CN114964274A

CN114964274A - Map updating method, path planning method, device, electronic equipment and medium

Info

Publication number: CN114964274A
Application number: CN202210511516.7A
Authority: CN
Inventors: 张健; 刘阳; 王月; 蔡旭苧; 梁兴亚; 彭亮; 李赓; 杨凡; 王鲲; 张雯; 胡茂洋
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-30

Abstract

The present disclosure provides a map updating method, a path planning method, a device, an electronic device, a storage medium, and a program product, which relate to the technical field of artificial intelligence, and in particular, to the technical fields of automatic driving, intelligent transportation, high-precision maps, cloud services, and car networking. The specific implementation scheme is as follows: receiving end-of-road information aiming at a target area from an end-of-road; receiving vehicle end information aiming at a target area from a vehicle end; and fusing the road end information and the vehicle end information to generate target information for updating the map so as to update the map aiming at the target area by using the target information.

Description

Map updating method, path planning method, device, electronic equipment and medium

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the technical fields of autonomous driving, intelligent transportation, high-precision maps, cloud services, and internet of vehicles, and in particular, to a map updating method, a path planning method, an apparatus, an electronic device, a storage medium, and a program product.

Background

The high-precision map is the core foundation for supporting automatic driving of an automatic driving vehicle. Are indispensable in positioning, perception, planning, security, prediction, etc. How to update in real time to match a traffic scene that changes in real time becomes an important factor that affects the safe driving of an autonomous vehicle.

Disclosure of Invention

The present disclosure provides a map updating method, a path planning method, an apparatus, an electronic device, a storage medium, and a program product.

According to an aspect of the present disclosure, there is provided a map updating method, including: receiving end-of-road information aiming at a target area from an end-of-road; receiving vehicle end information aiming at the target area from a vehicle end; and fusing the road end information and the vehicle end information to generate target information for updating a map so as to update the map aiming at the target area by using the target information.

According to another aspect of the present disclosure, there is provided a path planning method, including: obtaining a target map related to a target vehicle; and generating path planning information for the target vehicle based on the target map, wherein the target map is updated using the method of the present disclosure.

According to another aspect of the present disclosure, there is provided a map updating apparatus including: the first receiving module is used for receiving the road end information aiming at the target area from the road end; the second receiving module is used for receiving vehicle end information aiming at the target area from a vehicle end; and the fusion module is used for fusing the road end information and the vehicle end information to generate target information for updating a map so as to update the map aiming at the target area by using the target information.

According to another aspect of the present disclosure, there is provided a path planning apparatus including: an acquisition module for acquiring a target map related to a target vehicle; and a generating module for generating path planning information for the target vehicle based on the target map, wherein the target map is updated by the device of the present disclosure

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform a method as disclosed herein.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements a method as disclosed herein.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 schematically illustrates an exemplary system architecture to which the map update method and apparatus may be applied, according to an embodiment of the present disclosure;

FIG. 2 schematically shows a flow chart of a map updating method according to an embodiment of the present disclosure;

fig. 3A schematically illustrates a scene diagram of static layer-road information update according to an embodiment of the present disclosure;

fig. 3B schematically illustrates a scene diagram of static layer-speed limit information update according to an embodiment of the present disclosure;

FIG. 4 schematically shows a flow diagram of a map updating method according to another embodiment of the present disclosure;

fig. 5 schematically shows a flow chart of a path planning method according to an embodiment of the present disclosure;

fig. 6 schematically shows a flow diagram of a path planning method according to another embodiment of the present disclosure;

fig. 7 schematically shows a scene diagram of a path planning method according to another embodiment of the present disclosure;

FIG. 8A schematically illustrates a schematic diagram of local path planning, according to an embodiment of the present disclosure;

fig. 8B schematically illustrates a scenario diagram of local path planning according to another embodiment of the present disclosure;

fig. 9 schematically shows a block diagram of a map updating apparatus according to an embodiment of the present disclosure;

fig. 10 schematically shows a block diagram of a path planning apparatus according to an embodiment of the present disclosure; and

fig. 11 schematically shows a block diagram of an electronic device adapted to implement a map updating method according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

According to an embodiment of the present disclosure, there is provided a map updating method including: receiving end-of-road information aiming at a target area from an end-of-road; receiving vehicle end information aiming at a target area from a vehicle end; and fusing the road end information and the vehicle end information to generate target information for updating the map so as to update the map aiming at the target area by using the target information.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure, application and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations, necessary confidentiality measures are taken, and the customs of the public order is not violated.

In the technical scheme of the disclosure, before the personal information of the user is acquired or collected, the authorization or the consent of the user is acquired.

Fig. 1 schematically illustrates an exemplary system architecture to which the map update method and apparatus may be applied, according to an embodiment of the present disclosure.

It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.

