CN114834486A - Method, device and equipment for planning vehicle turning path - Google Patents
Method, device and equipment for planning vehicle turning path Download PDFInfo
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- CN114834486A CN114834486A CN202210643753.9A CN202210643753A CN114834486A CN 114834486 A CN114834486 A CN 114834486A CN 202210643753 A CN202210643753 A CN 202210643753A CN 114834486 A CN114834486 A CN 114834486A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/201—Dimensions of vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
Abstract
The application discloses a method, a device and equipment for planning a turning path of a vehicle, wherein the method comprises the following steps: acquiring road information of a starting point position of a U-turn path, wherein the road information comprises lane width of a lane where a target vehicle is located, the number of lanes and the width of the opposite lanes and a bidirectional lane distance; judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius of the target vehicle and the width of the target vehicle; if the forward turning can be performed for one time, a first turning path for forward turning is generated, otherwise, a second turning path for non-forward turning is generated. According to the embodiment of the application, the obtained road information is combined with the minimum turning radius and the width of the vehicle body of the target vehicle, so that the vehicle can be enabled to rapidly determine to adopt the most appropriate turning path to turn around at the starting point of the turning path, and the passing efficiency and the safety guarantee when the vehicle turns around are improved.
Description
Technical Field
The application relates to the technical field of automatic driving of vehicles, in particular to a method, a device and equipment for planning a turning path of a vehicle.
Background
The automatic driving vehicle is one of the development trends of the future intelligent vehicle, and the research on the automatic driving vehicle can also promote the development of intelligent transportation and smart cities, so that the automatic driving vehicle has great significance. Turning around is an operation that a driver often needs to execute in urban road environment, and an automatic driving vehicle also needs to complete the vehicle turning around function, and generally, the vehicle turning around takes more time than the vehicle turning left, turning right or going straight, and the driving difficulty is larger. If the vehicle turns around randomly, the vehicle not only threatens the personal safety of pedestrians on the road surface, but also can be scratched and rubbed with other running vehicles, and can also collide with an isolation belt between two opposite running roads, so that the traffic is not smooth, and meanwhile, the vehicle threatens other people and the safety of the vehicle. Particularly, for complex and changeable real scenes, the problem of turning around of an automatic driving vehicle is a technical difficulty.
Disclosure of Invention
According to the embodiment of the application, a method, a device and equipment for planning a turning path of a vehicle are provided.
In a first aspect of the present application, there is provided a method of planning a u-turn path of a vehicle, comprising:
acquiring road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes and the width of the opposite lanes and a bidirectional lane distance;
judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle;
if the forward turning can be performed for one time, a first turning path for forward turning is generated, otherwise, a second turning path for non-forward turning is generated.
In some embodiments, the determining whether the target vehicle can turn around from the turning path starting point position in one forward direction by combining the road information and the minimum turning radius and the body width of the target vehicle includes:
and calculating the transverse turning maximum width of the starting point position of the turning path, wherein if the transverse turning maximum width is more than twice the minimum turning radius, the target vehicle can turn around in one forward running from the starting point position of the turning path, otherwise, the target vehicle cannot turn around in one forward running.
In some embodiments, the generating a first u-turn path of a one-off u-turn comprises:
acquiring a first turning boundary of the target vehicle under a frenet coordinate system of the turning path starting point position;
determining a first section of U-turn arc path and a first circle center coordinate according to the first U-turn boundary, the lane width of the lane where the target vehicle is located, the minimum turning radius and the turning safety distance of the target vehicle; determining a third section of turning circular arc path and a third circle center coordinate by using the center line of the turning target lane; and determining a second section of turning straight-line path by using a connecting line of the third circle center coordinate and the first circle center coordinate.
In some embodiments, after the generating the first turning path for one-time in-sequence turning, the method further includes:
sequentially traversing all the environmental vehicles on all the lanes through which the first turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safety distance of the first turning path in the process that the target vehicle turns around at a constant speed according to the first turning path;
and if at least one environmental vehicle can reach the safe distance of the first turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the first turning path.
In some embodiments, the generating a second u-turn path that is not a one-off u-turn includes:
acquiring a second turning boundary of the target vehicle under a freset coordinate system of the turning path starting point position;
determining a fourth section of turning circular arc path and a fourth circle center coordinate according to the second turning boundary, the center line of a turning target lane, the lane width of the lane where the target vehicle is located, the minimum turning radius and the turning safety distance of the target vehicle; determining the circle center of a fifth section of circular arc path by taking the fourth circle center coordinate and the end point of the fourth section of circular arc path as tangent points; respectively enabling a sixth arc path to be tangent with the central line of the turning target lane and the fifth arc path so as to determine the circle center of the sixth arc path, and taking the tangent point of the sixth arc path and the fifth arc path as the terminal point of the fifth arc path.
In some embodiments, after the generating the second u-turn path that is not a single in-sequence u-turn, the method further includes:
sequentially traversing all the environmental vehicles on all the lanes through which the second turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safe distance of the second turning path in the process that the target vehicle turns around at a constant speed according to the second turning path;
and if at least one environmental vehicle can reach the safe distance of the second turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the second turning path.
In some embodiments, before the obtaining the road information of the starting point position of the turning path of the target vehicle, the method further includes:
judging the condition of a front vehicle, and if the front vehicle is followed, turning around the front vehicle;
determining whether the target vehicle can turn around in forward at the starting point of the turning path or not by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle;
if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track;
and if the forward vehicle cannot turn around once, stopping the target vehicle at the starting point of the turning path, and turning around according to the second turning path after the front vehicle finishes turning around.
