CN114964293A - Vehicle path planning method and device, electronic equipment and storage medium - Google Patents
Vehicle path planning method and device, electronic equipment and storage medium Download PDFInfo
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- CN114964293A CN114964293A CN202210611741.8A CN202210611741A CN114964293A CN 114964293 A CN114964293 A CN 114964293A CN 202210611741 A CN202210611741 A CN 202210611741A CN 114964293 A CN114964293 A CN 114964293A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The application discloses a method and a device for planning a vehicle path, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, wherein the reference track comprises a termination track point of the reference track; determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle; generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm; determining a travel path for the vehicle based on the set of alternate paths. The vehicle path planning method provided by the embodiment of the application is based on the combination of the reference track of the vehicle and the local high-precision map data, the alternative path set which accords with the actual scene is generated through the preset map algorithm, a precondition is provided for the decision of the scene at the later stage, and the problem that part of road sections cannot reach the destination due to the lane changing behavior of the vehicle is avoided.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for planning a vehicle path, an electronic device, and a storage medium.
Background
An Advanced Driver Assistance System (ADAS) is a System that uses various vehicle-mounted sensors and decision-making planning control algorithms to implement lane-changing, convergence, overtaking, following and other behaviors of a vehicle.
Due to the complexity of actual road conditions, the constraint of traffic rules, the requirement of decision planning control real-time performance and the like, a global path is generally obtained without global search in the decision planning stage of the path, so that part of road sections cannot reach a destination after a vehicle has a lane change behavior.
Disclosure of Invention
The embodiment of the application provides a vehicle path planning method and device, electronic equipment and a storage medium, so as to generate an alternative path set which accords with an actual scene and provide a precondition for later-stage scene decision.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for planning a path of a vehicle, where the method includes:
acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, wherein the reference track comprises a termination track point of the reference track;
determining a target lane set of the vehicle according to the termination track point of the reference track and the local high-precision map data corresponding to the vehicle;
generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm;
determining a travel path for the vehicle based on the set of alternate paths.
Optionally, the determining, according to the termination track point of the reference track and the local high-precision map data corresponding to the vehicle, a target lane set of the vehicle includes:
acquiring a destination point of the vehicle;
determining whether the termination track point of the reference track is the same as the destination point of the vehicle or not to obtain a first determination result;
and determining a target lane set of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle.
Optionally, the determining the set of target lanes of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle includes:
if the ending track point of the reference track is the same as the destination point of the vehicle, determining the lane where the ending track point is located according to local high-precision map data corresponding to the vehicle, and storing the lane where the ending track point is located as a target lane into a target lane set of the vehicle;
and if the termination track point of the reference track is different from the destination point of the vehicle, determining whether the termination track point is positioned on a lane connecting line according to local high-precision map data corresponding to the vehicle to obtain a second determination result, and determining a target lane set of the vehicle according to the second determination result and the local high-precision map data.
Optionally, the determining the set of target lanes of the vehicle according to the second determination result and the local high-precision map data comprises:
if the termination track point is located on the lane connecting line, determining an associated lane according to the lane connecting line where the termination track point is located, acquiring a corresponding lane of the same type from the local high-precision map data according to the lane type of the associated lane, and storing the associated lane and the corresponding lane of the same type as a target lane into the target lane set;
and if the ending track point is not positioned on the lane connecting line, acquiring a corresponding lane with the same type from the local high-precision map data according to the lane type of the lane where the ending track point is positioned, and storing the lane where the ending track point is positioned and the corresponding lane with the same type as a target lane into the target lane set.
Optionally, the generating the candidate path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm includes:
constructing the directed graph and a corresponding matrix based on the local high-precision map data;
and sequentially taking out the target lanes from the target lane set of the vehicle, and generating an alternative path set of the vehicle by using a graph search algorithm based on the directed graph and the corresponding matrix.
Optionally, the constructing the directed graph and the corresponding matrix based on the local high-precision map data includes:
determining a lane set and a lane connecting line set based on the local high-precision map data;
constructing a vertex set of the directed graph according to the lane set, and constructing an edge set of the directed graph according to the lane connection line set to obtain a constructed directed graph;
and constructing a matrix with a preset size based on the constructed directed graph, wherein the preset size is the size of the vertex set of the directed graph.
