CN113804208A - Unmanned vehicle path optimization method and related equipment - Google Patents
Unmanned vehicle path optimization method and related equipment Download PDFInfo
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Abstract
The embodiment of the disclosure provides an unmanned vehicle path optimization method and device, a computer readable storage medium and electronic equipment, and belongs to the technical field of computers and communication. The method comprises the following steps: acquiring an initial path generated by the unmanned vehicle; acquiring obstacles around the initial path; if the initial path intersects with the obstacle, the obstacle is determined not to be bypassed; if the initial path does not intersect with the obstacle, the obstacle is determined to be detoured leftwards or rightwards; and optimizing the initial path of the unmanned vehicle based on the decision of the obstacle. The technical scheme of the embodiment of the disclosure provides an unmanned vehicle path optimization method, which can avoid the problem that the detour behavior of the path after smoothing and the path before smoothing on the barrier is not uniform.
Description
Technical Field
The present disclosure relates to the field of computer and communication technologies, and in particular, to a method and an apparatus for optimizing a path of an unmanned vehicle, a computer-readable storage medium, and an electronic device.
Background
The current mobile robot technology is developed rapidly, and with the continuous expansion of application scenes and modes of the robot in recent years, various mobile robots are layered endlessly, and an unmanned vehicle is one of the robots. At present, unmanned vehicle path planning generally obtains an optimal path in an evaluation system based on the evaluation system, and then the path is directly used for speed planning, and no specific transverse decision (namely left winding, right winding or no winding) is given to obstacles around the path. If the optimal path obtained based on the set evaluation system is not smooth enough, subsequent smoothing is required. Since there is no transverse decision for the obstacle around the path, the detouring behavior of the obstacle may not be uniform between the path after smoothing and the path before smoothing, which may result in that the unmanned vehicle cannot detour the obstacle.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The embodiment of the disclosure provides an unmanned vehicle path optimization method and device, a computer-readable storage medium and an electronic device, which can avoid the problem that the detour behavior of a path after smoothing and a path before smoothing on an obstacle is not uniform.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the present disclosure, there is provided an unmanned vehicle path optimization method including:
acquiring an initial path generated by an unmanned vehicle, wherein the initial path comprises a plurality of discrete path points;
acquiring obstacles around the initial path;
if the initial path intersects with the obstacle, the obstacle is determined not to be bypassed;
if the initial path does not intersect the obstacle, then:
if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards;
in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and
optimizing the initial path of the unmanned vehicle based on a decision of the obstacle.
In one embodiment, further comprising:
determining a first vector connecting the first path point and the center point of the obstacle and a second vector connecting the first path point and the second path point according to the Cartesian coordinates of the first path point, the second path point and the center point of the obstacle;
wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the left side of the connecting line of the first path point and the center point of the obstacle, the making a decision on the obstacle to detour to the left includes:
when the cross product value of the first vector and the second vector is greater than zero, the second path point is positioned on the left side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed leftwards;
wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the right side of a connection line between the first path point and the obstacle center point, the making a decision of the obstacle as bypassing to the right includes:
and when the cross product value of the first vector and the second vector is less than zero, the second path point is positioned on the right side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed to the right.
In one embodiment, the obstacle comprises an obstacle boundary polygon comprising a starting flener S coordinate and an ending flener S coordinate, the starting flener S coordinate of the obstacle boundary polygon being the minimum of the flener S coordinates in the end point coordinates of the obstacle boundary polygon, the ending flener S coordinate of the obstacle boundary polygon being the maximum of the flener S coordinates in the end point coordinates of the obstacle boundary polygon, wherein, if there are two adjacent first and second path points near the obstacle comprises:
and if the Fliner S coordinate of the second path point is larger than the initial Fliner S coordinate of the barrier boundary polygon and the Fliner S coordinate of the first path point is smaller than the final Fliner S coordinate of the barrier boundary polygon, two adjacent first path points and second path points close to the barrier exist.
