CN112577504A - Vehicle driving path secondary planning method, device, equipment and readable storage medium - Google Patents
Vehicle driving path secondary planning method, device, equipment and readable storage medium Download PDFInfo
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- CN112577504A CN112577504A CN201910945953.8A CN201910945953A CN112577504A CN 112577504 A CN112577504 A CN 112577504A CN 201910945953 A CN201910945953 A CN 201910945953A CN 112577504 A CN112577504 A CN 112577504A
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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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Abstract
The application discloses a vehicle driving path secondary planning method, a device, equipment and a readable storage medium, relates to the field of computers, and particularly relates to an automatic driving technology. The specific implementation scheme is as follows: the method comprises the steps of obtaining a driving position of a vehicle and a preset initial path; determining the passing channel information of the front path according to the driving position and the initial path; determining vehicle head residual space constraints of the vehicle relative to the boundaries of two sides of the traffic channel according to preset vehicle head corner point information, a front path and traffic channel information; and obtaining a secondary planned path of the vehicle according to the vehicle head residual space constraint, thereby providing constraint for secondary planning of a vehicle running path by using the vehicle head residual space, enabling the secondary planned path to be matched with the shape of the vehicle body, improving the reliability of the secondary planned path, and further reducing the possibility of line pressing, rubbing and collision.
Description
Technical Field
The application relates to the field of computers, in particular to a vehicle driving path secondary planning method, device, equipment and readable storage medium.
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 a driving path is planned for an automatic driving vehicle, a central point of a rear axle of the automatic driving vehicle is generally used as a position reference point of the automatic driving vehicle, and then the driving path is planned according to the position reference point; and then the running path of the automatic driving vehicle is obtained.
However, the driving path planning method in the prior art easily causes the problems of line pressing, scraping and the like at the turning of the vehicle, and is not beneficial to the safe driving of the automatic driving vehicle.
Disclosure of Invention
The application aims to provide a vehicle driving path secondary planning method, a vehicle driving path secondary planning device and a readable storage medium.
According to a first aspect of the application, a vehicle driving path secondary planning method is provided, which comprises the following steps:
acquiring a running position of a vehicle and a preset initial path, wherein the initial path is a running position set which is planned in advance and is from a preset starting point to a preset terminal point of the vehicle;
determining traffic channel information of a front path according to the driving position and the initial path, wherein the front path is a partial path behind the driving position in the initial path;
determining vehicle head residual space constraints of the vehicle relative to boundaries at two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information;
and obtaining a quadratic planning path of the vehicle according to the vehicle head remaining space constraint.
According to the embodiment of the application, the vehicle head residual space is utilized to provide constraint for the secondary planning of the vehicle running path, the path planning result generated by the secondary planning is adapted to the shape of the vehicle body, the reliability of the secondary planning path is improved, and the possibility of line pressing, scratch and collision is reduced.
In some embodiments, the nose corner point information includes: left relative position information of a vehicle head left front corner point relative to a vehicle reference point, and right relative position information of a vehicle head right front corner point relative to the vehicle reference point, wherein the vehicle reference point is a point in the vehicle for indicating the driving position.
According to the embodiment of the application, the relative position information of the left front corner point and the right front corner point of the vehicle head is respectively used as the information of the corner points of the vehicle head, so that the adaptability of secondary planning and the length and width of the vehicle body is improved.
In some embodiments, the determining, according to preset vehicle corner point information, the front path, and the traffic channel information, vehicle head remaining space constraints of the vehicle with respect to boundaries on two sides of the traffic channel includes:
determining the position of a front left corner of the vehicle head corresponding to the front path according to the left relative position information and the front path;
determining a first remaining distance constraint of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel;
determining the position of a front right corner point of the vehicle head corresponding to the front path according to the right relative position information and the front path;
and determining second remaining distance constraint of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information.
According to the embodiment of the application, the first remaining distance constraint corresponding to the position of the front left corner of the locomotive and the second remaining distance constraint corresponding to the position of the front right corner of the locomotive are used as the constraint of the remaining space of the locomotive, so that the boundary constraint based on the locomotive is provided, the reliability of a secondary planning path is further improved, and the possibility of line pressing, scratch and collision is reduced.
