CN113340311A

CN113340311A - Path planning method and device for unmanned equipment

Info

Publication number: CN113340311A
Application number: CN202110888658.0A
Authority: CN
Inventors: 吕可馨; 孙禹晨; 樊明宇; 任冬淳; 夏华夏; 连世奇
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2021-09-03
Anticipated expiration: 2041-08-04
Also published as: CN113340311B; WO2023010877A1

Abstract

The specification discloses a path planning method and a device of unmanned equipment, which can be applied to the unmanned equipment in the field of unmanned driving, such as an unmanned vehicle, a calibration planning position opposite to a reference path speed direction is determined on a planning path according to the direction of the planning path, a calibration reference position is determined according to a point closest to the calibration planning position in the reference path, and then the planning path after the calibration planning position is re-planned according to the path after the calibration reference position in the reference path by taking the calibration planning position as a starting point. When the unmanned equipment drives along the planned path determined according to the method, the situations of sudden stop, backward movement and the like of the unmanned equipment can be avoided, and the efficiency and the safety of path planning of the unmanned equipment are improved.

Description

Path planning method and device for unmanned equipment

Technical Field

The specification relates to the technical field of unmanned driving, in particular to a path planning method and device for unmanned equipment.

Background

Currently, with the development of unmanned technology, the use of unmanned equipment is more and more extensive. In order to ensure the driving safety of the unmanned device, path planning is generally required to be carried out on the driving route of the unmanned device.

In the prior art, a commonly used path planning method for unmanned equipment is implemented based on a reference path of the unmanned equipment. Specifically, the unmanned device can acquire a reference path obtained by fitting a reference position corresponding to each moment, sense the environment around the unmanned device, determine the position of an obstacle around the unmanned device, determine a planned path of the unmanned device according to the reference path and the determined position of the obstacle, and control the unmanned device to travel along the planned path. Each reference position can represent a position and a speed corresponding to each moment in the reference path.

However, in the prior art, when the curvature of the reference position in the reference path is large and an obstacle exists around the reference position, a situation that the planned position corresponding to the reference position exceeds the reference position at the next time (i.e., the planned path makes an approach) in the determined planned path may occur, so that the planned position at the next time determined according to the reference position at the next time is behind the unmanned equipment, and the unmanned equipment needs to run in a reverse direction to reach the planned position at the next time, so that the unmanned equipment has a great potential safety hazard.

Therefore, how to adjust the unmanned equipment based on the planned path of the unmanned equipment and determine the driving path of the unmanned equipment is an urgent problem to be solved.

Disclosure of Invention

The present specification provides a method and an apparatus for planning a path of an unmanned aerial vehicle, which partially solve the above problems in the prior art.

The technical scheme adopted by the specification is as follows:

the present specification provides a path planning method for an unmanned aerial vehicle, including:

acquiring attribute information of each reference position in a reference path and attribute information of each planned position in a planned path of the unmanned equipment, wherein the attribute information at least comprises the following components: time, speed direction and speed magnitude of the unmanned device;

according to the direction of the planned path, sequentially judging whether the speed direction of each planned position is opposite to the speed direction of a reference position at the same moment, if so, taking the planned position with the opposite speed direction as a calibration planned position;

determining a calibration reference position in the reference path according to a point, closest to the calibration planned position, in the reference path, and planning a calibration path with the calibration planned position as a starting point according to the reference path after the calibration reference position in the reference path;

and according to the planned path in the planned path before the calibration planned position and the calibration path, re-determining the planned path, and controlling the unmanned equipment to run along the planned path.

Optionally, planning a calibration path with the calibration planned position as a starting point according to the reference path after calibrating the reference position in the reference path, specifically including:

determining a first calibration path by taking the minimum turning radius as a radius and the calibration planning position as a starting point, wherein the distance between the calibration planning position and the calibration planning position is a preset minimum turning radius of the unmanned equipment as a circle center, and the terminal point of the first calibration path is positioned on a connecting line of the calibration planning position and the calibration reference position;

and planning a path according to the reference path with the end point of the first calibration path as a starting point after the reference position is calibrated in the reference path, and determining a second calibration path, wherein the first calibration path and the second calibration path form the calibration path.

Optionally, the attribute information of the planned position further includes a distance between the planned position and a corresponding reference position, and a curvature of the reference position;

according to the direction of the planned path, sequentially judging whether the speed direction of each planned position is opposite to the speed direction of a reference position with the same time, specifically comprising the following steps:

for each planning position, determining the curvature of a reference position which is the same as the planning position at the moment as the reference curvature of the planning position, and determining the distance between the planning position and the reference position which is the same as the moment as the reference distance of the planning position;

according to the direction of the planned path, sequentially aiming at each planned position, judging whether the product of the reference curvature of the planned position and the reference distance of the planned position is more than 1;

if so, the speed direction of the planning position is opposite to the speed direction of the reference position with the same time;

and if not, continuously judging whether the speed direction of the subsequent planned position of the planned path is opposite to the speed direction of the reference position at the same moment until all the planned positions are judged.

Optionally, the method further includes:

when the speed direction of the calibration reference position is opposite to the speed direction of the calibration planning position, determining a first calibration path according to the calibration planning position, determining a second calibration path according to the end point of the first calibration path, and re-determining a planning path according to the first calibration path, the second calibration path and the planning path in the planning path before the calibration planning position;

and when the speed direction of the calibration reference position is the same as that of the calibration planning position, determining a calibration path according to the calibration planning position, and re-determining a planning path according to the calibration path and a planning path in the planning path before the calibration planning position.

Optionally, sequentially judging whether the speed direction of each planned position is opposite to the speed direction of the reference position at the same time according to the direction of the planned path, and if so, taking the planned position with the opposite speed direction as a calibration planned position, specifically including:

for each planning position, judging whether the speed direction of the planning position is opposite to the speed direction of a reference position at the same moment, if so, taking the planning position as a planning position to be calibrated;

and sequencing the planning positions to be calibrated according to the direction of the planning path, and determining the calibration planning positions according to the sequencing.

with the calibration reference position as a starting point, re-determining the reference position corresponding to each moment;

for the reference position at each moment, determining the attribute information of the planning position corresponding to the moment according to the attribute information of the reference position at the moment;

and determining a calibration path taking the calibration planning position as a starting point according to the planning position corresponding to each moment.

