CN113587950B - Automatic driving automobile static path planning method, device and storage medium - Google Patents
Automatic driving automobile static path planning method, device and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Abstract
The present disclosure provides a method, an apparatus and a storage medium for planning a static path of an autopilot, which include: selecting a plurality of groups of characteristic points according to the road topology of the intersection and the expected number of exits of the running route in the intersection, wherein the number of the groups of characteristic points is consistent with the expected number of exits, and each group of characteristic points comprises a plurality of intersection internal characteristic points and intersection external characteristic points; inputting a plurality of groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths; and setting an expected passing rate and an expected stopping rate for each candidate static continuous path, distributing a running rate for the automatic driving automobile according to the current state of the automatic driving automobile and the signal lamp phase, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths, and outputting a final planned static discrete path. The method and the device provide a plurality of candidate paths for decision control tasks such as automatic driving automobile path tracking and the like, and ensure high calculation efficiency in online application.
Description
Technical Field
The disclosure belongs to the technical field of automatic driving automobile decision planning, and particularly relates to a method, a device and a storage medium for planning a static path of an automatic driving automobile.
Background
The intelligent automobile and the driving auxiliary system have great potential in the aspects of improving safety, reducing oil consumption, improving traffic efficiency and the like. High-level intelligent driving relies on high-real-time decisions and controls.
The existing vehicle decision method mainly uses sub-modules such as motion prediction, behavior selection, path planning and the like to connect in series, and a feasible path is finally obtained after calculation. However, the process decomposition type method cannot guarantee real-time performance when processing large-scale dynamic obstacle avoidance tasks, has poor universality, and needs to design different schemes for different scenes.
Disclosure of Invention
The present disclosure is directed to solving one of the above problems.
Therefore, the method for planning the static path of the automatic driving automobile, which is suitable for the intersection, can provide a plurality of candidate paths for decision control tasks such as path tracking of the automatic driving automobile and the like and ensures high calculation efficiency in online application, comprises the following steps:
selecting a plurality of groups of characteristic points according to road topology of an intersection and the expected number of exits of a running route in the intersection, wherein the number of the groups of the characteristic points is consistent with the expected number of exits, and each group of the characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
inputting a plurality of groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths;
and setting expected traffic rate and expected stop rate for each candidate static continuous path, distributing running rate for the automatic driving automobile according to the current state of the automatic driving automobile and the signal lamp phase, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths, and outputting a final planned static discrete path.
The automatic driving automobile static path planning method provided by the embodiment of the first aspect of the disclosure has the following characteristics and beneficial effects:
the method only considers static traffic information such as road topology structures, traffic rules and the like when planning the path of the automatic driving automobile, and plans a plurality of candidate paths and corresponding expected speeds through the road topology in an intersection scene.
The static path planning only considers static traffic information, does not consider dynamic obstacles, and can generate a static path and expected speed in advance, and candidate path information is directly obtained for subsequent tracking control and other purposes during driving, so that the method has the characteristics of high-efficiency online calculation and strong expansibility.
In some embodiments, the intersection external feature points are selected according to the following steps:
setting the expected exit number of the running routes in the intersection as the number N of candidate static continuous paths, and marking the midpoint of the lane starting lines of the N expected exits as X 1，4 ，X 2，4 ，...，X i，4 ，...，X N，4 I e {1,2,3,., N }; marking the midpoint of a lane stop line of an entrance where an automatic driving automobile is located as X 1 Copy N times to X 1，1 ，X 2，1 ，...，X i，1 ，...，X N，1 The method comprises the steps of carrying out a first treatment on the surface of the From X i，1 Moving distance l along opposite driving direction of entrance lane of automatic driving automobile 1 Obtaining X 1，0 ，X 2，0 ，...，X i，0 ，...，X N，0 The method comprises the steps of carrying out a first treatment on the surface of the From X i，4 Distance l of departure along running direction of parallel exit lane 2 Obtaining X 1，5 ，X 2，5 ，...，X i，5 ，...，X N，5 The method comprises the steps of carrying out a first treatment on the surface of the Selecting X i，0 、X i，1 、X i，4 And X i，5 The corresponding feature points are used as the intersection external feature points of the ith candidate static continuous path.