As shown in fig. 1, the system architecture 100 according to the embodiment may be a vehicle-road-cloud integrated system architecture. The vehicle-road-cloud integrated system architecture may include a vehicle end 101, a cloud end 102, and a road end 103. The vehicle end 101, the cloud end 102 and the road end 103 can be in communication connection with each other through various communication connection types. For example, the communication connection type may include at least one of: wired communication and wireless communication. For example, the wireless communication may include Vehicle to X (V2X). For example, the wireless communication for the vehicle may include at least one of: a Dedicated Short Range Communication (DSRC) based vehicular wireless Communication and a cellular mobile Communication based vehicular wireless Communication. The vehicular wireless communication based on cellular mobile communication may include at least one of: the 4th Generation Mobile Communication Technology (4G) based on fourth Generation Mobile Communication and The 5th Generation Mobile Communication Technology (5G) based on fifth Generation Mobile Communication.

The vehicle end 101 may include N autonomous vehicles, which may refer to vehicles configured in an autonomous mode. The autonomous vehicle may comprise a four-wheel sedan or a three-wheel vehicle. The autonomous vehicle may include a vehicle-end sensor unit, a vehicle-end sensing unit, a vehicle-end positioning unit, and a vehicle-end decision unit. For example, the vehicle end sensor unit may include at least one of: vehicle-end vision sensor, vehicle-end laser radar and vehicle-end radar. The vision sensor may include a camera. The vehicle-end radar may include at least one of: a vehicle-end millisecond wave radar and a vehicle-end ultrasonic radar. The vehicle-end sensing unit may include a hardware subunit and a software subunit. The hardware subunits may comprise a processor and a memory. The software subunit may include an operating system and planning and routing threads. The vehicle-end locating unit may include at least one of: global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GNSS), GLONASS, Inertial Measurement Unit (IMU), vision sensor, vehicle-end laser radar, and vehicle-end radar. Additionally, the autonomous vehicle may also include a software application. The software application may include at least one of: navigation type applications, entertainment type applications, and instant messaging type applications.

The cloud 102 may include a cloud server. The cloud Server is a host product in a cloud computing service system, and overcomes the defects of high management difficulty and weak service expansibility in a traditional physical host and a Virtual Private Server (VPS). In addition, the cloud server may be one of: cloud control platform and third party's platform. The system comprises a vehicle-road cooperative management system, a central subsystem, an edge computing platform and a cloud computing platform. The cloud-controlled platform may include at least one of: the system comprises an edge cloud control platform, a region cloud control platform and a center cloud control platform. The third party platform may include at least one of: a traffic management platform, a map platform, a travel service platform, a vehicle management platform and an Original Equipment Manufacturer (OEM) platform.

The route end 103 may include Road Side equipment (RSC) and various types of application service systems. The roadside apparatus may include a roadside sensor Unit, a roadside sensing Unit, and a roadside Computing Unit (RSCU). The roadside computing unit can be a small server which is improved to meet extreme conditions of low voltage, high temperature, high humidity and the like of a roadside lamp post. Furthermore, the roadside computing unit may be replaced with an edge technology unit. The deployment mode of the road side equipment can be determined according to the actual service requirement. For example, the roadside sensor may include at least one of: roadside vision sensors, roadside radars, and roadside lidar. The roadside sensing unit may include a processor and a memory. In another system architecture, the roadside sensing unit itself may include computational functionality.

It should be noted that the path planning method provided by the embodiment of the present disclosure may be executed by the cloud 102. Accordingly, the path planning apparatus provided by the embodiment of the present disclosure may also be disposed in the cloud 102.

Alternatively, the route planning method provided by the embodiment of the present disclosure may also be executed by the vehicle end 101. Accordingly, the path planning apparatus provided by the embodiment of the present disclosure may be disposed in the vehicle end 101.

It should be noted that the sequence numbers of the respective operations in the following methods are merely used as representations of the operations for description, and should not be construed as representing the execution order of the respective operations. The method need not be performed in the exact order shown, unless explicitly stated.

Fig. 2 schematically shows a flow chart of a map updating method according to an embodiment of the present disclosure.

As shown in fig. 2, the method includes operations S210 to S230.

In operation S210, end-of-road information for a target area is received from an end-of-road.

In operation S220, vehicle-end information for a target area is received from a vehicle end.

In operation S230, the road-end information and the vehicle-end information are fused to generate target information for updating a map, so that the map for the target area is updated with the target information.

According to embodiments of the present disclosure, the road-end information may be information for a target area collected with a road-end sensor. The route end information may include at least one of: the road side sensor's own road end information and other road end information of other road side sensors.

According to an embodiment of the present disclosure, the vehicle-end information may be information for a target area collected with a vehicle-end sensor. The vehicle-end information may include at least one of: end information of the autonomous vehicle itself and other end information of other autonomous vehicles.

According to an embodiment of the present disclosure, the target area may refer to an object related to the target area. The object may include at least one of: an autonomous vehicle, an interactive object, an object related to a travel path, and an object related to a travel environment. An interactive object may refer to an object that has an interactive relationship with an autonomous vehicle. The interaction may include at least one of: interactive conflicts and road congestion. The interactive object may be referred to as an obstacle. The object related to the travel path may include at least one of: can pass roads, signboards, traffic lights and lane lines. The object associated with the driving environment may include at least one of: road information and weather information.

