CN110398960A

CN110398960A - A kind of paths planning method of intelligent driving, device and equipment

Info

Publication number: CN110398960A
Application number: CN201910612580.2A
Authority: CN
Inventors: 邓堃; 张军; 卢红喜; 孙伟
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Geely Automobile Research Institute Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Geely Automobile Research Institute Co Ltd
Priority date: 2019-07-08
Filing date: 2019-07-08
Publication date: 2019-11-01
Anticipated expiration: 2039-07-08
Also published as: CN110398960B

Abstract

This application discloses a kind of paths planning method of intelligent driving, device and equipment, this method includes receiving the intelligent driving planning information of bus or train route collaboration base station push；Extract the initial path information for carrying out intelligent driving in intelligent driving planning information for the vehicle；Obtain the individual demand data that user carries out intelligent driving to the vehicle；The initial path information is adjusted based on the individual demand data, obtains the vehicle for carrying out the destination path information of intelligent driving.Accuracy by the intelligent driving planning information of the determining vehicle in bus or train route collaboration base station is higher, and can reduce automatic driving vehicle vehicle computing processing capacity and complexity it is more demanding, the destination path information of more differentiation can be provided by each user, meet actual application demand.

Description

A kind of paths planning method of intelligent driving, device and equipment

Technical field

This application involves field of intelligent transportation technology more particularly to a kind of paths planning method of intelligent driving, device and Equipment.

Background technique

Automatic Pilot technology is the hot technology of current automobile industry, is classified according to the automatic Pilot of SAE, main at present to draw It is divided into this six automatic Pilots classification of L0-L5, wherein the L0 grade vehicles for referring to no any Function for Automatic Pilot, L1-L2 grades automatically Driving is substantially still driving assistance system (ADAS), L3 grade automatic Pilots can referred to as subject to automated driving system, L4-L5 grades Automatic Pilot may be considered really significant automated driving system.

Traditional automatic driving vehicle is to detect ambient condition information according to itself sensor mounted, is based on later The ambient condition information detected executes automatic Pilot to calculate automatic Pilot path, then based on the automatic Pilot path.However, Either traditional L1-L2 rank automatic driving vehicle has for example including forward direction radar, forward sight camera, ultrasonic radar Forward direction laser radar included by the automatic driving vehicle of equal sensors or L3 or more, multiple angle radars and side radar, height Precision forward sight camera, side view camera, the first-class sensor of rear-camera, the sensing range and sensing capability of these sensors Be limited (such as larger range of Driving Scene can not be covered, more complicated Driving Scene can not be covered etc.).Due to existing Some automatic driving vehicles are limited from vehicle environment sensing ability, therefore acquired ambient condition information is also limited , and then cause the accuracy in automatic Pilot path be calculated not high, and influence intelligence and move driving experience.In addition, existing Automatic driving vehicle automatic Pilot path calculated it is more single, and to the vehicle computing processing capacity of automatic driving vehicle More demanding with complexity, these are unable to satisfy actual application demand.

Summary of the invention

Based on this, the application is designed to provide the paths planning method, device and equipment of a kind of intelligent driving, to solve The above at least one technical problem.The technical solution is as follows:

On the one hand, this application provides a kind of paths planning methods of intelligent driving, comprising:

Receive the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving planning information is the bus or train route Cooperate with base station based on determined by the initial bus or train route cooperative information of the vehicle；

Extract the initial path information for carrying out intelligent driving in the intelligent driving planning information for the vehicle；

Obtain the individual demand data that user carries out intelligent driving to the vehicle；

The initial path information is adjusted based on the individual demand data, obtains the vehicle for carrying out The destination path information of intelligent driving；

Wherein, the initial bus or train route cooperative information includes initial navigation information and current location information.

On the other hand, present invention also provides a kind of paths planning methods of intelligent driving, comprising:

Obtain the information of vehicles that vehicle is sent；The information of vehicles includes initial bus or train route cooperative information and user to the vehicle Carry out intelligent driving individual demand data；

The intelligent driving planning information of the vehicle is determined based on the initial bus or train route cooperative information；The intelligent driving rule Drawing information includes that the initial path information of intelligent driving is carried out for the vehicle；

The destination path information is pushed into the vehicle；

On the other hand, present invention also provides a kind of path planning apparatus of intelligent driving, comprising:

Receiving module, for receiving the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving planning Information is bus or train route collaboration base station based on determined by the initial bus or train route cooperative information of the vehicle；

Extraction module carries out the initial of intelligent driving for the vehicle for extracting in the intelligent driving planning information Routing information；

Module is obtained, carries out the individual demand data of intelligent driving to the vehicle for obtaining user；

Module is adjusted, for being adjusted based on the individual demand data to the initial path information, obtains institute Vehicle is stated for carrying out the destination path information of intelligent driving；

Module is obtained, for obtaining the information of vehicles of vehicle transmission；The information of vehicles includes initial bus or train route cooperative information The individual demand data of intelligent driving are carried out to the vehicle with user；

Planning module, for determining the intelligent driving planning information of the vehicle based on the initial bus or train route cooperative information； The intelligent driving planning information includes that the initial path information of intelligent driving is carried out for the vehicle；

Pushing module, for the destination path information to be pushed to the vehicle；

On the other hand, present invention also provides a kind of route design device of intelligent driving, the equipment includes vehicle, institute The terminal for stating vehicle includes processor and memory, and at least one instruction, at least a Duan Chengxu, generation are stored in the memory Code collection or instruction set, at least one instruction, an at least Duan Chengxu, the code set or instruction set are by the processor Load and execute the paths planning method to realize the intelligent driving as described in any of the above-described；And/or

The equipment includes at least one bus or train route collaboration base station, in the bus or train route collaboration base station server include processor and Memory, is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, and described at least one Item instruction, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize as above-mentioned The paths planning method of any intelligent driving.