Optionally, the determining the driving path of the vehicle based on the set of alternative paths comprises:
filtering the alternative path set by using a preset filtering rule to obtain a filtered alternative path set, wherein the preset filtering rule comprises a loop-back path filtering rule;
determining a travel path of the vehicle based on the filtered set of alternative paths.
In a second aspect, an embodiment of the present application further provides a path planning apparatus for a vehicle, where the apparatus includes:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, and the reference track comprises a termination track point of the reference track;
the first determining unit is used for determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle;
the generating unit is used for generating an alternative path set of the vehicle according to a target lane set of the vehicle and a preset map algorithm;
a second determination unit for determining a travel path of the vehicle based on the set of alternative paths.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: according to the method for planning the vehicle path, a reference track of the vehicle and local high-precision map data corresponding to the vehicle are obtained firstly, wherein the reference track comprises a termination track point of the reference track; then determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle; then generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm; and finally, determining the driving path of the vehicle based on the alternative path set. The vehicle path planning method provided by the embodiment of the application is based on the combination of the reference track of the vehicle and the local high-precision map data, the alternative path set which accords with the actual scene is generated through the preset map algorithm, a precondition is provided for the decision of the scene at the later stage, and the problem that part of road sections cannot reach the destination due to the lane changing behavior of the vehicle is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a vehicle path planning method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle path planning device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the present application provides a method for planning a vehicle path, and as shown in fig. 1, provides a schematic flow chart of the method for planning a vehicle path in the embodiment of the present application, where the method at least includes the following steps S110 to S140:
step S110, a reference track of the vehicle and local high-precision map data corresponding to the vehicle are obtained, wherein the reference track comprises a termination track point of the reference track.
When the path of the vehicle is planned, a reference track corresponding to the current position of the vehicle needs to be obtained first, where the reference track can be understood as a local reference track which travels a distance forward from the current position of the vehicle, so that the reference track includes a current position point of the vehicle and a termination track point of the reference track, and the reference track can be specifically provided by an external track planning module.
In addition, local high-precision map data corresponding to the vehicle also needs to be acquired, local high-precision map data within a certain range can be acquired according to the current positioning information of the vehicle, and the local high-precision map data can provide abundant lane structural information and provide important support for lane-level path planning.
And step S120, determining a target lane set of the vehicle according to the ending track point of the reference track and the local high-precision map data corresponding to the vehicle.
After the local high-precision map data is obtained, the target lanes where the vehicle is likely to travel at the position of the ending track point of the reference track can be determined based on the local high-precision map data, and the target lanes form a target lane set to be used as the basis for subsequent path planning.
And step S130, generating a candidate path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm.
After the target lane set is determined, the embodiment of the application may use a lane where the vehicle is currently located as a starting point, use each target lane in the target lane set as a terminal point, and generate a plurality of corresponding communication paths by using a preset graph algorithm, as an alternative path set of the vehicle. The preset map algorithm may be flexibly selected by a person skilled in the art according to actual requirements, and may be, for example, a Depth First Search (DFS) algorithm, a Breadth First Search (BFS) algorithm, a Greedy Best First Search (GBFS) algorithm, or an a algorithm, which is not limited in detail herein.
Step S140, determining the driving path of the vehicle based on the alternative path set.
The alternative path set provides all feasible running paths for the vehicle, and provides precondition for decision of a later scene. For example, when a certain lane in the original reference trajectory of the vehicle has an obstacle or a traffic accident, the lane needs to be changed, and then the driving route of the vehicle after the lane change can be selected according to all the routes provided in the alternative route set, so that the vehicle can smoothly and timely reach the destination.
The vehicle path planning method provided by the embodiment of the application is based on the combination of the reference track of the vehicle and the local high-precision map data, the alternative path set which accords with the actual scene is generated through the preset map algorithm, a precondition is provided for the decision of the scene at the later stage, and the problem that part of road sections cannot reach the destination due to the lane changing behavior of the vehicle is avoided.
