CN110531771B - Speed planning method and device and vehicle - Google Patents
Speed planning method and device and vehicle Download PDFInfo
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- CN110531771B CN110531771B CN201910824145.6A CN201910824145A CN110531771B CN 110531771 B CN110531771 B CN 110531771B CN 201910824145 A CN201910824145 A CN 201910824145A CN 110531771 B CN110531771 B CN 110531771B
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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
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0066—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for limitation of acceleration or stress
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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
Abstract
The embodiment of the invention relates to the technical field of automatic driving, and discloses a speed planning method, a speed planning device and a vehicle, wherein the method comprises the following steps: determining a preset number of original path points from a target driving path; connecting the original path points by using a preset line; calculating the curvature corresponding to the original path point on a preset line; and calculating the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points, wherein the tracking path point is the path point on the target driving path where the vehicle is located at each moment in the automatic driving process. By implementing the embodiment of the invention, the running safety of the vehicle can be improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a speed planning method and device and a vehicle.
Background
With the rapid development of automobile technology, the auxiliary driving technology of automobiles is more perfect, especially the automatic driving technology, so that the appearance of people is improved. The speed setting is particularly important during automatic driving of the vehicle. At present, the speed of an automobile is generally planned based on an obstacle in front of the automobile, for example, a detection sensor (such as a radar) is used for detecting, and then the speed is planned according to the position, the speed and the like of the obstacle. However, in practice, it is found that in a path scene with a large curvature, due to the fact that the sensing area of the radar is reduced, the vehicle speed is often faster, and the risk of vehicle driving is increased.
Disclosure of Invention
The embodiment of the invention discloses a speed planning method and device and a vehicle, which can improve the running safety of the vehicle.
The first aspect of the embodiments of the present invention discloses a speed planning method, including:
determining a preset number of original path points from a target driving path;
connecting the original path points by using a preset line;
calculating the curvature corresponding to the original path point on the preset line;
calculating a target speed corresponding to a tracking path point on the target driving path according to the curvature corresponding to the original path point, a preset acceleration and the distance between the adjacent original path points;
and the tracking path points are path points on the target driving path where the vehicle is located at each moment in the automatic driving process.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the calculating a target speed corresponding to a tracking path point on the target travel path according to a curvature corresponding to the original path point, a preset acceleration, and a distance between adjacent original path points includes:
acquiring a first speed corresponding to the original path point according to the curvature corresponding to the original path point;
obtaining a second speed corresponding to the original path point by recursion according to a preset acceleration and the minimum speed in the first speed corresponding to the original path point;
and calculating the target speed corresponding to the tracking path point according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the obtaining, according to the curvature corresponding to the original path point, the first speed corresponding to the original path point includes:
according to the curvature corresponding to the original path point, determining a first speed corresponding to the original path point from a pre-constructed target relation table;
the target relation table is constructed according to historical driving information of the vehicle, and the historical driving information comprises curvature and speed of path points on a historical driving path.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the acquiring a number of original waypoints on a target driving path of a vehicle includes:
acquiring the current position and the destination position of the vehicle;
planning a target driving path of the vehicle according to the current position and the destination position;
and determining a preset number of target path points from the target driving path, and taking the target path points as original path points on the target driving path.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, after the calculating the target speed corresponding to the tracked path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between adjacent original path points, the method further includes:
detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point;
if so, acquiring a safety speed corresponding to the prompt road sign;
acquiring a first weight corresponding to the target speed and a second weight corresponding to the safe speed;
and according to the first weight and the second weight, fusing the safe speed and the target speed to obtain the comprehensive speed corresponding to the tracking path point.
A second aspect of the embodiments of the present invention discloses a speed planning apparatus, including:
the first acquisition unit is used for determining a preset number of original path points from a target driving path;
the connecting unit is used for connecting the original path points by using a preset line;
the first calculating unit is used for calculating the curvature corresponding to the original path point on the preset line;
the second calculation unit is used for calculating the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points;
and the tracking path points are path points on the target driving path where the vehicle is located at each moment in the automatic driving process.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second calculating unit includes:
the first obtaining subunit is configured to obtain a first speed corresponding to the original path point according to the curvature corresponding to the original path point;
the recursion subunit is used for obtaining a second speed corresponding to the original path point by recursion according to a preset acceleration and the minimum speed in the first speed corresponding to the original path point;
and the calculating subunit is used for calculating the target speed corresponding to the tracking path point according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path.