Paths planning method, device and the equipment of a kind of intelligent driving provided by the present application at least have following beneficial to effect Fruit:

The application cooperates with the intelligent driving planning information of base station push by receiving bus or train route；The intelligent driving planning information It is bus or train route collaboration base station based on determined by the initial bus or train route cooperative information of the vehicle；Extract the intelligent driving planning The initial path information of intelligent driving is carried out in information for the vehicle；It obtains user and intelligent driving is carried out to the vehicle Individual demand data；The initial path information is adjusted based on the individual demand data, obtains the vehicle For carrying out the destination path information of intelligent driving.Since bus or train route collaboration base station can get wider and more accurate environment sense Know information, thus it is higher by the accuracy of the intelligent driving planning information of the determining vehicle in bus or train route collaboration base station, and can Vehicle computing processing capacity and the complexity for reducing automatic driving vehicle are more demanding.In addition, when determining destination path information The individual demand data of user are also considered, so provide the destination path information of more differentiation by each user, are met Actual application demand.

It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited Application.

Detailed description of the invention

It in ord to more clearly illustrate embodiments of the present application or technical solution in the prior art and advantage, below will be to implementation Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only It is only some embodiments of the present application, for those of ordinary skill in the art, without creative efforts, It can also be obtained according to these attached drawings other accompanying drawings.

Fig. 1 is a kind of flow chart of the paths planning method of intelligent driving provided by the embodiments of the present application.

Fig. 2 is a kind of flow chart of the paths planning method of the intelligent driving provided in another embodiment of the application.

Fig. 3 is a kind of block diagram of the path planning apparatus of intelligent driving provided by the embodiments of the present application.

Fig. 4 is a kind of flow chart of the paths planning method for intelligent driving that the another embodiment of the application provides.

Fig. 5 is a kind of block diagram of the path planning apparatus for intelligent driving that another embodiment of the application provides.

Fig. 6 is a kind of the hard of equipment for realizing method provided by the embodiment of the present application provided by the embodiments of the present application Part structural schematic diagram.

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application Example, and together with specification it is used to explain the principle of the application.

Specific embodiment

To keep the purposes, technical schemes and advantages of the application clearer, the application is made into one below in conjunction with attached drawing Step ground detailed description.Obviously, described embodiment is only the application one embodiment, instead of all the embodiments.Base Embodiment in the application, those of ordinary skill in the art are obtained all without creative labor Other embodiments shall fall in the protection scope of this application.

" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one implementation of the application A particular feature, structure, or characteristic.In the description of the present application, it is to be understood that term " on ", "lower", "left", "right", The orientation or positional relationship of the instructions such as "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching It states the application and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific Orientation construction and operation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second " are only used for retouching Purpose is stated, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.By This defines " first ", the feature of " second " can be expressed or what is implied includes one or more of the features.Moreover, Term " first ", " second " etc. are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It answers The data that the understanding uses in this way are interchangeable under appropriate circumstances, so that embodiments herein described herein can be to remove Sequence other than those of illustrating or describe herein is implemented.

Method and apparatus involved in the embodiment of the present application is described in detail with reference to the accompanying drawing.

The prior art, traditional automatic driving vehicle are that ambient enviroment letter is detected according to itself sensor mounted Breath is calculated automatic Pilot path based on the ambient condition information detected later, then is executed certainly based on the automatic Pilot path It is dynamic to drive.However, included by the automatic driving vehicle of either traditional L1-L2 rank automatic driving vehicle or L3 or more Various sensors, the sensing range and sensing capability of these sensors, which are also limited, (such as can not cover larger range of drive Sail scene, more complicated Driving Scene can not be covered etc.).Since existing automatic driving vehicle is from vehicle environment sensing ability It is limited, therefore acquired ambient condition information is also limited, and then leads to automatic Pilot path be calculated Accuracy it is not high, and then influence intelligence move driving experience.In addition, existing automatic driving vehicle automatic Pilot path calculated More single and more demanding to the vehicle computing processing capacity and complexity of automatic driving vehicle, these are unable to satisfy reality The application demand on border.In order to solve the technical problem, the application provides the paths planning method of intelligent driving a kind of, device and sets It is standby.

Fig. 1 is a kind of flow chart of the paths planning method of the intelligent driving provided in the embodiment of the present application.This method is answered It for terminal, can specifically be executed by path planning apparatus, which can be realized by the mode of software and/or hardware, should Device can integrate in the terminal.Referring to Figure 1, the method may include:

S102 receives the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving planning information is institute Bus or train route collaboration base station is stated based on determined by the initial bus or train route cooperative information of the vehicle.

In the embodiment of the present application, vehicle termination can cooperate with base station to establish communication connection with bus or train route.Establishing communication link After connecing, bus or train route collaboration base station can determine the intelligent driving planning of the vehicle according to the initial bus or train route cooperative information of the vehicle Information, and intelligent driving planning information is sent to corresponding vehicle.Certainly, the vehicle can cooperate with base station to bus or train route in advance Planning information acquisition request is sent, the base station of bus or train route collaboration later determines the intelligent driving of the vehicle based on the information acquisition request Planning information.

The initial bus or train route cooperative information includes initial navigation information and current location information.It can be in initial navigation information Including destination locations information, initial navigation route；The current location information may include the specific position where the vehicle It sets, such as the information such as lane line position, vehicle place longitude and latitude, height above sea level where the vehicle.

In an alternative embodiment, the initial bus or train route cooperative information can also include first environment perception information.It is described First environment perception information is the ambient condition information of environment where the vehicle, can be detected by the sensor from vehicle Arrive, can also the current region as detected by the sensor of other vehicles of surrounding come obtained by detecting and shared information.Another In alternative embodiment, the initial bus or train route cooperative information can also include but is not limited to for vehicle bus data information.

It is transmitted it should be noted that the every terms of information in above-mentioned initial bus or train route cooperative information can be after being encapsulated by data Base station is cooperateed with to bus or train route.Exemplary, vehicle termination can cooperate with base station to establish wireless telecommunications with bus or train route, authenticate, shake hands and (determine logical News agreement determines transmission frequency and other needs to reach an agreement), establish and send transmission channel；Later by wireless communication Bus or train route collaboration base station is transferred to after every terms of information in the above-mentioned initial bus or train route cooperative information of vehicle itself is packaged.

