CN110657818B - Method, device, equipment and storage medium for planning path of automatic driving vehicle - Google Patents
Method, device, equipment and storage medium for planning path of automatic driving vehicle Download PDFInfo
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- CN110657818B CN110657818B CN201910990358.6A CN201910990358A CN110657818B CN 110657818 B CN110657818 B CN 110657818B CN 201910990358 A CN201910990358 A CN 201910990358A CN 110657818 B CN110657818 B CN 110657818B
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- 238000004891 communication Methods 0.000 description 5
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- 230000006870 function Effects 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
Abstract
The application discloses a path planning method, device and equipment for an automatic driving vehicle and a storage medium, and relates to the technical field of automatic driving. The specific implementation scheme is as follows: acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station; constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site; and acquiring a target path meeting a preset condition from the set of alternative paths, and further performing navigation decision on the vehicle according to the target path. According to the embodiment of the application, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet individual requirements of a user on the driving distance, the driving time and the like, so that riding experience of passengers is improved.
Description
Technical Field
The application relates to the field of computer technology, in particular to the technical field of automatic driving.
Background
With the development of technology, automatic driving vehicles become an important development direction of future automobiles. The automatic driving vehicle not only can help to improve the travel convenience and travel experience of people, but also can greatly improve the travel efficiency of people.
While the autonomous vehicle is traveling, it is generally necessary to plan a route, for example, from the current position of the autonomous vehicle to a destination station according to the current position information. A plurality of passing points need to be passed from the current position to the destination station, wherein the passing points are only one point through which the autonomous vehicle may pass, and passengers do not get on or off the vehicle at the passing points. In the prior art, when the path planning of the automatic driving vehicle is carried out according to the route points, in order to enable the planned path to pass through the route points, the path planning is unreasonable, the riding time of passengers is easy to be longer, and the riding experience of the passengers is affected.
Disclosure of Invention
The application provides a path planning method, device, equipment and storage medium for an automatic driving vehicle, which are used for planning paths based on alternative route points and preset conditions, wherein the planned paths can meet personalized requirements of users, and riding experience of passengers is improved.
A first aspect of the present application provides a path planning method for an autonomous vehicle, including:
acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station;
constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site;
and acquiring a target path meeting preset conditions from the set of alternative paths.
By the method, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet the personalized requirements of users on the driving distance, the driving time and the like, so that the riding experience of passengers is improved.
Further, the obtaining the target path meeting the preset condition from the set of alternative paths includes at least one of the following ways:
acquiring a target path with the shortest running path from the set of alternative paths;
acquiring a target path with shortest running time from the set of alternative paths;
and acquiring a target path with the best traffic road condition from the set of the alternative paths.
The target path obtained by the method can effectively save the riding time of a user and save the energy of a vehicle.
Further, the constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site includes:
and acquiring all possible paths from the current position of the vehicle to the target station through at least one alternative passing point according to at least one alternative passing point in the set of alternative passing points, the current position of the vehicle and the target station, and constructing the set of alternative paths.
Further, the acquiring the set of alternative route points based on the current position of the automatic driving vehicle and the target station includes:
acquiring route point selection condition information set by a user;
and determining the alternative route points according to the route point selection condition information, and constructing the set of the alternative route points.
By the method, personalized selection of the alternative route points by the user can be realized, so that the planned route can meet personalized requirements of the user, and riding experience of passengers is improved.
Further, the obtaining the route point selection condition information set by the user includes:
acquiring route point selection condition information input by a user through a user interface of the vehicle display device; or alternatively
And receiving the route point selection condition information sent by the terminal equipment, wherein the route point selection condition information is set on the terminal equipment by a user.
Further, the determining the alternative route point according to the route point selection condition information includes:
searching the alternative route points matched with the route point selection condition information according to the corresponding relation between the preset route point selection condition and the route points.
A second aspect of the present application provides a path planning apparatus for an autonomous vehicle, comprising:
the route point acquisition module is used for acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station;
a route acquisition module, configured to construct a set of alternative routes for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site;
and the path selection module is used for acquiring a target path meeting preset conditions from the set of the alternative paths.
