CN112577503A - Method, device and equipment for planning path of vehicle starting area - Google Patents
Method, device and equipment for planning path of vehicle starting area Download PDFInfo
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- CN112577503A CN112577503A CN201910944831.7A CN201910944831A CN112577503A CN 112577503 A CN112577503 A CN 112577503A CN 201910944831 A CN201910944831 A CN 201910944831A CN 112577503 A CN112577503 A CN 112577503A
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- G—PHYSICS
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- 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
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- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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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
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Abstract
The application discloses a method, a device and equipment for planning a route of a vehicle starting area, relates to the field of computers, and particularly relates to an automatic driving technology. The specific implementation scheme is as follows: determining a line pressing judgment result at a lane line position corresponding to the starting position of the vehicle in the starting area; and then determining a first starting point boundary according to the line pressing judgment result and the lane line position, realizing that line pressing judgment is introduced in the boundary determination, and secondarily planning the driving path of the vehicle in the starting point area according to the constraint of the first starting point boundary to obtain a secondarily planned path, so that the boundary constraint of the path planning in the starting point area is adjusted through judging whether the vehicle presses the line, and the reliability of the secondarily planned path in the starting point area is improved.
Description
Technical Field
The application relates to the field of computers, in particular to a method, a device and equipment for planning a path of a vehicle starting point area.
Background
In the driving process of the autonomous vehicle, a driving path needs to be planned for the autonomous vehicle, and then the autonomous vehicle can drive according to the driving path. The accurate and reasonable running path can ensure the safe running of the automatic driving vehicle.
In the prior art, when planning a driving route for an autonomous vehicle, a boundary of a lane is generally used as a driving boundary. And then planning a driving path for the vehicle by using the lane boundary.
However, the existing vehicle driving path planning method is not accurate enough in the scenes of starting from a pressing line and turning sharply at the starting point.
Disclosure of Invention
The application aims to provide a method, a device and equipment for planning a route of a vehicle starting area.
According to a first aspect of the present application, there is provided a method for planning a route of a vehicle starting point region, comprising:
acquiring a starting point position of a vehicle and a starting point area corresponding to the starting point position, wherein the starting point area comprises a lane line;
determining a line pressing judgment result according to the lane line position corresponding to the starting position;
determining a first starting point boundary according to the line pressing judgment result and the lane line position;
and acquiring a quadratic planning path of the vehicle in a starting point area according to the first starting point boundary.
According to the method and the device, the boundary constraint of the path planning in the starting area is adjusted through judging whether the vehicle is pressed, so that the reliability of the secondary path planning in the starting area is improved.
In some embodiments, the determining a first starting point boundary according to the line-pressing judgment result and the lane line position includes:
if the line pressing judgment result indicates that the vehicle presses the lane line, acquiring the type of the lane line;
if the lane line type is a crossing-allowed type, taking an adjacent lane line which is positioned on the outer side of the lane line far away from the vehicle and is a crossing-forbidden type as a first starting point boundary;
and if the lane line type is a crossing forbidding type, determining a first starting point boundary according to the head edge position of the vehicle in the vertical direction of the lane line.
According to the embodiment of the application, for the vehicle line pressing condition, corresponding boundary adjustment modes are adopted for different lane line types, so that a more suitable and accurate first starting point boundary is determined, and the reliability of a secondary planning path is further improved.
In some embodiments, if the lane line type is a no crossing type, determining a first starting point boundary according to a head edge position of the vehicle in a direction perpendicular to the lane line, further includes:
if the lane line type is a no crossing type, acquiring the overtaking distance of the vehicle to the lane line;
and if the exceeding distance is smaller than or equal to a preset exceeding line distance threshold value, determining a first starting point boundary according to the vehicle head edge position, and if the exceeding distance is larger than the preset exceeding line distance threshold value, taking the lane line position as the first starting point boundary.