In one embodiment, the initial path includes a start flener S coordinate and an end flener S coordinate, wherein acquiring the obstacles around the initial path includes:
comparing the starting Fliner S coordinate and the ending Fliner S coordinate of the obstacle boundary polygon with the starting Fliner S coordinate and the ending Fliner S coordinate of the initial path;
and acquiring the obstacle boundary polygon of which the ending Fleminer S coordinate is larger than the starting Fleminer S coordinate of the initial path and the starting Fleminer S coordinate is smaller than the ending Fleminer S coordinate of the initial path.
In one embodiment, the obstacle comprises an obstacle boundary polygon, wherein if the initial path intersects the obstacle comprises:
if the initial path intersects the obstacle or the obstacle boundary polygon.
In one embodiment, if the initial path intersects the obstacle or the obstacle boundary polygon comprises:
and if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, enabling a connecting line of the first path points and the second path points to intersect with the obstacle or the obstacle boundary polygon.
In one embodiment, the obstacle center point is a center point of the obstacle or a center point of the obstacle boundary polygon,
wherein causing the second path point to be located to the left of a line connecting the first path point and the obstacle center point comprises:
enabling the second path point to be located on the left side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon;
wherein causing the second path point to be located to the right of a line connecting the first path point and the obstacle center point comprises:
and enabling the second path point to be positioned on the right side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon.
According to an aspect of the present disclosure, there is provided an unmanned vehicle path optimizing apparatus including:
an acquisition module configured to acquire an initial path generated by an unmanned vehicle and obstacles around the initial path, wherein the initial path comprises a plurality of discrete path points; and
a decision module configured to decide that the obstacle is not to be bypassed if the initial path intersects the obstacle;
if the initial path does not intersect the obstacle, then:
if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards;
in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and
an optimization module configured to optimize the initial path of the unmanned vehicle based on a decision of the obstacle.
According to an aspect of the present disclosure, there is provided an electronic device including:
one or more processors;
a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of the above embodiments.
According to an aspect of the present disclosure, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the method of any one of the above embodiments.
In the technical solutions provided by some embodiments of the present disclosure, a decision method for acquiring an obstacle around an initial path according to the initial path generated by an unmanned vehicle can avoid a problem that the obstacle cannot be bypassed by the unmanned vehicle due to a difference between a path after smoothing the initial path and a path before smoothing the initial path.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The following figures depict certain illustrative embodiments of the invention in which like reference numerals refer to like elements. These described embodiments are to be considered as exemplary embodiments of the disclosure and not limiting in any way.
Fig. 1 shows a schematic diagram of an exemplary system architecture to which the unmanned vehicle path optimization method or the unmanned vehicle path optimization apparatus of the embodiments of the present disclosure may be applied;
FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device implementing embodiments of the present disclosure;
FIG. 3 schematically illustrates a Frenet (Flernet) coordinate system and a Cartesian coordinate system according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates an obstacle and obstacle boundary polygon in a Frenet (Flerner) coordinate system and a Cartesian coordinate system, according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart of an unmanned vehicle path optimization method according to an embodiment of the present disclosure;
FIG. 6 schematically illustrates a flow chart of an unmanned vehicle obstacle decision method according to an embodiment of the present disclosure;
fig. 7 schematically illustrates a block diagram of an unmanned vehicle path optimization apparatus according to an embodiment of the present disclosure;
fig. 8 schematically shows a block diagram of an unmanned vehicle path optimizing apparatus according to another embodiment of the present invention;
fig. 9 schematically shows a block diagram of an unmanned vehicle path optimizing apparatus according to another embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Fig. 1 shows a schematic diagram of an exemplary system architecture 100 to which the unmanned vehicle path optimization method or the unmanned vehicle path optimization apparatus of the embodiments of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include one or more of terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is a medium to provide communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, or the like.
The unmanned vehicles may use the terminal devices 101, 102, 103 to interact with the server 105 over the network 104 to receive or send messages or the like. The terminal devices 101, 102, 103 may be various electronic devices having display screens including, but not limited to, smart phones, tablets, portable and desktop computers, digital cinema projectors, and the like.