In a third aspect of the embodiments of the present invention, a vehicle is disclosed, which includes a speed planning apparatus disclosed in the second aspect of the embodiments of the present invention.
A fourth aspect of the present invention discloses a speed planning apparatus, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute a speed planning method disclosed in the first aspect of the embodiment of the present invention.
A fifth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute a speed planning method disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A seventh aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a preset number of original path points are determined from a target driving path, the original path points are connected by a preset line, then the curvature corresponding to the original path points on the preset line is calculated, and then the target speed corresponding to a tracking path point on the target driving path is calculated according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points, wherein the tracking path point is the path point on the target driving path where a vehicle is located at each moment in the automatic driving process. By implementing the embodiment of the invention, the speed planning is realized through the curvature, and the speed planning is based on the acquired target driving path of the vehicle and is global planning, so that the problem of higher speed caused by the reduction of the sensing area of detection sensors such as radar and the like is solved, and the driving safety of the vehicle can be improved. In addition, the target driving path of the vehicle can be derived from historical driving data of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a speed planning method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another speed planning method disclosed in the embodiments of the present invention;
fig. 3 is a schematic structural diagram of a speed planning apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another velocity planning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another speed planning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
The embodiment of the invention discloses a speed planning method and device and a vehicle, which can improve the running safety of the vehicle. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a speed planning method according to an embodiment of the present invention. As shown in fig. 1, the method may include the following steps.
101. The vehicle determines a preset number of original path points from the target driving path.
In the embodiment of the present invention, optionally, the original route point may be determined from route points on the overall route planned by the route planning module of the vehicle according to the current position and the destination position, in combination with information such as a navigation map or a SLAM map, and using a planning rule such as an a-or grid method, and at this time, the embodiment of the present invention performs the next-stage speed planning based on the overall route planned by the route planning module of the vehicle.
Alternatively, the original waypoints may also be determined from waypoints on the historical driving route that the user has passed through by manual driving in the past and are stored in the historical driving database, and in this case, the embodiment of the present invention performs the next-stage speed planning based on the historical driving route.
In the embodiment of the present invention, it can be understood that a target driving path (for example, an overall path planned by the path planning module or a historical driving path stored in the database) is composed of a plurality of path points. The method for determining the original path points comprises the following steps of selecting one path point from a target driving path at intervals of a preset distance as the original path point, and thus determining a preset number of original path points from the target driving path; or, the original route point may be determined by selecting a more important route point on the target driving route as the original route point, such as a turning point, an intermediate point on a straight road, and the like, so that a preset number of original route points may be determined from the target driving route. The method for determining the original path point is not particularly limited in the embodiments of the present invention. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
102. The vehicle connects the original path points by using a preset line.
In this embodiment of the present invention, the preset line may be a spline curve (such as a cubic B-spline curve), may also be a bezier curve, and may also be a spiral line, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, optionally, for convenience of understanding, a cubic B-spline curve is taken as an example for description, and it is assumed that there are four original path points P 0 (x 0 ，y 0 )、P 1 (x 1 ，y 1 )、P 2 (x 2 ，y 2 ) And P 3 (x 3 ，y 3 ) Connecting P by cubic B-spline curve 0 、P 1 、P 2 And P 3 The expression of the four original path points is as follows:
where t is a parameter, and represents a start point of the cubic B-spline curve when t is 0, and represents an end point of the cubic B-spline curve when t is 1.
103. And the vehicle calculates the curvature corresponding to the original path point on the preset line.
In the embodiment of the invention, the curvature corresponding to a certain original path point on the preset line represents the bending degree of the target driving path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is.
In the embodiment of the invention, for convenience of understanding, a cubic B-spline curve is taken as an example for description, and it is assumed that step 102 connects original path points through the cubic B-spline curve, and an obtained cubic B-spline curve parameter equation is
Then, the curvature corresponding to the original path point on the cubic B-spline curve can be calculated by using a parametric equation derivation method, and a specific expression is as follows:
it can be understood that, through the expression, the curvature K corresponding to the original path point on the cubic B-spline curve can be calculated.