In the embodiment of the present application, bus or train route collaboration base station at least has edge calculations ability and wireless communication ability.In In one embodiment, these abilities of bus or train route collaboration base station can be realized by server or server cluster, exemplary, should Bus or train route collaboration base station may include wireless communication server and edge calculations server, but not possess chassis line traffic control, vehicle-mounted generally Bus apparatus.

Optionally, wireless communication server can use Cellular Networks communication, can also not have the case where Cellular Networks line It is communicated by V2X；By being communicated wirelessly with each road participant, exchange transmission data.Edge calculations server can benefit Wireless communication data is managed with big data and privately owned Cloud Server etc.；Merge the positioning of the road participant within the scope of base station communication Perception information calculates the location aware model for generating fusion；The planning for calculating all vehicles with line traffic control equipment is unmanned Path and chassis control amount.Optionally, edge calculations server can be for for data processing, automatic Pilot, decision rule, reality When control calculate and storage, with big data, machine learning, real-time control ability, can handle the big number of environment sensing According to, valuable information is extracted using machine learning, the coherent signals such as unmanned path planning, hierarchical decision making, real-time control It calculates.

Optionally, bus or train route collaboration base station can also have location aware ability.Correspondingly, bus or train route collaboration base station may be used also To include location aware server, which preferably configures high-precision, large-scale location aware function.Show Example, location aware server can use high accuracy positioning equipment, provide the high precision position of base station；Utilize the high property of installation Can radar, camera, the equipment such as laser radar sensor, dynamic static object, traffic mark, Road within the scope of field of detection Etc. information.

Certainly, in other embodiments, these abilities of bus or train route collaboration base station are not limited to through above-mentioned each server It realizes, can also be realized by embedded system, module or other computer equipments.

It should be noted that the quantity of bus or train route collaboration base station is not limited to one, and in practical applications, bus or train route association It can be the multiple of distributed arrangement with base station, the communication coverage between multiple bus or train route collaborations base station can have part weight It is folded.

In the embodiment of the present application, the terminal of the vehicle can be car-mounted terminal, can be by such as automobile data recorder, T- The entity devices such as box are realized, can also be realized by software and/or hardware.As a kind of deformation, the car-mounted terminal It can be replaced the mobile terminal connecting with signals of vehicles, the automatic Pilot control to vehicle can be so realized by mobile terminal. The vehicle can include: common manual drives vehicle, such as L0-L5 rank automatic driving vehicle, two/three wheeled motorcycle or its His motor vehicles etc.；It generally includes location aware equipment, vehicle-mounted line traffic control equipment, wireless telecom equipment, some vehicles may include Edge calculations equipment.According to the difference of the type of motor vehicles, location aware equipment, the edge calculations for possessing different performance are set Standby, vehicle-mounted line traffic control equipment.Optionally, the location aware equipment may include positioning device and environment sensing equipment.The nothing Line communication equipment can include but is not limited to have many characteristics, such as high throughput, high bandwidth, highly reliable, low time delay communication apparatus (such as 5G communication apparatus), can also be carried out with other equipment (such as 3G/4G/6G/LTE etc.) with similar functions communication and Exchange data etc..The vehicle-mounted line traffic control equipment may include onboard sensor, human-computer interaction, power assembly, chassis, car networking etc. Connect the equipment on vehicle bus or gateway；By controlling vehicle-mounted line traffic control equipment work, realizes and controlled by electronic signal Acceleration and deceleration, steering, gear shift, parking of vehicle etc., to realize the intelligent driving of higher automatic Pilot rank.

In the embodiment of the present application, the intelligent driving planning information can be bus or train route collaboration base station and be based on to target What the initial bus or train route cooperative information of the environment sensing information and the vehicle that are merged in region was calculated.The intelligence is driven Sailing planning information may include route planning information.When the route planning information executes intelligent driving for describing the vehicle Planning path.

Optionally, which can be a series of waypoint informations in earth coordinates.Wherein, Mei Gelu It may include the chassis controls amount information such as location information and, for example, velocity information, course angle information, curvature information in point information. When the chassis control information includes for describing identified planning path when the vehicle executes intelligent driving, vehicle-mounted line traffic control Chassis control amount needed for equipment.The chassis control amount may include that acceleration and deceleration, steering wheel torque, accelerator open degree, brake are stepped on At least one of plate displacement, gear information and steering wheel angle.

S104 extracts the initial path letter for carrying out intelligent driving in the intelligent driving planning information for the vehicle Breath.

In the embodiment of the present application, it due to may include much information in intelligent driving planning information, can be obtained by extracting It takes and carries out the initial path information of intelligent driving in the vehicle.

Optionally, the initial path information may include the Global motion planning path to match with starting-destination locations With the sector planning path to match with practical driving-environment information；It also may include each section planning letter comprising multiple sections Breath.

S106 obtains the individual demand data that user carries out intelligent driving to the vehicle.

In the embodiment of the present application, individual demand data are that customization demand, information security based on the vehicle need Ask, driving comfort demand, the privacy demand of driver or passenger, determined by urgent or burst scene demand etc..Example , the individual demand data may include demand road type, demand approach position data and demand stop position data At least one of.

The individual demand data can be carried out by user by the information inputted by the methods of voice, manual direct Determining, it can also be determined indirectly according to the history driving data for parsing the vehicle.

In addition, being directed in the case that individual demand data include a variety of demand datas, in combination with different actual scenes It is not handled according to priority for every kind of demand data, processing can also be weighted for every kind of demand data, merge each individual character Change demand, the individual demand data after being weighted.

It should be noted that above-mentioned individual demand data are not fixation, can be carried out according to actual travel situation Suitability adjustment.

S108 is adjusted the initial path information based on the individual demand data, obtains the vehicle and uses In the destination path information for carrying out intelligent driving.