A third aspect of the present application provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
A fourth aspect of the present application provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the first aspect.
A fifth aspect of the present application provides a computer program comprising program code for performing the method of the first aspect when the computer program runs on a computer.
One embodiment of the above application has the following advantages or benefits: acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station; constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site; and acquiring a target path meeting a preset condition from the set of alternative paths, and further performing navigation decision on the vehicle according to the target path. According to the embodiment of the application, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet individual requirements of a user on the driving distance, the driving time and the like, so that riding experience of passengers is improved.
Other effects of the above alternative will be described below in connection with specific embodiments.
Drawings
The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:
FIG. 1 is a flow chart of a method for path planning for an autonomous vehicle according to one embodiment of the present application;
FIG. 2 is a schematic diagram of a method for path planning for an autonomous vehicle according to one embodiment of the present application;
FIG. 3 is a flow chart of a method of path planning for an autonomous vehicle according to another embodiment of the present application;
FIG. 4 is a block diagram of a path planning apparatus for an autonomous vehicle according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device for implementing a path planning method of an autonomous vehicle according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
An embodiment of the present invention provides a path planning method for an automatic driving vehicle, and fig. 1 is a flowchart of the path planning method for the automatic driving vehicle provided by the embodiment of the present invention. The execution body may be an autopilot system of an autopilot vehicle, or other control terminals (e.g. a server, etc. may send a planned target path to the autopilot vehicle) communicatively connected to the autopilot vehicle, as shown in fig. 1, and the specific steps of the path planning method of the autopilot vehicle are as follows:
s101, acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station.
In this embodiment, the station is a place where the vehicle stops and the passenger gets on or off, and the passing point is a place where the vehicle passes but the passenger does not get on or off. In this embodiment, if there is only one alternative route point before the vehicle reaches the target station, the driving path of the vehicle may be unique, that is, the vehicle reaches the target station from the current position of the vehicle through the alternative route point, so there may be no need to perform path planning; when the path planning requirement exists, the number of the alternative route points can be at least two, so that at least two alternative route points before the vehicle reaches the target station are required to be acquired when the path planning is carried out.
The alternative route points may be set by the user, for example, the user may select some alternative route points from the map, or the user may set route point selection conditions, for example, the route points may be scenic spots, traffic spots, and the like. Specifically, the user may set the route point selection condition through the user interface of the vehicle display device, or may send the route point selection condition to the vehicle directly or indirectly (through the server) after setting the route point selection condition on the device on the terminal device.
S102, constructing a set of alternative paths for the autonomous vehicle to travel from the current position to the target station based on at least one alternative route point in the set of alternative route points, the current position and the target station.
In this embodiment, the alternative route is a route from the current position of the vehicle to the target station through at least one alternative route point.
In an alternative embodiment, the set of alternative paths may be constructed based on at least one alternative route point in the set of alternative route points, the current position of the vehicle, and the target station, by obtaining all possible paths from the current position of the vehicle through the at least one alternative route point to the target station. For example, as shown in FIG. 2, the current position of the vehicle is P, the destination is S, the alternate route points include V0, V1, V2, all possible routes include passing from P through V0 to S1, passing from P through V1 to S1, passing from P through V2 to S1, passing from P through V0, V1 to S, passing from P through V0, V2 to S, passing from P through V1, V0 to S, passing from P through V1, V2 to S, passing from P through V2, V0 to S, the method comprises the steps of passing V2, V1 to S from P, passing V0, V1, V2 to S from P, passing V0, V2, V1 to S from P, passing V1, V0, V2 to S from P, passing V1, V2, V0 to S from P, passing V2, V0, V1 to S from P, and passing V2, V1, V0 to S from P, taking all possible paths as alternative paths, and constructing a set of alternative paths. It should be noted that, if there is no path connected between two alternative route points, the alternative paths passing through the two alternative route points sequentially are deleted accordingly.
Of course, the method of acquiring all possible paths as alternative paths may not be adopted in this embodiment, and some strategies may be adopted to acquire alternative paths, for example, some obviously far-surrounding routes are removed according to the positions of alternative route points, and the rest routes are used as alternative routes to construct a set of alternative paths.