Optionally, the method further comprises:

and updating the attribute information of each planning position in the planning path before the calibration planning position in the planning path according to the attribute information of each reference position in the reference path before the reference position at the same time as the calibration planning position, the planning path before the calibration planning position and the attribute information of at least part of planning positions in the calibration path.

This specification provides a path planning device of unmanned equipment, includes:

an obtaining module, configured to obtain attribute information of each reference position in a reference path and attribute information of each planned position in a planned path of the unmanned device, where the attribute information at least includes: time, speed direction and speed magnitude of the unmanned device;

the determining module is used for sequentially judging whether the speed direction of each planning position is opposite to the speed direction of the reference position with the same time or not according to the direction of the planning path, and if so, taking the planning position with the opposite speed direction as a calibration planning position;

a calibration module, configured to determine a calibration reference position in the reference path according to a point in the reference path that is closest to the calibration planned position, and plan a calibration path using the calibration planned position as a starting point according to a reference path after the calibration reference position in the reference path;

and the planning module is used for re-determining a planned path according to the planned path before the calibration planned position in the planned path and the calibration path, and controlling the unmanned equipment to run along the planned path.

The present specification provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of path planning for an unmanned device as described above.

The specification provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the unmanned device path planning method.

The technical scheme adopted by the specification can achieve the following beneficial effects:

in the path planning method for the unmanned aerial vehicle provided in this specification, a calibration planned position in a direction opposite to a reference path speed direction is determined on a planned path according to the planned path direction, a calibration reference position is determined in the reference path according to a point closest to the calibration planned position, and then the planned path after the calibration planned position is re-planned according to a path after the calibration planned position in the reference path with the calibration planned position as a starting point.

According to the method, when the unmanned equipment drives along the planned path determined according to the method, the situations of sudden stop, backward movement and the like of the unmanned equipment do not occur, and the efficiency and the safety of path planning of the unmanned equipment are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

FIG. 1 is a schematic diagram illustrating a prior art method for determining a planned path for path planning;

fig. 2 is a schematic flow chart of a path planning method for an unmanned aerial vehicle provided in the present specification;

FIG. 3 is a schematic illustration of determining a calibration reference position provided herein;

FIG. 4a is a schematic illustration of determining a first calibration path provided herein;

FIG. 4b is a schematic illustration of determining a calibration path as provided herein;

FIG. 5 is a schematic diagram of determining a planned path provided herein;

FIG. 6a is a schematic illustration of determining a calibration plan location provided herein;

FIG. 6b is a schematic illustration of determining a planned path for an unmanned device as provided herein;

FIG. 7 is a schematic illustration of determining a reference path for an unmanned device provided herein;

FIG. 8 is a schematic illustration of determining a reference path and a planned path for an unmanned device provided herein;

fig. 9 is a schematic diagram of a path planning apparatus for an unmanned aerial vehicle provided in the present specification;

fig. 10 is a schematic diagram of an unmanned device corresponding to fig. 2 provided in the present specification.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments in the present description, belong to the protection scope of the present invention.

In the prior art, when a path is planned for a driving path of an unmanned aerial vehicle, planning can be generally performed based on two principles, one is that images taken by the unmanned aerial vehicle in the planned path should be continuous, that is, coordinates of the unmanned aerial vehicle in a cartesian coordinate system cannot jump, and the other is that the direction of the planned path should be along the direction of a reference path, that is, the directions of the reference path and the planned path are approximately the same. Under the assumption that the above principle is followed and the curvature of each reference position in the reference path is small enough, the unmanned device can control itself to follow the planned path if the planned path determined according to the reference path in the prior art is continuous and consistent with the direction of the reference path. However, in the prior art, the curvature corresponding to the reference position is often large. The above two principles are not satisfied, or the curvature of the reference position in the reference path is large, which may cause the unmanned aerial vehicle to suddenly stop or fail to normally travel.

Different from the problem that potential safety hazards exist when the curvature of a reference path is large due to the fact that unmanned equipment is directly controlled to drive along the planned path, the planned path is in a situation that the unmanned equipment suddenly stops, backs up and the like.

In the prior art, the curvature of a reference position in a reference path is large, and when a path is planned based on the reference position, if an unmanned device senses an obstacle, the planned path may have a situation of "plagiarism to approach the road", which may be specifically shown in fig. 1.

Fig. 1 is a schematic diagram of path planning and determination of a planned path in the prior art. In the figure, a curve where ABCD is located is a reference path of the unmanned aerial vehicle, a dotted line is an obstacle identified and determined by the unmanned aerial vehicle through a target object, a curve where AEFG is located is a planned path determined in the prior art, an arrow direction is a path direction, and in order to implement accurate control, the reference path determined generally includes a reference position corresponding to each time and a speed of each reference position, and then the planned path determined based on the reference path also includes a planned position corresponding to each time and a speed corresponding to each planned position. In the figure, point a corresponds to a reference position and a planned position at the same time, reference position point B and planned position point E are at the same time, reference position point C and planned position point F are at the same time, reference position point D and planned position point G are at the same time, reference position point B is a reference position at the next time of reference position point a, reference position point C is a reference position at the next time of reference position point B, and reference position point D is a reference position at the next time of reference position point C. Similarly, the planned position point E is a reference position of the planned position point a at the next time, the planned position point F is a reference position of the planned position point E at the next time, and the planned position point G is a reference position of the planned position point F at the next time.