In some embodiments, the feature points inside the intersection are selected according to the following steps:
let the coordinates of the feature points inside the intersection of the ith candidate static continuous path be X i，2 And X i，3 Selecting the characteristic points in the intersection according to the following steps:
wherein θ 1 For the included angle theta between the driving direction of the entrance lane and the transverse axis of the intersection coordinate axis i，2 For the i candidate exit lane driving direction and intersectionAnd the included angle of the horizontal axis of the coordinate axis.
In some embodiments, the feature points inside and outside the intersection are classified according to N expected exits to obtain feature point groups of N candidate paths
In some embodiments, for the ith candidate static continuous path, it will be located at X i，0 And X i，1 The path between them is located at X i，1 And X i，4 The path between them and is located at X i，4 And X i，5 The paths between are respectively marked asAnd->The path computation functions employed are as follows:
wherein t is 1 、t 2 And t 3 Respectively is withAnd->Corresponding parameters;
will beAnd->Sequentially connected end to form a static continuous path of the ith intersection
In some embodiments, the driving speed is allocated to the automatic driving automobile according to the current state of the automatic driving automobile and the signal lamp phase, specifically:
3-1-1) automatic driving automobile Slave X i，0 If the automobile is driven to X in the automatic driving i，1 Before, the signal lamp is always green, or the signal lamp is always yellow, and the automatic driving automobile can run beyond the stop line in the residual yellow time, the automatic driving automobile is set to run to X at the expected passing rate i，1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i，1 Before, the signal lamp is always red, or the signal lamp is always yellow, and the automatic driving automobile cannot travel in the remaining yellow time to exceed the stop line, the automatic driving automobile is set to travel to X at the expected stop speed i，1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i，1 Before, when the phase of the signal lamp changes, the driving speed of the automatic driving automobile is jumped to be the expected stop speed or the expected traffic speed until the automatic driving automobile is driven to X i，1 Executing the step 3-1-2);
3-1-2) autopilot automobile is located at X i，1 If the signal lamp is yellow or green, the automatic driving automobile is set to drive to X at the expected passing rate i，5 The method comprises the steps of carrying out a first treatment on the surface of the If the signal lamp is red, the automatic driving automobile is set to drive at the expected stop speed until the signal lamp turns to be green, and the automatic driving automobile is set to drive at the expected passing speed to X i，5 。
In some embodiments, the plurality of candidate paths containing the autopilot speed information are discretized in an equally spaced or equidistant manner.
An embodiment of a second aspect of the present disclosure provides an automatic driving automobile static path planning device, including:
the characteristic point selection module is used for selecting a plurality of groups of characteristic points according to the road topology of the intersection and the expected number of exits of the running route in the intersection, wherein the number of the groups of the characteristic points is consistent with the expected number of the exits, and each group of the characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
the path calculation module is used for inputting a plurality of groups of characteristic points into the path calculation function to obtain corresponding different candidate static continuous paths; and
and the discrete processing module is used for setting expected traffic rate and expected stop rate for each candidate static continuous path, distributing running rate for the automatic driving automobile according to the current state and signal lamp phase of the automatic driving automobile, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths and outputting a final planned static discrete path.
An embodiment of the third aspect of the present disclosure provides a storage medium, wherein the computer readable storage medium stores computer instructions for causing the computer to execute the above-described method for planning a static path of an automatic driving automobile.
Drawings
FIG. 1 is an overall flow chart of an automated driving vehicle static path planning method provided by an embodiment of a first aspect of the present disclosure;
FIG. 2 is a schematic diagram of static path planning for an embodiment of a first aspect of the present disclosure;
fig. 3 (a), (b), and (c) are static continuous path planning results corresponding to left turn, straight run, and right turn, respectively, according to the embodiment of the first aspect of the present disclosure;
FIG. 4 is a graph of two classes of desired rates selected by embodiments of the first aspect of the present disclosure;
FIG. 5 is a schematic diagram of a desired rate jump state machine employed by embodiments of the first aspect of the present disclosure;
FIGS. 6 (a) and (b) are schematic diagrams of two continuous path discretization methods employed by embodiments of the first aspect of the present disclosure;
fig. 7 is a schematic structural diagram of an automatic driving vehicle static path planning device according to an embodiment of the second aspect of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device provided in an embodiment of a third aspect of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
On the contrary, the application is intended to cover any alternatives, modifications, equivalents, and variations as may be included within the spirit and scope of the application as defined by the appended claims. Further, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present application. The present application will be fully understood by those skilled in the art without a description of these details.