According to the embodiment of the disclosure, the fusing processing of the vehicle-end information and the road-end information may include: and fusing the vehicle-end information and the road-end information. But is not limited thereto. The fusion processing of the vehicle-side information and the road-side information can further include: and fusing at least two items of the vehicle-side information, the cloud-side information and the road-side information. The cloud information may include vehicle information received by the cloud from other vehicles, and platform information sent by a third-party platform, such as high-precision map information. The third-party platform can comprise a conventional navigation service platform, a map processing platform, a user event reporting platform and other dynamic information service platforms. The third party platform can be used for obtaining real-time position information of the vehicle, event information of a target area and the like.

According to an embodiment of the present disclosure, the fusion process may include: the respective formats of the vehicle-side information, the cloud-side information and the road-side information, such as coordinate systems, are converted, the same information is subjected to intersection processing, and different information is subjected to union processing. For example, the road-end information may include information about over-the-horizon of the vehicle, and the vehicle-end information and the road-end information may be merged, that is, combined, so that the vehicle-end fusion information includes the vehicle-end information obtained by the vehicle sensing unit and also includes information about over-the-horizon that the vehicle cannot sense by the vehicle sensing unit.

The map updating method provided by the embodiment of the disclosure is used for updating the target information of the map and fusing the road end information, and the road end information is acquired by sensing equipment at a fixed position, so that the method has advantages in time continuity of the information. In addition, the target information used for updating the map is fused with the vehicle-end information, and the vehicle-end information is acquired through the mobile sensing equipment and has advantages in the spatial continuity of the information. The cloud end gathers the vehicle end information and the road end information, so that the map is continuously updated in time and space, data with different precisions are mutually verified, and the time and space resolution of the updated map is improved.

According to an embodiment of the present disclosure, the target information may include a static layer for updating a map for the target area. For operation S230, the road-end information and the vehicle-end information are fused to generate target information, which may include a fusion operation of a static layer.

For example, static end-of-road information is determined from the end-of-road information. And determining static vehicle end information from the vehicle end information. And fusing the static road end information and the static vehicle end information to generate a static map layer.

According to an embodiment of the present disclosure, the static road-end information or the static vehicle-end information includes: information relating to static objects. Static objects may include objects in a static state that are related to traffic. Such as traffic signs, traffic aids, traffic lanes, buildings, and other semi-static objects. For example, traffic floor markings, lane level road topology, etc. Static road end information may be determined from the road end information based on the static object, and static vehicle end information may be determined from the vehicle end information based on the static object.

According to the embodiment of the disclosure, the static road end information and the static vehicle end information can be fused to generate the static map layer comprising the information of the lane line, the stop line, the traffic direction, the road speed limit and the like.

Fig. 3A schematically illustrates a scene diagram of static layer-road information update according to an embodiment of the present disclosure.

As shown in fig. 3A, taking the construction area as an example, the construction area is usually enclosed by a movable cone or a hard shoulder, so the construction area is provided with a diversion facility to guide the vehicle. For example, a construction area is usually provided with various devices such as a road construction warning signboard, a speed limit suggestion signboard, and a warning light.

In the single-vehicle planning process, as the map information aiming at the construction area is not updated in time, the lane which is borrowed to run is easily judged to be a reverse driving behavior, and the vehicle cannot pass through the construction area.

By using the map updating method provided by the embodiment of the disclosure, the construction area is determined to be a road blocking event by combining the static road end information and the static vehicle end information, the target information about the construction area is generated, and the road traffic direction and the topological relation aiming at the construction area are updated based on the target information. And then the vehicle end bypasses the construction area by borrowing the opposite lane from the double-yellow solid line according to the updated map.

As shown in fig. 3A, there may be a blocking event on the driving lane of the vehicle, and the blocking event includes an event that all the drivable lanes are occupied by construction vehicles, stop vehicles (e.g., occupied vehicles, construction vehicles, buses), and the like. In this case, the cloud end may update the map of the target area based on the blocking event, and update, for example, information that the innermost lane of the vehicle on which the blocking event occurs is temporarily assessed as the temporary passing lane of the own direction in the map. The cloud end can generate a new path plan based on the updated map and sends the new path plan to the vehicle end to be decomposed into executable decision plans, for example, the decision plans for passing through a temporary passing lane, so that the vehicle can pass through flexibly and intelligently under the condition of road blockage.

Fig. 3B schematically shows a scene diagram of static layer-speed limit information update according to an embodiment of the present disclosure.

As shown in fig. 3B, the maximum speed limit of the speed limit signboard 310 of the road section a is changed from 30km/h to 60km/h, and after the speed limit signboard is changed, the speed limit change information can be acquired through the roadside intelligent sensing device. The road end sends the road end information to the cloud end N100, the cloud end N100 determines static road end information from the road end information, and the static road end information and the vehicle end static information are fused to generate a static map layer. Based on the static map layer, the real-time update of the speed limit information of the high-precision map 330 on the road section is realized, namely the highest speed limit is marked by 30km/h and is changed into 60km/h, and the automatic driving compliance running is ensured.