The unmanned aerial vehicle may first determine a curve as shown from planned position point a to planned position point E in the figure based on the curvature of the reference position at each time between reference position point a to reference position point B, and the position of the obstacle. Obviously, if the planned position point E exceeds the reference position point C, when the planned path is determined based on the curvature of each reference position between the reference position point B and the reference position point C, the planned position point F at the same time as the reference position point C is planned due to the fact that the planned position point E is far away from the reference position point B at the same time as the planned position point E, and the unmanned aerial vehicle needs to travel in the reverse direction to reach the planned position point F behind the planned position point E, that is, a curve as shown from the planned position point E to the planned position point F in the figure is determined according to the curvature of each reference position between the reference position point B and the reference position C at each time and the position of the obstacle. After the planned position point F is determined, the unmanned aerial vehicle may first determine a curve as shown from the planned position point F to the planned position point G in the figure, based on the curvatures of the reference positions at each time between the reference position point C and the reference position D, and the positions of the obstacles. After the planned position point G is determined, the unmanned aerial vehicle may plan a path with the point G as a starting point according to the curvature corresponding to each reference position in the reference path after the reference position D, the position of the obstacle, and the like, determine a curve after the point G, and splice the determined curve shown from the point a to the point E, the curve from the point E to the point F, the curve from the point F to the point G, and the curve after the point G to serve as the planned path of the unmanned aerial vehicle.

Obviously, according to fig. 1, it can be determined that when the unmanned aerial vehicle travels according to the planned path, the unmanned aerial vehicle needs to pass through a brake and a reverse in the process from the planned position E to the planned position F, and a large potential safety hazard exists. The planned path does not meet the second principle of path planning in the prior art, and the situation that the unmanned equipment cannot normally run may occur. Based on this, the present specification provides a new unmanned aerial vehicle path planning method that enables a path planning to be performed again on an unmanned aerial vehicle based on a path planned according to a reference path and an obstacle position.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

Fig. 2 is a schematic flow chart of a path planning method for an unmanned aerial vehicle provided in this specification, specifically including the following steps:

s100: acquiring attribute information of each reference position in a reference path and attribute information of each planned position in a planned path of the unmanned equipment, wherein the attribute information at least comprises the following components: a time of day, a speed direction and a speed magnitude of the unmanned device.

In order to ensure that the unmanned equipment runs smoothly, path planning needs to be performed on the unmanned equipment, wherein the unmanned equipment may refer to equipment capable of realizing automatic driving, such as an unmanned vehicle, a robot, automatic distribution equipment, and the like. Based on this, the path planning method for the unmanned aerial vehicle provided by the specification can be particularly applied to the field of delivery by using the unmanned aerial vehicle, for example, the service scene of delivery such as express delivery, logistics, takeout and the like by using the unmanned aerial vehicle. In order to ensure that the unmanned equipment can smoothly travel in the service scenes, the accuracy and the safety of the path planning of the unmanned equipment need to be ensured.

In one or more embodiments provided in this specification, the execution subject for performing path planning on the unmanned device may be the unmanned device itself, or may be a server of the service provider, that is, the server of the service provider may perform path planning on the unmanned device through data uploaded by the unmanned device. For convenience of description, the method for planning the unmanned aerial vehicle path provided by the present specification will be described below with only the unmanned aerial vehicle as an execution subject.

Specifically, a high-precision map may be prestored in the unmanned aerial vehicle, so that the unmanned aerial vehicle may determine a lane center line of a lane where the unmanned aerial vehicle is located according to the prestored high-precision map, and use the lane line as a reference path of the unmanned aerial vehicle, and the unmanned aerial vehicle may determine attribute information of each reference position based on a current speed and a speed direction of the unmanned aerial vehicle, and a curvature of the reference path. Wherein, for each reference position, the attribute information of the reference position comprises: the time corresponding to the reference position, the curvature of the reference path at the reference position, the speed magnitude and the speed direction of the unmanned device at the reference position. The lane central line is a curve formed by the central positions of the lanes.

Then, the unmanned device may acquire the image data or the point cloud data acquired by the acquisition device as environment data, and identify the environment data to determine the position of an obstacle around the unmanned device.

And finally, the unmanned equipment can determine the attribute information of the planning position corresponding to each moment according to the determined position of the obstacle and the attribute information of each reference position in the determined reference path, and each planning position can determine the planning path of the unmanned equipment. Wherein, similar to the attribute information of the reference position, for each planned position, the attribute information of the planned position includes: the time corresponding to the planned position, the speed magnitude and the speed direction of the unmanned equipment at the planned position.

It should be noted that the above methods for determining the reference path and planning the path are already mature prior art, and what method is specifically adopted in this specification to determine the reference path and planning the path may be set according to needs, which is not limited in this specification.

S102: and sequentially judging whether the speed direction of each planned position is opposite to the speed direction of the reference position at the same moment or not according to the direction of the planned path, and if so, taking the planned position with the opposite speed direction as a calibration planned position.

In one or more embodiments provided in this specification, as described above, when the curvature of the reference path is large, the determined planned path may have a situation in which the path direction of the sub-path in the path is opposite to that of the reference path (e.g., the planned path in fig. 1), so that a potential safety hazard exists. Therefore, the unmanned equipment can determine the planning position in the planning path, which is opposite to the reference path in the path direction, from the planning path, and adjust the sub-path, so that the planning path with the same path direction as the reference path direction can be determined.

The direction in which the object moves generally depends on the speed direction of the object, that is, the path direction of the planned path and the path direction of the reference path, depending on the speed direction of the drone in the path. The calibration planned position may then be determined based on the velocity direction of the unmanned aerial device in the initially planned path and the velocity direction in the reference path at the corresponding instant.

Specifically, the unmanned aerial vehicle may sequentially determine, according to the direction of the planned path, the speed of each planned position and the speed of the reference position at the same time in the cartesian coordinate system, determine the product of the speed of each planned position and the speed of the reference position at the same time, and determine whether the speed of the planned position is the same as the speed of the reference position based on the product and the like. And determining the planned position as the calibration planned position when it is determined that the velocity direction of the planned position is opposite to the velocity direction of the reference position at the same time. When the speed direction of the planned position is the same as the speed direction of the reference position at the same time, the unmanned device can determine the speed of the next planned position and the speed of the next reference position according to the ranking, and further judge whether the speed direction of the next planned position is opposite to the speed direction of the reference position at the same time.

In addition, when the unmanned aerial vehicle performs path planning, a flelnier coordinate system is often constructed according to the reference path and the distance from the reference path, and then the path planning is performed in the flelnier coordinate system. And the expressions of the reference path and the planned path in the cartesian coordinate system are often not easy to determine, so that whether the speed of the planned position and the speed of the reference position at the same time are the same can be determined according to the curvature of the planned position and the distance from the reference position at the same time.

