CN113776550A - Route planning method and device - Google Patents
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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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
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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
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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Abstract
The application provides a route planning method and a route planning device, which are applied to a scene that an unmanned delivery vehicle crosses an intersection, wherein the method comprises the following steps: monitoring a driving route of the unmanned distribution vehicle; when the unmanned distribution vehicle is monitored to cross the intersection, acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs; determining a driving route according to the coordinates and the reference line; and controlling the unmanned distribution vehicle to travel along the determined travel route. The method can reasonably plan the driving route in the scene that the unmanned delivery vehicle crosses the intersection.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a route planning method and a route planning device.
Background
At present, for a scene crossing an intersection, an unmanned delivery vehicle usually takes a lane center line on a map as a forward reference and runs close to the lane center line of the map, once the unmanned vehicle enters the intersection and bypasses an obstacle, the vehicle body is far away from the lane center line, and the unmanned vehicle can turn to the lane center line in the intersection to get back to the lane center line greatly.
The existing route planning scheme is unreasonable, traffic accidents can be caused, and distribution efficiency is reduced.
Disclosure of Invention
In view of this, the present application provides a route planning method and device, which can reasonably plan a driving route in a scene that an unmanned delivery vehicle crosses an intersection.
In order to solve the technical problem, the technical scheme of the application is realized as follows:
in one embodiment, a route planning method is provided, which is applied to a scene that an unmanned delivery vehicle crosses an intersection, and the method comprises the following steps:
monitoring a driving route of the unmanned distribution vehicle;
when the unmanned distribution vehicle is monitored to cross the intersection, acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
determining a driving route according to the coordinates and the reference line;
and controlling the unmanned distribution vehicle to travel along the determined travel route.
In another embodiment, a route planning device is provided for use in a scenario where an unmanned delivery vehicle traverses an intersection, the device comprising: the device comprises a monitoring unit, an acquisition unit, a generation unit, a determination unit and a control unit;
the monitoring unit is used for monitoring the driving route of the unmanned distribution vehicle;
the acquisition unit is used for acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system when the monitoring unit monitors that the unmanned distribution vehicle crosses the intersection; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
the generating unit is used for generating a reference line based on the coordinates acquired by the acquiring unit and the minimum distance from the unmanned delivery vehicle to the right boundary of the road when the unmanned delivery vehicle runs;
the determining unit is used for determining a driving route according to the coordinates acquired by the acquiring unit and the reference line generated by the generating unit;
the control unit is used for controlling the unmanned distribution vehicle to travel along the travel route determined by the determination unit.
In another embodiment, an electronic device is provided comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the route planning method when executing the program.
In another embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the route planning method.
According to the technical scheme, when the unmanned distribution vehicle crosses the intersection, a target coordinate system is introduced based on the road trend in the embodiment, and the coordinate of the central point of the rear shaft of the unmanned distribution vehicle under the target coordinate system is obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs; determining a driving route according to the coordinates and the reference line; and controlling the unmanned distribution vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle crosses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and the distribution efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 shows the correspondence between Frenet and Cartesian coordinate systems;
FIG. 2 is a schematic diagram of a route planning process according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a route planning process in the second embodiment of the present application;
FIG. 4 is a schematic structural diagram of a route planning apparatus according to an embodiment of the present application;
fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail with specific examples. Several of the following embodiments may be combined with each other and some details of the same or similar concepts or processes may not be repeated in some embodiments.
The embodiment of the application provides a route planning method, which is applied to a scene that an unmanned delivery vehicle crosses an intersection, when the unmanned delivery vehicle crosses the intersection, a target coordinate system is introduced for better describing road behavior, and coordinates of a rear axle central point of the unmanned delivery vehicle under the target coordinate system are obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs; determining a driving route according to the coordinates and the reference line; and controlling the unmanned distribution vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle crosses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and the distribution efficiency is improved.