According to the embodiment of the application, for the condition that the lane line type is the forbidden crossing type, the line exceeding distance threshold value is introduced, so that the boundary adjustment is carried out within the range of ensuring the safety, the safety and the reliability of the first starting point boundary are improved, and the safety and the reliability of the secondary planning path are further improved.
In some embodiments, before determining a line pressing determination result according to the lane line position corresponding to the starting position, the method further includes:
acquiring orientation information and body length information of the vehicle;
acquiring the inclination angle of the vehicle relative to the lane line according to the orientation information and the extending direction of the lane line;
according to the length information of the vehicle body and the inclination angle, acquiring a vehicle head offset distance of the vehicle relative to the starting point position in the vertical direction of the lane line;
and determining the head edge position of the vehicle in the vertical direction of the lane line according to the starting point position and the head offset distance.
According to the embodiment of the application, the inclination angle of the vehicle relative to the lane line is utilized, the edge position of the vehicle head can be accurately determined, and the accuracy of line pressing judgment and first starting point boundary determination is further improved.
In some embodiments, the determining a line pressing determination result according to the lane line position corresponding to the starting point position includes:
acquiring a lane line position closest to the starting position;
and determining a line pressing judgment result according to the vehicle head edge position, the starting point position and the lane line position.
According to the embodiment of the application, the line pressing judgment is carried out on the basis of the edge position of the vehicle head, and the accuracy of the line pressing judgment is improved.
In some embodiments, the obtaining a quadratic planned path of the vehicle in a starting point region according to the first starting point boundary includes:
acquiring transverse motion information of the vehicle in the vertical direction of a lane line;
determining a motion trend prediction track of the vehicle according to the transverse motion information;
determining a second starting point boundary according to the motion trend prediction track and the first starting point boundary;
and acquiring a secondary planned path of the vehicle in the starting point area according to the second starting point boundary.
According to the embodiment of the application, the second starting point boundary determined by the motion trend prediction track is introduced on the basis of the first starting point boundary, and particularly the reliability of the quadratic programming path in the starting point sharp turning scene is improved.
In some embodiments, said determining a second starting point boundary from said predicted trajectory of motion trend and said first starting point boundary comprises:
judging whether the motion trend prediction track exceeds the first starting point boundary or not;
if the motion trend prediction track exceeds the first starting point boundary, determining a second starting point boundary according to the motion trend prediction track, a preset line exceeding distance threshold and a lane line position corresponding to the starting point position;
and if the motion trend prediction track is determined not to exceed the first starting point boundary, taking the first starting point boundary as the second starting point boundary.
The embodiment of the application is a specific method for determining the second starting point boundary by utilizing the motion trend prediction track, and the accuracy of the second starting point boundary is improved.
In some embodiments, the obtaining the quadratic planned path of the vehicle in the starting point region according to the second starting point boundary includes:
if an obstacle is detected within the second starting point boundary, acquiring edge position information of the obstacle;
performing retraction adjustment on the second starting point boundary according to the edge position information and preset safety distance information to obtain a third starting point boundary;
and acquiring a secondary planned path of the vehicle in the starting point area according to the third starting point boundary.
According to the embodiment of the application, on the basis of the second starting point boundary, the constraint of obstacle avoidance on the boundary is introduced to obtain a third starting point boundary, and the reliability of the quadratic planning path is further improved.
According to a second aspect of the present application, there is provided a path planning apparatus for a vehicle starting point region, comprising:
the starting point area determining module is used for acquiring a starting point position of a vehicle and a starting point area corresponding to the starting point position, wherein the starting point area comprises a lane line;
the line pressing judgment module is used for determining a line pressing judgment result according to the lane line position corresponding to the starting point position;
the first starting point boundary determining module is used for determining a first starting point boundary according to the line pressing judgment result and the lane line position;
and the processing module is used for acquiring a secondary planned path of the vehicle in a starting point area according to the first starting point boundary.
According to a third aspect of the present application, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of path planning for a vehicle origin area as described in any one of the first aspect and its various possible embodiments of the application.
According to a fourth aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of path planning for a vehicle origin area as set forth in any one of the first and its various possible embodiments of the first aspect of the present application.
