CN114035576B - Driving path determining method and device - Google Patents
Driving path determining method and device Download PDFInfo
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- CN114035576B CN114035576B CN202111316981.7A CN202111316981A CN114035576B CN 114035576 B CN114035576 B CN 114035576B CN 202111316981 A CN202111316981 A CN 202111316981A CN 114035576 B CN114035576 B CN 114035576B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The application provides a driving path determining method and device, wherein the method comprises the following steps: acquiring an execution result file of executing a driving event set on an original driving scene; determining triggering conditions corresponding to each driving event to be executed from the execution result file and target road static information on an original driving scene; sequentially searching the target road static information or the position information of the triggering condition which meets each driving event in the driving event set in the target map; and determining a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition. According to the application, the execution result file of executing the driving event on the original map is identified, the necessary road condition corresponding to the driving event is determined, the target driving path meeting the necessary road condition is found out on the target map, the technical problem of manually matching the driving event with the target map in the prior art is solved, and the technical effects of improving the working efficiency and the matching accuracy are achieved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for determining a driving path.
Background
In the prior art, when an automatic driving algorithm is operated, a plurality of scenes are expected to be operated on the same map, or the same scenes are put on different maps to be operated, so that the accuracy of the algorithm of the automatic driving vehicle is tested.
However, at present, autopilot algorithms are run in simulation scenes and maps, where the simulation scenes are strongly correlated with the map, and when the map changes, the simulation scenes cannot run on the new map. Thus, once a new map is switched, a worker is required to manually edit or modify the scene to accommodate the new map.
Disclosure of Invention
Therefore, an object of the present application is to provide a method for determining a driving path, which identifies an execution result file of executing a driving event on an original map, determines a necessary road condition corresponding to the execution of the driving event, and finds a target driving path meeting the necessary road condition on a target map, thereby solving the technical problem of manually matching the driving event and the target map in the prior art, and achieving the technical effects of improving the working efficiency and the matching accuracy.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for determining a driving path, where the method includes: acquiring an execution result file for executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events arranged according to a time sequence; determining triggering conditions corresponding to each driving event to be executed from the execution result file and target road static information on an original driving scene; sequentially searching the target road static information or the position information of the triggering condition which meets each driving event in the driving event set in the target map; and determining a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition.
Optionally, the execution result file includes road static information and road dynamic information, and determining, from the execution result file, a trigger condition corresponding to each driving event and target road static information on the original driving scene, where the trigger condition includes: determining target road static information of each driving event on an original driving scene according to the road static information; and determining triggering conditions corresponding to each driving event according to the road dynamic information.
Optionally, the road dynamic information includes: behavior information of a host vehicle and a participant performing each driving event; according to the road dynamic information, determining triggering conditions corresponding to each driving event, including: according to the behavior information of the host vehicle and the participants, determining the initial speed, the initial absolute position, the initial road information, the absolute position at the triggering time and the road information at the triggering time of each driving event; determining a first trigger condition of the driving event according to the initial absolute position of the driving event and the initial road information; judging whether a second triggering condition of the driving event exists or not according to the initial speed of the relative participators of the driving event; if the second trigger condition of the driving event is determined to exist, the first trigger condition and the second trigger condition are determined to be the trigger conditions corresponding to the driving event; and if the second trigger condition of the driving event does not exist, determining the first trigger condition as the trigger condition corresponding to the driving event.
Optionally, the initial road information includes: road name, lane direction, lane number; determining a first trigger condition of each driving event according to the initial absolute position and the initial road information, wherein the first trigger condition comprises the following steps: judging whether the road names of the initial positions of the main vehicle and the participators are consistent; if the road names of the initial positions of the main vehicle and the participators are consistent, judging whether the lane directions of the main vehicle and the participators are consistent; if the lane directions of the main vehicle and the participators are consistent, judging the lane difference value between the lane mark of the main vehicle and the lane mark of the participators; and determining a first trigger condition corresponding to the driving event according to the initial absolute position and the lane difference value.