Specifically, assume the reference path is

And the reference path is continuous, so that the reference path satisfies

Where s represents the length of the reference path, x and y are both functions of s, and for each time instant, the cartesian coordinates of the corresponding reference position in the reference path for that time instant are assumed to be

Then the velocity corresponding to the point is

，

For the speed corresponding to the reference position,

and

the velocity component of the reference position in the direction of the x-axis and the velocity component in the y-axis in a cartesian coordinate system, respectively. In a known Fresnel coordinate system constructed by the reference path and the distance from the reference path, the distance between the planned position corresponding to the moment and the reference position is

In the case of (2), let the initial reference trajectory be

Then, according to the formula of converting the Fresnel coordinate system to the Cartesian coordinate system:

，

for the normal vector of the reference path at the reference position, the coordinates of the planned position in the cartesian coordinate system can be determined as

It is clear that, in the case of a,

，

is the vector of the reference path at the reference position. Thus, the velocity corresponding to the planned position may be determined as

Then, according to the product of the speed corresponding to the planned position and the speed corresponding to the reference position, it can be determined whether the speed of the planned position and the speed corresponding to the reference position are in the same direction, and thus, it can be determined

And because the reference path satisfies

Then it can be determined

And also

Then, then

，

That is to say that the first and second electrodes,

is equivalent to

，

Is equivalent to

Then pair

Derivative, can determine

Then, it can be determined

，

And the point at which the velocity of the planned position is to be determined in opposition to that of the reference position is to be determined

That is, then just and only just

The velocity corresponding to the planned position and the reference position is reversed.

The unmanned device may then first determine, for each planned position, the curvature of the reference position at the same time as the planned position

As a reference curvature and the distance of the planned position from a reference position at the same time as the planned position

As a reference distance.

Then, according to the direction of the planned path, sequentially aiming at each planned position, judging whether the product of the reference curvature of the planned position and the reference distance of the planned position is greater than 1, namely judging whether the planned position corresponds to the reference curvature of the planned position

Whether or not this is true.

Finally, if true, the drone may determine that the speed direction of the planned location is opposite to the speed direction of the reference location at the same time. If the planned position is not the same as the reference position, the unmanned equipment can determine that the speed direction of the planned position is the same as the speed direction of the reference position at the same moment, and the unmanned equipment can continuously judge whether the speed direction of the subsequent planned position of the planned path is the same as the speed direction of the reference position at the same moment until all the planned positions are judged. The attribute information of the planned position further includes a distance between the planned position and a corresponding reference position, and a curvature of the reference position.

Of course, if the calibration planned position is determined, that is, there is no planned position in the planned path that is opposite to the speed direction of the reference position at the same time, the planned path may be considered to be accurate, and the unmanned device may control itself to travel along the planned path.

Of course, the unmanned device may sequentially determine the reference curvature and the reference distance of each planned position along the direction of the planned path, and after determining a planned position with a speed direction opposite to the speed direction of the reference position with the same time, no longer determine the reference curvature and the reference distance of the subsequent planned position.

It should be noted that the above speed reversal is that the included angle between two speeds is greater than 90 degrees, that is, for any speed, the speed is divided along the other speed direction and the direction perpendicular to the other speed direction, and the determined component along the other speed direction is negative, that is, the two speed directions are determined to be reversed. Similarly, the speed directions are the same, i.e. the included angle between the two speeds is less than 90 degrees, i.e. for any speed, the speed is divided along the other speed direction and the direction perpendicular to the other speed direction, and the determined component along the other speed direction is a positive value, i.e. it can be determined that the two speed directions are the same.

S104: and determining a calibration reference position in the reference path according to a point, closest to the calibration planning position, in the reference path, and planning a calibration path with the calibration planning position as a starting point according to the reference path after the calibration reference position in the reference path.

In one or more embodiments provided in this specification, after determining the calibration planning position, the unmanned aerial vehicle may adjust the planned path after the calibration planning position in the planned path, and adjust the path after the calibration planning position in the planned path, and in a simplest way, the reference position corresponding to the calibration planning position is re-determined as the calibration reference position, and planning is performed with the calibration planning position as a starting point according to the reference path after the re-determined calibration reference position.

Specifically, the drone may first determine the distance of the calibration plan location from each point in the reference path. Then, based on the determined distances, a point closest to the calibration plan position is determined from the reference positions. And finally, according to the determined point closest to the calibration planning position, randomly determining a certain point from the path behind the point in the reference path, and taking the certain point as the calibration reference position corresponding to the calibration planning position. The calibration reference position is a position which does not fall behind a point closest to the calibration planned position in the reference path. The calibration reference position precedes the point closest to the calibration planned position "behind" the direction along the reference path.

In addition, since the unmanned device is controlled to run in a Fresnel coordinate system during running, the unmanned device can also determine a calibration reference position in the Fresnel coordinate system.

Specifically, the unmanned aerial vehicle can construct a Fresnel coordinate system according to the reference path and the distance between the reference path and the reference path, project the calibration planned position, determine the reference position of the calibration planned position in the Fresnel coordinate system, use the calibration position as a calibration reference position, and determine the distance between the calibration planned position and the calibration reference position. As shown in fig. 3.

Fig. 3 is a schematic diagram of determining a calibration reference position provided in this specification, where a solid line a represents a reference path, a dotted line B represents an obstacle, a solid line C represents a planned path, a dot a is a calibration planned position, a dot B is a reference position at the same time as the dot a, the calibration planned position is projected, a dot C can be determined as a reference position of the calibration planned position in the flelnier coordinate system, and the unmanned aerial vehicle can use the dot C as the calibration reference position corresponding to the calibration planned position, where an arrow direction is a path direction.

After the calibration reference position is determined, the unmanned equipment can plan a path by taking the calibration planning position as a starting point according to the calibration path after the calibration reference position in the reference path, and determine a calibration path by taking the calibration planning position as a starting point.