One embodiment in the above application has the following advantages or benefits: according to the embodiment of the application, the line pressing judgment result is determined according to the lane line position corresponding to the starting position of the vehicle in the starting area; and then determining a first starting point boundary according to the line pressing judgment result and the lane line position, realizing that line pressing judgment is introduced in the boundary determination, and secondarily planning the driving path of the vehicle in the starting point area according to the constraint of the first starting point boundary to obtain a secondarily planned path, so that the boundary constraint of the path planning in the starting point area is adjusted through judging whether the vehicle presses the line, and the reliability of the secondarily planned path in the starting point area is improved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a scenario of a path planning application for a vehicle starting area according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for planning a route of a vehicle starting area according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of another method for planning a route of a vehicle starting area according to an embodiment of the present disclosure;
fig. 4 is a diagram of another application scenario for path planning of a vehicle starting point area according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a path planning apparatus for a vehicle starting point area according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device for implementing a method for path planning for a vehicle origin area according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those 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.
In some route navigation and automatic driving scenarios, a driving route is usually planned first, so that the vehicle is driven automatically according to the driving route. However, in the conventional path planning method, after the vehicle is usually lane-positioned, the path is secondarily planned by using lane lines on both sides of the lane where the vehicle is located as the driving boundary constraints. However, the lane line is likely to be pressed when the vehicle starts, so that the reliability of the quadratic programming path obtained by using the lane line as a boundary constraint is not high enough.
Referring to fig. 1, a scenario of a path planning application for a vehicle starting area according to an embodiment of the present application is shown. The vehicle 1 shown in fig. 1 may be an autonomous vehicle, for example, or a vehicle providing driving assistance. As shown in fig. 1, in the embodiment of the present application, when the vehicle 1 starts, whether the vehicle starts to be a line-pressing start is automatically determined, and a first starting point boundary is determined according to a determination result, for example, a currently pressed lane line is used as a path boundary, or an extended position is used as a path boundary, so that when a path is secondarily planned according to the first starting point boundary, the accuracy of planning can be improved, and a more reliable secondarily planned path can be obtained.
Fig. 2 is a schematic flow chart of a method for planning a route of a vehicle starting area according to an embodiment of the present application. The execution subject of the method shown in fig. 2 may be a software and/or hardware device, such as a path planning device for a starting area of a vehicle. The device may be a vehicle-mounted system of a vehicle, or may be an auxiliary computing server connected to the vehicle-mounted system, or a terminal device, and the like, which is not limited herein. The method shown in fig. 2 includes steps S101 to S104, which are specifically as follows:
s101, acquiring a starting point position of a vehicle and a starting point area corresponding to the starting point position, wherein the starting point area comprises a lane line.
For example, when the vehicle starts to start in the starting point area as shown in the figure, the route planning device in the starting point area of the vehicle acquires the starting point position of the vehicle when the starting operation is detected. The starting position may be, for example, a GPS position or a position obtained by landmark wireless communication positioning (e.g., triangulation positioning), and is not limited herein. The starting point region can be determined from the starting point position, for example, a region within 5 meters of the starting point position is used as the starting point region, and the starting point region at least should include a lane line. In the embodiment of the present application, a path is planned with respect to a relationship between a vehicle and a lane line.
And S102, determining a line pressing judgment result according to the lane line position corresponding to the starting position.
The lane line position corresponding to the starting point position may be the position information of the lane line closest to the starting point position, or may be the position information of the lane line that may be pressed. The judgment of the pressing line can be the comparison of the position of the vehicle body and the position of the lane line. The starting point position of the vehicle usually cannot accurately locate the edge position where the vehicle head extends, for example, the center point of the rear axle of the vehicle is usually taken as the driving position point of the vehicle, and therefore, the obtained starting point position indicates the position of the center point of the rear axle of the vehicle. The position of the vehicle head is usually determined by combining the length information of the vehicle body and the inclination angle.