Optionally, after determining whether the road names of the initial positions of the host vehicle and the participant are consistent, the method further includes: if the road names of the initial positions of the main vehicle and the event participants are inconsistent, judging whether an intersection point exists in the lane direction of the initial positions of the main vehicle and the participants; if the intersection point exists between the main vehicle and the lane direction of the participator, judging whether the intersection point is positioned at the intersection point; and if the intersection point is at the intersection point, determining a first trigger condition corresponding to each driving event according to the initial absolute position and the intersection point.
Optionally, determining whether a second trigger condition of the driving event exists according to the initial speed of the participant includes: judging whether the initial speed of the participant exists or not, or judging that the initial speed of the participant is not zero; if the initial speed of the participant is absent or zero, a second trigger condition for the driving event is determined to be present.
Optionally, after determining that the second trigger condition of the driving event exists, the method includes: and determining a second trigger condition corresponding to the driving event according to the absolute position of the trigger time of the main vehicle and the participators of the driving event and the trigger time road information.
In a second aspect, an embodiment of the present application further provides a driving path determining apparatus, where the apparatus includes: the acquisition module is used for acquiring an execution result file for executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events which are arranged according to time sequence; the first determining module is used for determining triggering conditions corresponding to each driving event and target road static information on an original driving scene from the execution result file; the searching module is used for sequentially searching the target road static information or the position information of the triggering condition of each driving event in the driving event set in the target map; and the second determining module is used for determining a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of determining a driving path in the first aspect or any of the possible implementation manners of the first aspect.
In a fourth aspect, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the method for determining a driving path in the first aspect or any of the possible implementation manners of the first aspect.
The embodiment of the application provides a driving path determining method and device, wherein the method comprises the following steps: acquiring an execution result file for executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events arranged according to a time sequence; determining triggering conditions corresponding to each driving event to be executed from the execution result file and target road static information on an original driving scene; sequentially searching the target road static information or the position information of the triggering condition which meets each driving event in the driving event set in the target map; and determining a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition. By identifying the execution result file of executing the driving event on the original map, determining the necessary road condition corresponding to the driving event, and finding out the target driving path meeting the necessary road condition on the target map, the technical problem of manually matching the driving event and the target map in the prior art is solved, and the technical effects of improving the working efficiency and the matching accuracy are achieved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flowchart of a driving path determination method provided by an embodiment of the present application.
Fig. 2 is a flowchart illustrating steps for determining trigger conditions corresponding to each driving event and road information target road static information on an original driving path scene according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating steps for determining trigger conditions for executing respective driving events according to an embodiment of the present application.
Fig. 4 shows a flowchart of the steps provided by an embodiment of the present application to determine a first trigger condition for a driving event.
Fig. 5 shows a schematic diagram of a waypoint route description manner of a host vehicle according to an embodiment of the present application.
Fig. 6 shows a functional block diagram of a driving path determination apparatus according to an embodiment of the present application.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art based on embodiments of the application without making any inventive effort, fall within the scope of the application.
In the prior art, when a driving event applied to an original map is rearranged on a target map, a target driving path capable of executing the driving event needs to be manually found on the target map.
Based on this, the embodiment of the application provides a driving path determining method and device, and the method comprises the following steps: acquiring an execution result file for executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events arranged according to a time sequence; determining triggering conditions corresponding to each driving event to be executed from the execution result file and target road static information on an original driving scene; sequentially searching the target road static information or the position information of the triggering condition which meets each driving event in the driving event set in the target map; and determining a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition. By identifying an execution result file of executing the driving event on the original map, determining the necessary road condition corresponding to the execution of the driving event, and finding out a target driving path meeting the necessary road condition on the target map, the technical problem of manually matching the driving event and the target map in the prior art is solved, and the technical effects of improving the working efficiency and the matching accuracy are achieved, and the method specifically comprises the following steps of:
referring to fig. 1, fig. 1 is a flowchart of a driving path determining method according to an embodiment of the application. As shown in fig. 1, the method for determining a driving path provided by the embodiment of the application includes the following steps:
s100, acquiring an execution result file of executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events which are arranged according to a time sequence.
Specifically, the original driving scene is a driving scene that is simulated to be set on the original map or actually occurs on the original map. The set of driving scenarios is performed on the original driving scenario, that is, the set of driving scenarios is performed on the original map.
Specifically, the execution result file includes road static information and road dynamic information.