The server 105 may be a server that provides various services. For example, the unmanned vehicle transmits the unmanned vehicle route optimization request to the server 105 using the terminal device 103 (which may be the terminal device 101 or 102). The server 105 may generate an initial path by obtaining an unmanned vehicle, wherein the initial path includes a plurality of discrete waypoints; acquiring obstacles around the initial path; if the initial path intersects with the obstacle, the obstacle is determined not to be bypassed; if the initial path does not intersect the obstacle, then: if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards; in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and optimizing the initial path of the unmanned vehicle based on the decision of the obstacle. The server 105 may send the optimized path information to the terminal device 103 to display the optimized path information on the terminal device 103, and the unmanned vehicle may view a corresponding optimized path of the current unmanned vehicle based on the content displayed on the terminal device 103.
Also for example, the terminal device 103 (also may be the terminal device 101 or 102) may be a smart tv, a VR (Virtual Reality)/AR (Augmented Reality) helmet display, or a mobile terminal such as a smart phone, a tablet computer, etc. on which a navigation, a network appointment car, an instant messaging, a video Application (APP) and the like are installed, and the unmanned car may send the unmanned car path optimization request to the server 105 through the smart tv, the VR/AR helmet display or the navigation, the network appointment car, the instant messaging, the video APP. The server 105 may obtain a result of the unmanned vehicle path optimization based on the unmanned vehicle path optimization request, and return the unmanned vehicle path optimization result to the smart television, the VR/AR helmet display, or the navigation, network appointment, instant messaging, and video APP, and then display the returned unmanned vehicle path optimization result through the smart television, the VR/AR helmet display, or the navigation, network appointment, instant messaging, and video APP.
FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure.
It should be noted that the computer system 200 of the electronic device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.
As shown in fig. 2, the computer system 200 includes a Central Processing Unit (CPU)201 that can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 202 or a program loaded from a storage section 208 into a Random Access Memory (RAM) 203. In the RAM 203, various programs and data necessary for system operation are also stored. The CPU 201, ROM 202, and RAM 203 are connected to each other via a bus 204. An input/output (I/O) interface 205 is also connected to bus 204.
The following components are connected to the I/O interface 205: an input portion 206 including a keyboard, a mouse, and the like; an output section 207 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 208 including a hard disk and the like; and a communication section 209 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 209 performs communication processing via a network such as the internet. A drive 210 is also connected to the I/O interface 205 as needed. A removable medium 211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 210 as necessary, so that a computer program read out therefrom is installed into the storage section 208 as necessary.
In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication section 209 and/or installed from the removable medium 211. The computer program, when executed by a Central Processing Unit (CPU)201, performs various functions defined in the methods and/or apparatus of the present application.
It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 present 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 contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage 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 storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules and/or units and/or sub-units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described modules and/or units and/or sub-units may also be disposed in a processor. Wherein the names of such modules and/or units and/or sub-units in some cases do not constitute a limitation on the modules and/or units and/or sub-units themselves.
As another aspect, the present application also provides a computer-readable storage medium, which may be contained in the electronic device described in the above embodiment; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 5 or fig. 6.
In the related art, for example, the unmanned vehicle route can be optimized by using a machine learning method, a deep learning method, or the like, and the application range of different methods is different.
Fig. 3 schematically illustrates a Frenet coordinate system and a cartesian coordinate system according to an embodiment of the disclosure.