In general, bus or train route collaboration base station be consider more vehicle collaborations, bus or train route collaboration, traffic congestion, path follow, ride comfort Property, the indexs such as fuel economy carry out path planning, do not consider each vehicle driver (driver or passenger) Practical individual demand, therefore the driving path planned is more single.The starting point of these demands may be from driving The propositions such as experience sense, the attribute of vehicle, the quality of service, the privacy of data.Therefore, in practical intelligent driving process In, may at least have following two situation: the first situation, vehicle driver are more demanding to ride comfort is driven, it is desirable to vehicle It is more smooth naturally, acceleration and deceleration should not be too rapid during traveling；Second situation, vehicle driver is in vehicle along initial During route, thinks temporarily to go to a new place (for example, restaurant or shopping center) suddenly or temporarily rest in certain One place is wished along lane.

For the first case, the individual demand data may include driving ride comfort requirement data.At this point, described The initial path information is adjusted based on the individual demand data, obtains the vehicle for carrying out intelligent driving Destination path information, i.e., the described S108 may include:

The chassis control amount threshold value for requiring data to determine the vehicle according to ride comfort is driven, the chassis control amount threshold value Maximum amplitude and its respective maximum rate of change including vehicle acceleration and deceleration and steering；

Judge whether every running data is more than right in chassis control amount threshold value in the current chassis control amount of the vehicle The running data answered；

If the determination result is YES, then the initial path information is adjusted according to the chassis control amount threshold value, is obtained It is used to carry out the destination path information of intelligent driving to the vehicle.

Wherein, the destination path information of vehicle may be a series of waypoint informations in earth coordinates.Wherein, often It include the chassis controls amount information such as location information and, for example, velocity information, course angle information, curvature information in a waypoint information. Chassis control amount information in destination path information meets chassis control amount threshold value.

For second situation, the individual demand data may include demand road type, demand approach positional number According at least one of with demand stop position data.At this point, described be based on the individual demand data to the initial road Diameter information is adjusted, and obtains the vehicle for carrying out the destination path information of intelligent driving, i.e., the described S108 step can be with Include:

S1082 obtains the high-precision cartographic information of bus or train route collaboration base station push.

In one embodiment, the high-precision cartographic information can be the high-precision three-dimensional map for reflecting the vehicle region or High-precision two-dimensional map.High-precision cartographic information can be in bus or train route collaboration base station determined by high-precision map server, can also be vehicle Road cooperates with base station according to determined by the cartographic information for obtaining environmental information and region that road participant is perceived.It is described Vehicle can send high-precision cartographic information acquisition request or path adjustment request to bus or train route collaboration base station in advance, and bus or train route is assisted later The high-precision cartographic information of the vehicle is determined based on the information request with base station and is sent to the vehicle.

S1084 is based on the individual demand data and the high-precision cartographic information, carries out to the initial path information Adjustment obtains the vehicle for carrying out the destination path information of intelligent driving.

In one embodiment, which may include demand road type.The demand road type can be User wishes the road type driven, such as main road, trail, road along the lake, the road for needing to pass a bridge etc..At this point, the S1084 Specifically can include:

Based on the road type and high-precision cartographic information, identify road section to be adjusted in the initial path information and Other road sections；

Personalized adjustment is carried out to the road section to be adjusted, is adjusted routing information；

It obtains based on the corresponding part initial path information of other road sections in the initial path information；

Based on the part initial path information and the adjusts path information, obtains the vehicle and driven for carrying out intelligence The destination path information sailed.

In another embodiment, the individual demand data may include that demand approach position data or demand stop position Set data.The demand approach position data can sit for such as approach marker title, approach road name, approach road longitude and latitude Mark etc..The stop position data may include stop position geographical location, stop latitude and longitude coordinates, stop marker title etc..This When, the S1084 is specific can include:

It determines in the initial path information with the presence or absence of the demand approach position data；

If it is not, be then based on high-precision cartographic information, approach path where demand approach position data described in approach and just is determined The crossing elimination point of beginning routing information；

Route between crossing elimination point in the initial path information is replaced in the corresponding approach path Part route；

Based in the part route and the initial path information other for adjustment route, splicing obtain the vehicle For carrying out the destination path information of intelligent driving.

In addition, if vehicle driver is more demanding to ride comfort is driven, it is desirable to during vehicle driving it is more smooth from So, acceleration and deceleration should not be too rapid.For such situation, the individual demand data may include driving ride comfort requirement number According to.At this point, described be adjusted the initial path information based on the individual demand data, obtain the vehicle and be used for The destination path information of intelligent driving is carried out, i.e., the described S108 may include:

The embodiment of the present application, since bus or train route collaboration base station can get wider and more accurate environment sensing information, from And it is higher by the accuracy of the intelligent driving planning information of the determining vehicle in bus or train route collaboration base station, and can reduce and drive automatically Vehicle computing processing capacity and the complexity for sailing vehicle are more demanding.In addition, also considering user when determining destination path information Individual demand data, so provide the destination path information of more differentiation by each user, meet actual application Demand.

In another embodiment, vehicle is during actual travel, it is possible that some urgent scenes of burst, example Such as, child swarms into the emergency traffics situation such as driving path of this vehicle suddenly.At this point, the method may also include that

S110 obtains the environment sensing information of the ambient enviroment of the vehicle in real time.

S112 is based on the environment sensing information, judges whether the vehicle can occur emergency traffic situation.

S114 determines that the vehicle is used for according to the environment sensing information if emergency traffic situation can occur for judgement Carry out the temporary path information of the intelligent driving of collision avoidance.

The destination path information is replaced with the temporary path information by S116, until having judged emergency traffic situation It is eliminated.

If judging, emergency traffic situation is not removed, and the destination path information is replaced with the temporary path and is believed Breath, so that the vehicle carries out intelligent driving according to temporary path information.If judging, emergency traffic situation is not removed, is restored To the destination path information, so that the vehicle carries out intelligent driving according to destination path information.

In emergency traffic situation, the temporary path that can be used to carry out the intelligent driving of collision avoidance by the determination vehicle is believed Breath, so that control, which carries out quick response from vehicle, improves the safety of intelligent driving to reduce traffic accident.