In some embodiments, because the starting point position of the vehicle cannot accurately locate the edge position where the vehicle head extends out, the edge position of the vehicle head can be determined by using the inclination angle of the vehicle relative to the lane line, and the accuracy of line pressing judgment and first starting point boundary determination is further improved. Specifically, for example, before determining a line pressing judgment result according to the lane line position corresponding to the starting point position, the direction information and the vehicle body length information of the vehicle are also acquired. The orientation information may be obtained from sensors such as gyroscopes, accelerometers, etc. The vehicle body length information may be information preset by the vehicle. Then, the inclination angle of the vehicle with respect to the lane line is acquired based on the orientation information and the extending direction of the lane line. The inclination angle reflects the degree of displacement of the vehicle body length direction with respect to the lane center line direction. And then, acquiring the head offset distance of the vehicle relative to the starting point position in the vertical direction of the lane line according to the length information of the vehicle body and the inclination angle. The nose offset distance reflects the distance that the nose is laterally offset relative to the starting point position, which is likely to cause a line to be pressed into the lane line. And finally, determining the vehicle head edge position of the vehicle in the vertical direction of the lane line according to the starting point position and the vehicle head offset distance. The locomotive edge position can be understood as the world coordinate position of the locomotive.
On the basis of the edge position of the vehicle head, the line pressing judgment is carried out accordingly, and the accuracy of the line pressing judgment can be improved. The specific process of step S102 (determining a line pressing judgment result according to the lane line position corresponding to the starting point position) may be to acquire a lane line position closest to the starting point position; and then determining a line pressing judgment result according to the vehicle head edge position, the starting point position and the lane line position. The range from the edge position of the vehicle head to the starting point position can be understood as the area where the vehicle body is located, if the edge position of the vehicle head to the starting point position has an intersection with the lane line, the vehicle head can be determined as a line pressing, and otherwise, the vehicle head does not press the line. When the area of the vehicle body is determined, the width of the vehicle body can be combined. For example, the length of the vehicle body range is determined from the vehicle head edge position to the starting point position, and the preset vehicle body width is expanded to two sides of a straight line from the vehicle head edge position to the starting point position to form the vehicle body range width, and then the vehicle body range width is compared with a lane line to determine whether to press the line.
S103, determining a first starting point boundary according to the line pressing judgment result and the lane line position.
And if the line pressing judgment result indicates that the vehicle does not press the line, continuing to use the lane line as a first starting point boundary. If the line pressing judgment result indicates that the vehicle presses the lane line, firstly considering whether the pressed lane line is the type of the lane line allowed to be crossed. If the type of the lane line is allowed to cross, the lane line can be expanded outwards to the lane line which is forbidden to cross as a first starting point boundary; if the vehicle is not the type of lane line allowed to be crossed, the vehicle is limited to further exceed the lane line, and the current head edge position of the vehicle can be used as a first starting point boundary. Specifically, the type of the lane line may be acquired first; if the lane line type is a crossing-allowed type, taking an adjacent lane line which is positioned on the outer side of the lane line far away from the vehicle and is a crossing-forbidden type as a first starting point boundary; and if the lane line type is a crossing forbidding type, determining a first starting point boundary according to the head edge position of the vehicle in the vertical direction of the lane line. The crossing-permitted type is, for example, a lane line of a broken line as shown in fig. 1, and the crossing-prohibited type is, for example, a lane line of a solid line as shown in fig. 1. For the vehicle line pressing condition, the corresponding boundary adjusting mode is adopted for different lane line types, so that a more appropriate and accurate first starting point boundary is determined, and the reliability of the secondary planning path is further improved.