Referring to fig. 1, the method for planning a static path of an automatic driving automobile provided by the embodiment of the disclosure includes the following steps:
selecting a plurality of groups of characteristic points according to road topology of the intersection and the expected number of exits of a running route in the intersection, wherein the number of the groups of characteristic points is consistent with the expected number of exits, and each group of characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
inputting the obtained multiple groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths;
and setting an expected passing rate and an expected stopping rate for each obtained candidate static continuous path, distributing the running rate for the automatic driving automobile according to the current state and signal lamp phase of the automatic driving automobile, obtaining a plurality of candidate paths containing the speed information of the automatic driving automobile, discretizing the candidate paths, and outputting a final planned static discrete path.
The method for planning the static path of the automatic driving automobile is suitable for an intersection scene, and see fig. 2. In an embodiment, according to the road topology of the intersection and the number of expected exits of the driving route, a plurality of sets of feature points with corresponding numbers are calculated, and the method specifically includes the following steps:
1-1) selecting external feature points of an intersection: setting the expected exit number (i.e. the number of possible exits in the planned passing direction of the intersection scene) N of the running routes in the intersection as the number of candidate static continuous paths, and marking the midpoint sitting of the lane starting lines of the N expected exits as X 1，4 ，X 2，4 ，...，X i，4 ，...，X N，4 I e {1,2,3,... Marking the midpoint of a lane stop line of an entrance where an automatic driving automobile is located as X 1 Copy N times to X 1，1 ，X 2，1 ，...，X i，1 ，...，X N，1 . From X i，1 Moving distance l along opposite driving direction of entrance lane of automatic driving automobile 1 (the distance is determined according to the length of the straight road, and is usually 10-30 m) to obtain X 1，0 ，X 2，0 ，...，X i，0 ，...，X N，0 The method comprises the steps of carrying out a first treatment on the surface of the From X i，4 The departure moves a certain distance l along the running direction of the parallel exit lane 2 (the value range is the same as l 1 ) Obtaining X 1，5 ，X 2，5 ，...，X i，5 ，...，X N，5 。
1-2) selecting characteristic points in an intersection: and calculating the characteristic points of each characteristic point group in the intersection according to the road topology of the intersection. The internal feature points are selected according to the following rules: taking outTrisection points P, Q, respectively to X i，0 X i，1 And X is i ， 4 X i，s Making vertical lines to obtain feature points in the intersection, and marking the coordinates as X i，2 、X i，3 The specific calculation formula is as follows:
wherein θ 1 For driving on entrance lanesIncluded angle theta between direction and intersection coordinate axis transverse axis i，2 The included angle between the driving direction of the ith candidate exit lane and the transverse axis of the intersection coordinate axis is set.
1-3) classifying the internal feature points of each intersection and the external feature points of each intersection according to N expected exits to obtain feature point groups of N candidate pathsAs shown in fig. 2. X in the above i，j Is a two-dimensional vector, i.e.)>The j-th feature point representing the i-th candidate path, and the superscript (k) represents the k-th component of the vector. The value range of i is {1,2., N }, N being the number of expected exits from the travel route of the vehicle; the value range of j is {0,1,2., 5}.
In some embodiments, the obtained multiple sets of feature points are input into a bezier curve path calculation function to obtain corresponding different candidate static continuous paths, and the method specifically comprises the following steps:
2-1) intersection internal path calculation: for each set of feature points, the static continuous path inside the intersection is calculated as follows:
wherein,an intersection internal path segment representing an i-th candidate static continuous path, i e {1,2,3,., N }; t is t 2 Is the parameter of the internal path segment of the intersection.
2-2) junction external path splicing: straight line lane sections outside the intersection obtain straight line section paths through direct connection:
wherein,a first intersection external path section which is the ith candidate static continuous path,/for the first intersection external path section>The second intersection outer path segment for the i-th candidate static continuous path, i e {1,2,3,., N }; t is t 1 And t 3 The first intersection external path segment parameter and the second intersection external path segment parameter are respectively.