Specifically, the unmanned aerial vehicle may re-determine the attribute information of each planned position by using the calibration planned position as a starting point according to the attribute information corresponding to each reference position in the reference path after the calibration reference position in the reference path, and connect the re-determined planned positions to obtain the calibration path using the calibration planned position as the starting point. Of course, since the unmanned aerial vehicle generally controls the unmanned aerial vehicle to travel in the flelnier coordinate system, the unmanned aerial vehicle may determine the curvature of each planned position, the distance between each planned position and the corresponding reference position again in the flelnier coordinate system according to the curvature of each reference position, the distance between the calibration planned position and the calibration reference position, and connect the determined planned positions to obtain the calibration path with the calibration planned position as the starting point. Each reference position in the reference path after the calibration reference position in the reference path may be determined again along the reference path with the calibration reference position as a starting point. That is, the unmanned aerial vehicle may re-determine the reference position corresponding to each time point with the calibration reference position as a starting point, determine, for the reference position at each time point, the attribute information of the planned position corresponding to the time point based on the attribute information of the reference position at the time point, and further determine, based on the planned position corresponding to each time point, the calibration path having the calibration planned position as the starting point.

Certainly, when the unmanned device performs path planning, the path may be planned according to the position of the obstacle in the surrounding environment sensed by the unmanned device, and the path planning may be performed according to the reference path, the calibration reference position, the calibration planned position, the position of the obstacle, and the like.

In addition, since the speed direction of the calibration planned position is opposite to the speed direction of the reference path, the calibration path is determined only according to the calibration reference position corresponding to the calibration planned position, and the determined planned path may have a sudden speed change of the unmanned aerial vehicle, which may cause the unmanned aerial vehicle to be out of control.

Specifically, the unmanned aerial vehicle may determine a circle center from a normal direction of a speed direction of the calibration planned position, where a distance between the circle center and the calibration planned position is a minimum turning radius of the unmanned aerial vehicle, and after the circle center is determined, the unmanned aerial vehicle may determine a calibration circle corresponding to the calibration planned position by using the minimum turning radius as a radius, and determine, by using the calibration planned position as a starting point and using another intersection point of a connecting line between the calibration circle and the calibration planned position and a calibration reference position as an end point, a calibration arc corresponding to the calibration planned position as the first calibration path. And when the first calibration path is determined, the unmanned equipment can take the end point of the first calibration path as a starting point, and plan the path according to the path with the reference position calibrated in the reference path, so as to determine a second calibration path. As shown in fig. 4a and 4 b.

Fig. 4a is a schematic diagram of determining a first calibration path provided in this specification, in which a solid line a is a reference path of the drone and a solid line b and a solid line c are combined to form a planned path of the drone, where a solid line b is a planned path before a calibration planned position in the planned path, a solid line c is a planned path after the calibration planned position in the planned path, a point D is the calibration planned position, a point Q is the calibration reference position,

the velocity of point D is then

Is the direction of the velocity of point D,

is a direction normal to the velocity direction of point D. The unmanned device is then in

In the direction, the distance to the point D is determinedThe method comprises the steps of determining a calibration circle by taking a preset position with the minimum turning radius of the unmanned device as a circle center O, determining another intersection point E on a connecting line between the calibration circle and a calibration planning position and a calibration reference position, determining the point E as an end point of a first calibration path, planning to obtain an E point with a velocity component along the velocity direction of a point Q and a velocity component of a point D along the velocity direction of the point Q which are equal and opposite according to the characteristics of the circle, and determining the first calibration path to be continuous. Wherein the arrow direction is the path direction. The drone may then determine a calibration path, as shown in fig. 4 b.

Fig. 4b is a schematic diagram of determining a calibration path provided in this specification, and similar to fig. 4a, a solid line a is a reference path of the unmanned aerial vehicle, a solid line b is a planned path before a calibration planned position in the planned path, point D is the calibration planned position, point Q is the calibration reference position, point E is an end point of the first calibration path, and a solid line D is the first calibration path, so that the unmanned aerial vehicle can determine a second calibration path E according to a path after the reference path point Q with the end point E of the first calibration path as a start point. The drone may then determine that the calibration path consists of a first calibration path d and a second calibration path e. That is, solid line d and solid line e constitute the calibration path of the drone. Wherein the arrow direction is the path direction.

Of course, the velocity component of the velocity along the Q-point velocity direction at the point E determined above may be opposite to the velocity component of the velocity along the Q-point velocity direction at the point D.

S106: and determining a planned path according to the planned path in the planned path before the calibration planned position and the calibration path, and controlling the unmanned equipment to run along the planned path.

In one or more embodiments provided in this specification, after determining the calibration path, the unmanned aerial vehicle may splice the path before the calibration planning position in the planned path and the determined calibration path to obtain the planned path of the unmanned aerial vehicle, as shown in fig. 5.

Fig. 5 is a schematic diagram for determining a planned path provided in this specification, in which a solid line a is a reference path, a dashed line B is an obstacle, a solid line c and a solid line d constitute the planned path, and a solid line e is a calibration path, where the solid line c is a path before a calibration planned position in the planned path, the solid line d is a path after the calibration planned position in the planned path, a dot a is the calibration planned position, and a dot B is a reference position at the same time as the dot a, so that the unmanned device can determine that the path formed by the solid line c and the solid line e is the planned path of the unmanned device, and the arrow direction is the path direction.

Further, as described above, the unmanned aerial vehicle may further determine the calibration arc and the correction path, and then the unmanned aerial vehicle may further splice the path before the calibration planning position in the planning path, the determined first calibration path, and the second calibration path to obtain the planning path of the unmanned aerial vehicle. Taking fig. 4b as an example, it is obvious that the planned path is a path composed of a solid line b, a solid line d, and a solid line e.

After the planned path is determined, the unmanned device can control the unmanned device to drive along the planned path. The specific control mode may be determined based on a motion strategy model, the unmanned aerial vehicle may input the planned path as an input into the motion strategy model to obtain a corresponding motion strategy, and the unmanned aerial vehicle may control the unmanned aerial vehicle to travel based on the determined motion strategy.

Of course, the unmanned device may also determine its own motion strategy according to its own current speed, curvature of each planned position in the planned path, speed, and the like, and control its own driving according to the motion strategy.