And S200, determining triggering conditions corresponding to each driving event from the execution result file, and determining the static information of the target road on the original driving scene.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps for determining and executing trigger conditions corresponding to each driving event and road information target road static information on an original driving path scene according to an embodiment of the present application. As shown in fig. 2, a flowchart of a step of determining and executing a triggering condition corresponding to each driving event and road information target road static information on an original driving path scene according to an embodiment of the present application includes:
s201, determining target road static information of each driving event on an original driving scene according to the road static information.
Specifically, the road static information refers to road static information on the original map. The road static information includes: road name, road length, road attribute, number of lanes of the road, road direction, building location, pole location, trash can location, etc. The road attribute includes a motor vehicle lane, a parking lot. The target road static information refers to road static information of driving paths corresponding to respective driving events performed on the original map.
That is, if each driving event occurs on the Beijing map (may be a real driving scene as well) through simulation execution, the road static information refers to static object information identifiable on the map such as the entire road name, the road length, the road attribute, the number of lanes of the road, the road direction, the building location, the utility pole location, the trash can location, etc. on the Beijing map. The target road static information refers to static object information identifiable on a map such as a road name, the number of lanes of a road, a road length, a road attribute, a road direction, a building location, a utility pole location, a trash can location, etc., of a driving path corresponding to each driving event simulated and executed on a Beijing map.
S202, determining triggering conditions corresponding to each driving event according to the road dynamic information.
Specifically, the road dynamic information includes: behavior information of the host vehicle and the participant performing each driving event. The behavior information of the host vehicle includes behavior information such as a speed, an acceleration, a steering direction, a traveling direction, and the like of the host vehicle. The behavior information of the participant includes behavior information of the speed, acceleration, steering, traveling direction, and the like of the participant. Participants refer to scene vehicles, pedestrians, and objects.
The behavior information of the host vehicle can be described in two ways: the navigation point route description mode of the host vehicle and the track route description mode of the host vehicle. The main vehicle waypoint route description mode refers to a road change describing a road path during driving of the main vehicle. When there are multiple arrival methods, a road passing through the least intersection is selected.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a waypoint route description manner of a host vehicle according to an embodiment of the present application. That is, if the first lane, the second lane, and the third lane are traversed during driving of the host vehicle, the path that traverses the minimum intersection is selected as the path indicated by the arrow in the figure. The navigation line of the main vehicle is described in such a way that the main vehicle firstly moves straight on a first lane, then turns right to enter a second lane, then turns right to enter a third lane, and meanwhile, the navigation line comprises behavior information such as speed, acceleration and the like of the main vehicle when the main vehicle moves straight and turns.
The track route description mode of the host vehicle refers to recording the position and road attribute of each track point in the driving path of the host vehicle in a host vehicle coordinate system, and comprises a plurality of track points. The establishment mode of the main car coordinate system is as follows: and taking the initial position of the main vehicle as an origin, taking the head direction of the initial position of the main vehicle as an X axis, and taking the driver direction of the initial position of the main vehicle as a Y axis to establish a main vehicle coordinate system. That is, the track route description mode of the host vehicle includes a plurality of track points of the host vehicle, and the behavior information of the host vehicle is described according to the positions and the road attributes of the track points in the coordinate system of the host vehicle. The track route of the host vehicle is forty track points, and the host vehicle walks through the first path point at a certain speed, a certain acceleration and a certain running direction, and the rest path points are also described.
That is, no matter how the behavior information of the host vehicle describes, only one path that a host vehicle takes to perform the driving event collection on the original driving scene.
Specifically, the driving event is an event continuously transmitted and performed, including that the main vehicle avoids pedestrians to change lanes, and the main vehicle avoids scene vehicles to brake and the like. The trigger condition corresponding to the driving event is determined by the initial time and the trigger time of the driving event. That is, if the driving event is that the host vehicle avoids the pedestrian to make the lane change, the triggering condition includes: at the initial moment, the main vehicle is at the initial position of running on the road, and the pedestrian stands at the preset position on the road; after the main vehicle changes lanes at the triggering moment, the positions of the main vehicle and pedestrians are located.