According to other embodiments of the present disclosure, the map information in the static map layer may be collected and updated in a data manner through a semi-automatic operation process by a professional collection vehicle. Compared with the map updating method by collecting road information by using a collection vehicle, the map updating method provided by the embodiment of the disclosure can monitor the change of the static object of the covered target area in real time through the road end, and can effectively monitor the change of the static object of the target road, such as the road speed limit signboard, in a minute level. Therefore, the map updating speed is improved, and the timeliness and the accuracy of the map are further improved.

According to an embodiment of the present disclosure, the target information may further include a dynamic layer for updating a map for the target area. For operation S230, the road-end information and the vehicle-end information are fused to generate target information, which may include a fusion operation of a dynamic layer.

For example, dynamic end-of-road information is determined from the end-of-road information. And determining dynamic vehicle end information from the vehicle end information. And fusing the dynamic road end information and the dynamic vehicle end information to generate a dynamic layer.

According to an embodiment of the present disclosure, the dynamic road-end information or the dynamic vehicle-end information may include: information relating to the dynamic object. The dynamic objects may include objects in motion that are related to traffic. Such as traffic participants, signal lights, electronic intelligence boards, traffic accidents, road construction, and road environments, etc. Traffic participants may include dynamic obstacles such as pedestrians, vehicles, etc. The road environment may refer to wet and slippery, muddy, low visibility, etc.

Fig. 4 schematically shows a schematic diagram of a map updating method according to another embodiment of the present disclosure.

As shown in fig. 4, the cloud N100 may receive the vehicle-side information from the vehicle-side V100, the road-side information from the road-side I100, and the platform information from the third-party platform P100. The cloud end N100 can perform fusion processing on the vehicle end information, the road end information and the platform information to obtain target information. The target information may include a static layer and a dynamic layer. The cloud N100 sends the target information to a first third party, such as the map production platform P110, for updating the map. In response to receiving the target information, the map production platform P110 compiles and OTA (Over the Air Technology, spatial download Technology) upgrades the map based on the target information, resulting in an updated map. The map generation platform P110 may send the updated map to the vehicle end V100. So that the automatic driving vehicle can carry out route planning and automatic driving operation according to the updated map.

According to an embodiment of the present disclosure, a map production platform may refer to a manufacturer for processing maps, such as high-precision maps.

According to an embodiment of the present disclosure, the map updating method may further include the following operations.

For example, the target information is sent to a first third party for updating the map. The cloud end responds to the updated map received from the first third party, and sends the updated map to the automatic driving vehicle so that the automatic driving vehicle can carry out path planning according to the updated map.

According to the embodiment of the disclosure, the map is dynamically updated in a vehicle end, road end and cloud end integrated synergistic effect mode, the real-time performance and accuracy of the high-precision map can be guaranteed, and therefore the automatic driving vehicle can be supported to accurately perform path planning based on the high-precision map.

Fig. 5 schematically shows a flow chart of a path planning method according to an embodiment of the present disclosure.

As shown in fig. 5, the method includes operations S510 to S520.

In operation S510, a target map related to a target vehicle is acquired.

In operation S520, path planning information for the target vehicle is generated based on the target map. The target map is updated using a map update method.

According to an embodiment of the present disclosure, the target vehicle may be an autonomous vehicle. The target map associated with the target vehicle may be understood as an area associated with the target vehicle. Such as the area where the target vehicle is located. Also for example, the target vehicle is to be routed through or to reach an area.

According to an embodiment of the present disclosure, the path planning information may include: one or more of routing information, behavioral decision information, and movement planning information. Through the path planning information, the vehicle can be operated in an autonomous driving mode.

By using the path planning method provided by the embodiment of the disclosure, the target map can be dynamically updated by using a vehicle side, a road side and a cloud side integrated and synergistic effect. By using the target map, information related to a static object, such as change of a lane passing direction, can be quickly obtained based on the static layer, and information related to a dynamic object, such as lane-level congestion, occupied lanes due to traffic accidents, and the like, can be monitored in real time by using the dynamic layer. By utilizing the target map, the time beyond the visual range is prejudged, so that the automatic driving vehicle can more intelligently and accurately plan the global path.

Fig. 6 schematically shows a withered leaf grass diagram of a path planning method according to another embodiment of the present disclosure.

As shown in fig. 6, in the running process of the target vehicle, the cloud N100 may receive vehicle-end information from the vehicle end V100, road-end information from the road-end I100, platform information of the third-party platform P100, and the like, and may fuse information from multiple sources to generate target information. The cloud N100 may derive a target map based on the target information. The cloud N100 may obtain a destination of the target vehicle, and generate path planning information 610 for the target vehicle according to information such as a road topology relationship and a congestion condition in the target map. The cloud N100 may send the path planning information 610 to the vehicle end V100, and the vehicle end V100 decomposes the vehicle end high-precision map into lane-level navigation information 620 within a limited distance, so as to ensure that the target vehicle is driven in an automatic driving state.

According to the embodiment of the disclosure, in the running process of the target vehicle, the event state in the global path planning has dynamic change, and the cloud end can continuously correct the optimal global path planning according to the acquired real-time target information.