104. And the vehicle calculates the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points.
In the embodiment of the invention, the tracking path point is a path point on a target driving path where the vehicle is located at each moment in the automatic driving process. In the embodiment of the present invention, the vehicle may pre-construct a corresponding relationship between the curvature and the speed, obtain speeds corresponding to a preset number of original path points by querying the corresponding relationship according to the curvature corresponding to the original path points on the preset line calculated in step 103, then determine a minimum speed among the speeds corresponding to the original path points, obtain a new speed corresponding to the original path points by recursion using the minimum speed, and then determine a target speed corresponding to the tracking path point on the target driving path according to the new speed obtained by recursion and by combining the distance between the adjacent original path points.
As an alternative embodiment, after the vehicle calculates a target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points in step 104, the following steps may be further performed:
detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point;
if so, acquiring a safety speed corresponding to the prompt road sign;
acquiring a first weight corresponding to a target speed and a second weight corresponding to a safe speed;
and according to the first weight and the second weight, fusing the safe speed and the target speed to obtain the comprehensive speed corresponding to the tracking path point.
In the embodiment of the present invention, the prompting road sign may be a deceleration strip road sign, a curve-in/curve-out road sign, a barrier point road sign, or the like, which affects the speed of the vehicle.
By implementing the optional implementation mode, a mode of further planning the speed of the vehicle by combining the prompt road sign on the target driving path is provided, and the driving safety of the vehicle can be further improved.
As another alternative embodiment, after the vehicle calculates a target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points in step 104, the following steps may be further performed:
detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point;
if so, acquiring a safety speed corresponding to the prompt road sign;
and comparing the magnitude relation between the safe speed and the target speed, and determining the smaller speed as the comprehensive speed corresponding to the tracking path point.
By implementing the optional embodiment, another way for further planning the speed of the vehicle by combining the prompting road sign on the target driving path is provided, so that the driving safety of the vehicle can be further improved.
It can be seen that, by implementing the method described in fig. 1, the vehicle realizes speed planning through curvature, and since the speed planning is based on the acquired target driving path of the vehicle and is a global planning, the problem of faster speed caused by the reduction of the sensing area of the detection sensors such as radar is solved, and the driving safety of the vehicle can be improved. In addition, the target driving path of the vehicle can be derived from historical driving data of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another speed planning method according to an embodiment of the present invention. As shown in fig. 2, the method may include the following steps.
201. The vehicle acquires a current location and a destination location of the vehicle.
In the embodiment of the present invention, a Positioning module, such as a Global Positioning System (GPS) module, a synchronous Positioning and mapping (SLAM) module, and a beidou satellite Positioning System, may be built in the vehicle. The GPS module has high integration sensitivity and low power consumption, can simultaneously track up to 20 satellites, quickly position and realize 1Hz navigation updating, so that the vehicle can acquire the current position of the vehicle through the built-in GPS module in the embodiment of the invention.
In the embodiment of the invention, the vehicle can obtain the destination position corresponding to the destination information by accessing the positioning service equipment according to the destination information (such as the name of the destination) input by the user.
202. And the vehicle plans a target driving path of the vehicle according to the current position and the destination position.
In the embodiment of the invention, the vehicle can be provided with a path planning module, and accordingly the vehicle can plan the target driving path of the vehicle according to the current position and the destination position of the vehicle. Optionally, the specific method may be: according to the current position and the destination position, the vehicle combines with information such as a navigation map or a SLAM map, and utilizes a planning rule such as A-or a grid method to plan an overall path, and the overall path is used as a target driving path of the vehicle.
203. The vehicle determines a preset number of target path points from the target driving path, and the target path points are used as original path points on the target driving path.
In the embodiment of the invention, it can be understood that one target driving path is composed of a plurality of path points, so that the vehicle can determine a preset number of target path points from the target driving path. The method for determining the target path points may be that one path point is selected from the target driving path at each preset distance as a target path point, so that a preset number of target path points can be determined from the target driving path; alternatively, the target route point may be determined by selecting a more important route point on the target driving route as the target route point, such as a turning point, an intermediate point on a straight road, and the like, so that a preset number of target route points may be determined from the target driving route. The embodiment of the present invention is not particularly limited to the determination method of the target waypoint.
In the embodiment of the invention, steps 201 to 203 are implemented, and a method for acquiring original path points is provided, wherein target path points on the overall path planned by a vehicle-based path planning module are used as the original path points, so that the reliability of the original path points can be improved.