In some embodiments, the determining a first remaining distance constraint of the vehicle head with respect to the left side boundary of the traffic lane according to the vehicle head front left corner position and the traffic lane information includes:
determining a first remaining distance of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel;
and determining a first remaining distance constraint of the vehicle head relative to the left boundary of the passing channel according to the first remaining distance and a preset safe distance threshold.
According to the embodiment of the application, the safe distance threshold is introduced into the specific determination method of the first remaining distance constraint, and the reliability of the constraint is improved.
In some embodiments, the determining, according to the position of the front right corner point of the vehicle head and the traffic channel information, a second remaining distance constraint of the vehicle head relative to the right boundary of the traffic channel includes:
determining a second remaining distance of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information;
and determining second remaining distance constraint of the vehicle head relative to the right side boundary of the passing channel according to the second remaining distance and a preset safe distance threshold.
According to the embodiment of the application, the safe distance threshold is introduced into the specific determination method of the second remaining distance constraint, and the reliability of the constraint is improved.
In some embodiments, the determining traffic lane information of the front route according to the driving position and the initial route includes:
determining a front path in the initial path according to the driving position;
acquiring a passing channel corresponding to the front path, wherein the passing channel indicates a passable space of the front path;
and acquiring the passing channel information of the passing channel, wherein the passing channel information comprises the width and the length of the passing channel.
The passable space corresponding to the front path is used as the passage channel corresponding to the front path, so that the accuracy of passage channel information is improved, and the accuracy of vehicle head residual space constraint is improved.
In some embodiments, before determining the vehicle head remaining space constraint of the vehicle relative to the two side boundaries of the traffic lane according to the preset vehicle head corner point information, the front path and the traffic lane information, the method further includes:
taking the central point of the rear axle of the vehicle as a vehicle reference point;
acquiring a reference position of the vehicle reference point in a vehicle coordinate system;
acquiring preset vehicle length information and preset vehicle width information;
and determining left relative position information of a front left corner point of the vehicle head relative to the vehicle reference point and right relative position information of a front right corner point of the vehicle head relative to the vehicle reference point according to the vehicle length information, the vehicle width information and the reference position.
According to the embodiment of the application, the information of the vehicle head corner points is calculated according to the information of the length of the vehicle and the information of the width of the vehicle, so that the accuracy of the information of the vehicle head corner points is improved.
In some embodiments, before obtaining the quadratic planning path of the vehicle according to the vehicle head remaining space constraint, the method further includes:
determining that the forward path is a turn-type path.
According to the embodiment of the application, when the vehicle is judged to turn, the front path is secondarily planned, and the possibility of line pressing, rubbing and collision during turning of the vehicle is reduced.
In some embodiments, after obtaining the quadratic planned path of the vehicle according to the vehicle head remaining space constraint, the method further includes:
controlling the vehicle to automatically drive according to the secondary planned path;
or displaying navigation information to a user according to the quadratic programming path.
According to the embodiment of the application, the automatic driving of the vehicle is controlled by planning the path secondarily, so that the safety of the automatic driving is improved; or the navigation information is displayed by a quadratic programming path, so that the safety and the reliability of navigation are improved.
According to a second aspect of the present application, there is provided a vehicle travel path secondary planning device, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a running position of a vehicle and a preset initial path, and the initial path is a running position set of the vehicle planned in advance from a preset starting point to a preset terminal point;
the determining module is used for determining the passing channel information of the front path according to the driving position and the initial path;
the constraint determining module is used for determining vehicle head residual space constraints of the vehicle relative to the boundaries of the two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information;
and the processing module is used for obtaining a quadratic planning path of the vehicle according to the vehicle head residual space constraint.
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 the method for quadratic planning of a vehicle driving path according to any one of the first aspect and its various possible embodiments of the present 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 quadratic vehicle driving path planning as defined in any one of the first and various possible embodiments of the first aspect of the present application.
One embodiment in the above application has the following advantages or benefits: the method comprises the steps of obtaining a driving position of a vehicle and a preset initial path, wherein the initial path is a driving position set of the vehicle planned in advance from a preset starting point to a preset terminal point; determining the passing channel information of the front path according to the driving position and the initial path; determining vehicle head residual space constraints of the vehicle relative to boundaries at two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information; and obtaining a secondary planned path of the vehicle according to the vehicle head residual space constraint, thereby providing constraint for secondary planning of a vehicle running path by using the vehicle head residual space, enabling a path planning result generated by the secondary planning to be adapted to the shape of the vehicle body, improving the reliability of the secondary planned path, and further reducing the possibility of line pressing, scratch and collision.