In an embodiment of the application, the determining the target lane set of the vehicle according to the termination track point of the reference track and the local high-precision map data corresponding to the vehicle includes: acquiring a destination point of the vehicle; determining whether the termination track point of the reference track is the same as the destination point of the vehicle or not to obtain a first determination result; and determining a target lane set of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle.
In the embodiment of the application, the dynamic target lane set S-lane is initialized in advance, and the initial length of the target lane set is 0 and is used as the basis for subsequently updating the target lane information. When the target lane information in the target lane set S-lane of the vehicle is dynamically updated, a destination point to which the vehicle will finally arrive may be determined, then an end track point Pn of a currently obtained reference track Traj (the length of the reference track Traj is n) is compared with the destination point to which the vehicle will finally arrive, whether the end track point of the reference track is the destination point to which the vehicle will finally arrive is determined, and then a corresponding target lane set update strategy is adopted according to different determination results.
In one embodiment of the present application, the determining the set of target lanes of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle includes: if the ending track point of the reference track is the same as the destination point of the vehicle, determining a lane where the ending track point is located according to local high-precision map data corresponding to the vehicle, and storing the lane where the ending track point is located as a target lane into a target lane set of the vehicle; and if the termination track point of the reference track is different from the destination point of the vehicle, determining whether the termination track point is positioned on a lane connecting line according to local high-precision map data corresponding to the vehicle to obtain a second determination result, and determining a target lane set of the vehicle according to the second determination result and the local high-precision map data.
Based on the foregoing embodiment, it can be determined whether the end track point Pn of the current reference track is the destination point to which the vehicle will finally arrive, so that the target Lane set of the vehicle can be further determined in two cases, where (1) the end track point Pn of the reference track is the destination point to which the vehicle will finally arrive, and it is described that the reference track is the last section of track to which the vehicle will travel, so that it can be determined that the end track point Pn of the vehicle reference track is the position to which the Lane will finally arrive, and then the Lane0 where the end track point Pn is located is the Lane to which the vehicle will finally travel, so that the Lane can be directly stored as the target Lane in the target Lane set S-Lane of the vehicle.
In the case (2), the ending track point Pn of the reference track is not the destination point to which the vehicle will finally arrive, that is, a certain position point in the middle of the entire driving route, and then it may be further determined whether the ending track point Pn is located on a lane or on a lane connection line, because it is necessary to determine all lanes that can ensure that the vehicle arrives at the destination point when determining the target lane set, and when the ending track point Pn is not the final destination point, the other lanes associated with the lane connection line on which the ending track point Pn is located are different, so different target lane set update strategies may be adopted based on the difference.
The lane connecting line may be understood as a line connecting any two lanes, and is generally set for an area where there is no lane line at a traffic intersection.
In one embodiment of the present application, the determining the set of target lanes of the vehicle according to the second determination result and the local high-precision map data comprises: if the termination track point is located on the lane connecting line, determining an associated lane according to the lane connecting line where the termination track point is located, acquiring a corresponding lane of the same type from the local high-precision map data according to the lane type of the associated lane, and storing the associated lane and the corresponding lane of the same type as a target lane into the target lane set; and if the ending track point is not positioned on the lane connecting line, acquiring a corresponding lane with the same type from the local high-precision map data according to the lane type of the lane where the ending track point is positioned, and storing the lane where the ending track point is positioned and the corresponding lane with the same type as a target lane into the target lane set.
For the case (2) of the above embodiment, the target lane set of the vehicle may be further determined by being divided into two cases, where the case (2-1) is that the ending track point Pn is located on a lane connection line, which indicates that the vehicle may currently travel to the traffic intersection area, although there is no lane line information, two or more connected lanes may be determined based on the lane connection line where the vehicle is located, where the driving direction of the vehicle may be further determined by combining with the reference trajectory of the vehicle, so as to determine the lane to be traveled by the vehicle as the associated lane corresponding to the lane connection line. And then determining the lane type of the associated lane, such as a straight lane, a left-turn lane, a right-turn lane, a straight + turn lane and the like, searching the lane Lanen which belongs to the same type with the lane type of the associated lane in the same road section in the local high-precision map data according to the lane type of the associated lane, and storing the lane Lanen together as a target lane in the target lane set S-lane.