In the embodiment of the application, in order to better describe the road tendency, a target coordinate system is introduced, wherein the target coordinate system takes the advancing direction of the center line of the lane as a horizontal axis, the leftward direction of a vertical horizontal axis as a vertical axis, and a road starting point as an origin.
Since the relevant coordinates of the unmanned delivery vehicle are usually obtained from a map coordinate system corresponding to the used map, i.e., the original coordinate system, it is necessary to obtain a mapping relationship between the coordinates in the target coordinate system and the coordinates in the original coordinate system.
Taking a map coordinate system corresponding to the used map as a cartesian coordinate system and a target coordinate system as a Frenet coordinate system as an example, the mapping relation of coordinate points in the two coordinate systems is given as follows:
referring to fig. 1, fig. 1 shows a correspondence relationship between a Frenet coordinate system and a cartesian coordinate system. The cartesian coordinate system in fig. 1 is yMx. The Frenet coordinate system lOs is introduced to better describe the lane trend, and takes the advancing direction of the lane central line as an s-axis, the left direction perpendicular to the s-axis as an l-axis and O as a coordinate origin, and is the starting point of the unmanned delivery vehicle on the lane central line. The lane center line is composed of a series of discrete points and is located at the middle position of the left boundary and the right boundary of the road.
In the Cartesian coordinate system of FIG. 1, there is a point p (x)p,yp) Finding two discrete points s (x) closest to point p in the middle line of the lanes,ys) And e (x)e,ye) Suppose that the coordinate of the point s in the Frenet coordinate system is(s)s0), point e has coordinates(s) in the Frenet coordinate systeme0), then the cartesian coordinates p (x)p,yp) And Fleminer coordinates(s)p,lp) The mapping relation of (1) is as follows:
sp＝ss+λ(se-ss)；
wherein, the coordinate (x)s,ys) And coordinates (x)e,ye) The coordinates of the two points on the road center line closest to point p,
The following describes in detail a route planning process implemented in the embodiments of the present application with reference to the accompanying drawings.
In the process of realizing early warning, the original coordinate system is taken as a Cartesian coordinate system, and the target coordinate system is taken as a Fliner coordinate system for example, so as to carry out related description.
Example one
Referring to fig. 2, fig. 2 is a schematic diagram of a route planning process in an embodiment of the present application. The method comprises the following specific steps:
And acquiring pose information of the unmanned distribution vehicle, and determining the current running route and the current position of the unmanned distribution vehicle by combining a map.
The step of obtaining the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a Fleminer coordinate system comprises the following steps:
acquiring the coordinate (x) of the central point of the rear axle of the current unmanned distribution vehicle in a Cartesian coordinate system0，y0)；
Acquiring coordinates (x) under a Cartesian coordinate system based on a mapping relation between the Cartesian coordinates and the Fliner coordinates0，y0) Coordinate points(s) in the Fliner coordinate System0，l0)。
And step 203, generating a reference line based on the coordinates and the minimum distance from the right boundary of the road when the unmanned distribution vehicle runs.
And step 204, determining a driving route according to the coordinates and the reference line.
In this step, determining a driving route according to the coordinates and the reference line includes:
determination of l0Whether or not it is greater than lrIf so, determine lbAnd lrTaking the route corresponding to the maximum value as a driving route; otherwise, determine lbAnd l0Taking the route corresponding to the maximum value as a driving route;
wherein l0A longitudinal (i-axis) coordinate that is the coordinate; lrA longitudinal axis (i-axis) coordinate reference value of a set unmanned delivery vehicle deviating from the center line of a lane under a Fliner coordinate system; lbIs the coordinate of the vertical axis (i-axis) corresponding to the determined reference line.
And step 205, controlling the unmanned distribution vehicle to travel along the determined travel route.
In the embodiment of the application, when the unmanned distribution vehicle crosses the intersection, a Ferner coordinate system is introduced, and the coordinate of the central point of the rear shaft of the unmanned distribution vehicle under the Ferner coordinate system is obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs; determining a driving route according to the coordinates and the reference line; and controlling the unmanned distribution vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle crosses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and the distribution efficiency is improved.