Referring to fig. 3, the cartesian coordinates are the yMx coordinate system. The Frenet coordinate system takes a road center line as an S axis and takes a vertical S axis as an L axis to the left, and the road center line is composed of a series of discrete points. Suppose there is a point p (x) in the Cartesian coordinate systemp,yp) Finding two discrete points s (x) in the road centerline that are closest in distance ps,ys) And e (x)e,ye) Let s be(s) in the Frenet coordinate systems0), e has the coordinate(s) under Frenete0), then point p (x) in cartesian coordinatesp,yp) With its coordinates(s) in the Frenet coordinate systemp,lp) The relationship between them is determined by equation (1):
fig. 4 schematically shows a schematic diagram of an obstacle (obstacle)401 and an obstacle boundary polygon 402 in a Frenet (flelner) coordinate system and a cartesian coordinate system according to an embodiment of the present disclosure.
Referring to fig. 4, a solid line polygon 401 is a schematic diagram of an obstacle, and a dashed line polygon 402 is a schematic diagram of an obstacle boundary polygon. In fig. 4, the obstacle 401 and the obstacle boundary polygon 402 are both quadrangles, but the present disclosure is not limited thereto, and the obstacle boundary polygon may have other shapes than quadrangles.
The unmanned vehicle path is a set consisting of a series of discrete points, and the planned path of the unmanned vehicle can be set by using the points N ═ p either based on a Frenet coordinate system or a Cartesian coordinate systemi(xi,yi,si,li) I 1,2,. m tableWhere m represents the number of discrete points in the path, (x)i,yi) Cartesian coordinates representing the ith point,(s)i,li) Representing the coordinates at the ith point, Frenet.
Referring to FIG. 4, the obstacle polygon 402 is formed by connecting a series of vertices in a certain order, and the obstacle boundary polygon 402 is assumed to be(s) in combination with the Frenet coordinate system and Cartesian coordinate system transformation relationshipstart,send,lstart,lend) Then, the boundary value of the obstacle boundary polygon can be determined according to the formula (2):
wherein(s) in the formula (2)i,li) Representing the coordinates of the ith point in the apex of the obstacle in the Frenet coordinate system.
Fig. 5 schematically shows a flow chart of an unmanned vehicle path optimization method according to an embodiment of the present disclosure. The method steps of the embodiment of the present disclosure may be executed by the terminal device, the server, or both, for example, the server 105 in fig. 1 may be executed by the terminal device and the server, but the present disclosure is not limited thereto.
In step S510, an initial path generated by the unmanned vehicle is obtained, wherein the initial path includes a plurality of discrete path points.
In this step, the terminal device or the server may obtain an initial path that has been generated by the unmanned vehicle, where the initial path includes a plurality of discrete path points, that is, the initial path is composed of a plurality of discrete path points, for example, a set of points N ═ { p ═ p may be usedi(xi,yi,si,li) 1, 2.., m } where m represents the number of discrete points in the path, (x)i,yi) Cartesian coordinates representing the ith point,(s)i,li) Representing the coordinates at the ith point, Frenet.
In the embodiments of the present disclosure, the terminal device may be implemented in various forms. For example, the terminal described in the present disclosure may include mobile terminals such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), an unmanned vehicle path optimizing device, a wearable device, a smart band, a pedometer, a robot, an unmanned vehicle, and the like, and fixed terminals such as a digital TV (television), a desktop computer, and the like.
In step S520, obstacles around the initial path are acquired.
In this step, the terminal device or the server may acquire obstacles around the initial path. In one embodiment, the obstacle comprises an obstacle boundary polygon comprising a starting flener S coordinate and an ending flener S coordinate, the starting flener S coordinate of the obstacle may be the starting flener S coordinate of the obstacle boundary polygon, the ending flener S coordinate of the obstacle may be the ending flener S coordinate of the obstacle boundary polygon, the initial path comprises the starting flener S coordinate and the ending flener S coordinate, wherein acquiring the obstacle around the initial path comprises: comparing the starting Fliner S coordinate and the ending Fliner S coordinate of the obstacle boundary polygon with the starting Fliner S coordinate and the ending Fliner S coordinate of the initial path; and acquiring the obstacle or obstacle boundary polygon of which the ending Fliner S coordinate of the obstacle boundary polygon is larger than the starting Fliner S coordinate of the initial path and the starting Fliner S coordinate of the obstacle boundary polygon is smaller than the ending Fliner S coordinate of the initial path, namely acquiring the obstacle or obstacle boundary polygon between the starting point and the ending point of the initial path.