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 an application scenario provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle driving path secondary planning method provided by the embodiment of the application;
fig. 3 is a schematic structural diagram of a vehicle driving path secondary planning device according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device of a method for quadratic planning of a vehicle driving path according to an embodiment of the 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.
Referring to fig. 1, an application scenario provided in the 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, a vehicle 1 travels according to an initial path that is globally planned, automatically determines a vehicle head remaining space constraint in a front path, and performs secondary planning on a vehicle front path according to the method provided in the embodiment of the present application in real time or when a turn is detected, so as to obtain a secondary planned path of the vehicle. Then, for example, automatic driving is performed on the secondary planned route of the vehicle, or a navigation prompt is issued to the user according to the secondary planned route of the vehicle.
Referring to fig. 2, which is a schematic flow chart of a method for secondarily planning a vehicle driving path according to an embodiment of the present disclosure, an execution main body of the method shown in fig. 2 may be a device of software and/or hardware, for example, a device for secondarily planning a vehicle driving path. 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, obtaining a driving position of a vehicle and a preset initial path, wherein the initial path is a driving position set which is planned in advance and is from a preset starting point to a preset terminal point of the vehicle.
The initial path may be understood as a global planned path. For example, the user inputs the position information of the starting point and the end point, and the vehicle driving path secondary planning device automatically carries out global path planning according to the position information of the starting point and the end point to obtain an initial path. The initial path may be a rough driving path, and during actual vehicle driving, the local path is planned according to a high-precision map.
S102, determining the passing channel information of a front path according to the driving position and the initial path, wherein the front path is a local path behind the driving position in the initial path.
For example, a front route located ahead of the vehicle may be acquired in the initial route according to the current traveling position of the vehicle, and then traffic lane information of the front route may be acquired.
A passable passage is understood here to be a passable space, a passable area. The traffic lane information may be understood as position information of a passable boundary determined for a road on which a forward route is located. For example, when driving on an obstacle-free lane, the traffic lane information can be easily interpreted as lane boundary information. For example, when the vehicle travels on a lane with an obstacle, the traffic lane information may be understood as an avoidance lane in which an avoidance space is calculated, and the boundary of the avoidance lane is restricted by at least the lane and the obstacle.
In some embodiments, the vehicle travel path quadratic programming device may determine a forward path, i.e. a local path in front of the vehicle, or a local path understood as a preset distance of the initial path in the direction of the end point at the travel position, in the initial path according to the travel position. For example, the initial route may be an initial route in which the distance from the travel position corresponding to the vehicle to the destination is within 200 meters. 200 m is a predetermined distance, which is not limited herein. For another example, the initial route in which the traveling position corresponding to the vehicle satisfies the preset route type toward the end point is used as the initial route. The preset path type may be at least one of a turning type, an obstacle avoidance type, and the like, for example.
After the vehicle driving path secondary planning device determines a front path, a passing channel corresponding to the front path can be obtained, wherein the passing channel indicates a passable space of the front path. For example, the lane where the front route is located is the traffic channel corresponding to the front route. Then, the vehicle driving path secondary planning device acquires the passing channel information of the passing channel, wherein the passing channel information comprises the width and the length of the passing channel. For example, the traffic lane information is the width and length of the lane where the front route is located. The passable space corresponding to the front path is used as the passage channel corresponding to the front path, so that the accuracy of the passage channel information is improved, and the accuracy of the restraint of the vehicle head residual space is further improved.
S103, determining vehicle head residual space constraints of the vehicle relative to the boundaries at the two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information.
In order to improve the adaptability of quadratic programming and the length and width of the vehicle body, the relative position information of the front left corner point a and the front right corner point B of the vehicle head as shown in fig. 1 can be used as the information of the front corner points. For example, the nose corner point information may include: left relative position information of a vehicle head left front corner point relative to a vehicle reference point, and right relative position information of a vehicle head right front corner point relative to the vehicle reference point, wherein the vehicle reference point is a point in the vehicle for indicating the driving position. The left relative position information and the right relative position information may be understood as deviation information with respect to the vehicle reference point. The left relative position information and the right relative position information may be understood as relative position information in a vehicle coordinate system. According to the left relative position information and the right relative position information in the vehicle coordinate system and the coordinate position of the vehicle reference point in the world coordinate system, the left relative position information and the right relative position information in the world coordinate system and the positions of the vehicle head left front corner point A and the vehicle head right front corner point B in the world coordinate system can be determined.