Referring to fig. 3, fig. 3 is a flowchart illustrating steps for determining trigger conditions corresponding to executing driving events according to an embodiment of the present application. As shown in fig. 3, a flowchart of a step of determining a trigger condition corresponding to each driving event according to an embodiment of the present application includes:
s2021, determining initial speeds, initial absolute positions, initial road information and trigger moment absolute positions of the main vehicle and the participants of each driving event according to the behavior information of the main vehicle and the participants.
Specifically, the initial speed of the host vehicle, the initial speed of the participant, the initial absolute positions of the host vehicle and the participant, the initial road information of the host vehicle and the participant and the absolute positions of the trigger moments of the host vehicle and the participant in the driving event are determined through the behavior information of the host vehicle and the behavior information of the participant.
Specifically, the initial absolute positions of the host vehicle and the participant refer to the initial absolute positions of the host vehicle and the participant at the initial time of the driving event. The trigger time refers to the end time after the driving event is triggered.
S2022, determining a first trigger condition of the driving event according to the initial absolute position of the driving event and the initial road information.
Specifically, the initial road information includes: road name, road attribute, lane direction, lane number. For example, if the initial road information of the host vehicle is a first lane, a vehicle lane, a north direction, and a first lane, the initial road information of the participant is a first lane, a vehicle lane, a north direction, and a second lane, that is, the position of the host vehicle on one lane to the left of the participant.
Specifically, the initial relative position of the participant with respect to the host vehicle at the initial time of the driving event is determined by the initial absolute positions of the host vehicle and the participant.
Referring to fig. 4, fig. 4 is a flowchart illustrating steps for determining a first trigger condition of a driving event according to an embodiment of the present application. As shown in fig. 4, a flowchart of steps for determining a first trigger condition of a driving event according to an embodiment of the present application includes:
s20221, judging whether the road names of the initial positions of the host vehicle and the participant are identical.
Specifically, if the road names of the initial positions of the host vehicle and the participants are consistent, whether the lane directions of the host vehicle and the participants are consistent is determined.
That is, it is determined whether the initial positions of the host vehicle and the participant are on the same road, and if the initial positions of the host vehicle and the participant are on the same road, it is determined whether the lane directions of the initial positions of the host vehicle and the participant are the same.
S20222, judging whether the lane directions of the main vehicle and the participators are consistent.
For example, it is determined whether the lane direction of the host vehicle is identical to the lane direction of the participant, if the lane direction of the host vehicle is identical to the lane direction of the participant, the host vehicle and the participant travel in the same direction at the initial position, and if the lane direction of the host vehicle is not identical to the lane direction of the participant, the host vehicle and the participant travel in opposite directions, and the association between the participant and the host vehicle is considered to be small, and the participant is ignored.
S20223, calculating a lane difference value between the lane mark of the main vehicle and the lane mark of the participant.
Specifically, the lane difference between the lane markings of the host vehicle and the lane markings of the participant may determine which lane the host vehicle is in on the left or right of the participant.
S20224, determining a first trigger condition corresponding to the driving event according to the initial absolute position and the lane difference value.
Specifically, determining the first trigger condition corresponding to the driving event according to the initial absolute positions of the host vehicle and the participants and the lane difference value comprises: according to the initial absolute positions of the main vehicle and the participators, determining the initial relative position of the participators relative to the main vehicle at the initial moment of the driving event, and determining the initial relative position and the lane difference as a first trigger condition corresponding to the driving event.
That is, the first trigger condition includes an initial relative position and a lane difference.
S20225, judging whether the intersection exists in the lane direction of the initial position of the host vehicle and the participant.
Specifically, if the road names of the initial positions of the main vehicle and the event participants are inconsistent, judging whether an intersection exists between the main vehicle and the lane direction of the initial position of the participant.
S20226, judging whether the intersection point is located at the intersection.
Specifically, if there is an intersection point in the lane direction of the host vehicle and the participant, it is determined whether the intersection point is located at the intersection point.
Specifically, if there is no intersection point between the host vehicle and the lane direction of the participant, the association between the participant and the host vehicle is considered to be smaller, and the participant is ignored.
S20227, determining a first trigger condition corresponding to the driving event according to the initial absolute position and the intersection.