In a second aspect of the present application, an apparatus for planning a u-turn path of a vehicle, comprises:
an information acquisition module: the method comprises the steps of obtaining road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes and the width of the lanes of opposite lanes and a bidirectional lane distance;
an information judgment module: the vehicle turning device is used for judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle;
a path generation module: and the first turning path is used for generating a first turning path for turning around in forward vehicle if the first turning path can be turned around in forward vehicle once, or else, generating a second turning path for turning around in non-forward vehicle once according to the judgment result of the information judgment module.
In some embodiments, the apparatus further comprises:
the environment vehicle judgment module: the method is used for sequentially traversing all the environmental vehicles on all the lanes through which the first/second turning paths pass based on the environmental vehicle information in a target area, and predicting whether the environmental vehicles can reach the safety distance of the first/second turning paths in the process that the target vehicle turns around at a constant speed according to the first/second turning paths;
the path execution module is used for executing a parking instruction to stop the target vehicle at the starting position of the turning path if at least one environmental vehicle can reach the safety distance of the first/second turning paths by combining the judgment result of the environmental vehicle judgment module, and otherwise, turning the target vehicle according to the first/second turning paths;
the head module is removed with the car: the system is used for judging the condition of the front vehicle, and if the front vehicle is followed, the front vehicle turns around; determining whether the target vehicle can turn around in forward at the starting point of the turning path or not by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle; and if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track.
In a third aspect of the present application, there is provided an electronic device comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of planning a u-turn path of a vehicle of any of the first aspect via execution of the executable instructions.
The beneficial effects of this application technical scheme lie in: by means of the acquired road information and combination of the minimum turning radius and the vehicle body width of the target vehicle, the vehicle can be enabled to rapidly determine to adopt the most appropriate turning path for turning at the starting point of the turning path, and accordingly passing efficiency and safety guarantee when the vehicle turns are improved.
And determining whether the target vehicle can turn around in the starting point position of the turning path in one-time forward mode or not by combining the road information of the starting point position of the turning path of the target vehicle, which is acquired based on the roadside sensing system, with the minimum turning radius and the width of the target vehicle. And based on whether the forward turning and the reverse turning can be performed once, a first reverse turning path for forward turning or a second reverse turning path for reverse turning or not is generated, and avoidance decision is performed by combining the environmental vehicle information acquired based on the roadside sensing system, so that adverse influence on the reverse turning process is avoided when a long-distance environmental vehicle cannot be sensed in a single-vehicle automatic driving sensing scene so as to improve the passing efficiency and safety guarantee when the target vehicle reverses.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present application;
fig. 2 is a schematic diagram of a first u-turn path of a forward-turn u-turn in an embodiment of the present application;
fig. 3 is a second turning path diagram of a non-one-pass turning in an embodiment of the present application;
FIG. 4 is a flow chart of an avoidance decision in an embodiment of the present application;
FIG. 5 is a block diagram of an apparatus according to an embodiment of the present application;
FIG. 6 is a diagram of an apparatus architecture according to an embodiment of the present application;
fig. 7 is a block diagram of an electronic device corresponding to the embodiment of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with the detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present application. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application.
In describing embodiments of the present application, the terms "include" and "comprise," and similar language, are to be construed as open-ended, i.e., "including, but not limited to. The term "based on" should be understood as "based at least in part on". The term "some embodiments" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like may refer to different or the same object. In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Technical terms:
1. one-time forward turning means that forward turning can be completed on a continuous track without backing;
2. the non-one forward turning means that the vehicle needs to be backed, namely the forward turning and the turning need to be carried out on a plurality of discontinuous tracks.
The Frenet coordinate system uses the center line of the road as a reference line, and uses the tangent vector and the normal vector of the reference line to establish a coordinate system, with the projected point of the vehicle on the reference trajectory as an origin, and coordinate axes perpendicular to each other, which are the SSS direction (i.e., the direction along the reference line, commonly referred to as the longitudinal direction) and the DDD direction (i.e., the current normal to the reference line, commonly referred to as the lateral direction), respectively.
4. The roadside sensing system comprises roadside sensing equipment and a roadside computing unit, wherein the roadside sensing equipment comprises a camera, a laser radar, a millimeter wave radar and other equipment, and can acquire original sensing data such as images, videos and point clouds of a current covered traffic environment in real time, the roadside computing unit comprises a computing device not limited to an edge computing server and an industrial personal computer, the acquisition of full-scale information such as state information, road condition information and traffic events of traffic participants in the traffic environment is realized by real-time fusion computing of the original sensing data acquired by the roadside sensing equipment, and then sensing information is issued to local/global traffic participants through a roadside unit RSU and a central subsystem.
5. The single-vehicle sensing system is used for detecting the surrounding environment and positioning the vehicle through sensors mounted on the vehicle, including but not limited to a high-definition camera, a laser radar, a millimeter wave radar and the like.
When a vehicle turns around, the situation that the vehicle invades the turning-around path of the vehicle in the surrounding environment often occurs. Therefore, how to avoid adverse effects on the turning process after the environmental vehicle drives into the turning path for a safe distance is an urgent technical problem in the field of target planning of the turning path of the vehicle and decision making.