In some embodiments, the manner of obtaining the positions of the front left corner point a and the front right corner point B in the vehicle coordinate system may be to use a rear axle center point of the vehicle as a vehicle reference point before step S103 (determining a vehicle head remaining space constraint of the vehicle relative to the two side boundaries of the traffic lane according to preset vehicle head corner point information, the front path, and the traffic lane information). Acquiring a reference position of the vehicle reference point in a vehicle coordinate system; acquiring preset vehicle length information and preset vehicle width information; and determining left relative position information of a front left corner point of the vehicle head relative to the vehicle reference point and right relative position information of a front right corner point of the vehicle head relative to the vehicle reference point according to the vehicle length information, the vehicle width information and the reference position. Therefore, the accuracy of the vehicle head corner point information is improved by calculating the vehicle head corner point information according to the vehicle length information and the vehicle width information.
On the basis that the information of the vehicle head corner points includes left relative position information of the vehicle head left front corner point relative to the vehicle reference point and right relative position information of the vehicle head right front corner point relative to the vehicle reference point, step S103 (determining vehicle head remaining space constraints of the vehicle relative to boundaries on two sides of the traffic channel according to preset information of the vehicle head corner points, the front path and the traffic channel information) may specifically predict positions of the vehicle head left front corner point and the vehicle head right front corner point in the traffic channel where the front path is located. The method comprises the following steps: determining the position of a front left corner of the vehicle head corresponding to the front path according to the left relative position information and the front path; and determining a first remaining distance constraint of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel. The first remaining distance constraint may be understood as a constraint that the remaining distance of the front left corner of the vehicle head and the left boundary should be greater than or equal to the minimum first remaining distance. Determining the position of a front right corner point of the vehicle head corresponding to the front path according to the right relative position information and the front path; and determining second remaining distance constraint of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information. The second remaining distance constraint may be understood as a constraint that the remaining distance between the right front corner point of the vehicle head and the right side boundary should be greater than or equal to the minimum second remaining distance. In the embodiment, the first remaining distance constraint corresponding to the position of the front left corner of the locomotive and the second remaining distance constraint corresponding to the position of the front right corner of the locomotive are used as the constraint of the remaining space of the locomotive, so that the constraint of the boundary based on the locomotive is provided, the reliability of a secondary planning path is further improved, and the possibility of line pressing, rubbing and collision is reduced.
Optionally, a safe distance threshold may be introduced into the specific determination method of the first remaining distance constraint, so as to improve the reliability of the constraint. For example, according to the position of the front left corner of the vehicle head and the information of the traffic channel, determining a first remaining distance of the vehicle head relative to the left boundary of the traffic channel; and determining a first remaining distance constraint of the vehicle head relative to the left boundary of the passing channel according to the first remaining distance and a preset safe distance threshold. The first remaining distance constraint may be understood as the distance of the front left corner point of the vehicle head relative to the left side boundary of the traffic lane being greater than or equal to the sum of the first remaining distance and a preset safe distance threshold.
Optionally, a safe distance threshold may be introduced into the specific determination method of the second remaining distance constraint, so as to improve the reliability of the constraint. For example, according to the position of the right front corner point of the vehicle head and the traffic channel information, determining a second remaining distance of the vehicle head relative to the right boundary of the traffic channel; and determining second remaining distance constraint of the vehicle head relative to the right side boundary of the passing channel according to the second remaining distance and a preset safe distance threshold. The second remaining distance constraint may be understood as that the distance of the right front corner point of the vehicle head relative to the right side boundary of the traffic lane is greater than or equal to the sum of the second remaining distance and a preset safety distance threshold.
And S104, obtaining a quadratic planning path of the vehicle according to the vehicle head residual space constraint.
Specifically, the secondary planning may be performed on a preset objective function according to the vehicle head remaining space constraint to obtain a secondary planned path of the vehicle. 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.