In the above embodiment, for the case that the lane line type is the no crossing type, the determining of the first starting point boundary may further specifically be that, if the lane line type is the no crossing type, the overtaking distance of the vehicle to the lane line is obtained. The overtaking distance is understood to be the distance of the vehicle head to the lane line in the direction perpendicular to the lane line, i.e. the line pressing distance. If the exceeding distance is smaller than or equal to a preset exceeding line distance threshold value, determining a first starting point boundary according to the vehicle head edge position; and if the overtaking distance is larger than a preset overtaking distance threshold value, taking the lane line position as a first starting point boundary. The threshold value for the distance beyond which there is a risk of collision with the road edge, for example 20cm, is to be understood here as a safety-guaranteed distance. In the embodiment, for the situation that the lane line type is the no crossing type, the line crossing distance threshold is introduced to adjust the boundary within the range of ensuring the safety, so that the safety and the reliability of the first starting point boundary are improved, and the safety and the reliability of the secondary planning path are further improved.
And S104, acquiring a secondary planned path of the vehicle in a starting point area according to the first starting point boundary.
The method can be understood as that the path of the vehicle in the starting point area is secondarily planned by taking the first starting point boundary as a constraint condition, so that a secondarily planned path is obtained. Or performing secondary planning on the path of the vehicle in the starting point area to obtain a secondary planned path after the first starting point boundary is taken as a reference boundary and possible adjustments are performed on the boundary constraints by combining other constraints. Specifically, the quadratic programming may be performed on a preset objective function according to the first starting point boundary, so as to obtain a quadratic programming path of the vehicle in the starting point area. The objective function is designed by improving the smoothness of the path and taking the approach to the central line of the traffic passage as the target.
After obtaining the quadratic planned path of the vehicle in the starting point area according to the first starting point boundary, the vehicle may provide driving navigation guidance for the user according to the quadratic planned path, for example, display the quadratic planned path of the starting point area to the user. After the quadratic planned path of the vehicle in the starting point area is acquired according to the first starting point boundary, the vehicle may automatically drive the starting point area according to the quadratic planned path of the starting point area.
According to the embodiment of the application, the line pressing judgment result is determined according to the lane line position corresponding to the starting position of the vehicle in the starting area; and then determining a first starting point boundary according to the line pressing judgment result and the lane line position, realizing that line pressing judgment is introduced in the boundary determination, and secondarily planning the driving path of the vehicle in the starting point area according to the constraint of the first starting point boundary to obtain a secondarily planned path, so that the boundary constraint of the path planning in the starting point area is adjusted through judging whether the vehicle presses the line, and the reliability of the secondarily planned path in the starting point area is improved.
In the embodiment shown in fig. 2, the first starting point boundary is determined mainly by considering the line pressing, but the application is not limited thereto, and the first starting point boundary may be adjusted by combining the motion trend of the vehicle to obtain the quadratic programming path with the second starting point boundary as the constraint. Fig. 3 is a schematic flow chart of another method for planning a route of a vehicle starting area according to an embodiment of the present application. The method shown in fig. 3 includes steps S201 to S207, which are specifically as follows:
s201, a starting point position of the vehicle and a starting point area corresponding to the starting point position are obtained, wherein the starting point area comprises a lane line.
S202, determining a line pressing judgment result according to the lane line position corresponding to the starting point position.
S203, determining a first starting point boundary according to the line pressing judgment result and the lane line position.
The implementation principle and technical effect of the steps S201 to S203 are the same as those of the steps S101 to S103 in the embodiment shown in fig. 2, and are not described again here.
And S204, acquiring the transverse motion information of the vehicle in the vertical direction of the lane line.
The lateral motion information may be read from an inertial navigation system of the vehicle, such as the lateral velocity of the vehicle. The lateral movement information reflects the tendency of the vehicle to move sideways.
S205, determining the motion trend prediction track of the vehicle according to the transverse motion information.
For example, the predicted trajectory of the vehicle's movement trend may be derived from the lateral velocity of the vehicle and the derivative of the lateral velocity. Especially in the vehicle starting and turning scene, the possibility that the vehicle crosses the boundary can be predicted by predicting the track according to the motion trend.
S206, determining a second starting point boundary according to the motion trend prediction track and the first starting point boundary.