Specifically, if the intersection point is at the intersection point, determining a first trigger condition corresponding to the driving event according to the initial absolute position and the intersection point.
That is, determining a first trigger condition corresponding to a driving event according to the initial absolute position and the intersection includes: if the intersection point of the lane directions of the host vehicle and the participants is located at the intersection point, determining the initial relative position of the participants relative to the host vehicle at the initial moment of the driving event according to the initial absolute positions of the host vehicle and the participants, and determining the initial relative position and the lane difference value as a first trigger condition corresponding to the driving event. That is, the first trigger condition includes an initial relative position, an intersection.
That is, the first trigger condition is position information of the host vehicle and the participant at the initial time of the driving event.
S2023, judging whether a second triggering condition of the driving event exists according to the initial speed of the relative participators of the driving event.
Specifically, it is determined whether an initial velocity of the participant is present or the initial velocity of the participant is not zero.
If the initial speed of the participant is absent or zero, a second trigger condition for the driving event is determined to be present.
If the initial speed of the participant is present, or the initial speed of the participant is not zero, it is determined that a second trigger condition for the driving event is not present.
That is, when the initial velocity of the participant is present, or the initial velocity of the participant is not zero, the participant is considered to be a dynamic participant, which is not considered in the embodiments of the application. A participant is considered to be a static participant when its initial velocity is absent or zero. That is, when the participant is a dynamic participant, it is considered that the driving event corresponding to this participant does not have the second trigger condition.
S2024, determining the first trigger condition and the second trigger condition as trigger conditions corresponding to the driving event.
Specifically, if it is determined that the second trigger condition of the driving event exists, the first trigger condition and the second trigger condition are determined to be trigger conditions corresponding to the driving event.
Specifically, according to the absolute position of the trigger time of the main vehicle and the participants of the driving event and the trigger time road information, determining a second trigger condition corresponding to the driving event.
Determining the relative position of the trigger time of the participant relative to the host vehicle according to the absolute positions of the trigger time of the host vehicle and the participant; the triggering time road information comprises: the lane markings are triggered. And calculating a trigger lane difference value of the trigger lane mark of the main vehicle and the trigger lane mark of the participant.
Specifically, the relative position of the trigger time and the trigger lane difference value are determined as a second trigger condition corresponding to the driving event.
That is, at the time of triggering, the host vehicle and the participant are on the same road.
S2025, determining the first trigger condition as a trigger condition corresponding to the driving event.
Specifically, if the second trigger condition of the driving event does not exist, the first trigger condition is determined as the trigger condition corresponding to the driving event.
That is, when the participant is stationary in the trigger event, only the first trigger condition of the host vehicle and the participant at the initial time of the driving event needs to be determined, and the first trigger condition is determined as the trigger condition corresponding to the driving event.
For example, if the driving event set in the original driving scene is that the main vehicle runs on the second lane of the first lane on the original map, a pedestrian is stationary in a hundred meters in the advancing direction of the main vehicle, and a scene vehicle follows the main vehicle to run. The first lane comprises two lanes in the north direction and two lanes in the south direction, and a total of four lanes. And the driving event is that the main vehicle avoids the pedestrian, and in the original driving scene, the triggering event of the main vehicle is that the left lane changes to avoid the pedestrian.
In a driving event, the scene vehicle is ignored if the initial speed of the scene vehicle exists, the pedestrian is reserved if the initial position of the pedestrian does not exist, the initial relative position and the lane difference value of the pedestrian relative to the main vehicle at the initial moment are determined according to the initial absolute positions of the main vehicle and the pedestrian at the initial moment of the driving event and the initial road information, and the first trigger condition is that the pedestrian is located at one hundred meters in the advancing direction of the main vehicle and on the same lane. After the main vehicle changes lanes leftwards, determining the triggering relative position and the lane difference value of the pedestrian relative to the main vehicle at the triggering moment according to the triggering moment absolute position of the main vehicle and the pedestrian and the triggering moment road information, and determining a second triggering condition that the pedestrian is positioned at one lane on the right side of the main vehicle. And determining that the triggering condition of the main vehicle is the road of at least two lanes in the same driving direction according to the first triggering condition and the second triggering condition.