According to embodiments of the present disclosure, for path planning of autonomous vehicles, physical accessibility of roads and physical congestion of traffic may be considered. Physical accessibility may be understood as whether there is a road supporting the travel of the vehicle, for example a bridge supporting the vehicle to cross a river. The communication stability of the road may also be considered. For example, the communication information characterizing the communication stability of the target area may be utilized to determine path planning information for the target vehicle. The communication information may include "invisible" factors that affect the driving environment of the target vehicle, such as satellite positioning accuracy, communication stability, roadside serviceability, and the like. For example, in urban roads and highways, tall buildings or mountainous canyons can cause reduced vehicle positioning accuracy and delayed vehicle cloud communication, thereby affecting the driving safety of the target vehicle.

Fig. 7 schematically shows a scene diagram of a path planning method according to another embodiment of the present disclosure.

As shown in fig. 7, the cloud may generate at least one candidate route planning information, such as candidate route planning information a730 and candidate route planning information B740, from the origin 710 and the destination 720 based on the target map. The candidate route planning information a730 represents route planning information for traveling on a wide urban road or an expressway. The candidate route planning information B740 represents route planning information that shuttles through a tall building or a mountain canyon. The cloud may receive communication information about the target area from the road-side. The communication information is used for representing that the communication stability of the target area corresponding to the candidate path planning information A is strong, or the communication information is used for representing that the communication stability of the target area corresponding to the candidate path planning information B is strong. The cloud may determine path planning information from the at least one candidate path planning information based on the communication information. For example, the candidate path planning information a730 is determined as path planning information.

According to the embodiment of the disclosure, the cloud end can generate the dynamic layer of the positioning and communication space-time situation through the communication information, and provide the multi-dimensional and personalized path planning information of the target vehicle by utilizing the dynamic layer of the positioning and communication space-time situation, so that the positioning and communication stability of the target vehicle in the automatic driving mode is improved, and the optimal driving path is selected under the condition that the target vehicle is safely and automatically driven.

According to other embodiments of the disclosure, the cloud may further generate first notification information for adding an approach location and approach communication device while determining the path planning information based on the target map and the communication information, so that the road maintenance staff may add a near field location and a near field communication device to a roadside point in an area with poor location and communication stability based on the first notification information. In addition, the cloud can generate second notification information for switching positioning and communication modes while determining the path planning information based on the target map and the communication information. The cloud sends the second notification information to the vehicle end, so that the vehicle end starts auxiliary positioning and communication equipment in advance based on the second notification information, positioning and communication modes are switched, communication stability of the target vehicle, the cloud and the road end is guaranteed, and safety of an automatic driving place is improved.

According to an embodiment of the present disclosure, the path planning method may further include an update operation of the path planning information.

For example, traffic assistance information is received from an information terminal. The path planning information for the target vehicle is updated based on the traffic assistance information and the target map.

According to an embodiment of the present disclosure, the information side includes at least one of: road end and vehicle end. The traffic assistance information may include: and traffic information influencing the target vehicle to run according to the preset path planning information. Such as traffic information that causes the target vehicle to slow down. Specifically, for example, traffic information of an obstacle encountered in front of the traveling road of the target vehicle.

According to this disclosed embodiment, the high in the clouds can receive and come from the vehicle side as the traffic auxiliary information of information end, also can receive and come from vehicle side and way side and regard as the traffic auxiliary information of information end jointly. The traffic assistance information may include obstacle perception information for the target obstacle. The cloud end can judge the local path planning information in the path planning information according to the traffic auxiliary information, and determine whether to update the local path planning information of the bypassing obstacle or not.

According to the embodiment of the disclosure, the road side utilizes the road side perception system to exert the advantages of long-time observation and scene understanding, and meanwhile, the traffic auxiliary information about the target barrier is determined in an auxiliary mode by combining the input of cloud multi-source data. Therefore, for over-the-horizon events, under the condition that the target vehicle cannot judge the event type of the front blocking scene, a reasonable decision suggestion for whether the target vehicle bypasses is given, and the problem of violation or unreasonable stagnation is avoided.

Fig. 8A schematically shows a schematic diagram of a local path planning method according to an embodiment of the present disclosure.

As shown in fig. 8A, a first target obstacle 820 in the same lane as the target vehicle 810 and in front of the target vehicle is at a standstill or at a lower speed than the target vehicle 810, and the target vehicle 810 needs to decide whether to detour or overtake. The target vehicle cannot judge whether to detour or wait with the vehicle due to the limitation of the perception capability of the single vehicle. In this case, the cloud may determine state attribute information for the first target obstacle 820 based on the obstacle awareness information and the target map. The status attribute information of the first target obstacle 820 is determined to be queued status attribute information that does not satisfy the predetermined detour condition. The cloud determines that the target vehicle can continue to travel according to the path planning information.

According to an embodiment of the present disclosure, the queued state attribute information may include at least one of: waiting for red light, giving a gift to pedestrians, queuing in congestion, and the like.

According to an embodiment of the present disclosure, the predetermined detour condition may include the state attribute information being non-queued state attribute information. The queued state attribute information does not meet the predetermined bypassing condition, and in this case, the cloud can determine that the target vehicle can continue to run according to the path planning information. For example, the following waiting is selected to avoid the route planning information of the detour violation.