In some embodiments, the second starting point boundary may be determined using the motion trend prediction trajectory to improve the accuracy of the second starting point boundary. For example, it is determined whether the motion trend prediction trajectory crosses the first starting point boundary. And if the motion trend prediction track exceeds the first starting point boundary, determining a second starting point boundary according to the motion trend prediction track, a preset line exceeding distance threshold and the lane line position corresponding to the starting point position. For example, the first starting point boundary is expanded to the state that the motion trend prediction track does not exceed, and the expanded boundary is adjusted by combining the exceeding distance threshold, so that a second starting point boundary is obtained. Wherein the excess line distance threshold may be used as a hard condition. And if the motion trend prediction track is determined not to exceed the first starting point boundary, directly taking the first starting point boundary as the second starting point boundary.
And S207, acquiring a secondary planned path of the vehicle in the starting point area according to the second starting point boundary.
According to the embodiment, the second starting point boundary determined by the motion trend prediction track is introduced on the basis of the first starting point boundary, so that the reliability of the quadratic programming path in the starting point sharp turning scene is particularly improved.
On the basis of the above embodiment, obstacle avoidance may also be introduced to further constrain the boundary, so as to obtain a third starting point boundary. Referring to fig. 4, another application scenario for path planning of a vehicle starting area is provided in the embodiment of the present application. The boundary before adjustment in fig. 4 may be a lane line, or may be a second starting point boundary determined in the above embodiment. For example, in an implementation manner of step S207 (obtaining the quadratic planned route of the vehicle in the starting point region according to the second starting point boundary), if an obstacle is detected within the second starting point boundary, the edge position information of the obstacle may be obtained. For example, as shown in fig. 4, when an obstacle is detected on a second starting point boundary determined on the right side of the vehicle 1, edge position information of the obstacle is acquired, and a range influenced by the obstacle can be determined by the edge position information. And carrying out retraction adjustment on the second starting point boundary according to the edge position information and preset safety distance information to obtain a third starting point boundary. For example, the second starting point boundary shown in fig. 4 is adjusted to the third starting point boundary. And finally, acquiring a secondary planned path of the vehicle in the starting point area according to the third starting point boundary. On the basis of the second starting point boundary, the embodiment introduces the constraint of obstacle avoidance on the boundary to obtain a third starting point boundary, and further improves the reliability of the quadratic programming path.
The embodiment of the application also provides a path planning device for the vehicle starting area. Fig. 5 is a schematic structural diagram of a path planning device for a vehicle starting point area according to an embodiment of the present application. The route planning device 50 of the vehicle start area shown in fig. 5 includes:
the starting point region determining module 51 is configured to obtain a starting point position of the vehicle and a starting point region corresponding to the starting point position, where the starting point region includes a lane line.
And a line pressing judgment module 52, configured to determine a line pressing judgment result according to the lane line position corresponding to the starting point position.
And a first starting point boundary determining module 53, configured to determine a first starting point boundary according to the line pressing determination result and the lane line position.
And the processing module 54 is configured to obtain a quadratic planned path of the vehicle in the starting point area according to the first starting point boundary.
In the embodiment, the line pressing judgment result is determined according to the lane line position corresponding to the vehicle starting position in the starting area; and then determining a first starting point boundary according to the line pressing judgment result and the lane line position, realizing that line pressing judgment is introduced in the boundary determination, and secondarily planning the driving path of the vehicle in the starting point area according to the constraint of the first starting point boundary to obtain a secondarily planned path, so that the boundary constraint of the path planning in the starting point area is adjusted through judging whether the vehicle presses the line, and the reliability of the secondarily planned path in the starting point area is improved.
In some embodiments, the first starting point boundary determining module 53 is specifically configured to, if it is determined that the line pressing determination result indicates that the vehicle presses a line to the lane line, obtain a type of the lane line; if the lane line type is a crossing-allowed type, taking an adjacent lane line which is positioned on the outer side of the lane line far away from the vehicle and is a crossing-forbidden type as a first starting point boundary; and if the lane line type is a crossing forbidding type, determining a first starting point boundary according to the head edge position of the vehicle in the vertical direction of the lane line.