204. The vehicle connects the original path points by using a preset line.
In this embodiment of the present invention, the preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
205. And the vehicle calculates the curvature corresponding to the original path point on the preset line.
In the embodiment of the invention, the curvature corresponding to a certain original path point on the preset line represents the bending degree of the target driving path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is. Taking the preset line as a cubic B-spline curve as an example, the cubic B-spline curve is used for connecting the original path points to obtain a curve parameter equation of the cubic B-spline, and then the curvature corresponding to the original path points on the cubic B-spline curve can be calculated by using a parameter equation derivation method.
206. And the vehicle acquires a first speed corresponding to the original path point according to the curvature corresponding to the original path point.
As an alternative implementation, in step 206, the vehicle acquires the first speed corresponding to the original path point according to the curvature corresponding to the original path point, including:
determining a first speed corresponding to the original path point from a pre-constructed target relation table according to the curvature corresponding to the original path point;
the target relation table is constructed according to historical driving information of the vehicle, and the historical driving information comprises curvature and speed of path points on a historical driving path.
In the embodiment of the invention, the historical driving information of the vehicle comprises the curvature and the speed of the path point on the historical driving path in the past driving process of the vehicle, the target relation table comprising the corresponding relation between the curvature and the speed can be constructed according to the historical driving information, and then the speed corresponding to the original path point can be obtained only by inquiring according to the curvature corresponding to the original path point.
In the embodiment of the invention, the density of the data in the target relation table is not limited.
By implementing the optional implementation mode, a method for determining the speed according to the curvature is provided, based on the corresponding relationship between the curvature and the speed in the historical driving information of the vehicle, that is, the speed corresponding to the original path point can be determined according to the curvature corresponding to the original path point, so that the determined speed can better accord with the driving habits of the user.
As another alternative, in step 206, the vehicle acquires the first speed corresponding to the original path point according to the curvature corresponding to the original path point, including:
and calculating to obtain a first speed corresponding to the original path point according to the set maximum acceleration constraint and the curvature corresponding to the original path point.
In the embodiment of the present invention, a manner of calculating, by the vehicle, the first speed corresponding to the original path point according to the set maximum acceleration constraint and the curvature corresponding to the original path point may be as follows:
using formulas
And calculating to obtain a first speed corresponding to the original path point, wherein a is the maximum acceleration constraint, and k is the curvature corresponding to the original path point.
By implementing the optional implementation mode, another method for determining the speed according to the curvature is improved, the maximum acceleration constraint is set, so that the speed corresponding to the original path point is obtained through calculation, and the determined speed can be more stable.
207. And the vehicle recurs according to the preset acceleration and the minimum speed in the first speed corresponding to the original path point to obtain a second speed corresponding to the original path point.
In the embodiment of the present invention, the preset acceleration may be an acceleration set by a tester according to different working conditions and a large number of experimental results, and the embodiment of the present invention is not limited.
In the embodiment of the invention, the vehicle can recur again to obtain the corresponding original path point according to the preset acceleration and the minimum speed in the first speed corresponding to the original path pointA second speed. For example, assume the predetermined acceleration is a max The number of original path points is 5, P 1 、P 2 、P 3 、P 4 And P 5 Corresponding first speeds are respectively v 1 、v 2 、v 3 、v 4 And v 5 Wherein v is 3 For the minimum speed, P, of the first speeds corresponding to the original path points 1 And P 2 A distance of S therebetween 12 ，P 2 And P 3 Is a distance S between 23 ，P 3 And P 4 Is a distance S between 34 ，P 4 And P 5 Is a distance S between 45 。
At this time, using P 3 Velocity v of 3 Go to recursion P 2 The velocity of (2) is calculated as follows:
then, the recurred P is utilized 2 Velocity v' 2 Go to recursion P 1 The velocity of (2) is calculated as follows:
and, using P 3 Velocity v of 3 Go to recursion P 4 The velocity of (2) is calculated as follows:
in the same way, by using the recurred P 4 Velocity v' 4 Go to recursion P 5 The velocity of (2) is calculated as follows:
it can be understood that, by the above manner, the second speed corresponding to the original path point can be obtained by recursion again according to the preset acceleration and the minimum speed in the first speed corresponding to the original path point.
208. And the vehicle calculates the target speed corresponding to the tracking path point according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path.