For example, assuming that a lane connection line where the ending track point Pn is located connects the lane 01 and the lane 02, and it can be determined by combining the driving direction of the vehicle, the lane 02 may be used as an associated lane when the vehicle is going out from the lane 01, and assuming that the lane type of the lane 02 is a straight lane, all straight lanes such as the lane 03 and the lane 04 in the road section where the lane 02 is located may ensure that the vehicle reaches the destination, so the lane 02, the lane 03, and the lane 04 may all be stored as target lanes in the target lane set S-lane.
In the case (2-2), the ending track point Pn is not located on the Lane connecting line, that is, located on the Lane, then the Lane0 where the ending track point Pn is located can be determined based on the local high-precision map data, and then the Lane LaneN in the same road section and the Lane type of Lane0 belong to the same type are searched in the local high-precision map data according to the Lane type of the Lane0 where the ending track point Pn is located, and are stored together as the target Lane in the target Lane set S-Lane.
For example, assuming that the lane where the ending track point Pn is located is lane 01 and the lane type is a straight lane, all straight lanes in the road segment where the lane 01 is located, such as lane 03 and lane 04, can ensure that the vehicle reaches the destination, so that the lane 01, lane 03, and lane 04 can be stored as target lanes in the target lane set S-lane.
In an embodiment of the present application, the generating the set of alternative paths of the vehicle according to the set of target lanes of the vehicle and a preset map algorithm includes: constructing the directed graph and a corresponding matrix based on the local high-precision map data; and sequentially taking out the target lanes from the target lane set of the vehicle, and generating an alternative path set of the vehicle by using a graph search algorithm based on the directed graph and the corresponding matrix.
When the alternative path set of the vehicle is generated, the directed graph G and the corresponding matrix M can be constructed by using the local high-precision map data, the directed graph and the matrix describe the connection relation among all lanes in the area range corresponding to the local high-precision map, and the path planning efficiency can be greatly improved.
Each target lane in the set S-lane of target lanes is a lane that the vehicle may reach, and thus each target lane may be planned separately. Specifically, the target Lane may be sequentially taken out from the target Lane set S-Lane of the vehicle as an end point of the path planning, the current Lane-ego where the vehicle is located is taken as a start point of the path planning, and then, based on the constructed directed graph and the corresponding matrix, the directed graph G and the corresponding matrix M are traversed by using a graph search algorithm such as DFS, so as to generate a plurality of alternative paths, thereby forming an alternative path set routes of the vehicle.
In an embodiment of the present application, the constructing the directed graph and the corresponding matrix based on the local high-precision map data includes: determining a lane set and a lane connecting line set based on the local high-precision map data; constructing a vertex set of the directed graph according to the lane set, and constructing an edge set of the directed graph according to the lane connection line set to obtain a constructed directed graph; and constructing a matrix with a preset size based on the constructed directed graph, wherein the preset size is the size of the vertex set of the directed graph.
When the directed graph G and the corresponding matrix M are constructed, a lane set and a lane connection line set can be extracted from local high-precision map data, then a vertex set Vs of the directed graph G is constructed based on the lane set, and a side set Es of the directed graph G is constructed based on the lane connection line set, wherein the Vs can be specifically composed of a lane ID set, and the Es can be specifically composed of a length set of lane connection lines.
Then, a matrix M of N × N is constructed based on the directed graph G, where N is the length of Vs of the directed graph G, and M (i, j) belongs to Es, which has a value (-1, Es (i, j)), where Es (i, j) represents the length of the edge connecting the nodes i, j, -1 represents no connection, and the type of the boundary line between the adjacent lanes a and b is a dashed line, then M (a, b) is equal to 0.
In one embodiment of the present application, the determining the travel path of the vehicle based on the set of alternative paths includes: filtering the alternative path set by using a preset filtering rule to obtain a filtered alternative path set, wherein the preset filtering rule comprises a loop path filtering rule; determining a travel path of the vehicle based on the filtered set of alternative paths.