S103, acquiring a target path meeting preset conditions from the set of alternative paths.
In this embodiment, the target path may be selected from the set of alternative paths according to preset conditions, where the preset conditions may include, but are not limited to, shortest driving path, shortest driving time, best traffic condition, and the like, and may also include other conditions, such as minimum traffic lights, minimum intersections, and lowest prices, and the like. The preset conditions in this embodiment may be preset conditions of the system, or may be set by a user according to needs, specifically, the user may set the preset conditions through a user interface of the vehicle display device, or may send the preset conditions to the vehicle directly or indirectly (through a server) after setting the preset conditions on the device on the terminal device.
In this embodiment, when the target path satisfying the preset condition is obtained, the relevant attribute of each alternative path may be obtained according to the preset condition, for example, if the preset condition is that the driving path is shortest, the path distance of each alternative path needs to be obtained, that is, the driving distance when the vehicle runs through the alternative path, then the path distances of each alternative path are compared, and the target path with the shortest driving path is selected from the path distances of each alternative path, so that the riding time of the user and the energy of the vehicle can be effectively saved; if the preset condition is that the running time is the shortest, the running time of each alternative path needs to be acquired, more specifically, the running time of each alternative path can be acquired by considering various factors such as speed limit of each road section, traffic conditions and the like, after the running time of each alternative path is acquired, the running time of each alternative path is compared, and the target path with the shortest running time is selected from the running time of each alternative path, so that the riding time of a user can be effectively saved, and the energy of the vehicle can be saved.
According to the path planning method for the automatic driving vehicle, the set of alternative route points is obtained based on the current position of the automatic driving vehicle and the target site; constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site; and acquiring a target path meeting a preset condition from the set of alternative paths, and further performing navigation decision on the vehicle according to the target path. According to the embodiment, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet individual requirements of a user on the driving distance, the driving time and the like, so that the riding experience of passengers is improved.
On the basis of the above embodiment, as shown in fig. 3, the step S101 of obtaining a set of alternative route points based on the current position of the autonomous vehicle and the target station includes:
s201, acquiring route point selection condition information set by a user;
s202, determining the alternative route points according to the route point selection condition information, and constructing a set of the alternative route points.
In an embodiment, the user may set a route point selection condition, for example, the route point selection condition includes: the route points are scenic spots, places with good scenery, places with good traffic conditions and the like, and the alternative route points can be determined according to the route point selection condition information after the route point selection condition information set by the user is obtained, so that the set of the alternative route points is constructed.
Specifically, the step S201 of obtaining the route point selection condition information set by the user includes:
acquiring route point selection condition information input by a user through a user interface of the vehicle display device; or alternatively
And receiving the route point selection condition information sent by the terminal equipment, wherein the route point selection condition information is set on the terminal equipment by a user.
In this embodiment, if a display device is provided in the vehicle and a user interface is provided on the display device, a user may input route point selection condition information through the user interface; alternatively, the user may input the route point selection condition information on a terminal device (for example, wearable devices such as a smart phone, a tablet personal computer, a personal digital assistant, a smart watch, etc.), and then the terminal device sends the route point selection condition information to an autopilot system of the vehicle, and the terminal device may be directly sent to the autopilot system through a WiFi, NFC, bluetooth, etc. communication manner, or indirectly sent to the autopilot system through a server, etc.
Further, the determining the alternative route point according to the route point selection condition information in S202 includes:
searching the alternative route points matched with the route point selection condition information according to the corresponding relation between the preset route point selection condition and the route points.
In this embodiment, some route points corresponding to some route point selection conditions may be preconfigured, and the correspondence between the route point selection conditions and the route points may be stored. More specifically, since the route points in the corresponding relationship between the preset route point selection condition and the route points may be distributed in the whole map, an area may be defined according to the current position of the vehicle and the target site, and then an alternative route point which is located in the area and matches with the route point selection condition information may be selected.
On the basis of any one of the above embodiments, the method may further include: and acquiring the alternative route points designated by the user, and further acquiring alternative paths according to the alternative route points, the current position of the vehicle and the target site, wherein the alternative paths need to pass through the alternative route points and pass through at least one alternative route point.