Fig. 2 is a kind of flow chart of the paths planning method of the intelligent driving provided in another embodiment of the application.The party The interaction executing subject of method is that vehicle termination and bus or train route cooperate with base station.Fig. 2 is referred to, the method may include:

S201, vehicle termination obtain user to the trigger action of intelligent driving；

S202, vehicle termination are based on the trigger action, send to bus or train route collaboration base station and drive planning information acquisition request； The initial bus or train route cooperative information driven in planning information acquisition request including the vehicle；

S203, bus or train route cooperate with base station to be based on the driving planning information acquisition request, determine the intelligent driving of the vehicle Planning information；

S204, bus or train route cooperate with base station that the intelligent driving planning information is pushed to the vehicle termination；

S205, vehicle termination extract in the intelligent driving planning information and carry out the initial of intelligent driving for the vehicle Routing information；

S206, vehicle termination obtain the individual demand data that user carries out intelligent driving to the vehicle；

S207, vehicle termination are based on the individual demand data and are adjusted to the initial path information, obtain institute Vehicle is stated for carrying out the destination path information of intelligent driving.

In one embodiment, the method may also include that

S208, vehicle termination obtain the environment sensing information of the ambient enviroment of the vehicle in real time；

S209, vehicle termination are based on the environment sensing information, judge whether the vehicle can occur emergency traffic situation；

S210, if emergency traffic situation can occur for vehicle termination judgement, according to environment sensing information determination Vehicle is used to carry out the temporary path information of the intelligent driving of collision avoidance；

The destination path information is replaced with the temporary path information by S211, vehicle termination, is handed over until judgement is urgent Understanding and considerate condition has been eliminated.

It should be noted that undisclosed details and beneficial effect in the embodiment of the present application, refer to above-described embodiment, In This is repeated no more.

Following is the application Installation practice, can be used for executing the application above method embodiment.The application is filled Undisclosed details and beneficial effect in embodiment are set, the application embodiment of the method is please referred to.

Referring to FIG. 3, it illustrates a kind of block diagrams of the path planning apparatus of intelligent driving provided by the embodiments of the present application. The path planning apparatus of the intelligent driving has the function of terminal side in realization above method example, and the function can be by hardware It realizes, corresponding software realization can also be executed by hardware.The path planning apparatus 30 of the intelligent driving may include:

Receiving module 31, for receiving the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving rule Drawing information is bus or train route collaboration base station based on determined by the initial bus or train route cooperative information of the vehicle；

Extraction module 32 carries out the first of intelligent driving for the vehicle for extracting in the intelligent driving planning information Beginning routing information；

Module 33 is obtained, carries out the individual demand data of intelligent driving to the vehicle for obtaining user；

Module 34 is adjusted, for being adjusted based on the individual demand data to the initial path information, is obtained The vehicle is used to carry out the destination path information of intelligent driving；

Optionally, the individual demand data include that demand road type, demand approach position data and demand are stopped At least one of position data.Correspondingly, the adjustment module 34 may also include that

Acquiring unit 341, for obtaining the high-precision cartographic information of bus or train route collaboration base station push；

Single 342 are adjusted, for being based on the individual demand data and the high-precision cartographic information, to the initial road Diameter information is adjusted, and obtains the vehicle for carrying out the destination path information of intelligent driving.

Optionally, described device 30 may also include that

Real-time perception data obtaining module, the environment sensing information of the ambient enviroment for obtaining the vehicle in real time；

Judgment module judges whether the vehicle can occur emergency traffic situation for being based on the environment sensing information；

Temporary path determining module, if for judging that emergency traffic situation can occur, according to the environment sensing information Determine the temporary path information of intelligent driving of the vehicle for carrying out collision avoidance；

Path replacement module, for the destination path information to be replaced with the temporary path information, until judgement is tight Anxious traffic conditions have been eliminated.

Fig. 4 is a kind of flow chart of the paths planning method of the intelligent driving provided in the another embodiment of the application.The party Method is applied to bus or train route and cooperates with base station, can specifically be executed by path planning apparatus, which can be by software and/or hardware Mode realizes that the device can integrate in bus or train route collaboration base station.Fig. 4 is referred to, the method may include:

S402 obtains the information of vehicles that vehicle is sent；The information of vehicles includes initial bus or train route cooperative information and user couple The vehicle carries out the individual demand data of intelligent driving.

In the embodiment of the present application, bus or train route collaboration base station can be established with vehicle termination and communicate to connect.Establishing communication link After connecing, the information of vehicles that bus or train route cooperates with the available vehicle in base station to upload determines progress intelligence based on the information of vehicles later The destination path information of driving, and destination path information is sent to corresponding vehicle, so that the vehicle carries out intelligent driving.

In the embodiment of the present application, the information of vehicles may include initial bus or train route cooperative information and user to the vehicle into The individual demand data of row intelligent driving.

Optionally, the initial bus or train route cooperative information includes initial navigation information and current location information.Initial navigation letter It may include destination locations information, initial navigation route in breath；The current location information may include the vehicle place Specific location, such as lane line position where the vehicle, the information such as longitude and latitude, height above sea level where the vehicle.

Optionally, which is that customization demand, information security demand, traveling based on the vehicle are relaxed Determined by adaptive demand, driver or the privacy of passenger demand, urgent or burst scene demand etc..It is exemplary, described Property demand data may include at least one in demand road type, demand approach position data and demand stop position data Kind.

It should be noted that the every terms of information in above-mentioned information of vehicles, which can be, is transferred to bus or train route association after encapsulating by data Same base station.It is exemplary, vehicle termination can be cooperateed with bus or train route base station establish wireless telecommunications, authenticate, shake hands (determine communications protocol, Determine transmission frequency and other need to reach an agreement), establish and send transmission channel；Later by wireless communication by vehicle Every terms of information in the above-mentioned information of vehicles of itself is transferred to bus or train route collaboration base station after being packaged.