S300, sequentially searching the target map for the target road static information or the position information of the trigger condition which meets each driving event in the driving event set.
Specifically, the position information of the static information of the target road meeting each driving event is sequentially searched in the target map according to the sequence of the driving events, or the position information of the triggering condition meeting each driving event is sequentially searched.
S400, determining a target driving path according to the target road static information of the driving event or the position information of the triggering condition.
Specifically, the position information of the target road static information of each driving event is determined as the target driving path, or the position information of the trigger condition of each driving event is determined as the target driving path.
That is, the target driving path determined from the position information of the target road static information is that the same road on the target map as the set of driving events performed in the original map is found. The target driving path determined from the position information of the trigger condition of each driving event is a road where the driving event set can be executed, and is not the same road.
For example, if a driving event set of a lane changing left and then changing right on a first lane when the host vehicle is running on the original map, a target driving path determined according to the position information of the static information of the target road is that the number of lanes is found out from the target map to be the same as that of the original map; the target driving path determined according to the position information of the triggering condition of each driving event is that a road with at least three lanes is found out in the target map as the target driving path.
Based on the same application conception, the embodiment of the application also provides a driving path determining device corresponding to the driving path determining method provided by the embodiment, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the driving path determining method of the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Fig. 6 is a functional block diagram of a driving path determining device according to an embodiment of the present application, as shown in fig. 6. The driving path determination device 10 includes: the device comprises an acquisition module 101, a first determination module 102, a search module 103 and a second determination module 104. An obtaining module 101, configured to obtain an execution result file for executing a driving event set on an original driving scene, where the driving event set includes a plurality of driving events arranged according to a time sequence; the first determining module 102 is configured to determine, from the execution result file, a trigger condition corresponding to each driving event and target road static information on the original driving scene; the searching module 103 is configured to sequentially search the target map for the position information that satisfies the static information or the triggering condition of the target road of each driving event in the driving event set; the second determining module 104 is configured to determine a target driving path according to the static information of the target road of the driving event or the position information of the triggering condition.
Based on the same application concept, referring to fig. 7, a schematic structural diagram of an electronic device 20 according to an embodiment of the present application includes: the processor 201, the memory 202 and the bus 203, the memory 202 storing machine readable instructions executable by the processor 201, the processor 201 and the memory 202 communicating via the bus 203 when the electronic device 20 is running, the machine readable instructions being executed by the processor 201 to perform the steps of the method of determining a driving path as in the above embodiments.
Based on the same application concept, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the driving path determining method provided in the above embodiment are executed. The storage medium can be a general storage medium, such as a mobile disk, a hard disk and the like, when a computer program on the storage medium is run, the method for determining the driving path can be executed, the necessary road condition corresponding to the driving event is determined by identifying an execution result file of the driving event executed on the original map, and the target driving path meeting the necessary road condition is found on the target map, so that the technical problem of manually matching the driving event with the target map in the prior art is solved, and the technical effects of improving the working efficiency and the matching accuracy are achieved.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (8)
1. A method of determining a driving path, the method comprising:
acquiring an execution result file of executing a driving event set on an original driving scene, wherein the driving event set comprises a plurality of driving events arranged according to time sequence;
determining triggering conditions corresponding to each driving event from the execution result file and executing target road static information on the original driving scene;
sequentially searching the target map for the position information meeting the target road static information or the triggering condition of each driving event in the driving event set;
determining a target driving path according to the target road static information of the driving event or the position information of the triggering condition;
the execution result file includes road static information and road dynamic information, and the determining, from the execution result file, trigger conditions corresponding to each driving event and target road static information on the original driving scene includes: determining target road static information of each driving event on the original driving scene according to the road static information; determining triggering conditions corresponding to each driving event according to the road dynamic information;
the road dynamic information includes: behavior information of a host vehicle and a participant performing each driving event; the step of determining triggering conditions corresponding to each driving event according to the road dynamic information comprises the following steps: determining initial speeds, initial road information, initial absolute positions, trigger moment absolute positions and trigger moment road information of the host vehicle and the participants of each driving event according to the behavior information of the host vehicle and the participants; determining a first trigger condition of a driving event according to the initial absolute position of the driving event and the initial road information; judging whether a second triggering condition of the driving event exists or not according to the initial speed of the relative participators of the driving event; if the second trigger condition of the driving event is determined to exist, determining the first trigger condition and the second trigger condition as trigger conditions corresponding to the driving event; if the second trigger condition of the driving event does not exist, determining the first trigger condition as the trigger condition corresponding to the driving event; the trigger time refers to the end time after the driving event is triggered;
the determining a first trigger condition of the driving event according to the initial absolute position of the driving event and the initial road information includes: determining a first trigger condition corresponding to the driving event according to the initial absolute position and the lane difference value; or determining a first trigger condition corresponding to the driving event according to the initial absolute position and the intersection.