In addition, since the speed direction of the calibrated planned position in the original planned path is opposite to the speed direction of the reference position at the same time, the speed direction of each planned position before the calibrated planned position in the planned path is the same as the speed direction of the reference position at the same time. Obviously, the drone undergoes a deceleration process in reaching the calibrated planned position from the starting point, whereas the drone does not require a deceleration operation as in the original planned path when travelling along the re-planned path. Therefore, the unmanned aerial vehicle can firstly determine a reference position at the same time as the calibration planned position to serve as an update point, and then update the attribute information of each planned position in the planned path before the calibration planned position according to the attribute information of each reference position in the reference path before the update point, the reference path before the calibration planned position and the attribute information of at least part of planned positions in the calibration path (for example, planned positions corresponding to the first five times in the calibration path), so that when the unmanned aerial vehicle runs along the newly determined planned path, the speed variation of adjacent times does not exceed a preset variation threshold, and the unmanned aerial vehicle is ensured to run stably. For example, the attribute information of each planned position in the solid line e is newly determined based on the attribute information of each reference position in the solid line a before the point B in fig. 5, and the attribute information of the partial planned positions in the solid line c and the solid line e.

Of course, the unmanned aerial vehicle may also update the attribute information of each planned position in the planned path before the calibration planned position only according to the attribute information of each reference position in the reference path before part of the update point. Taking fig. 5 as an example, the unmanned aerial vehicle may determine the attribute information of the planned position at five times before point a to point a in solid line c based on the attribute information of the reference position at five times before point B and point B in solid line a, so as to ensure that the unmanned aerial vehicle runs smoothly at point a.

Further, when the planned path is determined again, the unmanned aerial vehicle may further determine a speed corresponding to each planned position according to the determined attribute information of curvature, time and the like of each planned position in the planned path, and update the attribute information of each planned position in the newly determined planned path according to the determined speed corresponding to each planned position.

Of course, while the speed corresponding to each planned position is determined, the unmanned device can also re-determine the time corresponding to each planned position, so that when the unmanned device runs along the planned path, the unmanned device is in a stable running state as much as possible, and the utilization rate of the unmanned device is improved.

The route planning method based on the unmanned aerial vehicle equipment shown in fig. 2 sequentially judges whether the speed direction of each planned position is opposite to the speed direction of the reference position at the same moment along the direction of the planned route, determines a calibration planned position which is located in each planned position of the planned route and has the speed direction opposite to the speed direction of the corresponding reference position, determines a calibration reference position according to a point closest to the calibration planned position in the reference route, plans the route according to the route after the calibration reference position in the reference route by taking the calibration planned position as a starting point, determines the calibration route, and determines the planned route on which the unmanned aerial vehicle runs based on the planned route and the calibration route. According to the method, when the curvature corresponding to the reference path is large, the situations of sudden stop, backward movement and the like of the unmanned equipment cannot occur in the planned path, and the efficiency and the safety of path planning of the unmanned equipment are improved.

In addition, it may take a long time to sequentially determine whether the speed direction of each planned position is opposite to the speed direction of the reference position at the same time as the planned position, and the motion strategy of the unmanned device needs to be determined in real time, so in step S102, the unmanned device may determine the planned position in which the speed direction of each planned position in the planned path is opposite to the speed direction of the reference position at the same time as the planned position, and then determine the calibration reference position according to the time of each planned position.

Specifically, the unmanned aerial vehicle can determine the planned position corresponding to each moment and the coordinates of the reference position corresponding to the planned position in the cartesian coordinate system, determine the speed corresponding to the reference position and the speed corresponding to the planned position, and judge whether the speed of the reference position is the same as the speed of the planned position by multiplying the speed corresponding to the reference position and the speed corresponding to the planned position. And after determining the planning position with the speed direction opposite to the speed direction of the corresponding reference position, taking the planning position as each planning position to be calibrated, sequencing the planning positions to be calibrated along the direction of the planning path by the unmanned equipment, and randomly selecting a certain point from the planning path to be calibrated formed by the planning positions to be calibrated to serve as the calibration planning position. Of course, preferably, the unmanned aerial vehicle may select the first planned position to be calibrated as the calibration planned position according to a time sequence, so as to ensure that no potential safety hazard exists when the unmanned aerial vehicle travels along the re-determined calibration path.

Of course, since the direction of the planned path is the time sequence, when the calibration planned position is determined, the unmanned aerial vehicle may also sequence the planned positions to be calibrated according to the time sequence and the time corresponding to each calibration planned position, and randomly select a certain calibration planned position according to the determined sequence, or determine the planned position to be calibrated with the first time as the calibration planned position.

Further, when determining the planned path, in order to ensure the instantaneity and accuracy of the planned path, the unmanned device may perform path planning on the unmanned device once every ten seconds according to a preset planning duration, so that, in step S100, when the unmanned device performs path planning at the current time, the motion strategy and the like of the unmanned device within the past planning duration may be obtained, and the planned path of the unmanned device may be determined based on the motion strategy corresponding to the historical time of the unmanned device.

Furthermore, the method for planning the path in the present specification may be configured to plan the future movement trajectory of the unmanned device again at intervals of a preset planning time.

In addition, after the calibration reference position corresponding to the calibration planned position is determined, if the speed direction of the calibration planned position is the same as the speed direction of the calibration reference position, obviously, the unmanned device can continue to run according to the speed of the calibration planned position, and when the speed direction of the calibration planned position is opposite to the speed direction of the calibration reference position, the speed direction of the unmanned device changes suddenly or suddenly at the calibration planned position, so that the unmanned device can perform path planning based on the comparison of the speed directions of the calibration planned position and the calibration reference position.

Specifically, the unmanned vehicle may first determine whether the speed direction of the calibration reference position and the speed direction of the calibration planned position are opposite, wherein the method for determining whether the speed direction is opposite may refer to the method in step S102.

When the speed direction of the calibration reference position is opposite to the speed direction of the calibration planned position, the unmanned aerial vehicle device can determine a first calibration path according to the calibration planned position, determine a second calibration path according to the first calibration path, and re-determine the planned path according to a path before the calibration planned position in the planned path, the first calibration path, and the second calibration path.

When the speed direction of the calibration reference position is the same as the speed direction of the calibration planned position, the unmanned aerial vehicle can determine a calibration path according to the calibration planned position and the speed direction corresponding to the calibration planned position, and re-determine the planned path according to the calibration path and a path in the planned path before the calibration planned position.