Under the traditional single-vehicle automatic driving perception scene, the single-vehicle perception system carried by the vehicle can not perceive the environmental vehicle in a long distance, so that the problem is greatly limited to be solved.
According to the technical scheme provided by the embodiment of the application, the road information of the starting point position of the turning path of the target vehicle obtained based on the road side sensing system is obtained, so that the driving intention of the environmental vehicle can be predicted, the first turning path and the second turning path suitable for the driving condition of the starting point position of the turning path or the following turning path can be judged and generated based on the road information, and the avoidance decision is made based on the driving intention of the environmental vehicle, so that the adverse effect possibly caused when the target vehicle turns around can be avoided to the greatest extent.
FIG. 1 is a flow chart of a method of an embodiment of the present application.
As shown in FIG. 1, a method for planning a turning path of a vehicle comprises
Step 101: acquiring road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes of opposite lanes, lane width and bidirectional lane distance.
Step 102: and judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle.
And 103, generating a first turning path for turning around in the forward direction if the forward direction can be turned around once, or generating a second turning path for turning around in the non-forward direction if the forward direction can be turned around once.
The execution main body in the method embodiment may be a vehicle main control system of the vehicle, or may be a remote control system separated from the vehicle.
The target vehicle is a vehicle which needs to perform the u-turn path planning through a vehicle main control system or a remote control system, and if the u-turn path planning is performed through the vehicle main control system of the vehicle, the target vehicle is the vehicle where the vehicle main control system is located.
The road information of the starting point position of the turning path of the target vehicle can be acquired through a road side sensing system. The roadside sensing system comprises roadside sensing equipment and a roadside computing unit, the roadside computing unit can realize the acquisition of the whole information such as the state information, road condition information and traffic events of traffic participants in the traffic environment through the real-time fusion and calculation of original sensing data collected by the roadside sensing equipment, and then sends sensing information to local/global traffic participants through a roadside unit (RSU) and a central subsystem. That is, in the environment with cooperative vehicle and road, the lane width including the lane where the target vehicle is located, the lane width and the number of lanes of the opposite lane, and the bidirectional lane spacing may be obtained by the roadside sensing system.
According to the embodiment, road information is acquired through the road side sensing system, and the minimum turning radius and the width of the vehicle body of the target vehicle are combined, so that the vehicle can be enabled to rapidly determine to adopt the most appropriate turning path to turn around at the starting point of the turning path, and the passing efficiency and the safety guarantee when the vehicle turns around are improved.
In some embodiments, the determining whether the target vehicle can turn around from the starting point of the u-turn path in one forward turn in step 102 by combining the road information and the minimum turning radius and the body width of the target vehicle specifically includes:
and calculating the transverse turning maximum width of the starting point position of the turning path, wherein if the transverse turning maximum width is more than twice the minimum turning radius, the target vehicle can turn around in one forward running from the starting point position of the turning path, otherwise, the target vehicle cannot turn around in one forward running.
The minimum turning radius and the vehicle body width of the target vehicle are parameters of the vehicle, and after road information is given, for example, the maximum transverse turning width of the starting point position of the turning path is given, whether one forward turning can be finished at the starting point position of the turning path can be judged.
For example, the road information obtained by the roadside sensing system includes the lane width W of the lane where the target vehicle is located Lanecurrent Number of lanes Num and width of lane W of the opposite lane lanesoposide Two-way lane spacing W Gap And further combined with the body width W of the target vehicle veh And a safe turning distance D safe Through the following calculation formula, it can be determined whether the vehicle can turn around in one forward turn at the starting point position of the turning path.
The calculation formula is as follows:
turn_widh＝Num×W lanesoposide +W Gap +0.5×W Lanecurrent -D safe -0.5×W veh
when the calculated transverse turning maximum width turn _ widh of the turning path starting point position is larger than the minimum turning radius which is twice as large as that of the target vehicle, the target vehicle can be judged to turn around once following the starting point position of the turning path, otherwise, the target vehicle cannot turn around once following the vehicle.
Fig. 2 is a first turning path diagram of a one-pass turning in the embodiment of the present application.
As shown in fig. 2, in some embodiments, if a forward-driving turn can be performed once in step 103, generating a first turn-around path for forward-driving turn includes:
and acquiring a first turning boundary of the target vehicle in a freset coordinate system of the starting point position of the turning path.
Determining a first section of U-turn arc path and a first circle center coordinate according to the first U-turn boundary, the lane width of the lane where the target vehicle is located, the minimum turning radius of the target vehicle and the turning safety distance; determining a third section of turning circular arc path and a third circle center coordinate by using the center line of the turning target lane; and determining a second section of turning straight line path by using a connecting line of the third circle center coordinate and the first circle center coordinate.
For example, a first turning boundary s of the starting point position of the turning path of the target vehicle in a freset coordinate system is obtained through a roadside sensing system turnboder1 In combination with the width W of the body of the subject vehicle veh Minimum turning radius R and turning safety distance D of target vehicle safe Determining a first section of U-turn arc path and a first circle center coordinate R 1s R 1L To turn around the center line L of the target lane Lanetarget Determining a third section of U-turn circular arc path and a third circle center coordinate R 3s R 3L With a third circle center coordinate R 3L And a first circle center coordinate R 1L The connecting line of the second section determines a second section of turning straight line path.