In step S530, if the initial path intersects with the obstacle, the obstacle is determined not to be bypassed.
In this step, the terminal device or the server judges: if the initial path intersects the obstacle, the decision for the obstacle is to not bypass. In one embodiment, the obstacle comprises an obstacle boundary polygon, wherein if the initial path intersects the obstacle comprises: if the initial path intersects the obstacle or the obstacle boundary polygon. In one embodiment, if the initial path intersects the obstacle or the obstacle boundary polygon comprises: and if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, enabling a connecting line of the first path points and the second path points to intersect with the obstacle or the obstacle boundary polygon. In one embodiment, the obstacle comprises an obstacle boundary polygon comprising a starting flener S coordinate and an ending flener S coordinate, the starting flener S coordinate of the obstacle boundary polygon being the minimum of the flener S coordinates in the end point coordinates of the obstacle boundary polygon, the ending flener S coordinate of the obstacle boundary polygon being the maximum of the flener S coordinates in the end point coordinates of the obstacle boundary polygon, wherein, if there are two adjacent first and second path points near the obstacle comprises: and if the Fliner S coordinate of the second path point is larger than the initial Fliner S coordinate of the barrier boundary polygon and the Fliner S coordinate of the first path point is smaller than the final Fliner S coordinate of the barrier boundary polygon, two adjacent first path points and second path points close to the barrier exist.
In step S540, if the initial path does not intersect with the obstacle, then: if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards; and if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to detour to the right.
In this step, if the initial path does not intersect with the obstacle, the terminal device or the server determines a decision of the obstacle according to the discrete path point in the initial path. In one embodiment, the obstacle center point may be a center point of the obstacle or may also be a center point of the obstacle boundary polygon, wherein the causing the second path point to be located to the left of a line connecting the first path point and the obstacle center point comprises: enabling the second path point to be located on the left side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon; wherein causing the second path point to be located to the right of a line connecting the first path point and the obstacle center point comprises: and enabling the second path point to be positioned on the right side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon. In one embodiment, the obstacle center point may be the obstacle or the obstacle boundary polygon geometric center of gravity point.
In one embodiment, determining a first vector connecting the first path point and the center point of the obstacle and a second vector connecting the first path point and the second path point, based on the cartesian coordinates of the first path point, the second path point and the center point of the obstacle; wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the left side of the connecting line of the first path point and the center point of the obstacle, the making a decision on the obstacle to detour to the left includes: when the cross product value of the first vector and the second vector is greater than zero, the second path point is positioned on the left side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed leftwards; wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the right side of a connection line between the first path point and the obstacle center point, the making a decision of the obstacle as bypassing to the right includes: and when the cross product value of the first vector and the second vector is less than zero, the second path point is positioned on the right side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed to the right.
In step S550, the initial path of the unmanned vehicle is optimized based on the decision of the obstacle.
In this step, the terminal device or the server may use the decision of the obstacle (no-detour, left-detour or right-detour) obtained in the previous step for further smoothing or other optimization of the initial path, or for speed planning or other aspects of the initial path. In the further smooth optimization of the initial path, firstly, a solution space required by an optimizer is finely solved according to decision information of existing obstacles around the unmanned vehicle, the vehicle driving direction and road boundary information, and then the path is optimized by the optimizers such as IPOPT and OSQP by taking the initial path as an initial value in the solution space so as to obtain a smooth, comfortable, safe and feasible new path.
According to the unmanned vehicle path optimization method, the decision method for acquiring the obstacles around the initial path according to the initial path generated by the unmanned vehicle can avoid the problem that the obstacle cannot be bypassed by the unmanned vehicle due to the fact that the detouring behavior of the obstacle is not uniform between the path after the initial path is smoothed and the path before the initial path is smoothed.