In the embodiment of the invention, the tracking path point is a path point on a target driving path where the vehicle is located at each moment in the automatic driving process.
In the embodiment of the invention, the vehicle can obtain the target speed corresponding to the tracking path point through uniform acceleration or uniform deceleration processing according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path. For example, assume that there are 5 original path points, P 1 、P 2 、P 3 、P 4 And P 5 Corresponding first speeds are respectively v 1 、v 2 、v 3 、v 4 And v 5 Wherein v is 3 For the minimum speed, P, of the first speeds corresponding to the original path points 1 And P 2 Is a distance S between 12 ，P 2 And P 3 Is a distance S between 23 ，P 3 And P 4 Is a distance S between 34 ，P 4 And P 5 Is a distance S between 45 The corresponding second speeds of the original path points obtained by the recursion in step 207 are v' 1 、v’ 2 、v 3 、v’ 4 And v' 5 With P 2 And P 3 Taking the tracking path point therebetween as an example, the vehicle moves from P 2 From the beginning, the elapsed time t reaches the tracking path point P t Wherein, P 2 And P t If the distance of the point is S, the path point P is tracked t The corresponding target speed calculation formula is as follows:
it can be understood that, in the above manner, the target speed corresponding to the tracking path point can be calculated according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point.
In the embodiment of the invention, the steps 206 to 208 are implemented, the minimum speed in the speeds determined according to the curvature is determined, the new speed corresponding to the original path point is recurred by using the minimum speed, and then the target speed corresponding to the tracking path point on the target driving path is further calculated and obtained by combining the distance between the adjacent original path points, so that the speed fluctuation of the vehicle in the automatic driving process can be reduced, and the driving safety of the vehicle is improved.
It can be seen that, compared with the implementation of the method described in fig. 1, the implementation of the method described in fig. 2 provides a method for obtaining an original path point, and a target path point on an overall path planned by a vehicle-based path planning module is used as the original path point, so that the reliability of the original path point can be improved. In addition, the method described in fig. 2 is implemented, the minimum speed of the speeds determined according to the curvature is determined, the minimum speed is used for recursion of the new speed corresponding to the original path point, and then the distance between the adjacent original path points is combined to further calculate and obtain the target speed corresponding to the tracking path point on the target driving path, so that the speed fluctuation of the vehicle in the automatic driving process can be reduced, and the driving safety of the vehicle is improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a speed planning apparatus according to an embodiment of the present invention. The speed planning device is applied to a vehicle, so that the vehicle can execute any one of the speed planning methods shown in the figures 1-2. As shown in fig. 3, the speed planning means may include:
a first obtaining unit 301, configured to determine a preset number of original waypoints from the target driving route.
In the embodiment of the present invention, optionally, the original route point may be determined from route points on the overall route planned by the route planning module of the vehicle according to the current position and the destination position, in combination with information such as a navigation map or a SLAM map, and using a planning rule such as an a-or grid method, and at this time, the embodiment of the present invention performs the next-stage speed planning based on the overall route planned by the route planning module of the vehicle.
Alternatively, the original waypoints may also be determined from waypoints on a historical driving route that the user has passed through by manual driving in the past and is stored in the database, and then the embodiment of the present invention performs the next-stage speed planning based on the historical driving route.
In the embodiment of the present invention, it can be understood that a target driving path is composed of a plurality of path points, such as an overall path planned by the path planning module or a historical driving path stored in the database. The method for determining the original path points comprises the following steps of selecting one path point from a target driving path at intervals of a preset distance as the original path point, and thus determining a preset number of original path points from the target driving path; or, the original route point may be determined by selecting a more important route point on the target driving route as the original route point, such as a turning point, an intermediate point on a straight road, and the like, so that a preset number of original route points may be determined from the target driving route. The method for determining the original path point is not particularly limited in the embodiments of the present invention. In the embodiment of the present invention, the preset number may be a number set by a tester through a large number of experimental results, and the embodiment of the present invention is not limited.
A connecting unit 302, configured to connect the original path points by using a preset line.
In this embodiment of the present invention, the preset line may be a spline curve (e.g., a cubic B-spline curve), a bezier curve, or a spiral line, which is not limited in this embodiment of the present invention.
The first calculating unit 303 is configured to calculate a curvature corresponding to an original path point on a preset line.