Paths which do not accord with the actual driving scene may exist in the alternative path set, so the paths which do not accord with the conditions may be filtered by using a preset filtering rule, for example, a loop path may exist in all communication paths calculated based on a directed graph and a matrix, namely, a path from a starting point position to a starting point position, obviously, the path does not accord with the actual driving scene of the vehicle, so the loop path may be deleted, and the remaining paths are used as alternative paths to provide precondition for the scene decision of the vehicle at the later stage.
The embodiment of the present application further provides a path planning apparatus 200 of a vehicle, as shown in fig. 2, which provides a schematic structural diagram of the path planning apparatus of the vehicle in the embodiment of the present application, where the apparatus 200 includes: an obtaining unit 210, a first determining unit 220, a generating unit 230, and a second determining unit 240, wherein:
the acquiring unit 210 is configured to acquire a reference track of a vehicle and local high-precision map data corresponding to the vehicle, where the reference track includes a termination track point of the reference track;
the first determining unit 220 is configured to determine a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle;
a generating unit 230, configured to generate a candidate path set of the vehicle according to a target lane set of the vehicle and a preset map algorithm;
a second determining unit 240, configured to determine a driving path of the vehicle based on the set of alternative paths.
In an embodiment of the present application, the first determining unit 220 is specifically configured to: acquiring a destination point of the vehicle; determining whether the termination track point of the reference track is the same as the destination point of the vehicle or not to obtain a first determination result; and determining a target lane set of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle.
In an embodiment of the present application, the first determining unit 220 is specifically configured to: if the ending track point of the reference track is the same as the destination point of the vehicle, determining the lane where the ending track point is located according to local high-precision map data corresponding to the vehicle, and storing the lane where the ending track point is located as a target lane into a target lane set of the vehicle; and if the termination track point of the reference track is different from the destination point of the vehicle, determining whether the termination track point is positioned on a lane connecting line according to local high-precision map data corresponding to the vehicle to obtain a second determination result, and determining a target lane set of the vehicle according to the second determination result and the local high-precision map data.
In an embodiment of the present application, the first determining unit 220 is specifically configured to: if the termination track point is located on the lane connecting line, determining an associated lane according to the lane connecting line where the termination track point is located, acquiring a corresponding lane of the same type from the local high-precision map data according to the lane type of the associated lane, and storing the associated lane and the corresponding lane of the same type as a target lane into the target lane set; and if the ending track point is not positioned on the lane connecting line, acquiring a corresponding lane with the same type from the local high-precision map data according to the lane type of the lane where the ending track point is positioned, and storing the lane where the ending track point is positioned and the corresponding lane with the same type as a target lane into the target lane set.
In an embodiment of the application, the generating unit 230 is specifically configured to: constructing the directed graph and a corresponding matrix based on the local high-precision map data; and sequentially taking out the target lanes from the target lane set of the vehicle, and generating an alternative path set of the vehicle by using a graph search algorithm based on the directed graph and the corresponding matrix.
In an embodiment of the present application, the generating unit 230 is specifically configured to: determining a lane set and a lane connecting line set based on the local high-precision map data; constructing a vertex set of the directed graph according to the lane set, and constructing an edge set of the directed graph according to the lane connection line set to obtain a constructed directed graph; and constructing a matrix with a preset size based on the constructed directed graph, wherein the preset size is the size of the vertex set of the directed graph.
In an embodiment of the present application, the second determining unit 240 is specifically configured to: filtering the alternative path set by using a preset filtering rule to obtain a filtered alternative path set, wherein the preset filtering rule comprises a loop path filtering rule; determining a travel path of the vehicle based on the filtered set of alternative paths.
It can be understood that the above-mentioned vehicle path planning apparatus can implement each step of the vehicle path planning method provided in the foregoing embodiment, and the related explanations regarding the vehicle path planning method are all applicable to the vehicle path planning apparatus, and are not described herein again.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 3, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 3, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the path planning device of the vehicle on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, wherein the reference track comprises a termination track point of the reference track;
determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle;
generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm;
determining a travel path for the vehicle based on the set of alternate paths.