The three continuous smooth paths are based onIs connected end to end in sequence to obtain N continuous smooth static continuous paths of the intersection>In some embodiments, the planned left-turn, straight-going, right-turn corresponding static continuous paths are shown in fig. 3 (a), (b), and (c), respectively.
In some embodiments, step 3) comprises the steps of:
3-1) path rate curve setting: driving the automatic driving car to X i，0 The speed of the static continuous path planned in the step 2) is recorded as an initial speed, and automatic driving automobile expected speed setting is started. As in fig. 4, there are two rate curves to choose from, including the desired traffic rate at which the autonomous car is expected to continue traveling and the desired stop rate at which the autonomous car is expected to stop. Every time a discrete time step t passes 0 (the common value is 0.1s and 0.05 s), and the running speed of the automatic driving automobile is selected according to the jump relation of the finite state machine in fig. 5. The state jump judging rule comprises an A-signal lamp phase and a B-signal lamp phase, and if A is in yellow, whether the signal lamp can run beyond a stop line in the residual yellow time or not. Wherein rule A includes that the current signal lamp is in red light, the current signal lamp is in green light and the current signalThe lamps are in yellow lamps, which are respectively marked as A-red, A-green and A-yellow; rule B includes that the autonomous car may travel beyond the stop line for the remaining yellow light time and that the autonomous car cannot travel beyond the stop line for the remaining yellow light time, noted B-yes and B-no, respectively. The method for judging the driving stop line is commonly used as a constant-speed recurrence model: if t yellow ×v current ≥d stop Judging that the stop line can be crossed, otherwise, judging that the stop line is not crossed, wherein t is yellow For the remaining yellow light time, v current D is the current vehicle speed stop To automatically drive the car to the stop line distance.
Automatic driving automobile running to X i，0 Desired rate selection and hopping is performed as per the rules of fig. 4:
3-1-1) automatic driving automobile Slave X i，0 If the automobile is driven to X in the automatic driving i，1 Previously, the state was always A-green, or (shown as "or" in FIG. 5) A-yellow (shown as "or" in FIG. 5) "&&"shown as" and ") B-yes, then the autonomous car is set to travel to X at the desired traffic rate i，1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i，1 Before, the state is always A-red, or A-yellow and B-no, then the automatic driving automobile is set to drive to X at the expected stop speed i，1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i，1 Before the state is changed, the running speed of the automatic driving automobile is changed to the expected stop speed or the expected traffic speed when the state is changed until the automatic driving automobile runs to X i，1 Step 3-1-2) is performed.
3-1-2) if the current status is A-yellow or A-green, setting the autonomous car to travel to X at the desired traffic rate i，5 The method comprises the steps of carrying out a first treatment on the surface of the If the current state is A-red, the automatic driving automobile is set to drive at the expected stop speed until the current state is A-green, and the automatic driving automobile is set to drive at the expected pass speed to X i，5 。
3-2) path discretized output: after the static continuous path and the corresponding rate are obtained according to the above steps, the continuous path needs to be discretized in order to save the calculation time and the space consumption of the path. Common path discretization methods include equal space discretization and equal space distance discretization, respectively set forth below:
a) Referring to fig. 6 (a), the equal-pitch discretization method: the method expects that the time that the vehicle passes through any two adjacent waypoints is the same, and the time is defined as deltat (common value is 0.01 s). From the desired velocity profile, the desired velocity v at different spatial locations can be obtained ref . With the start point X of the path i，0 As the first discrete waypointLooking up the desired rate curve to get->Then +.>Distance of->Based on->Is obtained by looking up the desired rate curve>And get->Angle-defining the next route point +.>Such recursion is performed until a sequence of discrete path points is obtainedFinding the next point with a distance delta on a continuous path according to the starting point can use numerical solution to obtain the approximate numberAnd (5) value solution.
b) Referring to fig. 6 (b), the equal spatial distance dispersion method: with the start point X of the path i，0 As the first discrete waypointDirectly solving the next discrete point ++where the curve distance is Deltaτ on the continuous path by numerical calculation>Recalculating distance->The next discrete point of Δτ +.>Repeating recursion until a discrete path point sequence is obtained>
In the above-mentioned context,for the p-th discrete point on the i-th path,>is a waypoint->The corresponding desired rate of speed is determined,
obtaining the expected speed of each path point from the expected speed curve according to the static discrete path obtained by the discretization methodCalculating the path point according to>Desired car orientation angle>
According to the sequence of the path points, the path output by the static path planning method is thatThe desired velocity and vehicle orientation angle of the N candidate static discrete paths and corresponding discrete points, each path containing M discrete points.