The calculation formula is as follows:
R 1s ＝s turnboder -R-0.5×W veh -D safe
R 1L ＝L LaneCurrent -R
R 3s ＝s turnboder -R-0.5×W veh -D safe
R 3L ＝L Lanetarget -R
in some embodiments, after the generating the first turning path for one-time in-sequence turning, the method further includes:
step 104: sequentially traversing all the environmental vehicles on all the lanes through which the first turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safety distance of the first turning path in the process that the target vehicle turns around at a constant speed according to the first turning path;
step 105: and if at least one environmental vehicle can reach the safe distance of the first turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the first turning path.
The decision process for avoiding one-time forward turning in steps 104 and 105 comprises a parking decision and a starting decision, wherein,
the parking decision specifically comprises the following steps:
and traversing all the environmental vehicles of all the lanes passed by the first turning path in sequence, judging whether the environmental vehicles can reach the turning path within the time that the target vehicle turns around at a constant speed and passes through the lane where the environmental vehicles are located, if so, deciding to be a parking mode, executing a parking instruction, and stopping the vehicles at the starting point of the turning path. The actual distance from the environmental vehicle to the first turning path is acquired through a roadside sensing system and is Denvehreal, the distance between the target vehicle and the environmental vehicle is Dcross, the speed of the environmental vehicle is Venveh, the vehicle speed acquired by the target vehicle is Vveh, the driving distance Denveh of the environmental vehicle is obtained through prediction, and when Denveh is larger than Denvehreal, the parking mode is determined.
The actual distance from the environmental vehicle to the first U-turn path is acquired through the roadside sensing system and is Denvehreal, the distance between the target vehicle and the environmental vehicle is Dcross, the speed of the environmental vehicle is Venveh, the vehicle speed acquired by the target vehicle is Vveh, the driving distance of the environmental vehicle is predicted to be Denveh, and when Denveh is larger than Denvehreal, the parking mode is determined.
The formula is as follows:
the starting decision is as follows:
predicting a comfortable acceleration a of an environmental vehicle arriving on a first u-turn path com Accelerating the running, and sequentially judging the shortest time T required by the first turning path Gap And if the target vehicle starts to run at a constant speed, collision can be avoided, the decision is to start and the parking instruction is not executed. And predicting that the running distance of the target vehicle is Dveh, and if the Dveh is greater than Dpass, deciding to start.
The formula is as follows:
Denvehreal＝(Venveh+0.5×a com T Gap )T Gap +0.5×W veh +D safe
Dveh＝(Vveh+0.5×a com T Gap )T Gap
fig. 3 is a second turning path diagram of a non-one-pass turning in the embodiment of the present application.
As shown in fig. 3, in some embodiments, if the forward turning cannot be performed once in step 103, the generating a second turning path that is not performing forward turning includes:
and acquiring a second turning boundary of the target vehicle under a freset coordinate system of the starting point position of the turning path.
Determining a fourth section of U-turn arc path and a fourth circle center coordinate according to the second U-turn boundary, the central line of the U-turn target lane, the lane width of the lane where the target vehicle is located, the minimum turning radius of the target vehicle and the turning safety distance; determining the circle center of the fifth section of circular arc path by taking the fourth circle center coordinate and the end point of the fourth section of circular arc path as tangent points; and respectively enabling the sixth arc path to be tangent with the central line of the turning target lane and the fifth arc path so as to determine the circle center of the sixth arc path, and taking the tangent point of the sixth arc path and the fifth arc path as the terminal point of the fifth arc path.
For example, a first turning boundary s of the starting point position of the turning path of the target vehicle in a freset coordinate system is obtained through a roadside sensing system turnboder2 Combining the center line L of the target lane with the turning of the opposite lane Lanetarget Width of body of target vehicleW veh And a turning safety distance D safe Determining a fourth section of U-turn arc path and a fourth circle center coordinate R 4s R 4L Calculating formula, first arc path of one forward turning and first circle center coordinate R 1s R 2L The same is true.
Using the fourth circle center coordinate and the end point (Sp) of the fourth arc path 4 ，Lp 4 ) Determining a fifth arc path and a fifth circle center coordinate R for the tangent point 5s R 5L 。
Respectively tangent with the center line of the target lane and the fifth arc path to determine the sixth arc path and the sixth circle center coordinate R 6s R 6L And simultaneously, the tangent point of the sixth arc path and the fifth arc path is the terminal point of the fifth arc path.
The calculation formula is as follows:
R 5s ＝2×Sp 4 -R 4s
R 5L ＝2×Lp 4 -R 4L
R 6L ＝L Lanetarget -R
in some embodiments, after the generating the second u-turn path that is not a single in-sequence u-turn, the method further includes:
step 106: and sequentially traversing all the environmental vehicles on all the lanes through which the second turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safe distance of the second turning path in the process that the target vehicle turns around at the constant speed according to the second turning path.
Step 107: and if at least one environmental vehicle can reach the safe distance of the second turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the second turning path.
In the decision process of non-one forward turning and turning avoidance in steps 106 and 107, the decision of parking and starting in the fourth section of path is the same as the decision of parking in the decision process of one forward turning and turning avoidance in steps 104 and 105. And a fifth stage of reversing starting decision, namely predicting that the environmental vehicle driving to the fifth stage of reversing path is accelerated at a comfortable acceleration, sequentially judging whether the target vehicle can avoid collision when starting at a constant speed within the shortest time required by the vehicle to reach the path, if not, deciding to start, and executing the fifth stage of reversing path starting decision only after the vehicle finishes the fourth stage of path. And the judgment basis of the starting decision of the sixth path is the same as that of the starting decision of one forward turning, and the starting decision of the sixth path is executed only after the vehicle completes the fifth path.