According to the embodiment, the alternative route points are selected according to the route point selection conditions, and the route planning is performed based on the alternative route points and the preset conditions, so that the planned route can meet the personalized requirements of users on the driving distance, the driving time and the like, and the riding experience of passengers is improved.
An embodiment of the present application provides a path planning device for an autopilot vehicle, and fig. 4 is a block diagram of the path planning device for an autopilot vehicle provided by the embodiment of the present invention. As shown in fig. 4, the path planning apparatus 400 for an autonomous vehicle specifically includes: a route point acquisition module 401, a path acquisition module 402, and a path selection module 403.
The route point obtaining module 401 is configured to obtain a set of alternative route points based on the current position of the autonomous vehicle and a target station;
a path acquisition module 402, configured to construct a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site;
a path selection module 403, configured to obtain a target path that meets a preset condition from the set of alternative paths.
On the basis of the above embodiment, the path selection module 403 is configured to:
acquiring a target path with the shortest running path from the set of alternative paths; or alternatively
Acquiring a target path with shortest running time from the set of alternative paths; or alternatively
And acquiring a target path with the best traffic road condition from the set of the alternative paths.
On the basis of any of the above embodiments, the path obtaining module 402 is configured to:
and acquiring all possible paths from the current position of the vehicle to the target station through at least one alternative passing point according to at least one alternative passing point in the set of alternative passing points, the current position of the vehicle and the target station, and constructing the set of alternative paths.
On the basis of any one of the above embodiments, the route point obtaining module 401 is configured to:
acquiring route point selection condition information set by a user;
and determining the alternative route points according to the route point selection condition information, and constructing the set of the alternative route points.
On the basis of any one of the above embodiments, the route point obtaining module 401 is configured to:
acquiring route point selection condition information input by a user through a user interface of the vehicle display device; or alternatively
And receiving the route point selection condition information sent by the terminal equipment, wherein the route point selection condition information is set on the terminal equipment by a user.
On the basis of any one of the above embodiments, the route point obtaining module 401 is configured to:
searching the alternative route points matched with the route point selection condition information according to the corresponding relation between the preset route point selection condition and the route points.
The path planning device for the automatic driving vehicle provided in this embodiment may be specifically used to execute the path planning method embodiment for the automatic driving vehicle provided in the foregoing figures, and specific functions are not provided here.
According to the path planning device for the automatic driving vehicle, the set of alternative route points is obtained based on the current position of the automatic driving vehicle and the target site; constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site; and acquiring a target path meeting a preset condition from the set of alternative paths, and further performing navigation decision on the vehicle according to the target path. According to the embodiment, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet individual requirements of a user on the driving distance, the driving time and the like, so that the riding experience of passengers is improved.
According to embodiments of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 5, a block diagram of an electronic device of a path planning method of an autonomous vehicle according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.
As shown in fig. 5, the electronic device includes: one or more processors 501, memory 502, and interfaces for connecting components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 501 is illustrated in fig. 5.
Memory 502 is a non-transitory computer readable storage medium provided herein. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method for path planning for an autonomous vehicle provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the path planning method of an autonomous vehicle provided by the present application.
The memory 502 is used as a non-transitory computer readable storage medium, and may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the route point acquisition module 401, the route acquisition module 402, and the route selection module 403 shown in fig. 4) corresponding to the route planning method of the autonomous vehicle in the embodiments of the present application. The processor 501 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 502, that is, implements the path planning method of the autonomous vehicle in the above-described method embodiment.
Memory 502 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of electronic devices of the path planning method of the autonomous vehicle, and the like. In addition, memory 502 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 502 may optionally include memory remotely located with respect to the processor 501, which may be connected to the electronics of the path planning method of the autonomous vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the path planning method of the autonomous vehicle may further include: an input device 503 and an output device 504. The processor 501, memory 502, input devices 503 and output devices 504 may be connected by a bus or otherwise, for example in fig. 5.