In the embodiment of the invention, the curvature corresponding to a certain original path point on the preset line represents the bending degree of the target driving path at the original path point, and the larger the curvature is, the larger the bending degree is, the larger the bending amplitude of the vehicle at the original path point is. Taking the preset line as a cubic B-spline curve as an example, the cubic B-spline curve is used for connecting the original path points to obtain a curve parameter equation of the cubic B-spline, and then the curvature corresponding to the original path points on the cubic B-spline curve can be calculated by using a parameter equation derivation method.
And a second calculating unit 304, configured to calculate a target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration, and the distance between adjacent original path points.
In the embodiment of the invention, the tracking path point is a path point on a target driving path where the vehicle is located at each moment in the automatic driving process.
As an alternative embodiment, the speed planning device may further include the following units not shown in the figure:
the detection unit is used for detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point after the second calculation unit 304 calculates a target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, a preset acceleration and a distance between adjacent original path points;
the second acquisition unit is used for acquiring the safety speed corresponding to the prompt road sign when the detection unit detects that the prompt road sign is arranged at the real position in the real environment corresponding to the tracking path point;
the weight obtaining unit is used for obtaining a first weight corresponding to the target speed and a second weight corresponding to the safe speed;
and the first fusion unit is used for fusing the safe speed and the target speed according to the first weight and the second weight so as to obtain the comprehensive speed corresponding to the tracking path point.
In the embodiment of the present invention, the prompting road sign may be a deceleration strip road sign, a curve-in/curve-out road sign, a barrier point road sign, or the like, which affects the speed of the vehicle.
By implementing the optional implementation mode, a mode of further planning the speed of the vehicle by combining the prompting road signs on the target driving path is provided, and the driving safety of the vehicle can be further improved.
As another alternative, the speed planning apparatus may further include the following units, not shown:
the detection unit is used for detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point after the second calculation unit 304 calculates a target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, a preset acceleration and a distance between adjacent original path points;
the second acquisition unit is used for acquiring the safety speed corresponding to the prompt road sign when the detection unit detects that the prompt road sign is arranged at the real position in the real environment corresponding to the tracking path point;
and the comparison unit is used for comparing the magnitude relation between the safe speed and the target speed and determining the smaller speed as the comprehensive speed corresponding to the tracking path point.
By implementing the optional embodiment, another way for further planning the speed of the vehicle by combining the prompting road sign on the target driving path is provided, so that the driving safety of the vehicle can be further improved.
It can be seen that, by implementing the speed planning apparatus described in fig. 3, the speed planning is realized through the curvature, and since the speed planning is based on the acquired target driving path of the vehicle and is a global planning, the problem of a faster speed due to a reduced sensing area of a detection sensor such as a radar is solved, and the safety of vehicle driving can be improved. In addition, the target driving path of the vehicle can be derived from historical driving data of the user, so that the driving habit of the user can be greatly simulated, and the comfort of automatic driving is improved.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another speed planning apparatus according to an embodiment of the present invention. The speed planning device is applied to a vehicle, so that the vehicle can execute any one of the speed planning methods shown in the figures 1-2. Wherein the speed planner shown in fig. 4 is further optimized from the speed planner shown in fig. 3. In comparison with the speed planner shown in fig. 3:
the second calculation unit 304 includes:
a first obtaining subunit 3041, configured to obtain a first speed corresponding to the original path point according to a curvature corresponding to the original path point;
a recurrence subunit 3042, configured to obtain a second speed corresponding to the original path point according to a minimum speed in the preset acceleration and the first speed corresponding to the original path point;
and a calculating subunit 3043 configured to calculate a target speed corresponding to the tracked path point according to the second speed corresponding to the original path point and a distance between original path points adjacent to the tracked path point on the target travel path.
In the embodiment of the present invention, the preset acceleration may be an acceleration set by a tester according to different working conditions and a large number of experimental results, and the embodiment of the present invention is not limited.
In the embodiment of the invention, the tracked path points are the path points on the target driving path where the vehicle is located at each moment in the automatic driving process.
As an optional implementation manner, the manner of acquiring, by the first acquiring subunit 3041, the first speed corresponding to the original path point according to the curvature corresponding to the original path point is specifically:
the first obtaining subunit 3041 is configured to determine, according to the curvature corresponding to the original path point, a first speed corresponding to the original path point from a pre-constructed target relationship table.