Fig. 6 schematically illustrates a flow chart of an unmanned vehicle obstacle decision method according to an embodiment of the present disclosure.
In one embodiment, a first vector connecting the first path point and the center point of the obstacle and a second vector connecting the first path point and the second path point are determined based on cartesian coordinates of the first path point, the second path point and the center point of the obstacle.
In step S541, when the cross product of the first vector and the second vector is greater than zero, the second path point is located on the left side of the connecting line between the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed to the left.
In this step, if there are two adjacent first path points and second path points near the obstacle in the discrete path points in the initial path, so that the cross product of the first vector and the second vector is greater than zero, the second path point is located on the left side of the connecting line between the first path point and the center point of the obstacle, and the decision of the obstacle is to detour left.
In step S542, when the cross-product of the first vector and the second vector is less than zero, the second path point is located on the right side of the line connecting the first path point and the center point of the obstacle, and the decision on the obstacle is to detour to the right.
In this step, if there are two adjacent first path points and second path points near the obstacle in the discrete path points in the initial path, so that the cross product of the first vector and the second vector is less than zero, the second path point is located on the right side of the connecting line between the first path point and the center point of the obstacle, and the decision of the obstacle is to detour to the right.
In one embodiment, the decision algorithm flow based on nearby obstacles of the generated initial path is as follows:
traverse all obstacles b from the perception modulejWill not satisfy bj.sstart＞pm.s||bj.send＜p1All obstacles of condition s are deposited into container V ═ bj1, 2.., k }; wherein, bj.sstart＞pm.s||bj.send＜p1S represents the obstacle having an ending ferner S coordinate less than a starting ferner S coordinate of the initial path or having a starting ferner S coordinate greater than an ending ferner S coordinate of the initial path.
Traverse all obstacles b in the container Vj:
A boolean flag bit flag is initialized, and b is setjThe default winding state flag direction is left, namely left winding;
traverse all path points pi：
If p isi+1.s＜bj.sstartContinue; if p isi.s＞bj.sendBreak; wherein p isi+1.s＜bj.sstartWhen the Fliner S coordinate of the path point representing the initial path is smaller than the initial Fliner S coordinate of the obstacle; p is a radical ofi.s＞bj.sendWhen the flener S coordinate of the path point representing the initial path is larger than the obstacle termination flener S coordinate;
let p beixy＝(pi.x,pi.y)，pi+1xy＝(pi+1.x,pi+1.y)；
If the line segment pixypi+1xy(line segment connecting point i and point i + 1) collides with the polygonal obstacle (i.e., line segment p)ixpy+1iIntersect an obstacle or a boundary polygon of an obstacle), let direction cross, i.e., no-wrap, break; otherwise, if flag is false, the center point a (x) of the obstacle or the obstacle boundary polygon is takena,ya) Constructing a vector
(first vector) and
(second vector) if
If yes, making the direction equal to left and the flag equal to true, otherwise, making the direction equal to right and the flag equal to true;
if the direction is left, giving the barrier bjGiving the transverse decision as left winding, and giving the barrier b if the direction is rightjAnd giving a transverse decision as right winding, otherwise, not winding.
Fig. 7 schematically illustrates a block diagram of an unmanned vehicle path optimizing apparatus according to an embodiment of the present disclosure. The unmanned vehicle route optimization apparatus 700 provided in the embodiment of the present disclosure may be disposed on a terminal device, may also be disposed on a server side, or may be partially disposed on a terminal device and partially disposed on a server side, for example, may be disposed on the server 105 in fig. 1, but the present disclosure is not limited thereto.
The unmanned vehicle path optimizing device 700 provided by the embodiment of the present disclosure may include an obtaining module 710, a determining module 720, and an optimizing module 730.
The obtaining module 710 is configured to obtain an initial path generated by an unmanned vehicle and obstacles around the initial path, wherein the initial path includes a plurality of discrete path points; and the decision module 720 is configured to decide not to detour the obstacle if the initial path intersects the obstacle; if the initial path does not intersect the obstacle, then: if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards; in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and an optimization module 730 configured to optimize the initial path of the unmanned vehicle based on the decision of the obstacle.