The input device 503 may receive input numeric or character information and generate key signal inputs related to user settings and function control of an electronic device of a path planning method of an autonomous vehicle, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer stick, one or more mouse buttons, a track ball, a joystick, etc. The output devices 504 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the set of alternative route points is obtained based on the current position of the automatic driving vehicle and the target station; constructing a set of alternative paths for the autonomous vehicle to travel from the current location to the target site based on at least one alternative route point in the set of alternative route points, the current location, and the target site; and acquiring a target path meeting a preset condition from the set of alternative paths, and further performing navigation decision on the vehicle according to the target path. According to the embodiment, route planning is performed based on the alternative route points and the preset conditions, and the planned route can meet individual requirements of a user on the driving distance, the driving time and the like, so that the riding experience of passengers is improved.
The present application also provides a computer program comprising program code which, when run by a computer, performs a path planning method for an autonomous vehicle as described in the above embodiments.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions disclosed in the present application can be achieved, and are not limited herein.
The above embodiments do not limit the scope of the application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (10)
1. A path planning method for an autonomous vehicle, applied to an autonomous system or a server, the method comprising:
acquiring a set of alternative passing points based on the current position of the automatic driving vehicle and a target station, wherein the passing points are points where the vehicle passes and no passengers get on or off, and the target station is a point where the automatic driving vehicle stops and the passengers get on or off; the alternative passing points are the passing points matched with the passing point selection condition information set by the user;
acquiring all possible paths from the current position of the vehicle to the target station through at least one alternative route point based on at least one alternative route point in the set of alternative route points, the current position and the target station, and constructing a set of alternative paths; the method comprises the steps that a set of alternative paths does not comprise paths with path distances larger than a preset threshold value, and the paths with the path distances larger than the preset threshold value are determined according to positions of alternative route points;
and acquiring a target path with the shortest running path from the set of alternative paths.
2. The method of claim 1, wherein the obtaining a set of alternative waypoints based on the current location of the autonomous vehicle and a destination site comprises:
acquiring route point selection condition information set by a user;
and determining the alternative route points according to the route point selection condition information, and constructing the set of the alternative route points.
3. The method of claim 2, wherein the obtaining the route point selection condition information set by the user includes:
acquiring route point selection condition information input by a user through a user interface of the vehicle display device; or alternatively
And receiving the route point selection condition information sent by the terminal equipment, wherein the route point selection condition information is set on the terminal equipment by a user.
4. The method of claim 2, wherein the determining the alternative route point according to the route point selection condition information includes:
searching the alternative route points matched with the route point selection condition information according to the corresponding relation between the preset route point selection condition and the route points.
5. A path planning apparatus for an autonomous vehicle, comprising:
the route point acquisition module is used for acquiring a set of alternative route points based on the current position of the automatic driving vehicle and a target station, wherein the route points are points where the vehicle passes and no passengers get on or off, and the target station is a point where the automatic driving vehicle stops and the passengers get on or off; the alternative passing points are the passing points matched with the passing point selection condition information set by the user;
a path acquisition module, configured to acquire all possible paths from the current position of the vehicle to the target station through at least one alternative route point based on at least one alternative route point in the set of alternative route points, the current position and the target station, and construct a set of alternative paths; the method comprises the steps that a set of alternative paths does not comprise paths with path distances larger than a preset threshold value, and the paths with the path distances larger than the preset threshold value are determined according to positions of alternative route points;
and the path selection module is used for acquiring a target path with the shortest running path from the set of the alternative paths.
6. The apparatus of claim 5, wherein the route point acquisition module is configured to:
acquiring route point selection condition information set by a user;
and determining the alternative route points according to the route point selection condition information, and constructing the set of the alternative route points.
7. The apparatus of claim 6, wherein the route point acquisition module is configured to:
acquiring route point selection condition information input by a user through a user interface of the vehicle display device; or alternatively
And receiving the route point selection condition information sent by the terminal equipment, wherein the route point selection condition information is set on the terminal equipment by a user.
8. The apparatus of claim 6, wherein the route point acquisition module is configured to:
searching the alternative route points matched with the route point selection condition information according to the corresponding relation between the preset route point selection condition and the route points.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-4.
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| CN111998866B (en) * | 2020-08-25 | 2022-08-30 | 北京百度网讯科技有限公司 | Method, apparatus, device and medium for setting vehicle entrance position for information point |
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