S404 determines the intelligent driving planning information of the vehicle based on the initial bus or train route cooperative information；The intelligence Driving planning information includes that the initial path information of intelligent driving is carried out for the vehicle.

In the embodiment of the present application, the intelligent driving planning information can be bus or train route collaboration base station and be based on to target What the initial bus or train route cooperative information of the environment sensing information and the vehicle that are merged in region was calculated.The intelligence is driven Sailing planning information may include route planning information, when the route planning information executes intelligent driving for describing the vehicle Planning path.Bus or train route collaboration base station is considered that more vehicle collaborations, bus or train route collaboration, traffic congestion, path follows, traveling is relaxed The indexs such as adaptive, fuel economy carry out path planning.

Optionally, the initial path information of vehicle can be a series of waypoint informations in earth coordinates.Wherein, often It may include the chassis controls amount such as location information and, for example, velocity information, course angle information, curvature information in a waypoint information Information.When the chassis control information includes for describing identified planning path when the vehicle executes intelligent driving, vehicle Chassis control amount needed for carrying line traffic control equipment.The chassis control amount may include acceleration and deceleration, steering wheel torque, accelerator open degree, At least one of brake pedal displacement, gear information, steering wheel angle, turn signal, hazard lamp.

Optionally, the initial bus or train route cooperative information can also include first environment perception information.The first environment sense Know that information is the ambient condition information of environment where the vehicle, can be detected by the sensor from vehicle, it can also The current region as detected by the sensor of other vehicles of surrounding is come obtained by detecting and shared information.In another alternative embodiment In, the initial bus or train route cooperative information can also include but is not limited to for vehicle bus data information.

It should be noted that implementing bus or train route collaboration base station of the invention at least has edge calculations ability and wireless communication energy Power.In one embodiment, these abilities of bus or train route collaboration base station can be realized by server or server cluster, example , bus or train route collaboration base station may include wireless communication server and edge calculations server, but do not possess generally chassis line traffic control, Vehicle bus equipment.

Optionally, wireless communication server can use Cellular Networks communication, can also not have the case where Cellular Networks line It is communicated by V2X；By being communicated wirelessly with each road participant, exchange transmission data.Edge calculations server can benefit Wireless communication data is managed with big data and privately owned Cloud Server etc.；Merge the positioning of the road participant within the scope of base station communication Perception information calculates the location aware model for generating fusion；The planning for calculating all vehicles with line traffic control equipment is unmanned Path.

Optionally, edge calculations server can be for based on data processing, automatic Pilot, decision rule, real-time control Calculate and storage, with big data, machine learning, real-time control ability, can handle environment sensing big data, utilize machine Valuable information, the calculating of the coherent signals such as unmanned path planning, hierarchical decision making, real-time control are extracted in device study.

In one embodiment, bus or train route collaboration base station can also have location aware ability.Correspondingly, the bus or train route cooperates with base Station may include location aware server, which preferably configures high-precision, large-scale location aware function Energy.Exemplary, location aware server can use high accuracy positioning equipment, provide the high precision position of base station；Utilize installation The equipment such as advanced capabilities radar, camera, laser radar sensor, dynamic static object, traffic mark within the scope of field of detection, The information such as Road.

In one embodiment, described to determine that the intelligent driving of the vehicle is advised based on the initial bus or train route cooperative information Information is drawn, i.e., the described step S404 may include:

Then S4041 detects target model using itself absolute position of location aware server selection of bus or train route collaboration base station The environment sensing models of the information to establish base station location as origin such as dynamic static object, Road, traffic mark in enclosing.

S4042 is received and is each connected to the packaged communication data (envelope that the road participant of bus or train route collaboration base station sends Fill information).

Wherein, the road participant may include other motor vehicles, non-motor vehicle vehicle, roadbed facility, Qi Tache Road cooperates at least one of base station and barrier.

S4043, according to the packaging information of each road participant of acquisition, by calculating the every terms of information in packaging information (such as navigation information, location information, perception information, vehicle bus information etc.) is integrated into the environment of bus or train route collaboration base station Sensor model obtains fused environment sensing model.

S4044 calculates the fused location aware letter of all road participants according to fused environment sensing model Breath；

S4045 is calculated according to the navigation route information that fused location aware information and each road participant provide All intelligent driving planning informations for having the multiple vehicles of vehicle-mounted drive-by-wire chassis.

Wherein, the intelligent driving planning information includes that the initial path information of intelligent driving is carried out for the vehicle. The initial path information can be bus or train route collaboration base station and be believed according to the high-precision cartographic information in cloud, the dynamic static object of vehicle-surroundings It ceases to be calculated.In one embodiment, the S4045 step can specifically:

Firstly, a connection is calculated according to high-precision cartographic information and vehicle starting point and vehicle terminal (destination) The vehicle navigation path information (for example, a series of latitude and longitude coordinates point in global positioning systems) of beginning and end, the vehicle Navigation route information can guide vehicle to drive to end from starting point along the traffic marks mark such as lane line on structured road Point.

Then, according to vehicle navigation path information and fused location aware information (namely vehicle-surroundings sound state mesh Mark information), a series of initial path information (for example, waypoint informations in earth coordinates) of vehicle can be calculated. Wherein, the chassis such as location information and, for example, velocity information, course angle information, curvature information be may include in each waypoint information Control amount information.In general, when there is no other traffic participants on vehicle heading, the initial path information and navigation Path is consistent；But can have other traffic participants such as other vehicles, pedestrian, barrier on guidance path in practice, because This needs further plans the initial path information smoothly efficiently to pass through according to fused location aware information.

S406 carries out the initial path information in the intelligent driving planning information based on the individual demand data Adjustment obtains the vehicle for carrying out the destination path information of intelligent driving.

For the first case, the individual demand data may include driving ride comfort requirement data.At this point, described The initial path information is adjusted based on the individual demand data, obtains the vehicle for carrying out intelligent driving Destination path information, i.e., the described S406 may include:

For second situation, the individual demand data may include demand road type, demand approach positional number According at least one of with demand stop position data.At this point, described be based on the individual demand data to the initial road Diameter information is adjusted, and is obtained the vehicle for carrying out the destination path information of intelligent driving, i.e., the described S406 and be may include:

S4062 obtains high-precision cartographic information.