In the embodiment of the invention, the target relation table is constructed according to historical driving information of the vehicle, and the historical driving information comprises the curvature and the speed of path points on the historical driving path.
In the embodiment of the invention, the historical driving information of the vehicle comprises the curvature and the speed of the path point on the historical driving path in the past driving process of the vehicle, the target relation table comprising the corresponding relation between the curvature and the speed can be constructed according to the historical driving information, and then the speed corresponding to the original path point can be obtained only by looking up the table according to the curvature corresponding to the original path point.
In the embodiment of the invention, the density of the data in the target relation table is not limited.
By implementing the optional implementation mode, a method for determining the speed according to the curvature is provided, based on the corresponding relationship between the curvature and the speed in the historical driving information of the vehicle, that is, the speed corresponding to the original path point can be determined according to the curvature corresponding to the original path point, so that the determined speed can better accord with the driving habits of the user.
As another alternative embodiment, the manner of acquiring, by the first acquiring subunit 3041, the first speed corresponding to the original path point according to the curvature corresponding to the original path point is specifically:
the first obtaining subunit 3041 is configured to calculate, according to the set maximum acceleration constraint and the curvature corresponding to the original path point, a first speed corresponding to the original path point.
By implementing the optional implementation mode, another method for determining the speed according to the curvature is improved, the maximum acceleration constraint is set, so that the speed corresponding to the original path point is obtained through calculation, and the determined speed can be more stable.
The first acquisition unit 301 includes:
a second acquisition subunit 3011 configured to acquire a current position and a destination position of the vehicle;
a planning subunit 3012, configured to plan a target travel path of the vehicle according to the current position and the destination position;
the determining subunit 3013 is configured to determine a preset number of target waypoints from the target driving route, and use the target waypoints as original waypoints on the target driving route.
In the embodiment of the present invention, the second obtaining subunit 3011 may be embedded with a Positioning module, such as a Global Positioning System (GPS) module, a synchronous Positioning and mapping (SLAM) module, and a beidou satellite Positioning System. The GPS module has high integration sensitivity and low power consumption, and can track up to 20 satellites at the same time, perform quick positioning, and implement 1Hz navigation update, so that the second obtaining subunit 3011 in the embodiment of the present invention can obtain the current position of the vehicle through the built-in GPS module.
In this embodiment of the present invention, the second obtaining sub-unit 3011 may obtain the destination location corresponding to the destination information by accessing the location service device according to the destination information (e.g., the name of the destination) input by the user.
In the embodiment of the present invention, the planning subunit 3012 may be provided with a path planning module, and accordingly the planning subunit 3012 may plan the target driving path of the vehicle according to the current position and the destination position of the vehicle. Optionally, the specific method may be: the speed planning device plans an overall path by using a planning rule such as an A-line or grid method and the like according to the current position and the destination position and combining information such as a navigation map or a SLAM map and the like, and takes the overall path as a target driving path of the vehicle.
It can be seen that, compared with the speed planning apparatus described in fig. 3, the speed planning apparatus described in fig. 4 provides a method for obtaining original path points, and the target path points on the overall path planned by the vehicle-based path planning module are used as the original path points, so that the reliability of the original path points can be improved. In addition, by implementing the speed planning apparatus described in fig. 4, the minimum speed among the speeds determined according to the curvature is determined first, and the new speed corresponding to the original path point is recurred by using the minimum speed, and then the target speed corresponding to the tracking path point on the target driving path is further calculated by combining the distance between the adjacent original path points, so that the speed fluctuation of the vehicle in the automatic driving process can be reduced, and the driving safety of the vehicle can be improved.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another speed planning apparatus according to an embodiment of the present invention. As shown in fig. 5, the speed planning means may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute any one of the speed planning methods of fig. 1 to 2.
The embodiment of the invention discloses a vehicle, which comprises a speed planning device disclosed by the embodiment of the invention.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute any one of the speed planning methods shown in the figures 1-2.
An embodiment of the invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform any one of the speed planning methods of fig. 1-2.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
In various embodiments of the present invention, it is understood that the meaning of "a and/or B" means that a and B each independently exist or that both a and B exist are included.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The speed planning method, the speed planning device and the vehicle disclosed by the embodiment of the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of speed planning, comprising:
determining a preset number of original path points from a target driving path;
connecting the original path points by using a preset line;
calculating the curvature corresponding to the original path point on the preset line;
calculating a target speed corresponding to a tracking path point on the target driving path according to the curvature corresponding to the original path point, a preset acceleration and the distance between the adjacent original path points;
and the tracking path points are path points on the target driving path where the vehicle is located at each moment in the automatic driving process.