Fig. 8B schematically illustrates a scene diagram of local path planning according to another embodiment of the present disclosure.

As shown in fig. 8B, a second target obstacle 830 in the same lane as the target vehicle 810 and in front of the target vehicle 810 is at a standstill or at a lower speed than the target vehicle 810, and the target vehicle 810 needs to decide whether to detour or overtake. The target vehicle cannot judge whether detouring or waiting for following is needed due to the limitation of the single vehicle sensing capability, and in this case, the cloud end can determine that the state attribute information of the second target obstacle 830 is non-queuing state attribute information based on the obstacle sensing information and the target map, so that the predetermined detouring condition is met. The cloud may update the path planning information for the target vehicle to obtain local path planning information for the target obstacle. And the vehicle end performs detour driving according to the local path planning information of the target obstacle.

According to embodiments of the present disclosure, the non-queued state attribute information may include at least one of: illegal parking, temporary parking due to malfunction, etc.

According to the embodiment of the disclosure, in the case that it is determined that the state attribute information of the target obstacle satisfies the predetermined detour condition, the cloud end may update the local path planning information about the target obstacle in the path planning information based on the obstacle sensing information and the target map. For example, timely detours are selected to avoid unreasonably stagnant path planning information.

By utilizing the embodiment of the disclosure, the cloud can combine the vehicle end information, the road end information and the cloud information to realize an integrated cooperative function, generate the local path planning information for the automatic driving vehicle to detour or follow, improve the comprehension capacity of the automatic driving vehicle to traffic scenes, and improve the traffic intelligence and traffic efficiency.

According to an embodiment of the present disclosure, the path planning method may further include an operation of dynamically allocating traffic resources.

For example, based on the path planning information, traffic resource information related to the target vehicle is determined. And sending a request for occupying the traffic resource to the second third party based on the traffic resource information so that the target vehicle occupies the traffic resource at a predetermined time.

According to an embodiment of the present disclosure, the traffic resource associated with the target vehicle may include: one or more of a vehicle-specific road, parking space. For example, according to the route planning information, the cloud end can know the route arrangement of the vehicle to the airport in the next day in advance. The cloud end can generate path planning information, such as departure time and information such as a driving path, according to the target map. And sending a request for occupying the traffic resource to a second third party such as a service terminal of the airport according to the traffic resource information, such as the information of the right of the vehicle-specific road, the information of the parking space of the airport and the like. So that the target vehicle can arrive at the airport on time through the special road on the next day according to the path planning information and can be parked into the reserved parking space. The cloud end is used for dynamically giving the special road rights to the target vehicle based on the vacant road passing resources, so that the passing plan of the original vehicle is guaranteed, and meanwhile, the full utilization of traffic resources is guaranteed. In addition, the parking space is reserved in advance, the time for searching the parking space after the target vehicle arrives at the destination is shortened, and the time consumption of the whole travel is guaranteed to be controllable.

By utilizing the route planning method provided by the embodiment of the disclosure, traffic resources can be uniformly distributed through the cloud, for example, delay such as road congestion or parking space searching is reduced in a booking manner, and then the travel time is reasonably controlled, so that arrangement of important travel is guaranteed.

According to the embodiment of the disclosure, table 1 is a dynamic data comparison table of a common map and a target map, and as shown in table 1, a minute-level update can be realized by using the target map dynamically updated by the vehicle side, road side and cloud side integrated synergistic effect provided by the embodiment of the disclosure. The common map can be obtained by updating in a mode of collecting information by a collection vehicle. Compared with a common map, the real-time performance and accuracy of data can be guaranteed by using the target map.

TABLE 1

Table 2 is an advantage explanation table for generating path planning information using a target map according to an embodiment of the present disclosure. As shown in table 2, autonomous driving may refer to: the vehicle runs according to the path planning information provided by the embodiment of the disclosure, the path planning information is generated by using the target map provided by the embodiment of the disclosure, and the target map is obtained by using the integrated synergistic effect of the vehicle end, the cloud end and the road end to update. The bicycle plan may refer to: the driving is performed using the single vehicle path planning information, which is generated using the general map and the single vehicle perception information. Compared with single-vehicle planning, automatic driving is performed by utilizing the integrated synergistic effect of the vehicle end, the cloud end and the road end, so that the reasonable global path planning can be accurately performed in real time in the face of constantly changing road conditions, and the safety and efficiency of automatic driving are improved.

TABLE 2

Fig. 9 schematically shows a block diagram of a map updating apparatus according to an embodiment of the present disclosure.

As shown in fig. 9, the map updating apparatus 900 includes a first receiving module 910, a second receiving module 920, and a fusing module 930.

A first receiving module 910, configured to receive end-of-road information from an end-of-road for a target area.

And a second receiving module 920, configured to receive vehicle-end information from a vehicle end, where the vehicle-end information is specific to the target area.

The fusion module 930 is configured to fuse the road-end information and the vehicle-end information to generate target information for updating a map, so that the map for the target area is updated by using the target information.