In some embodiments, it may be determined that the front path is a turning-type path before step S104 (obtaining a quadratic planned path of the vehicle according to the vehicle head remaining space constraint). The problem that the vehicle head is easy to collide and scratch during turning can be solved, so that a front path can be secondarily planned when the vehicle is judged to turn, and the possibility of line pressing, scratch and collision during turning of the vehicle is reduced.
In some embodiments, after step S104 (obtaining the quadratic planned path of the vehicle according to the vehicle head remaining space constraint), the method further includes: controlling the vehicle to automatically drive according to the secondary planned path; or displaying navigation information to a user according to the quadratic programming path. In the embodiment, the route is planned secondarily to control the automatic driving of the vehicle, so that the safety of the automatic driving is improved; or the navigation information is displayed by a quadratic programming path, so that the safety and the reliability of navigation are improved.
According to the method for secondarily planning the vehicle running path, the running position of the vehicle and a preset initial path are obtained, wherein the initial path is a running position set of the vehicle planned in advance from a preset starting point to a preset terminal point; determining the passing channel information of the front path according to the driving position and the initial path; determining vehicle head residual space constraints of the vehicle relative to boundaries at two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information; and obtaining a secondary planned path of the vehicle according to the vehicle head residual space constraint, thereby providing constraint for secondary planning of a vehicle running path by using the vehicle head residual space, enabling a path planning result generated by the secondary planning to be adapted to the shape of the vehicle body, improving the reliability of the secondary planned path, and further reducing the possibility of line pressing, scratch and collision.
Fig. 3 is a schematic structural diagram of a vehicle travel path secondary planning device according to an embodiment of the present application. The vehicle travel path secondary planning device 30 shown in fig. 3 includes:
the obtaining module 31 is configured to obtain a driving position of a vehicle and a preset initial path, where the initial path is a set of driving positions of the vehicle from a preset starting point to a preset ending point, which are planned in advance.
And the determining module 32 is used for determining the traffic channel information of the front route according to the running position and the initial route.
And the constraint determining module 33 is configured to determine vehicle head remaining space constraints of the vehicle relative to boundaries on two sides of the traffic channel according to preset vehicle head corner point information, the front route and the traffic channel information.
And the processing module 34 is configured to obtain a quadratic planning path of the vehicle according to the vehicle head remaining space constraint.
The vehicle driving path secondary planning device provided by the embodiment acquires a driving position of a vehicle and a preset initial path, wherein the initial path is a driving position set of the vehicle planned in advance from a preset starting point to a preset terminal point; determining the passing channel information of the front path according to the driving position and the initial path; determining vehicle head residual space constraints of the vehicle relative to boundaries at two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information; and obtaining a secondary planned path of the vehicle according to the vehicle head residual space constraint, thereby providing constraint for secondary planning of a vehicle running path by using the vehicle head residual space, enabling a path planning result generated by the secondary planning to be adapted to the shape of the vehicle body, improving the reliability of the secondary planned path, and further reducing the possibility of line pressing, scratch and collision.
In some embodiments, the nose corner point information includes: left relative position information of a vehicle head left front corner point relative to a vehicle reference point, and right relative position information of a vehicle head right front corner point relative to the vehicle reference point, wherein the vehicle reference point is a point in the vehicle for indicating the driving position. According to the embodiment of the application, the relative position information of the left front corner point and the right front corner point of the vehicle head is respectively used as the information of the corner points of the vehicle head, so that the adaptability of secondary planning and the length and width of the vehicle body is improved.
In some embodiments, the constraint determining module 33 is configured to determine a vehicle head left corner position corresponding to the front path according to the left relative position information and the front path; determining a first remaining distance constraint of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel; determining the position of a front right corner point of the vehicle head corresponding to the front path according to the right relative position information and the front path; and determining second remaining distance constraint of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information. According to the embodiment of the application, the first remaining distance constraint corresponding to the position of the front left corner of the locomotive and the second remaining distance constraint corresponding to the position of the front right corner of the locomotive are used as the constraint of the remaining space of the locomotive, so that the boundary constraint based on the locomotive is provided, the reliability of a secondary planning path is further improved, and the possibility of line pressing, scratch and collision is reduced.
In some embodiments, the constraint determining module 33 is specifically configured to determine, according to the position of the front left corner of the vehicle head and the traffic lane information, a first remaining distance of the vehicle head relative to the left side boundary of the traffic lane; and determining a first remaining distance constraint of the vehicle head relative to the left boundary of the passing channel according to the first remaining distance and a preset safe distance threshold. According to the embodiment of the application, the safe distance threshold is introduced into the specific determination method of the first remaining distance constraint, and the reliability of the constraint is improved.
