completing to turn around, each point data of center line include position and towards (x, y,
theta)；Hybrid A star algorithm generates class to track and calculates, and can generate the track an of position, curvature smoothing, allow
Vehicle can be completed to turn around to move；The output layer of Hybrid A star algorithm includes the complete trajectory for connecting two lanes, track
In each point include position, towards and curvature data (x, y, theta, kappa).
7. the update method of trajectory line according to claim 6, which is characterized in that the Hybrid A star algorithm exists
In program the following steps are included:
S0241: the expandable area of Hybrid A star algorithm, i.e., expansible grid lattice are calculated using Dynamic Constraints
Son；While constrained dynamics model, Heuristic Cost is also required to carry out optimization appropriate according to the scene of U-Turn；
S0242: deleting unreasonable region, the unreasonable region include barrier, map exterior domain, low efficiency area
Domain；
S0243: the Discrete Grid grid of continuous vehicle-state and state relation is recorded；
S0244: the associated continuous state point data (x, y, theta) in path is taken out after search result to be obtained；
S0245: check whether curvature is smooth.
8. a kind of more new system of trajectory line characterized by comprising
Mapping module, the mapping module include the city-level map in a certain city, area's grade map in a certain area, a certain small towns township
The local map of town grade map, street-level map or a certain indoor scene map, indoor scene map；
Global path planning module, the global path planning module include the starting point of vehicle, terminating point position and from
The road path point that initial point is passed through to terminating point；
Trajectory line generation module, the track of trajectory line generation module the combination mapping module road information and global path planning
Point generates the local path line of current map module；
Trajectory line switching module, the trajectory line switching module obtain initial time vehicle-state, last moment vehicle-state, will rise
Beginning moment vehicle-state and end moment vehicle-state are fitted, and form transverse path and longitudinal direction track, then by transverse path and indulge
Two-dimentional tracing point is synthesized to track, is formed and refers to driving line from the first trajectory line to the switching of the second trajectory line.
9. the more new system of trajectory line according to claim 8, which is characterized in that it further include traveling difficulty segmentation module,
The traveling difficulty segmentation module preloads the path of local map for segmenting system, and road driving difficulty is passed through before segmentation
The part is divided into highly difficult local path part, extracts highly difficult office by analysis when assert that traveling difficulty is higher than rated value
Path planning point in portion's path sections coverage area, forms highly difficult local paths planning point set；When traveling difficulty is lower than volume
When definite value, which is divided into low difficulty local path part, extracts the road in low difficulty local path partial coverage
Diameter plans point, forms low difficulty path planning point set.
10. the more new system of trajectory line according to claim 8, which is characterized in that further include generating mould with reference to driving line
Block, it is described that module segmentation is divided as a result, respectively advising highly difficult local path according to traveling difficulty with reference to driving line generation module
It draws point and low difficulty local paths planning point generates traveling with reference to driving line in different ways, then traveling is spelled with reference to driving line
The traveling of completion is connected into reference to driving line.
11. a kind of terminal device, it is characterised in that: the update side of the trajectory line as described in can execute the claims 1-7
The smart phone of method or can execute trajectory line described in above-mentioned 8-9 more new system car-mounted terminal control equipment.
12. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 1 to 7 any claim is realized when execution.
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