In one embodiment, the high-precision cartographic information can be the high-precision three-dimensional map for reflecting the vehicle region or High-precision two-dimensional map.High-precision cartographic information can be the high-precision map of cloud storage, be also possible to high-precision in bus or train route collaboration base station Determined by map server, bus or train route collaboration base station can also be according to obtaining the environmental information that is perceived of road participant and place Determined by the cartographic information in region.

S4064 is based on the individual demand data and the high-precision cartographic information, carries out to the initial path information Adjustment obtains the vehicle for carrying out the destination path information of intelligent driving.

In one embodiment, if the individual demand data include demand road type.The demand road type can be use Wish the road type driven, such as main road, trail, road along the lake, the road for needing to pass a bridge etc. in family.At this point, the S4064 tool Body can include:

In another embodiment, if the individual demand data include demand approach position data or demand stop position Data.The demand approach position data can be such as approach marker title, approach road name, approach road latitude and longitude coordinates Deng.The stop position data may include stop position geographical location, stop latitude and longitude coordinates, stop marker title etc..At this point, The S4064 is specific can include:

The destination path information is pushed to the vehicle by S408.

In the embodiment of the present application, the wireless communication server in base station can be cooperateed with to send out destination path information by bus or train route It send to the vehicle.

In a kind of optional embodiment, the information of vehicles and the destination path information are by block chain encryption 's.This is because different vehicle or car owner have different demand for privacy, some car owners are ready open personal, vehicle , the privacy informations (for example, personally identifiable information, personal driving habits data, personal routing information run over etc.) such as drive, Some car owners are then more sensitive to open the above individual privacy, are unwilling for these privacy informations to be disclosed to bus or train route collaboration base It stands.Therefore bus or train route collaboration base station is sent intelligent driving planning information and status information, location information from vehicle etc., it is not possible to straight It connects and swaps storage etc., otherwise can will go out from the leakage of private information of vehicle.It therefore, will in such a way that block chain encrypts It is related to car owner or driver and the associated vehicle information for transmitting communication and destination path information is needed all to carry out anonymization processing With superencipherment processing, reduces the disclosure of privacy information simultaneously and can guarantee the interaction of information.

S410 obtains the environment sensing information of the ambient enviroment of the vehicle in real time.

S412 is based on the environment sensing information, judges whether the vehicle can occur emergency traffic situation.

S414 determines that the vehicle is used for according to the environment sensing information if emergency traffic situation can occur for judgement Carry out the temporary path information of the intelligent driving of collision avoidance.

The destination path information is replaced with the temporary path information by S416, until having judged emergency traffic situation It is eliminated.

Referring to FIG. 5, it illustrates a kind of path planning apparatus of intelligent driving of another embodiment offer of the application Block diagram.The path planning apparatus of the intelligent driving has the function of realizing bus or train route collaboration base station side in above method example, described Function can also be executed corresponding software realization by hardware realization by hardware.The path planning apparatus 50 of the intelligent driving May include:

Module 51 is obtained, for obtaining the information of vehicles of vehicle transmission；The information of vehicles includes initial bus or train route collaboration letter Breath and user carry out the individual demand data of intelligent driving to the vehicle；

Planning module 52, for determining that the intelligent driving of the vehicle plans letter based on the initial bus or train route cooperative information Breath；The intelligent driving planning information includes that the initial path information of intelligent driving is carried out for the vehicle；

Module 53 is adjusted, for being adjusted based on the individual demand data to the initial path information, is obtained The vehicle is used to carry out the destination path information of intelligent driving；

Pushing module 54, for the destination path information to be pushed to the vehicle；

Optionally, the information of vehicles and the destination path information are by block chain encryption.Described device 50 may also include encryption unit, encrypt for the information of vehicles to the destination path information and/or upload.

Optionally, the individual demand data include that demand road type, demand approach position data and demand are stopped At least one of position data.Correspondingly, the adjustment module 53 may include:

Acquiring unit, for obtaining high-precision cartographic information；

Adjustment unit, for being based on the individual demand data and the high-precision cartographic information, to the initial path Information is adjusted, and obtains the vehicle for carrying out the destination path information of intelligent driving.

Optionally, described device 50 may also include that

Real-time perception obtains module, the environment sensing information of the ambient enviroment for obtaining the vehicle in real time；

Replacement module is believed for the destination path information for pushing to the vehicle to be replaced with the temporary path Breath, until judging that emergency traffic situation has been eliminated.

A kind of route design device for intelligent driving that the embodiment of the present application also provides.The equipment includes vehicle, the vehicle Terminal include processor and memory, at least one instruction, at least a Duan Chengxu, code set are stored in the memory Or instruction set, at least one instruction, an at least Duan Chengxu, the code set or instruction set are loaded by the processor And the paths planning method executed to realize the intelligent driving executed such as the above-mentioned vehicle termination of the application；And/or

The equipment includes at least one bus or train route collaboration base station, in the bus or train route collaboration base station server include processor and Memory, is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, and described at least one Item instruction, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize such as this Shen It please the paths planning method of intelligent driving that executes of above-mentioned bus or train route collaboration base station.

Further, Fig. 6 shows a kind of the hard of any appliance for realizing method provided by the embodiment of the present application Part structural schematic diagram, the equipment can be terminal, mobile terminal or other equipment, and the equipment may also participate in structure At or comprising device provided by the embodiment of the present application.As shown in fig. 6, terminal 10 may include one or more (figures Middle to use 102a, 102b ... ..., 102n is shown) (processor 102 can include but is not limited to microprocessor to processor 102 The processing unit of MCU or programmable logic device FPGA etc.), memory 104 for storing data and be used for communication function Transmitting device 106.It in addition to this, can also include: display, input/output interface (I/O interface), universal serial bus (USB) port (a port that can be used as in the port of I/O interface is included), network interface, power supply and/or camera.This Field those of ordinary skill is appreciated that structure shown in fig. 6 is only to illustrate, and does not cause to the structure of above-mentioned electronic device It limits.For example, terminal 10 may also include than shown in Fig. 6 more perhaps less component or have with shown in Fig. 6 Different configurations.