Generating a first turning path for turning around along the vehicle once or a second turning path for turning around along the vehicle once, acquiring the speed and relative distance of the vehicle ahead on the current path through a roadside sensing system, and limiting the speed v according to a decision result and the turning max Calculating the current running acceleration a veh The formula of (1) is as follows:
in the formula, Vleadveh is the speed of the front vehicle, Dist is the relative distance between the front vehicle and the target vehicle, Dfall is the following distance threshold value, and tau d ，τ v Parameters are calibrated for the distance ring and the speed ring, respectively.
Fig. 4 is a flow chart of avoidance decision in the embodiment of the present application.
As shown in fig. 4, in the decision-making process of one forward turning and turning around in steps 104 and 105 and the decision-making process of non-forward turning and turning around in steps 106 and 107, the specific decision-making process of the vehicle includes:
step 401: and predicting the motion state of the environmental vehicles, and sequentially traversing all the environmental vehicles of all the lanes which are passed by the first/second turning paths.
Step 402: and judging whether the target vehicle turns around at a constant speed and passes through the lane where the environmental vehicle is located, and whether the environmental vehicle can reach the first/second turning path.
Step 403: and if the target vehicle can not reach the constant-speed U-turn mode, deciding the constant-speed U-turn mode, and not executing a parking instruction to enable the target vehicle to uniformly turn around.
Step 404: a parking decision, if the vehicle can arrive, the decision is a parking mode, and a parking instruction is executed to stop the target vehicle at the starting position of the turning path
Step 405: and predicting the motion state of the environmental vehicles, and sequentially traversing all the environmental vehicles of all the lanes through which the first/second turning paths pass.
Step 406: and if the vehicle is in collision, judging whether the target vehicle can reach the first or second turning path within the time when the target vehicle turns around at the constant speed and passes through the lane where the environmental vehicle is located, and if so, circularly executing the steps 405 and 406.
Step 407: and (5) starting decision, if the environmental vehicle cannot arrive, executing the starting decision to enable the target vehicle to complete turning around.
In some embodiments, before acquiring the road information of the starting point position of the turning path of the target vehicle when the target vehicle needs to turn around in step 101, the method further includes:
step 001: judging the situation of a front vehicle, and if a following front vehicle exists and the front vehicle turns around, determining whether the target vehicle can turn around in one forward turn at the starting point position of the turning path by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle;
step 002: if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track;
step 003: and if the forward vehicle cannot turn around once, stopping the target vehicle at the starting point of the turning path, and turning around according to the second turning path after the front vehicle finishes turning around.
In the implementation, the situation of the front vehicle is judged by a single vehicle sensing system of the target vehicle, and the vehicle follows the vehicle and falls off. The following turning path planned according to the following algorithm is a path selectively executed according to the first turning path or the second turning path. For example, after the target vehicle judges whether the target vehicle can follow the vehicle and turn around once at the starting point of the turning path or not by combining the road information, the minimum turning radius of the target vehicle and the width of the target vehicle, when the target vehicle is determined to be capable of following the vehicle and turning around once and the vehicle in front of the target vehicle is performing the following and turning around once, the target vehicle follows the vehicle and turns around once according to the following speed planned by the following algorithm, namely, the target vehicle follows the vehicle and turns around once according to the first turning path; and when determining that the vehicle can not turn around in one forward direction, stopping the target vehicle at the starting point of the turning path, and turning around according to the second turning path after the vehicle in the front which follows turns around. The following speed drawn by the following calculation rule can realize the following turning when the vehicle turns around in front, and the acceleration can be limited to-3.5 m/s2 to 2.5m/s2 so as to improve the safety and the comfort.
According to the embodiment of the application, the road information of the starting point position of the turning path of the target vehicle, which is acquired based on the roadside sensing system, is combined with the minimum turning radius and the width of the target vehicle, so that whether the target vehicle can turn around in the same direction or not at the starting point position of the turning path is determined. And based on whether the vehicle can turn around in one forward vehicle or not, a first turning path which turns around in one forward vehicle or a second turning path which turns around in one forward vehicle is generated, and further, avoidance decision is carried out by combining the environmental vehicle information acquired based on the roadside sensing system, so that adverse influence on the turning process is caused after the environmental vehicle at a longer distance enters the turning path safety distance because the environmental vehicle at a longer distance cannot be sensed under the single-vehicle automatic driving sensing scene, and the passing efficiency and the safety guarantee of the target vehicle when the target vehicle turns around are improved.
Fig. 5 is a block diagram of an apparatus according to an embodiment of the present application.
As shown in fig. 5, an apparatus for planning a u-turn path of a vehicle includes: :
the information acquisition module 501: the method comprises the steps of obtaining road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes of opposite lanes, lane width and bidirectional lane distance.
The information judgment module 502: and the vehicle turning device is used for judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle.
The path generation module 503: and the first turning path is used for generating a first turning path for turning around in forward vehicle if the first turning path can be turned around in forward vehicle once, or else, generating a second turning path for turning around in non-forward vehicle once according to the judgment result of the information judgment module.