In some embodiments, the constraint determining module 33 is specifically configured to determine, according to the position of the front right corner point of the vehicle head and the traffic channel information, a second remaining distance of the vehicle head relative to the right boundary of the traffic channel; and determining second remaining distance constraint of the vehicle head relative to the right side boundary of the passing channel according to the second remaining distance and a preset safe distance threshold. According to the embodiment of the application, the safe distance threshold is introduced into the specific determination method of the second remaining distance constraint, and the reliability of the constraint is improved.
In some embodiments, the determining module 32 is configured to determine a forward path in the initial path according to the driving position; acquiring a passing channel corresponding to the front path, wherein the passing channel indicates a passable space of the front path; and acquiring the passing channel information of the passing channel, wherein the passing channel information comprises the width and the length of the passing channel. The passable space corresponding to the front path is used as the passage channel corresponding to the front path, so that the accuracy of passage channel information is improved, and the accuracy of vehicle head residual space constraint is improved.
In some embodiments, the constraint determining module 33 is further configured to use a rear axle center point of the vehicle as a vehicle reference point before determining the vehicle head remaining space constraint of the vehicle relative to the boundaries on the two sides of the traffic channel according to the preset vehicle head corner point information, the front path and the traffic channel information; acquiring a reference position of the vehicle reference point in a vehicle coordinate system; acquiring preset vehicle length information and preset vehicle width information; and determining left relative position information of a front left corner point of the vehicle head relative to the vehicle reference point and right relative position information of a front right corner point of the vehicle head relative to the vehicle reference point according to the vehicle length information, the vehicle width information and the reference position. According to the embodiment of the application, the vehicle head angular point information is calculated according to the vehicle length information and the vehicle width information, so that the accuracy of the vehicle head angular point information is improved, and the accuracy of the vehicle head residual space constraint is further improved.
In some embodiments, the processing module 34 is further configured to determine that the front path is a turning-type path before obtaining the quadratic planned path of the vehicle according to the vehicle head remaining space constraint. According to the embodiment of the application, when the vehicle is judged to turn, the front path is secondarily planned, and the possibility of line pressing, rubbing and collision during turning of the vehicle is reduced.
In some embodiments, the processing module 34 is further configured to control the vehicle to automatically drive according to the quadratic planning path after the quadratic planning path of the vehicle is obtained according to the vehicle head remaining space constraint; or displaying navigation information to a user according to the quadratic programming path. In the embodiment, the route is planned secondarily to control the automatic driving of the vehicle, so that the safety of the automatic driving is improved; or the navigation information is displayed by a quadratic programming path, so that the safety and the reliability of navigation are improved.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Referring to fig. 4, the block diagram of the electronic device of the method for secondary planning of the vehicle driving path according to the embodiment of the present application is shown. 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. 4, the electronic apparatus includes: one or more processors 401, memory 402, and interfaces for connecting the various 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 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. 4, one processor 401 is taken as an example.
The memory 402, as 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 (e.g., the acquisition module 31, the determination module 32, the constraint determination module 33, and the processing module 34 shown in fig. 3) corresponding to the method for quadratic planning of a vehicle travel path in the embodiment of the present application. The processor 401 executes various functional applications of the server and data processing by running the non-transitory software programs, instructions and modules stored in the memory 402, so as to implement the method for secondarily planning the vehicle driving path in the above-described method embodiment.
The memory 402 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 the secondary planning of the vehicle travel path, and the like. Further, the memory 402 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 402 may optionally include memory located remotely from the processor 401, and these remote memories may be connected to the electronics of the vehicle path sub-plan 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 method for secondary planning of the vehicle driving path may further include: an input device 403 and an output device 404. The processor 401, the memory 402, the input device 403 and the output device 404 may be connected by a bus or other means, and fig. 4 illustrates an example of a connection by a bus.