It is to be noted that said one or multiple processors 102 and/or other data processing circuits lead to herein Can often " data processing circuit " be referred to as.The data processing circuit all or part of can be presented as software, hardware, firmware Or any other combination.In addition, data processing circuit for single independent processing module or all or part of can be integrated to meter In any one in other elements in calculation machine terminal 10 (or mobile device).As involved in the embodiment of the present application, The data processing circuit controls (such as the selection for the variable resistance end path connecting with interface) as a kind of processor.

Memory 104 can be used for storing the software program and module of application software, as described in the embodiment of the present application Corresponding program instruction/the data storage device of method, the software program that processor 102 is stored in memory 104 by operation And module realizes a kind of above-mentioned Processing with Neural Network method thereby executing various function application and data processing.It deposits Reservoir 104 may include high speed random access memory, may also include nonvolatile memory, as one or more magnetic storage fills It sets, flash memory or other non-volatile solid state memories.In some instances, memory 104 can further comprise relative to place The remotely located memory of device 102 is managed, these remote memories can pass through network connection to terminal 10.Above-mentioned network Example include but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.

Transmitting device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include The wireless network that the communication providers of terminal 10 provide.In an example, transmitting device 106 includes that a network is suitable Orchestration (Network Interface Controller, NIC), can be connected by base station with other network equipments so as to Internet is communicated.In an example, transmitting device 106 can be radio frequency (Radio Frequency, RF) module, For wirelessly being communicated with internet.

Display can such as touch-screen type liquid crystal display (LCD), the liquid crystal display aloow user with The user interface of terminal 10 (or mobile device) interacts.

It should be understood that above-mentioned the embodiment of the present application sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments. And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or It may be advantageous.

All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device and For server example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to side The part of method embodiment illustrates.

Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..

The above is the preferred embodiment of the application, it is noted that for those skilled in the art For, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also considered as The protection scope of the application.

Claims

1. a kind of paths planning method of intelligent driving characterized by comprising

Receive the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving planning information is the bus or train route collaboration Base station is based on determined by the initial bus or train route cooperative information of the vehicle；

The initial path information is adjusted based on the individual demand data, obtains the vehicle for carrying out intelligence The destination path information of driving；

2. the method according to claim 1, wherein the individual demand data include demand road type, At least one of demand approach position data and demand stop position data；

Correspondingly, described be adjusted the initial path information based on the individual demand data, the vehicle is obtained For carrying out the destination path information of intelligent driving, comprising:

Obtain the high-precision cartographic information of bus or train route collaboration base station push；

Based on the individual demand data and the high-precision cartographic information, the initial path information is adjusted, is obtained The vehicle is used to carry out the destination path information of intelligent driving.

3. method according to claim 1 or 2, which is characterized in that the method also includes:

The environment sensing information of the ambient enviroment of the vehicle is obtained in real time；

Based on the environment sensing information, judge whether the vehicle can occur emergency traffic situation；

If emergency traffic situation can occur for judgement, determine the vehicle for carrying out collision avoidance according to the environment sensing information The temporary path information of intelligent driving；

The destination path information is replaced with into the temporary path information, until judging that emergency traffic situation has been eliminated.

4. a kind of paths planning method of intelligent driving characterized by comprising

Obtain the information of vehicles that vehicle is sent；The information of vehicles include initial bus or train route cooperative information and user to the vehicle into The individual demand data of row intelligent driving；

The intelligent driving planning information of the vehicle is determined based on the initial bus or train route cooperative information；The intelligent driving planning letter Breath includes the initial path information that intelligent driving is carried out for the vehicle；

The destination path information is pushed into the vehicle；

5. according to the method described in claim 4, it is characterized in that, the information of vehicles and the destination path information be by Block chain encryption.

6. according to the method described in claim 4, it is characterized in that, the individual demand data include demand road type, At least one of demand approach position data and demand stop position data；

Obtain high-precision cartographic information；

7. according to any method of claim 4-6, which is characterized in that the method also includes:

The destination path information for pushing to the vehicle is replaced with into the temporary path information, until judging emergency traffic Situation has been eliminated.

8. a kind of path planning apparatus of intelligent driving characterized by comprising

Receiving module, for receiving the intelligent driving planning information of bus or train route collaboration base station push；The intelligent driving planning information It is bus or train route collaboration base station based on determined by the initial bus or train route cooperative information of the vehicle；

Extraction module, for extracting the initial path for carrying out intelligent driving in the intelligent driving planning information for the vehicle Information；

Module is adjusted, for being adjusted based on the individual demand data to the initial path information, obtains the vehicle For carrying out the destination path information of intelligent driving；

9. a kind of path planning apparatus of intelligent driving characterized by comprising

Module is obtained, for obtaining the information of vehicles of vehicle transmission；The information of vehicles includes initial bus or train route cooperative information and use Family carries out the individual demand data of intelligent driving to the vehicle；

Planning module, for determining the intelligent driving planning information of the vehicle based on the initial bus or train route cooperative information；It is described Intelligent driving planning information includes that the initial path information of intelligent driving is carried out for the vehicle；

10. a kind of route design device of intelligent driving, which is characterized in that the equipment includes vehicle, the terminal of the vehicle Including processor and memory, at least one instruction, at least a Duan Chengxu, code set or instruction are stored in the memory Collection, at least one instruction, an at least Duan Chengxu, the code set or instruction set are loaded and are executed by the processor To realize the paths planning method of the intelligent driving as described in claims 1 to 3 is any；And/or

The equipment includes at least one bus or train route collaboration base station, and server includes processor and storage in bus or train route collaboration base station Device is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, and described at least one refers to It enables, an at least Duan Chengxu, the code set or instruction set are loaded by the processor and executed to realize such as claim 4 To the paths planning method of 7 any intelligent drivings.