Example two
Referring to fig. 3, fig. 3 is a schematic diagram of a route planning process in the second embodiment of the present application. The method comprises the following specific steps:
and step 301, monitoring a driving route of the unmanned delivery vehicle.
The step of obtaining the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a Fleminer coordinate system comprises the following steps:
acquiring the coordinate (x) of the central point of the rear axle of the current unmanned distribution vehicle in a Cartesian coordinate system0，y0)；
Acquiring coordinates (x) under a Cartesian coordinate system based on a mapping relation between the Cartesian coordinates and the Fliner coordinates0，y0) Coordinate points(s) in the Fliner coordinate System0，l0)。
And step 303, determining the minimum value in the right maximum feasible width corresponding to the point on the lane center line according to the s-axis coordinate of the coordinates and the L0.
Wherein, L0 is the length of crossing direction;
in this step, the minimum value of the right maximum possible widths corresponding to the points on the lane center line is determined according to the s-axis coordinate of the coordinates and L0, and the method includes:
in the interval [ s0，s0+L0]Point sampling is carried out on the center line of the inner lane; wherein s is0A horizontal axis (s-axis) coordinate that is the coordinate;
the sampling step length is set according to actual needs, and the embodiment of the application does not limit the sampling step length.
Acquiring the maximum right feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
And step 304, determining a reference line based on the minimum value, the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs.
In this step, a reference line is determined based on the minimum value, the vehicle width, and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during traveling, and the method includes:
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
calculating a difference between the sum and the minimum;
and determining a line corresponding to the corresponding value of the difference value on the l axis as a reference line.
I.e. |b＝-dmin+W/2+d；
Wherein lbIs the difference, dminD is the minimum value in the maximum feasible width at the right side, and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running, and during specific implementation, d is set according to the shape of the unmanned distribution vehicle, the road environment and the like; w is the width of the vehicle body.
And 305, determining a driving route according to the coordinates and the reference line.
In this step, determining a driving route according to the coordinates and the reference line includes:
determination of l0Whether or not it is greater than lrIf so, determine lbAnd lrTaking the route corresponding to the maximum value as a driving route; otherwise, determine lbAnd l0Taking the route corresponding to the maximum value as a driving route;
wherein l0A longitudinal (i-axis) coordinate that is the coordinate; lrA longitudinal axis (i-axis) coordinate reference value of a set unmanned delivery vehicle deviating from the center line of a lane under a Fliner coordinate system; lbFor determined referenceThe line corresponds to the ordinate (i-axis) coordinate.
And step 306, controlling the unmanned distribution vehicle to travel along the determined travel route.
In the embodiment of the application, when the unmanned distribution vehicle crosses the intersection, a Ferner coordinate system is introduced, and the coordinate of the central point of the rear shaft of the unmanned distribution vehicle under the Ferner coordinate system is obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs; determining a driving route according to the coordinates and the reference line; and controlling the unmanned distribution vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle crosses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and the distribution efficiency is improved.
Based on the same inventive concept, the embodiment of the application also provides a route planning device which is applied to a scene that an unmanned delivery vehicle crosses an intersection. Referring to fig. 4, fig. 4 is a schematic structural diagram of a route planning device in the embodiment of the present application. The device comprises: a monitoring unit 401, an acquisition unit 402, a generation unit 403, a determination unit 404, and a control unit 405;
a monitoring unit 401 for monitoring a traveling route of the unmanned delivery vehicle;
the acquiring unit 402 is configured to acquire coordinates of a central point of a rear axle of the unmanned delivery vehicle in a target coordinate system when the monitoring unit 401 monitors that the unmanned delivery vehicle crosses the intersection; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
a generating unit 403, configured to generate a reference line based on the coordinates acquired by the acquiring unit 402 and a minimum distance from the right boundary of the road when the unmanned delivery vehicle travels;
a determination unit 404 for determining a travel route from the coordinates acquired by the acquisition unit 402 and the reference line generated by the generation unit 403;
a control unit 405 for controlling the unmanned delivery vehicle to travel along the travel route determined by the determination unit 404.