The embodiment of the disclosure provides an automatic driving automobile static path planning device, the structure of which is shown in fig. 7, comprising:
the characteristic point selection module is used for selecting a plurality of groups of characteristic points according to the road topology of the intersection and the expected number of exits of the running route in the intersection, wherein the number of the groups of characteristic points is consistent with the expected number of exits, and each group of characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
the path calculation module is used for inputting the obtained multiple groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths; and
the discrete processing module is used for setting expected traffic rate and expected stop rate for each obtained candidate static continuous path, distributing running rate for the automatic driving automobile according to the current state and signal lamp phase of the automatic driving automobile, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths and outputting a final planned static discrete path.
In order to implement the above-described embodiments, the present disclosure further proposes a computer-readable storage medium having stored thereon a computer program that is executed by a processor for executing the automatic driving vehicle static path planning method of the above-described embodiments.
Referring now to fig. 8, a schematic diagram of an electronic device 100 suitable for use in implementing embodiments of the present disclosure is shown. It should be noted that the electronic device 100 includes an autopilot static path planning system, where the electronic device in the embodiments of the disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (e.g., vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, servers, and the like. The electronic device shown in fig. 8 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 8, the electronic device 100 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 101 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 102 or a program loaded from a storage means 108 into a Random Access Memory (RAM) 103. In the RAM 103, various programs and data necessary for the operation of the electronic apparatus 100 are also stored. The processing device 101, ROM 102, and RAM 103 are connected to each other by a bus 104. An input/output (I/O) interface 105 is also connected to bus 104.
In general, the following devices may be connected to the I/O interface 105: input devices 106 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, etc.; an output device 107 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 108 including, for example, magnetic tape, hard disk, etc.; and a communication device 109. The communication means 109 may allow the electronic device 100 to communicate wirelessly or by wire with other devices to exchange data. While fig. 5 shows the electronic device 100 with various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, the present embodiment includes a computer program product comprising a computer program loaded on a computer readable medium, the computer program comprising program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 109, or from the storage means 108, or from the ROM 102. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 101.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: selecting a plurality of groups of characteristic points according to road topology of the intersection and the expected number of exits of a running route in the intersection, wherein the number of the groups of characteristic points is consistent with the expected number of exits, and each group of characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points; inputting the obtained multiple groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths; and setting an expected passing rate and an expected stopping rate for each obtained candidate static continuous path, distributing the running rate for the automatic driving automobile according to the current state and signal lamp phase of the automatic driving automobile, obtaining a plurality of candidate paths containing the speed information of the automatic driving automobile, discretizing the candidate paths, and outputting a final planned static discrete path.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++, python and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that implementing all or part of the steps carried by the method of the above embodiments may be accomplished by a program to instruct related hardware and the developed program may be stored in a computer readable storage medium, which when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (5)
1. A method for planning a static path of an automatic driving automobile, comprising:
selecting a plurality of groups of characteristic points according to road topology of an intersection and the expected number of exits of a running route in the intersection, wherein the number of the groups of the characteristic points is consistent with the expected number of exits, and each group of the characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
inputting a plurality of groups of characteristic points into a path calculation function to obtain corresponding different candidate static continuous paths;
setting expected traffic rate and expected stop rate for each candidate static continuous path, distributing running rate for the automatic driving automobile according to the current state of the automatic driving automobile and signal lamp phase, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths, and outputting a final planned static discrete path;
the external feature points of the intersection are selected according to the following steps:
setting the expected exit number of the running routes in the intersection as the number N of candidate static continuous paths, and marking the midpoint of the lane starting lines of the N expected exitsIs X 1,4 ,X 2,4 ,…,X i,4 ,…,X N,4 I e {1,2,3, …, N }; marking the midpoint of a lane stop line of an entrance where an automatic driving automobile is located as X 1 Copy N times to X 1,1 ,X 2,1 ,…,X i,1 ,…,X N,1 The method comprises the steps of carrying out a first treatment on the surface of the From X i,1 Moving distance l along opposite driving direction of entrance lane of automatic driving automobile 1 Obtaining X 1,0 ,X 2,0 ,…,X i,0 ,…,X N,0 The method comprises the steps of carrying out a first treatment on the surface of the From X i,4 Distance l of departure along running direction of parallel exit lane 2 Obtaining X 1,5 ,X 2,5 ,…,X i,5 ,…,X N,5 The method comprises the steps of carrying out a first treatment on the surface of the Selecting X i,0 、X i,1 、X i,4 And X i,5 The corresponding feature points are used as the intersection external feature points of the ith candidate static continuous path;
the intersection internal feature points are selected according to the following steps:
let the coordinates of the feature points inside the intersection of the ith candidate static continuous path be X i,2 And X i,3 Selecting the characteristic points in the intersection according to the following steps:
wherein θ 1 For the included angle theta between the driving direction of the entrance lane and the transverse axis of the intersection coordinate axis i,2 An included angle between the driving direction of the ith candidate exit lane and the transverse axis of the intersection coordinate axis is formed;
for the ith candidate static continuous path, it will be located at X i,0 And X i,1 The path between them is located at X i,1 And X i,4 The path between them and is located at X i,4 And X i,5 The paths between are respectively marked asAnd->The path computation functions employed are as follows:
wherein t is 1 、t 2 And t 3 Respectively is withAnd->Corresponding parameters;
will beAnd->Sequentially connected end to form a static continuous path +.>
The driving speed is distributed for the automatic driving automobile according to the current state of the automatic driving automobile and the phase of the signal lamp, and the driving speed is specifically as follows:
3-1-1) automatic driving automobile Slave X i,0 If the automobile is driven to X in the automatic driving i,1 Before, the signal lamp is always green, or the signal lamp is always yellow and the automatic driving automobile can be driven by the residual yellowIf the inter-vehicle travel exceeds the stop line, the automatic driving vehicle is set to travel to X at a desired traveling rate i,1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i,1 Before, the signal lamp is always red, or the signal lamp is always yellow, and the automatic driving automobile cannot travel in the remaining yellow time to exceed the stop line, the automatic driving automobile is set to travel to X at the expected stop speed i,1 Executing the step 3-1-2); if the automobile is driven to X in automatic driving i,1 Before, when the phase of the signal lamp changes, the driving speed of the automatic driving automobile is jumped to be the expected stop speed or the expected traffic speed until the automatic driving automobile is driven to X i,1 Executing the step 3-1-2);
3-1-2) autopilot automobile is located at X i,1 If the signal lamp is a yellow lamp or a green lamp, the automatic driving automobile is set to drive to X at the expected passing rate i,5 The method comprises the steps of carrying out a first treatment on the surface of the If the signal lamp is red, the automatic driving automobile is set to drive at the expected stop speed until the signal lamp turns to be green, and the automatic driving automobile is set to drive at the expected passing speed to X i,5 。
2. The method for planning static path of automatic driving vehicle according to claim 1, wherein the feature points inside and outside each intersection are classified according to N expected exits to obtain feature point groups of N candidate paths
3. The method for planning a static path of an automatic driving automobile according to claim 1, wherein the plurality of candidate paths containing speed information of the automatic driving automobile are discretized by means of equal time distances or equal space distances.
4. An automatic driving car static path planning device based on the automatic driving car static path planning method according to any one of claims 1 to 3, characterized by comprising:
the characteristic point selection module is used for selecting a plurality of groups of characteristic points according to the road topology of the intersection and the expected number of exits of the running route in the intersection, wherein the number of the groups of the characteristic points is consistent with the expected number of the exits, and each group of the characteristic points comprises a plurality of intersection internal characteristic points and a plurality of intersection external characteristic points;
the path calculation module is used for inputting a plurality of groups of characteristic points into the path calculation function to obtain corresponding different candidate static continuous paths; and
and the discrete processing module is used for setting expected traffic rate and expected stop rate for each candidate static continuous path, distributing running rate for the automatic driving automobile according to the current state and signal lamp phase of the automatic driving automobile, obtaining a plurality of candidate paths containing speed information of the automatic driving automobile, discretizing the candidate paths and outputting a final planned static discrete path.
5. A storage medium storing computer instructions for causing a computer to perform the method of static path planning for an autonomous vehicle according to any one of claims 1 to 3.
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