2. The method of claim 1, wherein the initial road information comprises: road name, lane direction, lane number; the determining a first trigger condition of the driving event according to the initial absolute position of the driving event and the initial road information includes:
judging whether the road names of the initial positions of the main vehicle and the participators are consistent;
if the road names of the initial positions of the main vehicle and the participators are consistent, judging whether the lane directions of the main vehicle and the participators are consistent;
if the lane directions of the main vehicle and the participators are consistent, calculating a lane difference value between the lane mark of the main vehicle and the lane mark of the participators;
and determining a first trigger condition corresponding to the driving event according to the initial absolute position and the lane difference value.
3. The method according to claim 2, wherein after the determining whether the road names of the initial positions of the host vehicle and the participant are identical, further comprising:
if the road names of the initial positions of the main vehicle and the participators are inconsistent, judging whether an intersection point exists in the lane direction of the initial positions of the main vehicle and the participators;
if the intersection point exists between the main vehicle and the lane direction of the participant, judging whether the intersection point is positioned at the intersection point;
and if the intersection point is at the intersection point, determining a first trigger condition corresponding to the driving event according to the initial absolute position and the intersection point.
4. The method of claim 1, wherein determining whether a second trigger condition for the driving event exists based on the initial speed of the participant comprises:
judging whether the initial speed of the participant exists or not, or judging whether the initial speed of the participant is zero or not;
if the initial speed of the participant does not exist or the initial speed of the participant is zero, a second trigger condition for a driving event is determined to exist.
5. The method of claim 1, comprising, after the determining that the second trigger condition for the driving event exists:
and determining a second trigger condition corresponding to the driving event according to the absolute position of the trigger time of the host vehicle and the participators of the driving event and the trigger time road information.
6. A driving path determination apparatus, characterized by comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring an execution result file for executing a driving event set on an original driving scene, and the driving event set comprises a plurality of driving events which are arranged according to time sequence;
the first determining module is used for determining triggering conditions corresponding to each driving event and target road static information on the original driving scene from the execution result file;
the searching module is used for sequentially searching the position information meeting the static information or the triggering condition of the target road of each driving event in the driving event set in the target map;
the second determining module is used for determining a target driving path according to the target road static information of the driving event or the position information of the triggering condition;
the execution result file comprises road static information and road dynamic information, and the first determining module is further used for determining target road static information of each driving event on the original driving scene according to the road static information; determining triggering conditions corresponding to each driving event according to the road dynamic information;
the road dynamic information includes: behavior information of a host vehicle and a participant performing each driving event; the first determining module is further configured to determine an initial speed, initial road information, initial absolute position, absolute position at a trigger time and road information at a trigger time of the host vehicle and the participant of each driving event according to behavior information of the host vehicle and the participant; determining a first trigger condition of a driving event according to the initial absolute position of the driving event and the initial road information; judging whether a second triggering condition of the driving event exists or not according to the initial speed of the relative participators of the driving event; if the second trigger condition of the driving event is determined to exist, determining the first trigger condition and the second trigger condition as trigger conditions corresponding to the driving event; if the second trigger condition of the driving event does not exist, determining the first trigger condition as the trigger condition corresponding to the driving event; the trigger time refers to the end time after the driving event is triggered;
the first determining module is further configured to determine a first trigger condition corresponding to the driving event according to the initial absolute position and the lane difference; or determining a first trigger condition corresponding to the driving event according to the initial absolute position and the intersection.
7. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the method of determining a driving path according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the driving path determination method according to any one of claims 1 to 5.
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