The unmanned vehicle route optimization device 700 can obtain a decision method of obstacles around an initial route according to the initial route generated by the unmanned vehicle, and can avoid the problem that the obstacle cannot be bypassed by the unmanned vehicle due to the fact that the detouring behavior of the obstacle is not uniform between the route after the initial route is smoothed and the route before the initial route is smoothed.
According to the embodiment of the present disclosure, the above unmanned vehicle path optimization device 700 may be used to implement the unmanned vehicle path optimization method and the unmanned vehicle obstacle decision method described in the embodiments of fig. 5 and 6.
Fig. 8 schematically shows a block diagram of an unmanned vehicle path optimizing apparatus 800 according to another embodiment of the present invention.
As shown in fig. 8, the unmanned vehicle route optimization apparatus 800 further includes a display module 810 in addition to the acquisition module 710, the determination module 720, and the optimization module 730 described in the embodiment of fig. 7.
Specifically, the display module 810 displays the obstacle decision result and the route optimization result on the terminal after the determination module 720 decides the obstacle and the optimization module 730 optimizes the initial route.
In the unmanned vehicle route optimization apparatus 800, the display module 810 can perform visual display of the obstacle decision result and the route optimization result.
Fig. 9 schematically shows a block diagram of an unmanned vehicle path optimizing apparatus 900 according to another embodiment of the present invention.
As shown in fig. 9, the unmanned vehicle route optimization apparatus 900 includes a storage module 910 in addition to the acquisition module 710, the determination module 720, and the optimization module 730 described in the embodiment of fig. 7.
Specifically, the storage module 910 is configured to store the obstacle decision result and the path optimization result, so as to facilitate subsequent invocation and reference.
It is understood that the obtaining module 710, the determining module 720, the optimizing module 730, the displaying module 810 and the storing module 910 may be combined into one module to be implemented, or any one of the modules may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present invention, at least one of the obtaining module 710, the determining module 720, the optimizing module 730, the displaying module 810 and the storing module 910 may be at least partially implemented as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or in a suitable combination of three implementations of software, hardware and firmware. Alternatively, at least one of the obtaining module 710, the determining module 720, the optimizing module 730, the displaying module 810 and the storing module 910 may be at least partially implemented as a computer program module, which when executed by a computer may perform the functions of the respective modules.
For details that are not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the unmanned vehicle path optimization method of the present invention described above, because each module of the unmanned vehicle path optimization apparatus of the exemplary embodiments of the present invention can be used to implement the steps of the exemplary embodiments of the unmanned vehicle path optimization method described above in fig. 5 and fig. 6.
The specific implementation of each module, unit and subunit in the unmanned vehicle path optimization apparatus provided in the embodiments of the present disclosure may refer to the content in the unmanned vehicle path optimization method, and will not be described herein again.
It should be noted that although several modules, units and sub-units of the apparatus for action execution are mentioned in the above detailed description, such division is not mandatory. Indeed, the features and functionality of two or more modules, units and sub-units described above may be embodied in one module, unit and sub-unit, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module, unit and sub-unit described above may be further divided into embodiments by a plurality of modules, units and sub-units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. An unmanned vehicle path optimization method is characterized by comprising the following steps:
acquiring an initial path generated by an unmanned vehicle, wherein the initial path comprises a plurality of discrete path points;
acquiring obstacles around the initial path;
if the initial path intersects with the obstacle, the obstacle is determined not to be bypassed;
if the initial path does not intersect the obstacle, then:
if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards;
in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and
optimizing the initial path of the unmanned vehicle based on a decision of the obstacle.