In some embodiments, the apparatus further comprises:
the environmental vehicle determination module 504: the method is used for sequentially traversing all the environmental vehicles on all the lanes through which the first/second turning paths pass based on the environmental vehicle information in a target area, and predicting whether the environmental vehicles can reach the safety distance of the first/second turning paths in the process that the target vehicle turns around at a constant speed according to the first/second turning paths;
the path execution module 505: the system comprises an environment vehicle judging module, a parking instruction and a target vehicle judging module, wherein the environment vehicle judging module is used for judging whether at least one environment vehicle can reach the position of the starting point of the first/second turning path or not according to the judgment result of the environment vehicle judging module;
car following and dropping head module 506: the system is used for judging the condition of the front vehicle, and if the front vehicle is followed, the front vehicle turns around; determining whether the target vehicle can turn around in forward at the starting point of the turning path or not by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle; and if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track.
Fig. 6 is a diagram of an apparatus architecture according to an embodiment of the present application.
As shown in fig. 6, an apparatus for planning a u-turn path of a vehicle includes:
the turning path decision unit 601, when a target vehicle needs to turn around, acquires road information of a starting point position of a turning path of the target vehicle based on a road side sensing system, and determines whether the target vehicle can turn around in the starting point position of the turning path in a forward direction or not by combining the road information, the minimum turning radius of the target vehicle and the width of the target vehicle.
A path generating unit 602, configured to generate a first u-turn path for one forward turn when the forward turn is possible; and when the forward turning can not be carried out for one time, generating a second turning path which is not subjected to forward turning for one time.
And the avoidance decision unit 603 executes a parking instruction if at least one environmental vehicle can reach the safe distance of the first or second turning path, so that the target vehicle stops at the starting position of the turning path, otherwise, does not execute the parking instruction, so that the target vehicle turns according to the first or second turning path.
The speed planning and trajectory generating unit 604 determines the stopping, starting and acceleration of the target vehicle according to the decision result of the avoidance decision unit, and generates a target trajectory according to the first and second turning paths.
The u-turn path decision unit 601 first obtains road information obtained based on a roadside sensing system, environmental vehicle information of a current scene, target vehicle positioning information and target vehicle parameters. Then, the u-turn path decision unit 601 determines whether the vehicle can complete forward turning once according to the road information and the minimum turning radius of the target vehicle. The path generating unit 602 generates a first and a second u-turn paths according to the road information, the trafficability of the target vehicle, and the situation of the vehicle ahead, or plans the following u-turn path according to a following algorithm, where the planning of the following u-turn path according to the following algorithm refers to a path selectively executed according to the first u-turn path or the second u-turn path. The avoidance decision unit 603 predicts the driving intention of the environmental vehicle to make a decision of starting, stopping and avoiding. The speed planning and trajectory generating unit 604 obtains the decision information of the generated passable path and avoidance decision unit, and generates a target trajectory by applying a following algorithm.
The specific process of each working unit comprises the following steps:
the u-turn path decision unit 601 calculates a transverse maximum width turn _ widh of a starting point position of a u-turn path of the target vehicle, wherein the turn _ widh is larger than a minimum turning diameter of the target vehicle, the target vehicle can complete u-turn once, the turn _ widh is smaller than the minimum turning diameter of the target vehicle, the target vehicle cannot complete u-turn once, and a decision result decides that the path generation unit generates a forward u-turn path or a non-forward u-turn path.
The road information acquired by the roadside sensing system in the u-turn path decision unit 601 includes the lane width W of the target vehicle Lanecurrent Number of lanes Num, width of lane W lanesoposide Two-way lane greening space W Gap And the minimum turning radius of the target vehicle, the target vehicle width W veh To determine whether the vehicle has completed turning around at the intersection at one time.
The calculation formula is as follows:
turn_widh＝Num×W lanesoposide +W Gap +0.5×W Lanecurrent -D safe -0.5×W veh
a path generation unit 602, comprising:
generating a first turning path for turning around in the forward direction, and acquiring a turning boundary s of the starting point position of the turning path under a freset coordinate system through a roadside sensing system turnboder By turning around the boundary s turnboder Target vehicle width W veh Minimum turning radius R and safe distance D of target vehicle safe Determining the circular arc path of the first section of U-turn and the coordinate R of the circle center 1s R 1L To turn around the center line L of the target lane Lanetarget Determining a third-segment U-turn arc path and a circle center coordinate R 2s R 2L Determining a second section of turning straight line according to the distance between the circle center of the third section of circular arc path and the circle center of the first section of circular arc pathA path.
The calculation formula is as follows:
R 1s ＝s turnboder -R-0.5×W veh -D safe
R 1L ＝L LaneCurrent -R
R 3s ＝s turnboder -R-0.5×W veh -D safe
R 3L ＝L Lanetarget -R
generating a second turning path which is not turned along with the vehicle, and turning around a boundary s at the starting point of the turning path of the target vehicle turnboder Center line L of turning-around target lane of opposite lane Lanetarget Target vehicle lane width W veh And a safety distance D safe And determining a fourth section of turning arc path. The formula is the same as the generation formula of the first arc path section of the one-time forward turning.
The center of the fourth arc path and the end point (Sp) of the fourth arc path 1 ，Lp 1 ) And determining the circle center of the fifth arc path for the tangent point.
The calculation formula is as follows:
R 5s ＝2×Sp 4 -R 4s
R 5L ＝2×Lp 4 -R 4L
R 6L ＝L Lanetarget -R
and respectively enabling the sixth arc path to be tangent with the center line of the target lane and the fifth arc path so as to determine the circle center of the sixth arc path, wherein the tangent point of the sixth arc path and the fifth arc path is the terminal point of the fifth arc path.