In addition, in order to make the determined calibration path as close as possible to the reference path, the unmanned device may further determine the calibration reference position based on the calibration circle O corresponding to the calibration planned position, and further determine the planned path. As shown in fig. 6a and 6 b.

Fig. 6a is a schematic diagram of determining a calibrated planned position provided in this specification, and similar to fig. 4a, a solid line a is a reference path of the unmanned aerial vehicle, and a solid line b and a solid line c are combined to form the planned path of the unmanned aerial vehicle, where a solid line b is a path before the calibrated planned position in the planned path, a solid line c is a path after the calibrated planned position in the planned path, a point D is the calibrated planned position, a point Z is a point closest to the point D in the reference path,

the velocity of point D is then

Is the direction of the velocity of point D,

In the direction, the position with the preset minimum turning radius of the unmanned equipment and the distance from the point D are determined and used as the circle center O, then the calibration circle is determined, the point E which is closest to the reference path on the calibration circle is determined and used as the terminal point of the first calibration path, and the point Q which is closest to the calibration circle on the reference path is determined and used as the calibration reference position. Obviously, the calibration reference position Q does not fall behind the point Z closest to the calibration plan position. Wherein the arrow direction is the path direction. The drone may then determine a planned path based on the calibrated planned location point D, the calibrated reference location point Q, as shown in fig. 6 b.

Fig. 6b is a schematic diagram of determining a planned path for an unmanned device as provided herein. Similar to fig. 6a, a solid line a is a reference path of the unmanned aerial vehicle, a solid line b is a path before the calibration planned position in the planned path, point D is the calibration planned position, point Q is the calibration reference position, and point E is an end point of the first calibration path, so that the unmanned aerial vehicle can determine a second calibration path E according to the path after the reference path point Q by using the end point E of the first calibration path as a start point. The drone may then determine the planned path as consisting of path b, first calibrated path d, and second calibrated path e in the planned path before calibrating the planned position. That is, solid line b, solid line d, and solid line e constitute the planned path of the unmanned aerial device. Wherein the arrow direction is the path direction.

Furthermore, in the driving process of the unmanned equipment, the lane where the unmanned equipment is located may change due to strategies such as overtaking and the like, but the determined reference path should not change when the unmanned equipment executes the overtaking strategy. Therefore, the unmanned aerial vehicle can determine the reference path according to the position of each historical moment of the unmanned aerial vehicle, the strategy executed by the unmanned aerial vehicle and the like. As shown in fig. 7.

Fig. 7 is a schematic diagram of determining a reference path of the unmanned aerial vehicle provided in this specification, in which a solid line a, a dashed line b, a dashed line c, and a solid line d are lane lines, the dashed line b and the dashed line c indicate that each lane is in the same direction, a white rectangular parallelepiped indicates the unmanned aerial vehicle, a gray rectangular parallelepiped indicates another vehicle, a dot-and-dash line e indicates a position where each history time of the unmanned aerial vehicle is located, and motion trajectories of the unmanned aerial vehicle at the history time and the future time determined by a motion strategy of the unmanned aerial vehicle, and the like, so that the reference path of the unmanned aerial vehicle can be determined as a solid line f, that is, a center line of the lane between the dashed line c and the solid line d, and be the reference path of the unmanned aerial vehicle. Wherein the arrow direction is the direction of the path, i.e. the direction of travel of the drone.

Furthermore, during the driving process of the unmanned device, the driveways are often changed due to the executed strategy, and the reference path of the unmanned device is a continuous curve, so that the unmanned device can determine that the driveways in the same direction form a total driveway, and determine the central line of the driveway of the total driveway as the reference path. For example, the lanes between the solid line a and the solid line d are made to constitute an overall lane, and the lane center line of the overall lane is determined as the reference path, that is, the lane center line of the lane between the dashed line b and the dashed line c is the reference path of the unmanned aerial device. Of course, if the number of lanes in the same lane is even, the middle lane line can be determined as the reference path. For example, assuming that a lane between the dotted line b and the dotted line c and a lane between the dotted line c and the dotted line d are in the same direction, it may be determined that the dotted line c is the reference path.

In addition, in order to further ensure that the reference path is a continuous curve, the unmanned device can also plan the path based on various strategies in the driving process of the unmanned device and a prestored high-precision map, and determine the track which can be driven by the unmanned device under the condition of no influence of obstacle factors to be used as the reference path of the unmanned device. As shown in fig. 8.

Fig. 8 is a schematic diagram of determining a reference path and a planned path for an unmanned aerial device provided herein. Similar to fig. 7, a solid line a, a broken line b, a broken line c, and a solid line d in fig. 8 are lane lines, the broken line b and the broken line c represent that lanes are in the same direction, and the unmanned aerial vehicle in fig. 8 needs to execute a strategy of driving to the first lane on the left and continuing to drive along the lane, the unmanned aerial vehicle may perform path planning according to a pre-stored high-precision map and a motion strategy executed by the unmanned aerial vehicle, determine a reference path of the unmanned aerial vehicle, that is, a solid line g, and after determining the reference path of the unmanned aerial vehicle, the unmanned aerial vehicle may identify a determined obstacle (for example, part a in the figure) according to a target and perform path planning according to the reference path, determine a planned path of the unmanned aerial vehicle, that is, a broken line h, where an arrow direction is a path direction, that is a driving direction of the unmanned aerial vehicle. The route planning method provided by the specification adjusts the planned dotted line h, so that the unmanned equipment cannot run reversely when running according to the planned route.

Further, when determining the reference path, in order to avoid a situation that the pre-stored high-precision map is not enough to describe the lane line around the unmanned device, and thus an accurate reference path cannot be determined, in step S100, the unmanned device may further identify the environmental data of the unmanned device, and determine the reference path.

Specifically, the drone may first acquire an image captured by the drone. Wherein the image may be acquired by a capture device pre-installed in the drone. The acquisition device may include a monocular camera, a binocular camera, or the like. Of course, the unmanned device may also obtain point cloud data acquired by the unmanned device, and the acquisition device may include acquisition devices such as a laser radar.