In another embodiment of the present invention, the substrate is,
the generating unit 403, specifically configured to generate a reference line based on the coordinates and a minimum distance from the right boundary of the road when the unmanned distribution vehicle travels, include:
determining the minimum value of the right maximum feasible widths corresponding to the lane center line according to the horizontal axis coordinate of the coordinates and L0; wherein, L0 is the length of crossing direction;
and determining a reference line based on the minimum value, the width of the vehicle body and the minimum distance from the right boundary of the road when the unmanned distribution vehicle runs.
In another embodiment of the present invention, the substrate is,
specifically, when determining the minimum value of the right maximum possible widths corresponding to the point on the lane center line from the abscissa of the coordinates and L0, the generating unit 403 includes:
in the interval [ s0，s0+L0]Point sampling is carried out on the center line of the inner lane; wherein s is0Is a horizontal axis coordinate;
acquiring the maximum right feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
In another embodiment of the present invention, the substrate is,
the generating unit 403, specifically configured to determine the reference line based on the minimum value, the vehicle width, and the minimum distance from the unmanned delivery vehicle to the right boundary of the road when the unmanned delivery vehicle travels, include:
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
calculating a difference between the sum and the minimum;
and determining a line corresponding to the corresponding value of the difference value on the vertical axis as a reference line.
In another embodiment of the present invention, the substrate is,
the determining unit 404, specifically configured to determine the driving route according to the coordinates and the reference line, includes:
determination of l0Whether or not it is greater than lrIf so, determine lbAnd lrTaking the route corresponding to the maximum value as a driving route; otherwise, determine lbAnd l0Taking the route corresponding to the maximum value as a driving route;
wherein l0A longitudinal axis coordinate being the coordinate; lrDeviating the central line of the driveway for the set unmanned delivery vehicle from a longitudinal axis coordinate reference value under a target coordinate system; lbIs the coordinate of the vertical axis corresponding to the determined reference line.
In another embodiment of the present invention, the substrate is,
the obtaining unit 402, when specifically configured to obtain a coordinate of a center point of a rear axle of the unmanned delivery vehicle in a target coordinate system, includes:
acquiring the coordinate (x) of the central point of the rear shaft of the current unmanned distribution vehicle in an original coordinate system0，y0)；
Obtaining coordinates (x) in the original coordinate system based on the mapping relation between the original coordinates and the target coordinates0，y0) Coordinate points(s) in a target coordinate system0，l0)；
And the original coordinate system is a map coordinate system corresponding to the used map.
In another embodiment of the present invention, the substrate is,
coordinate p (x) in original coordinate systemp,yp) And coordinates(s) in the target coordinate systemp,lp) The mapping relation of (1) is as follows:
sp＝ss+λ(se-ss)；
wherein, the coordinate (x)s,ys) And coordinates (x)e,ye) The coordinates of the two points on the road center line closest to point p,
the units of the above embodiments may be integrated into one body, or may be separately deployed; may be combined into one unit or further divided into a plurality of sub-units.
In another embodiment, an electronic device is also provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the route planning method when executing the program.
In another embodiment, a computer readable storage medium is also provided having stored thereon computer instructions which, when executed by a processor, may implement the steps in the route planning method.
Fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the electronic device may include: a Processor (Processor)510, a communication Interface (Communications Interface)520, a Memory (Memory)530 and a communication bus 540, wherein the Processor 510, the communication Interface 520 and the Memory 530 communicate with each other via the communication bus 540. Processor 510 may call logic instructions in memory 530 to perform the following method:
monitoring a driving route of the unmanned distribution vehicle;
when the unmanned distribution vehicle is monitored to cross the intersection, acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
determining a driving route according to the coordinates and the reference line;
and controlling the unmanned distribution vehicle to travel along the determined travel route.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A route planning method is applied to a scene that an unmanned delivery vehicle crosses an intersection, and is characterized by comprising the following steps:
monitoring a driving route of the unmanned distribution vehicle;
when the unmanned distribution vehicle is monitored to cross the intersection, acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
determining a driving route according to the coordinates and the reference line;
and controlling the unmanned distribution vehicle to travel along the determined travel route.