According to an embodiment of the present disclosure, the target information includes a static layer.

According to an embodiment of the present disclosure, a fusion module includes a road-end static determination unit, a vehicle-end static determination unit, and a static fusion unit.

And the road end static determining unit is used for determining the static road end information from the road end information.

And the vehicle end static determining unit is used for determining static vehicle end information from the vehicle end information.

And the static fusion unit is used for fusing the static road end information and the static vehicle end information to generate a static layer.

According to an embodiment of the present disclosure, the target information includes a dynamic layer.

According to the embodiment of the disclosure, the fusion module comprises a road-side dynamic determination unit, a vehicle-side dynamic determination unit and a dynamic fusion unit.

And the road end dynamic determining unit is used for determining dynamic road end information from the road end information.

And the vehicle end dynamic determining unit is used for determining dynamic vehicle end information from the vehicle end information.

And the dynamic fusion unit is used for fusing the dynamic road-side information and the dynamic road-side information to generate a dynamic layer.

According to the embodiment of the disclosure, the map updating device further comprises a sending module and a map updating module.

And the sending module is used for sending the target information to a first third party for updating the map.

And the map updating module is used for responding to the received updated map from the first third party and sending the updated map to the automatic driving vehicle so that the automatic driving vehicle can plan the path according to the updated map.

According to an embodiment of the present disclosure, the static road-end information or the static vehicle-end information includes: information relating to static objects.

According to an embodiment of the present disclosure, the dynamic road-end information or the dynamic vehicle-end information includes: information relating to the dynamic object.

Fig. 10 schematically shows a block diagram of a path planning apparatus according to an embodiment of the present disclosure.

As shown in fig. 10, the path planning apparatus 1000 includes an obtaining module 1010 and a generating module 1020.

An obtaining module 1010 is configured to obtain a target map related to a target vehicle.

A generating module 1020 for generating path planning information for the target vehicle based on the target map.

The target map is updated using the map updating apparatus of the present disclosure.

According to the embodiment of the disclosure, the path planning apparatus further includes a third receiving module and a path updating module.

And the third receiving module is used for receiving the traffic auxiliary information from the information terminal. The information side comprises at least one of the following items: road end and vehicle end.

And the route updating module is used for updating the route planning information aiming at the target vehicle based on the traffic auxiliary information and the target map.

According to an embodiment of the present disclosure, the path planning information includes local path planning information, the information terminal includes a vehicle terminal, and the traffic assistance information includes obstacle sensing information for the target obstacle.

According to an embodiment of the present disclosure, a path update module may include an attribute determination unit, and a path update unit.

And the attribute determining unit is used for determining the state attribute information of the target obstacle based on the obstacle perception information and the target map.

And a path updating unit for updating the local path planning information about the target obstacle in the path planning information based on the obstacle sensing information and the target map if it is determined that the state attribute information of the target obstacle satisfies the predetermined detour condition.

According to an embodiment of the present disclosure, a generation module includes a receiving unit, a generation unit, and a path determination unit.

The receiving unit is used for receiving communication information about the target area from the road end, wherein the communication information is used for representing the communication stability of the target area.

And the generating unit is used for generating at least one piece of candidate path planning information based on the target map.

A path determining unit, configured to determine path planning information from the at least one candidate path planning information based on the communication information.

According to the embodiment of the disclosure, the path planning device further comprises a resource determining module and a reservation module.

And the resource determining module is used for determining traffic resource information related to the target vehicle based on the path planning information.

And the reservation module is used for sending a request for occupying the traffic resource to the second third party based on the traffic resource information so that the target vehicle occupies the traffic resource at the preset time.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to an embodiment of the disclosure.

According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform a method as in an embodiment of the present disclosure.

According to an embodiment of the disclosure, a computer program product comprising a computer program which, when executed by a processor, implements a method as in an embodiment of the disclosure.

FIG. 11 shows a schematic block diagram of an example electronic device 1100 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the device 1100 comprises a computing unit 1101, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

A number of components in device 1100 connect to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, and the like; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108 such as a magnetic disk, optical disk, or the like; and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1109 allows the device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 1101 can be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 1101 performs the respective methods and processes described above, such as a map update method, or a path planning method. For example, in some embodiments, the map update method, or the path planning method, may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1100 via ROM 1102 and/or communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the map updating method, or the path planning method described above, may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the map update method, or the path planning method, in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A map updating method, comprising:

receiving end-of-road information aiming at a target area from an end-of-road;

receiving vehicle end information aiming at the target area from a vehicle end; and

and fusing the road end information and the vehicle end information to generate target information for updating a map so as to update the map aiming at the target area by using the target information.

2. The method of claim 1, wherein the target information comprises a static layer;

the fusing the road end information and the vehicle end information to generate target information comprises the following steps:

determining static end-of-road information from the end-of-road information;

determining static vehicle end information from the vehicle end information; and

and fusing the static road end information and the static vehicle end information to generate a static map layer.

3. The method of claim 2, wherein the target information comprises a dynamic layer;

determining dynamic link end information from the link end information;

determining dynamic vehicle end information from the vehicle end information; and

and fusing the dynamic road end information and the dynamic road end information to generate a dynamic map layer.