Secondly, the unmanned equipment can identify the target object of the acquired image, determine the position of the lane line and the position of each obstacle in the image, and then determine the position of the lane center line of the lane where the unmanned equipment is located according to the position of the lane line. When the unmanned equipment determines the position of the lane line, the unmanned equipment can also identify the target object of the acquired point cloud data, and determine the position of the lane line in the image.

Then, the unmanned device may use the determined position of the lane center line of the lane where the unmanned device is located as a reference path of the unmanned device.

And finally, the unmanned equipment can plan the path based on the determined reference path and the positions of the obstacles determined by identifying the target objects on the image, and the planned path is used as the planned path of the unmanned equipment.

Based on the same idea, the present specification further provides a corresponding path planning apparatus for an unmanned aerial vehicle, as shown in fig. 9.

Fig. 9 is a schematic diagram of a path planning device of an unmanned aerial vehicle provided in this specification, which specifically includes:

an obtaining module 200, configured to obtain attribute information of each reference position in a reference path and attribute information of each planned position in a planned path of an unmanned device, where the attribute information at least includes: a time of day, a speed direction and a speed magnitude of the unmanned device.

And the determining module 202 is configured to sequentially determine, according to the direction of the planned path, whether the speed direction of each planned position is opposite to the speed direction of the reference position at the same time, and if so, take the planned position with the opposite speed direction as the calibration planned position.

The calibration module 204 is configured to determine a calibration reference position in the reference path according to a point in the reference path closest to the calibration planned position, and plan a calibration path using the calibration planned position as a starting point according to the reference path after the calibration reference position in the reference path.

And the planning module 206 is configured to determine a planned path again according to the planned path before the calibration planned position in the planned path and the calibration path, and control the unmanned equipment to travel along the planned path.

Optionally, the calibration module 204 is specifically configured to determine, in a normal direction of the calibration planned position in the speed direction, that a position of a minimum turning radius of the unmanned aerial vehicle, where a distance from the calibration planned position is preset, is a circle center, the minimum turning radius is a radius, the calibration planned position is a starting point, and determine a first calibration path, where an end point of the first calibration path is located on a connection line between the calibration planned position and the calibration reference position; and planning a path according to the reference path with the end point of the first calibration path as a starting point after the reference position is calibrated in the reference path, and determining a second calibration path, wherein the first calibration path and the second calibration path form the calibration path.

Optionally, the attribute information of the planned position further includes a distance between the planned position and a reference position corresponding to the planned position, and the determining module 202 for curvature of the reference position, and is specifically configured to determine, for each planned position, a curvature of the reference position that is the same as the planned position at the time, as a reference curvature of the planned position, determine a distance between the planned position and the reference position that is the same as the time, as a reference distance of the planned position, sequentially determine, for each planned position, according to the direction of the planned path, whether a product of the reference curvature of the planned position and the reference distance of the planned position is greater than 1, if yes, the speed direction of the planned position is opposite to the speed direction of the reference position that is the same as the planned position at the time, otherwise, continue to determine whether the speed direction of a subsequent planned position of the planned path is opposite to the speed direction of the reference position that is the same as the planned position at the time, until each planned position is judged.

Optionally, the planning module 206 is further configured to determine a first calibration path according to the calibration planning position when the speed direction of the calibration reference position is opposite to the speed direction of the calibration planning position, determine a second calibration path according to an end point of the first calibration path, and re-determine a planning path according to the first calibration path, the second calibration path, and a planning path before the calibration planning position in the planning path, and determine a calibration path according to the calibration planning position when the speed direction of the calibration reference position is the same as the speed direction of the calibration planning position, and re-determine a planning path according to the calibration path and the planning path before the calibration planning position in the planning path.

Optionally, the determining module 202 is specifically configured to, for each planned position, determine whether a speed direction of the planned position is opposite to a speed direction of a reference position at the same time, if so, use the planned position as a planned position to be calibrated, sort the planned positions to be calibrated according to the direction of the planned path, and determine the planned position to be calibrated according to the sort.

Optionally, the planning module 206 is further configured to re-determine the reference position corresponding to each time by taking the calibration reference position as a starting point, determine, for the reference position at each time, attribute information of the planning position corresponding to the time according to the attribute information of the reference position at the time, and determine, according to the planning position corresponding to each time, the calibration path by taking the calibration planning position as a starting point.

Optionally, the planning module 206 is further configured to update the attribute information of each planned position in the planned path before the calibration planned position in the planned path according to the attribute information of each reference position in the reference path before the reference position at the same time as the calibration planned position, the planned path before the calibration planned position, and the attribute information of at least part of the planned position in the calibration path.

The present specification also provides a computer-readable storage medium having stored thereon a computer program operable to execute the method of path planning for an unmanned aerial device as provided in fig. 2 above.

This description also provides a schematic block diagram of the drone shown in figure 10. As shown in fig. 10, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for planning a path of the unmanned aerial vehicle described in fig. 2. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present invention.

Claims

1. A method of path planning for an unmanned aerial device, the method comprising:

2. The method according to claim 1, wherein planning a calibration path starting from the calibration planned position according to a reference path after calibrating the reference position in the reference path comprises:

3. The method according to claim 1, wherein the attribute information of the planned position further includes a distance between the planned position and a reference position corresponding thereto, and a curvature of the reference position;

4. The method of claim 2, wherein the method further comprises:

5. The method according to claim 1, wherein sequentially determining whether the velocity direction of each planned position is opposite to the velocity direction of the reference position at the same time according to the direction of the planned path, and if so, using the planned position with the opposite velocity direction as the calibration planned position specifically includes:

6. The method according to claim 1, wherein planning a calibration path starting from the calibration planned position according to a reference path after calibrating the reference position in the reference path comprises:

7. The method of claim 6, wherein the method further comprises:

and updating the attribute information of each planning position in the planning path before the calibration planning position according to the attribute information of each reference position in the reference path before the reference position at the same time as the calibration planning position, the planning path before the calibration planning position and the attribute information of at least part of the planning positions in the calibration path.

8. A path planning apparatus for an unmanned aerial device, the apparatus comprising:

9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.

10. An unmanned aerial vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any of claims 1 to 7.