2. The method of claim 1, wherein generating a reference line based on the coordinates and a minimum distance of the unmanned delivery vehicle from a right boundary of the roadway while traveling comprises:
determining the minimum value of the right maximum feasible widths corresponding to the lane center line according to the horizontal axis coordinate of the coordinates and L0; wherein, L0 is the length of crossing direction;
and determining a reference line based on the minimum value, the width of the vehicle body and the minimum distance from the right boundary of the road when the unmanned distribution vehicle runs.
3. The method of claim 2, wherein said determining the minimum of the right maximum feasible widths of point correspondences on the lane center line from the abscissa of said coordinates and L0 comprises:
in the interval [ s0，s0+L0]Point sampling is carried out on the center line of the inner lane; wherein s is0A horizontal axis coordinate which is the coordinate;
acquiring the maximum right feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
4. The method of claim 2, wherein determining a reference line based on the minimum value, the body width, and the minimum distance from the right boundary of the roadway when the unmanned delivery vehicle is traveling comprises:
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road when the unmanned distribution vehicle runs;
calculating a difference between the sum and the minimum;
and determining a line corresponding to the corresponding value of the difference value on the vertical axis as a reference line.
5. The method of claim 1, wherein said determining a travel route from said coordinates and said reference line comprises:
determination of l0Whether or not it is greater than lrIf so, determine lbAnd lrTaking the route corresponding to the maximum value as a driving route; otherwise, determine lbAnd l0Taking the route corresponding to the maximum value as a driving route;
wherein l0A longitudinal axis coordinate being the coordinate; lrDeviating the central line of the driveway for the set unmanned delivery vehicle from a longitudinal axis coordinate reference value under a target coordinate system; lbIs the coordinate of the vertical axis corresponding to the determined reference line.
6. The method of any one of claims 1-5, wherein said obtaining coordinates of a center point of a rear axle of said unmanned delivery vehicle in a target coordinate system comprises:
acquiring the coordinate (x) of the central point of the rear shaft of the current unmanned distribution vehicle in an original coordinate system0，y0)；
Obtaining coordinates (x) in the original coordinate system based on the mapping relation between the original coordinates and the target coordinates0，y0) Coordinate points(s) in a target coordinate system0，l0)；
And the original coordinate system is a map coordinate system corresponding to the used map.
7. Method according to claim 6, characterized in that the coordinates p (x) in the original coordinate systemp，yp) And coordinates(s) in the target coordinate systemp，lp) The mapping relation of (1) is as follows:
sp＝ss+λ(se-ss)；
wherein, the coordinate (x)s，ys) And coordinates (x)e，ye) The coordinates of the two points on the road center line closest to point p,
8. a route planning device for use in a scenario where an unmanned delivery vehicle traverses an intersection, the device comprising: the device comprises a monitoring unit, an acquisition unit, a generation unit, a determination unit and a control unit;
the monitoring unit is used for monitoring the driving route of the unmanned distribution vehicle;
the acquisition unit is used for acquiring the coordinates of the central point of the rear shaft of the unmanned distribution vehicle under a target coordinate system when the monitoring unit monitors that the unmanned distribution vehicle crosses the intersection; the target coordinate system takes the advancing direction of the central line of the lane as a horizontal axis, the left direction of the vertical horizontal axis as a vertical axis and takes the starting point of the road as an origin;
the generating unit is used for generating a reference line based on the coordinates acquired by the acquiring unit and the minimum distance from the unmanned delivery vehicle to the right boundary of the road when the unmanned delivery vehicle runs;
the determining unit is used for determining a driving route according to the coordinates acquired by the acquiring unit and the reference line generated by the generating unit;
the control unit is used for controlling the unmanned distribution vehicle to travel along the travel route determined by the determination unit.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 7.
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