The avoidance decision unit 603 includes:
and making a forward turning avoidance decision specifically comprises a parking decision and a starting decision.
The parking decision specifically comprises the following steps: and traversing all the environmental vehicles of all the lanes passed by the first turning path in sequence, judging whether the environmental vehicles can reach the first turning path within the time that the target vehicle turns around at a constant speed and passes through the lane where the environmental vehicles are located, if so, deciding to be a parking mode, executing a parking instruction, and stopping the vehicles at the turning starting point. The method specifically comprises the steps that the actual distance from an environmental vehicle to a first turning path is determined to be Denvehreal through a roadside sensing system, the distance from a target vehicle to an intersection point of the environmental vehicle is Dpass, the speed of the environmental vehicle is Venveh, the speed of the target vehicle is Vveh, the driving distance of the environmental vehicle is obtained through prediction, and when Denveh is larger than Denvehreal, the parking mode is determined.
The calculation formula is as follows:
the starting decision is as follows: predicting a comfortable acceleration a of an environmental vehicle arriving on a first u-turn path com Accelerating running, and sequentially judging the shortest time T required by the route to be reached Gap And if the inner target vehicle starts to run at a constant speed, collision can be avoided, and if the inner target vehicle does not collide, the decision is to start. And predicting the running distance Dveh of the target vehicle, and if the Dveh is greater than Dpass, deciding to start.
The calculation formula is as follows:
Denvehreal＝(Venveh+0.5×a com T Gap )T Gap +0.5×W veh +D safe
Dveh＝(Vveh+0.5×a com T Gap )T Gap
and a non-primary forward turning avoidance decision, wherein the judgment basis of the parking decision and the starting decision of the first section of path is the same as that of the primary forward turning avoidance decision. And a second stage of reverse starting decision, namely predicting that the environmental vehicle driving to a second stage of reverse path is accelerated at a comfortable acceleration, sequentially judging whether the target vehicle can avoid collision when starting at a constant speed within the shortest time required for reaching the path, and if not, deciding to start, wherein the second stage of reverse path starting decision is executed only after the vehicle finishes the first stage of path, the third stage of path starting decision has the same judgment basis as the first forward turning starting decision, and the third stage of path starting decision is executed only after the vehicle finishes the second stage of path.
A speed planning and trajectory generating unit 604 for receiving the starting decision result in the avoidance decision unit 603 and the first path of one forward turning or the second path of one non-forward turning in the path generating unit 602, obtaining the forward speed and the relative distance on the current path through the roadside sensing system, and limiting the speed v according to the decision result and the turning max Calculating the current running acceleration a veh 。
The calculation formula is as follows:
in the formula, Vleadveh is the speed of the front vehicle, Dist is the relative distance between the front vehicle and the target vehicle, Dfall is the distance threshold value of the following vehicle, and tau d ，τ v Parameters are respectively calibrated for the distance ring and the speed ring, wherein the speed planning unit determines the vehicle speed of the whole turning process according to the calculated acceleration planning and the path generated by the path generating unit 602, and outputs the vehicle speed to the path generating unit to generate the target path.
Fig. 7 is a block diagram of an electronic device corresponding to the embodiment of fig. 1.
As shown in fig. 7, an electronic device 700, comprising:
at least one processor 710; and (c) a second step of,
a memory 730 communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions 720 executable by the at least one processor 710, the instructions 720 being executable by the at least one processor 710 to enable the at least one processor 710 to perform a method of planning a u-turn path of a vehicle according to any of the above method embodiments.
The foregoing is a description of specific embodiments of the present application and in some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments of the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other.
The apparatus, the device and the method provided in the embodiment of the present application are corresponding, and therefore, the apparatus and the device also have beneficial technical effects similar to those of the corresponding method.
The methods, apparatuses or modules illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functions of the modules may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when the embodiments of the present application are implemented.
As will be appreciated by one skilled in the art, the embodiments provided herein may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Embodiments of the application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The above description is only a specific example of the present application and is not intended to limit the technical solutions and inventive concepts of the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of planning a u-turn path for a vehicle, comprising:
acquiring road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes and the width of the opposite lanes and a bidirectional lane distance;
judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle;
if the forward turning can be performed for one time, a first turning path for forward turning is generated, otherwise, a second turning path for non-forward turning is generated.
2. The method of claim 1, wherein the determining whether the target vehicle can turn around from the turning path starting point position in one forward turn in combination with the road information and the minimum turning radius and body width of the target vehicle comprises:
and calculating the transverse turning maximum width of the starting point position of the turning path, wherein if the transverse turning maximum width is more than twice the minimum turning radius, the target vehicle can turn around in one forward running from the starting point position of the turning path, otherwise, the target vehicle cannot turn around in one forward running.
3. The method of claim 1, the generating a first u-turn path that turns around in one trip comprising:
acquiring a first turning boundary of the target vehicle under a freset coordinate system of the turning path starting point position;
determining a first section of U-turn arc path and a first circle center coordinate according to the first U-turn boundary, the lane width of the lane where the target vehicle is located, the minimum turning radius and the turning safety distance of the target vehicle; determining a third section of turning circular arc path and a third circle center coordinate by using the center line of the turning target lane; and determining a second section of turning straight-line path by using a connecting line of the third circle center coordinate and the first circle center coordinate.