In some embodiments, the first starting point boundary determining module 53 is further configured to obtain an exceeding distance of the vehicle to the lane line if the lane line type is a no crossing type; and if the exceeding distance is smaller than or equal to a preset exceeding line distance threshold value, determining a first starting point boundary according to the vehicle head edge position, and if the exceeding distance is larger than the preset exceeding line distance threshold value, taking the lane line position as the first starting point boundary.
In some embodiments, the line pressing judging module 52 is further configured to obtain orientation information and body length information of the vehicle before determining a line pressing judging result according to the lane line position corresponding to the starting point position; acquiring the inclination angle of the vehicle relative to the lane line according to the orientation information and the extending direction of the lane line; according to the length information of the vehicle body and the inclination angle, acquiring a vehicle head offset distance of the vehicle relative to the starting point position in the vertical direction of the lane line; and determining the head edge position of the vehicle in the vertical direction of the lane line according to the starting point position and the head offset distance.
In some embodiments, the line-pressing judging module 52 is specifically configured to obtain a lane line position closest to the starting point position; and determining a line pressing judgment result according to the vehicle head edge position, the starting point position and the lane line position.
In some embodiments, the processing module 54 is specifically configured to obtain lateral movement information of the vehicle in a direction perpendicular to the lane line; determining a motion trend prediction track of the vehicle according to the transverse motion information; determining a second starting point boundary according to the motion trend prediction track and the first starting point boundary; and acquiring a secondary planned path of the vehicle in the starting point area according to the second starting point boundary.
In some embodiments, the processing module 54 is specifically configured to determine whether the motion trend prediction trajectory crosses the first starting point boundary; if the motion trend prediction track exceeds the first starting point boundary, determining a second starting point boundary according to the motion trend prediction track, a preset line exceeding distance threshold and a lane line position corresponding to the starting point position; and if the motion trend prediction track is determined not to exceed the first starting point boundary, taking the first starting point boundary as the second starting point boundary.
In some embodiments, the processing module 54 is specifically configured to, if an obstacle is detected within the second starting point boundary, obtain edge position information of the obstacle; performing retraction adjustment on the second starting point boundary according to the edge position information and preset safety distance information to obtain a third starting point boundary; and acquiring a secondary planned path of the vehicle in the starting point area according to the third starting point boundary.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Referring to fig. 6, the electronic device is a block diagram for implementing a method for planning a route of a vehicle starting point area 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 devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 6, the electronic apparatus includes: one or more processors 601, memory 602, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. 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 for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 6, one processor 601 is taken as an example.
The memory 602 is a non-transitory computer readable storage medium as provided herein. Wherein 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 a vehicle origin area provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method for path planning for a vehicle origin area provided herein.
The memory 602, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the route planning method for a vehicle starting point region in the embodiment of the present application (for example, the starting point region determining module 51, the line pressing judging module 52, the first starting point boundary determining module 53, and the processing module 54 shown in fig. 5). The processor 601 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 602, that is, implements the path planning method for the vehicle starting point area in the above method embodiment.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the electronic device for route planning of the vehicle origin area, and the like. Further, the memory 602 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 602 optionally includes memory remotely located from the processor 601, and these remote memories may be connected over a network to the electronics of the path plan for the vehicle's origin area. 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 method of path planning for a vehicle origin area may further comprise: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.
The input device 603 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic equipment for path planning of the vehicle origin area, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or like input device. The output devices 604 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating 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 can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. 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 a pointing device (e.g., a mouse or a 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 can 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, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end 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 back-end, 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 clients and servers. A client and server are generally 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.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A method for planning a route of a vehicle starting area, comprising:
acquiring a starting point position of a vehicle and a starting point area corresponding to the starting point position, wherein the starting point area comprises a lane line;
determining a line pressing judgment result according to the lane line position corresponding to the starting position;
determining a first starting point boundary according to the line pressing judgment result and the lane line position;
and acquiring a quadratic planning path of the vehicle in a starting point area according to the first starting point boundary.