The input device 403 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device for secondary planning of a vehicle travel path, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input devices. The output devices 404 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic 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 (12)
1. A vehicle driving path secondary planning method is characterized by comprising the following steps:
acquiring a running position of a vehicle and a preset initial path, wherein the initial path is a running position set which is planned in advance and is from a preset starting point to a preset terminal point of the vehicle;
determining traffic channel information of a front path according to the driving position and the initial path, wherein the front path is a partial path behind the driving position in the initial path;
determining vehicle head residual space constraints of the vehicle relative to boundaries at two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information;
and obtaining a quadratic planning path of the vehicle according to the vehicle head remaining space constraint.
2. The method of claim 1, wherein the nose corner point information comprises: left relative position information of a vehicle head left front corner point relative to a vehicle reference point, and right relative position information of a vehicle head right front corner point relative to the vehicle reference point, wherein the vehicle reference point is a point in the vehicle for indicating the driving position.
3. The method as claimed in claim 2, wherein the determining the vehicle head remaining space constraint of the vehicle relative to the two side boundaries of the traffic channel according to the preset vehicle head corner point information, the front path and the traffic channel information comprises:
determining the position of a front left corner of the vehicle head corresponding to the front path according to the left relative position information and the front path;
determining a first remaining distance constraint of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel;
determining the position of a front right corner point of the vehicle head corresponding to the front path according to the right relative position information and the front path;
and determining second remaining distance constraint of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information.
4. The method of claim 3, wherein determining a first remaining distance constraint of a vehicle head relative to a left side boundary of the traffic lane from the vehicle head front left corner location and the traffic lane information comprises:
determining a first remaining distance of the vehicle head relative to the left boundary of the traffic channel according to the position of the front left corner of the vehicle head and the information of the traffic channel;
and determining a first remaining distance constraint of the vehicle head relative to the left boundary of the passing channel according to the first remaining distance and a preset safe distance threshold.
5. The method of claim 3, wherein determining a second remaining distance constraint of the vehicle head relative to a right side boundary of the traffic lane based on the vehicle head right front corner location and the traffic lane information comprises:
determining a second remaining distance of the vehicle head relative to the right boundary of the traffic channel according to the position of the right front corner point of the vehicle head and the traffic channel information;
and determining second remaining distance constraint of the vehicle head relative to the right side boundary of the passing channel according to the second remaining distance and a preset safe distance threshold.
6. The method according to any one of claims 1 to 5, wherein determining the traffic lane information of the front route based on the travel position and the initial route comprises:
determining a front path in the initial path according to the driving position;
acquiring a passing channel corresponding to the front path, wherein the passing channel indicates a passable space of the front path;
and acquiring the passing channel information of the passing channel, wherein the passing channel information comprises the width and the length of the passing channel.
7. The method according to any one of claims 2 to 5, before determining the vehicle head remaining space constraint of the vehicle relative to the two side boundaries of the traffic lane according to the preset vehicle head corner point information, the front path and the traffic lane information, further comprising:
taking the central point of the rear axle of the vehicle as a vehicle reference point;
acquiring a reference position of the vehicle reference point in a vehicle coordinate system;
acquiring preset vehicle length information and preset vehicle width information;
and determining left relative position information of a front left corner point of the vehicle head relative to the vehicle reference point and right relative position information of a front right corner point of the vehicle head relative to the vehicle reference point according to the vehicle length information, the vehicle width information and the reference position.
8. The method according to any one of claims 1 to 5, wherein before obtaining the quadratic programming path of the vehicle according to the vehicle head remaining space constraint, the method further comprises:
determining that the forward path is a turn-type path.
9. The method according to any one of claims 1 to 5, wherein after the obtaining of the quadratic planned path of the vehicle according to the vehicle head remaining space constraint, the method further comprises:
controlling the vehicle to automatically drive according to the secondary planned path;
or displaying navigation information to a user according to the quadratic programming path.
10. A vehicle driving path secondary planning device is characterized by comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a running position of a vehicle and a preset initial path, and the initial path is a running position set of the vehicle planned in advance from a preset starting point to a preset terminal point;
the determining module is used for determining the passing channel information of the front path according to the driving position and the initial path;
the constraint determining module is used for determining vehicle head residual space constraints of the vehicle relative to the boundaries of the two sides of the traffic channel according to preset vehicle head corner point information, the front path and the traffic channel information;
and the processing module is used for obtaining a quadratic planning path of the vehicle according to the vehicle head residual space constraint.
11. 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 the vehicle path bi-planning method of any of claims 1-9.
12. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the vehicle travel path quadratic programming method of any one of claims 1-9.
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