4. The method of claim 3, further comprising, after generating the first u-turn path for an in-vehicle u-turn,:
sequentially traversing all the environmental vehicles on all the lanes through which the first turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safety distance of the first turning path in the process that the target vehicle turns around at a constant speed according to the first turning path;
and if at least one environmental vehicle can reach the safe distance of the first turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the first turning path.
5. The method of claim 1, the generating a second u-turn path that is not a one-off u-turn, comprising:
acquiring a second turning boundary of the target vehicle under a freset coordinate system of the turning path starting point position;
determining a fourth section of turning circular arc path and a fourth circle center coordinate according to the second turning boundary, the center line of a turning target lane, the lane width of the lane where the target vehicle is located, the minimum turning radius and the turning safety distance of the target vehicle; determining the circle center of a fifth section of circular arc path by taking the fourth circle center coordinate and the end point of the fourth section of circular arc path as tangent points; respectively enabling a sixth arc path to be tangent with the central line of the turning target lane and the fifth arc path so as to determine the circle center of the sixth arc path, and taking the tangent point of the sixth arc path and the fifth arc path as the terminal point of the fifth arc path.
6. The method of claim 5, after generating the second u-turn path that is not a one-time in-sequence u-turn, further comprising:
sequentially traversing all the environmental vehicles on all the lanes through which the second turning path passes based on the environmental vehicle information in the target area, and predicting whether the environmental vehicles can reach the safe distance of the second turning path in the process that the target vehicle turns around at a constant speed according to the second turning path;
and if at least one environmental vehicle can reach the safe distance of the second turning path, executing a parking instruction to stop the target vehicle at the starting position of the turning path, otherwise, turning the target vehicle according to the second turning path.
7. The method according to claim 1, before the obtaining the road information of the starting point position of the turning path of the target vehicle, further comprising:
judging the condition of a front vehicle, and if the front vehicle is followed, turning around the front vehicle;
determining whether the target vehicle can turn around in forward at the starting point of the turning path or not by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle;
if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track;
and if the forward vehicle cannot turn around once, stopping the target vehicle at the starting point of the turning path, and turning around according to the second turning path after the front vehicle finishes turning around.
8. An apparatus for planning a u-turn trajectory of a target vehicle, comprising:
an information acquisition module: the method comprises the steps of obtaining road information of a starting point position of a turning path of a target vehicle, wherein the road information comprises lane width of a lane where the target vehicle is located, the number of lanes and the width of the lanes of opposite lanes and a bidirectional lane distance;
an information judgment module: the vehicle turning device is used for judging whether the target vehicle can turn around from the starting point of the turning path for one time by combining the road information with the minimum turning radius and the vehicle body width of the target vehicle;
a path generation module: and the first turning path is used for generating a first turning path for turning around in forward vehicle if the first turning path can be turned around in forward vehicle once, or else, generating a second turning path for turning around in non-forward vehicle once according to the judgment result of the information judgment module.
9. The apparatus of claim 8, further comprising:
the environment vehicle judgment module: the method is used for sequentially traversing all the environmental vehicles on all the lanes through which the first/second turning paths pass based on the environmental vehicle information in a target area, and predicting whether the environmental vehicles can reach the safety distance of the first/second turning paths in the process that the target vehicle turns around at a constant speed according to the first/second turning paths;
the path execution module is used for executing a parking instruction to stop the target vehicle at the starting position of the turning path if at least one environmental vehicle can reach the safety distance of the first/second turning paths by combining the judgment result of the environmental vehicle judgment module, and otherwise, turning the target vehicle according to the first/second turning paths;
the head module is removed with the car: the system is used for judging the condition of the front vehicle, and if the front vehicle is followed, the front vehicle turns around; determining whether the target vehicle can turn around in forward at the starting point of the turning path or not by combining the road information and the minimum turning radius and the vehicle body width of the target vehicle; and if the vehicle can make a turn in the same direction, the target vehicle determines the acceleration of the vehicle according to a vehicle following algorithm, plans the vehicle following speed according to the first turn-around path, generates a target track of the turn in the same direction as the vehicle, and completes the turn around according to the target track.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute the method for planning the u-turn path of the vehicle according to any one of claims 1 to 7 by executing the executable instructions.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115965713A (en) * | 2023-03-17 | 2023-04-14 | 高德软件有限公司 | Method, device and equipment for generating U-turn lane and storage medium |
| CN116907532A (en) * | 2023-09-12 | 2023-10-20 | 城市之光(深圳)无人驾驶有限公司 | Method, device and equipment for planning narrow-road three-section turning path of unmanned vehicle |
| WO2024056064A1 (en) * | 2022-09-16 | 2024-03-21 | 广州小鹏自动驾驶科技有限公司 | Turning path planning method, device, vehicle, and storage medium |
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2022
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024056064A1 (en) * | 2022-09-16 | 2024-03-21 | 广州小鹏自动驾驶科技有限公司 | Turning path planning method, device, vehicle, and storage medium |
| CN115965713A (en) * | 2023-03-17 | 2023-04-14 | 高德软件有限公司 | Method, device and equipment for generating U-turn lane and storage medium |
| CN116907532A (en) * | 2023-09-12 | 2023-10-20 | 城市之光(深圳)无人驾驶有限公司 | Method, device and equipment for planning narrow-road three-section turning path of unmanned vehicle |
| CN116907532B (en) * | 2023-09-12 | 2023-11-21 | 城市之光(深圳)无人驾驶有限公司 | Method, device and equipment for planning narrow-road three-section turning path of unmanned vehicle |
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