2. The method of claim 1, wherein determining a first starting point boundary according to the lane line judgment result and the lane line position comprises:
if the line pressing judgment result indicates that the vehicle presses the lane line, acquiring the type of the lane line;
if the lane line type is a crossing-allowed type, taking an adjacent lane line which is positioned on the outer side of the lane line far away from the vehicle and is a crossing-forbidden type as a first starting point boundary;
and if the lane line type is a crossing forbidding type, determining a first starting point boundary according to the head edge position of the vehicle in the vertical direction of the lane line.
3. The method of claim 2, wherein if the lane line type is a no crossing type, determining a first starting point boundary according to a head edge position of the vehicle in a direction perpendicular to the lane line, further comprising:
if the lane line type is a no crossing type, acquiring the overtaking distance of the vehicle to the lane line;
and if the exceeding distance is smaller than or equal to a preset exceeding line distance threshold value, determining a first starting point boundary according to the vehicle head edge position, and if the exceeding distance is larger than the preset exceeding line distance threshold value, taking the lane line position as the first starting point boundary.
4. The method according to any one of claims 1 to 3, wherein before determining a line pressing judgment result according to the lane line position corresponding to the starting point position, the method further comprises:
acquiring orientation information and body length information of the vehicle;
acquiring the inclination angle of the vehicle relative to the lane line according to the orientation information and the extending direction of the lane line;
according to the length information of the vehicle body and the inclination angle, acquiring a vehicle head offset distance of the vehicle relative to the starting point position in the vertical direction of the lane line;
and determining the head edge position of the vehicle in the vertical direction of the lane line according to the starting point position and the head offset distance.
5. The method according to claim 4, wherein the determining a line pressing judgment result according to the lane line position corresponding to the starting point position comprises:
acquiring a lane line position closest to the starting position;
and determining a line pressing judgment result according to the vehicle head edge position, the starting point position and the lane line position.
6. The method of claim 1, wherein the obtaining a quadratic planned path of the vehicle in a starting point area according to the first starting point boundary comprises:
acquiring transverse motion information of the vehicle in the vertical direction of a lane line;
determining a motion trend prediction track of the vehicle according to the transverse motion information;
determining a second starting point boundary according to the motion trend prediction track and the first starting point boundary;
and acquiring a secondary planned path of the vehicle in the starting point area according to the second starting point boundary.
7. The method of claim 6, wherein determining a second starting point boundary based on the predicted trajectory of motion trend and the first starting point boundary comprises:
judging whether the motion trend prediction track exceeds the first starting point boundary or not;
if the motion trend prediction track exceeds the first starting point boundary, determining a second starting point boundary according to the motion trend prediction track, a preset line exceeding distance threshold and a lane line position corresponding to the starting point position;
and if the motion trend prediction track is determined not to exceed the first starting point boundary, taking the first starting point boundary as the second starting point boundary.
8. The method according to claim 6 or 7, wherein the obtaining of the quadratic planned path of the vehicle in the starting point region according to the second starting point boundary comprises:
if an obstacle is detected within the second starting point boundary, acquiring edge position information of the obstacle;
performing retraction adjustment on the second starting point boundary according to the edge position information and preset safety distance information to obtain a third starting point boundary;
and acquiring a secondary planned path of the vehicle in the starting point area according to the third starting point boundary.
9. A route planning device for a vehicle starting point region, comprising:
the starting point area determining module is used for acquiring a starting point position of a vehicle and a starting point area corresponding to the starting point position, wherein the starting point area comprises a lane line;
the line pressing judgment module is used for determining a line pressing judgment result according to the lane line position corresponding to the starting point position;
the first starting point boundary determining module is used for determining a first starting point boundary according to the line pressing judgment result and the lane line position;
and the processing module is used for acquiring a secondary planned path of the vehicle in a starting point area according to the first starting point boundary.
10. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of path planning for a vehicle origin area as claimed in any one of claims 1 to 8.
11. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of path planning for a vehicle origin area of any of claims 1-8.
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