2. The method according to claim 1, wherein the calculating of the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points comprises:
acquiring a first speed corresponding to the original path point according to the curvature corresponding to the original path point;
obtaining a second speed corresponding to the original path point by recursion according to a preset acceleration and the minimum speed in the first speed corresponding to the original path point;
and calculating the target speed corresponding to the tracking path point according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path.
3. The method of claim 2, wherein the obtaining the first velocity corresponding to the original path point according to the curvature corresponding to the original path point comprises:
according to the curvature corresponding to the original path point, determining a first speed corresponding to the original path point from a pre-constructed target relation table;
the target relation table is constructed according to historical driving information of the vehicle, and the historical driving information comprises curvature and speed of path points on a historical driving path.
4. The method according to any one of claims 1 to 3, wherein the determining a preset number of original waypoints from the target driving path comprises:
acquiring the current position and the destination position of the vehicle;
planning a target driving path of the vehicle according to the current position and the destination position;
and determining a preset number of target path points from the target driving path, and taking the target path points as original path points on the target driving path.
5. The method according to claim 1, wherein after the calculating of the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points, the method further comprises:
detecting whether a prompt road sign is arranged at a real position in a real environment corresponding to the tracking path point;
if so, acquiring a safety speed corresponding to the prompt road sign;
acquiring a first weight corresponding to the target speed and a second weight corresponding to the safe speed;
and according to the first weight and the second weight, fusing the safe speed and the target speed to obtain the comprehensive speed corresponding to the tracking path point.
6. A speed planner, comprising:
the first acquisition unit is used for determining a preset number of original path points from a target driving path;
the connecting unit is used for connecting the original path points by using a preset line;
the first calculating unit is used for calculating the curvature corresponding to the original path point on the preset line;
the second calculation unit is used for calculating the target speed corresponding to the tracking path point on the target driving path according to the curvature corresponding to the original path point, the preset acceleration and the distance between the adjacent original path points;
and the tracking path points are path points on the target driving path where the vehicle is located at each moment in the automatic driving process.
7. The apparatus of claim 6, wherein the second computing unit comprises:
the first obtaining subunit is configured to obtain a first speed corresponding to the original path point according to the curvature corresponding to the original path point;
the recursion subunit is used for obtaining a second speed corresponding to the original path point according to a preset acceleration and a minimum speed in a first speed corresponding to the original path point;
and the calculating subunit is used for calculating the target speed corresponding to the tracking path point according to the second speed corresponding to the original path point and the distance between the original path points adjacent to the tracking path point on the target driving path.
8. A vehicle, characterized in that the vehicle comprises a speed planning apparatus according to any one of claims 6-7.
9. A speed planning apparatus, comprising:
a memory storing executable program code;
a central processor coupled to the memory;
the central processor calls the executable program code stored in the memory for executing a speed planning method according to any of claims 1-5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program causes a computer to perform a method of speed planning as claimed in any one of claims 1-5.
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| CN111891137B (en) * | 2020-08-13 | 2022-08-23 | 北京智行者科技有限公司 | Automatic driving narrow road turning method and system and vehicle |
| CN113778072A (en) * | 2020-10-26 | 2021-12-10 | 北京京东乾石科技有限公司 | Mobile robot control method, mobile robot control device, storage medium, and mobile robot |
| CN112415999B (en) * | 2020-10-29 | 2023-04-07 | 宁波吉利汽车研究开发有限公司 | Processing method, device and equipment for automatic driving path point and storage medium |
| CN113050657B (en) * | 2021-03-29 | 2021-09-17 | 紫清智行科技(北京)有限公司 | Waypoint processing method and system for automatic driving tracking |
| CN113370995B (en) * | 2021-07-01 | 2024-01-09 | 广州小鹏自动驾驶科技有限公司 | Processing method and device of speed curve, electric automobile and electronic equipment |
| CN114089742B (en) * | 2021-10-25 | 2023-09-26 | 广东嘉腾机器人自动化有限公司 | AGV running speed control method, device and medium based on path curvature |
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