2. The method of claim 1, further comprising:
determining a first vector connecting the first path point and the center point of the obstacle and a second vector connecting the first path point and the second path point according to the Cartesian coordinates of the first path point, the second path point and the center point of the obstacle;
wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the left side of the connecting line of the first path point and the center point of the obstacle, the making a decision on the obstacle to detour to the left includes:
when the cross product value of the first vector and the second vector is greater than zero, the second path point is positioned on the left side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed leftwards;
wherein, in the discrete path points in the initial path, if there are two adjacent first path points and second path points close to the obstacle, so that the second path point is located on the right side of a connection line between the first path point and the obstacle center point, the making a decision of the obstacle as bypassing to the right includes:
and when the cross product value of the first vector and the second vector is less than zero, the second path point is positioned on the right side of the connecting line of the first path point and the center point of the obstacle, and the obstacle is determined to be bypassed to the right.
3. The method of claim 1, wherein the obstacle comprises an obstacle boundary polygon, the obstacle boundary polygon comprising a starting flener S coordinate and an ending flener S coordinate, the starting flener S coordinate of the obstacle boundary polygon being a minimum of the flener S coordinates in the endpoint coordinates of the obstacle boundary polygon, the ending flener S coordinate of the obstacle boundary polygon being a maximum of the flener S coordinates in the endpoint coordinates of the obstacle boundary polygon, wherein if there are two adjacent first and second path points proximate to the obstacle comprises:
and if the Fliner S coordinate of the second path point is larger than the initial Fliner S coordinate of the barrier boundary polygon and the Fliner S coordinate of the first path point is smaller than the final Fliner S coordinate of the barrier boundary polygon, two adjacent first path points and second path points close to the barrier exist.
4. The method of claim 3, wherein the initial path comprises a starting Fliner S coordinate and a terminating Fliner S coordinate, and wherein acquiring the obstacles around the initial path comprises:
comparing the starting Fliner S coordinate and the ending Fliner S coordinate of the obstacle boundary polygon with the starting Fliner S coordinate and the ending Fliner S coordinate of the initial path;
and acquiring the obstacle boundary polygon of which the ending Fleminer S coordinate is larger than the starting Fleminer S coordinate of the initial path and the starting Fleminer S coordinate is smaller than the ending Fleminer S coordinate of the initial path.
5. The method of claim 1, wherein the obstacle comprises an obstacle boundary polygon, and wherein if the initial path intersects the obstacle comprises:
if the initial path intersects the obstacle or the obstacle boundary polygon.
6. The method of claim 5, wherein if the initial path intersects the obstacle or the obstacle boundary polygon comprises:
and if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, enabling a connecting line of the first path points and the second path points to intersect with the obstacle or the obstacle boundary polygon.
7. The method of claim 1, wherein the obstacle center point is a center point of the obstacle or a center point of the obstacle boundary polygon,
wherein causing the second path point to be located to the left of a line connecting the first path point and the obstacle center point comprises:
enabling the second path point to be located on the left side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon;
wherein causing the second path point to be located to the right of a line connecting the first path point and the obstacle center point comprises:
and enabling the second path point to be positioned on the right side of a connecting line of the first path point and the center point of the obstacle or the center point of the obstacle boundary polygon.
8. An unmanned vehicle path optimizing device, comprising:
an acquisition module configured to acquire an initial path generated by an unmanned vehicle and obstacles around the initial path, wherein the initial path comprises a plurality of discrete path points; and
a decision module configured to decide that the obstacle is not to be bypassed if the initial path intersects the obstacle;
if the initial path does not intersect the obstacle, then:
if two adjacent first path points and second path points close to the obstacle exist in the discrete path points in the initial path, so that the second path points are positioned on the left side of the connecting line of the first path points and the center point of the obstacle, the obstacle is determined to be detoured leftwards;
in the discrete path points in the initial path, if two adjacent first path points and second path points close to the obstacle exist, so that the second path points are located on the right side of a connecting line of the first path points and the obstacle center point, the obstacle is determined to be bypassed to the right; and
an optimization module configured to optimize the initial path of the unmanned vehicle based on a decision of the obstacle.
9. An electronic device, comprising:
one or more processors;
a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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