4. The method of any of claims 1 to 3, further comprising:

sending the target information to a first third party for updating a map; and

and responding to the received updated map from the first third party, and sending the updated map to an automatic driving vehicle so that the automatic driving vehicle can plan a path according to the updated map.

5. The method of claim 3, wherein,

the static road end information or the static vehicle end information includes: information related to the static object;

the dynamic road end information or the dynamic vehicle end information includes: information relating to the dynamic object.

6. A path planning method, comprising:

obtaining a target map related to a target vehicle; and

generating path planning information for the target vehicle based on the target map,

wherein the target map is updated using the method of any one of claims 1 to 5.

7. The method of claim 6, further comprising:

receiving traffic assistance information from an information terminal, wherein the information terminal comprises at least one of the following: road end, vehicle end; and

updating the path planning information for the target vehicle based on the traffic assistance information and the target map.

8. The method of claim 7, wherein the path planning information comprises local path planning information, the information terminal comprises the vehicle terminal, the traffic assistance information comprises obstacle awareness information for a target obstacle;

the updating the path planning information for the target vehicle based on the traffic assistance information and the target map includes:

determining state attribute information of the target obstacle based on the obstacle sensing information and the target map; and

in a case where it is determined that the state attribute information of the target obstacle satisfies a predetermined detour condition, updating local path planning information about the target obstacle in the path planning information based on the obstacle perception information and the target map.

9. The method of any of claims 6 to 8, wherein the generating path planning information for the target vehicle based on the target map comprises:

receiving communication information about a target area from a road end, wherein the communication information is used for representing the communication stability of the target area;

generating at least one candidate path planning information based on the target map; and

determining the path planning information from the at least one candidate path planning information based on the communication information.

10. The method of any of claims 6 to 9, further comprising:

determining traffic resource information related to the target vehicle based on the path planning information; and

and sending a request for occupying the traffic resource to a second third party based on the traffic resource information so that the target vehicle occupies the traffic resource at a preset time.

11. A map updating apparatus, comprising:

the first receiving module is used for receiving the road end information aiming at the target area from the road end;

the second receiving module is used for receiving vehicle end information aiming at the target area from a vehicle end; and

and the fusion module is used for fusing the road end information and the vehicle end information to generate target information for updating a map so as to update the map aiming at the target area by using the target information.

12. The apparatus of claim 11, wherein the target information comprises a static layer;

the fusion module includes:

a static road end determining unit, configured to determine static road end information from the road end information;

the vehicle end static determining unit is used for determining static vehicle end information from the vehicle end information; and

and the static fusion unit is used for fusing the static road end information and the static vehicle end information to generate a static map layer.

13. The apparatus of claim 12, wherein the target information comprises a dynamic layer;

the fusion module includes:

a dynamic link end determining unit, configured to determine dynamic link end information from the link end information;

the vehicle end dynamic determining unit is used for determining dynamic vehicle end information from the vehicle end information; and

14. The apparatus of any of claims 11 to 13, further comprising:

the sending module is used for sending the target information to a first third party for updating the map; and

and the map updating module is used for responding to the received updated map from the first third party and sending the updated map to an automatic driving vehicle so that the automatic driving vehicle can plan a path according to the updated map.

15. The apparatus of claim 13, wherein,

the static road-end information or the static vehicle-end information includes: information related to the static object;

16. A path planner, comprising:

an acquisition module for acquiring a target map related to a target vehicle; and

a generation module to generate path planning information for the target vehicle based on the target map,

wherein the target map is updated using the apparatus of any one of claims 11 to 15.

17. The apparatus of claim 16, further comprising:

a third receiving module, configured to receive traffic assistance information from an information end, where the information end includes at least one of: road end, vehicle end; and

a route update module to update the route planning information for the target vehicle based on the traffic assistance information and the target map.

18. The apparatus of claim 17, wherein the path planning information comprises local path planning information, the information terminal comprises the vehicle terminal, the traffic assistance information comprises obstacle awareness information for a target obstacle;

the path update module includes:

an attribute determining unit configured to determine state attribute information of the target obstacle based on the obstacle sensing information and the target map; and

a path updating unit, configured to update, based on the obstacle sensing information and the target map, local path planning information about the target obstacle in the path planning information if it is determined that the state attribute information of the target obstacle satisfies a predetermined detour condition.

19. The apparatus of any of claims 16 to 18, wherein the generating means comprises:

the receiving unit is used for receiving communication information about a target area from a road end, wherein the communication information is used for representing the communication stability of the target area;

a generating unit, configured to generate at least one candidate path planning information based on the target map; and

a path determining unit, configured to determine the path planning information from the at least one candidate path planning information based on the communication information.

20. The apparatus of any of claims 16 to 19, further comprising:

a resource determination module for determining traffic resource information related to the target vehicle based on the path planning information; and

and the reservation module is used for sending a request for occupying the traffic resources to a second third party based on the traffic resource information so that the target vehicle occupies the traffic resources in a preset time.

21. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 10.

22. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1 to 10.

23. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.