The method performed by the path planning apparatus of the vehicle according to the embodiment shown in fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the path planning apparatus of the vehicle in fig. 1, and implement the functions of the path planning apparatus of the vehicle in the embodiment shown in fig. 1, which are not described herein again.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the path planning apparatus for a vehicle in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, wherein the reference track comprises a termination track point of the reference track;
determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle;
generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm;
determining a travel path for the vehicle based on the set of alternate paths.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
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 an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, 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, 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 above description is only an example of the present application and is not intended to limit 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 path planning for a vehicle, wherein the method comprises:
acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, wherein the reference track comprises a termination track point of the reference track;
determining a target lane set of the vehicle according to a termination track point of the reference track and local high-precision map data corresponding to the vehicle;
generating an alternative path set of the vehicle according to the target lane set of the vehicle and a preset map algorithm;
determining a travel path for the vehicle based on the set of alternate paths.
2. The method of claim 1, wherein determining the set of target lanes for the vehicle from the ending track point of the reference track and the corresponding local high-precision map data for the vehicle comprises:
acquiring a destination point of the vehicle;
determining whether the termination track point of the reference track is the same as the destination point of the vehicle or not to obtain a first determination result;
and determining a target lane set of the vehicle according to the first determination result and the local high-precision map data corresponding to the vehicle.
3. The method of claim 2, wherein the determining the set of target lanes of the vehicle from the first determination and the corresponding local high-precision map data of the vehicle comprises:
if the ending track point of the reference track is the same as the destination point of the vehicle, determining the lane where the ending track point is located according to local high-precision map data corresponding to the vehicle, and storing the lane where the ending track point is located as a target lane into a target lane set of the vehicle;
and if the termination track point of the reference track is different from the destination point of the vehicle, determining whether the termination track point is positioned on a lane connecting line according to local high-precision map data corresponding to the vehicle to obtain a second determination result, and determining a target lane set of the vehicle according to the second determination result and the local high-precision map data.
4. The method of claim 3, wherein the determining a set of target lanes for the vehicle from the second determination and the local high precision map data comprises:
if the termination track point is located on the lane connecting line, determining an associated lane according to the lane connecting line where the termination track point is located, acquiring a corresponding lane of the same type from the local high-precision map data according to the lane type of the associated lane, and storing the associated lane and the corresponding lane of the same type as a target lane into the target lane set;
and if the ending track point is not positioned on the lane connecting line, acquiring a corresponding lane with the same type from the local high-precision map data according to the lane type of the lane where the ending track point is positioned, and storing the lane where the ending track point is positioned and the corresponding lane with the same type as a target lane into the target lane set.
5. The method of claim 1, wherein the generating the set of alternative paths for the vehicle from the set of target lanes for the vehicle and a preset map algorithm comprises:
constructing the directed graph and a corresponding matrix based on the local high-precision map data;
and sequentially taking out the target lanes from the target lane set of the vehicle, and generating an alternative path set of the vehicle by using a graph search algorithm based on the directed graph and the corresponding matrix.
6. The method of claim 5, wherein the constructing the directed graph and corresponding matrix based on the local high-precision map data comprises:
determining a lane set and a lane connecting line set based on the local high-precision map data;
constructing a vertex set of the directed graph according to the lane set, and constructing an edge set of the directed graph according to the lane connection line set to obtain a constructed directed graph;
and constructing a matrix with a preset size based on the constructed directed graph, wherein the preset size is the size of the vertex set of the directed graph.
7. The method of claim 1, wherein the determining a travel path for the vehicle based on the set of alternative paths comprises:
filtering the alternative path set by using a preset filtering rule to obtain a filtered alternative path set, wherein the preset filtering rule comprises a loop path filtering rule;
determining a travel path of the vehicle based on the filtered set of alternative paths.
8. A path planning apparatus for a vehicle, wherein the apparatus comprises:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a reference track of a vehicle and local high-precision map data corresponding to the vehicle, and the reference track comprises a termination track point of the reference track;
the first determining unit is used for determining a target lane set of the vehicle according to the termination track point of the reference track and the local high-precision map data corresponding to the vehicle;
the generating unit is used for generating an alternative path set of the vehicle according to a target lane set of the vehicle and a preset map algorithm;
a second determination unit for determining a travel path of the vehicle based on the set of alternative paths.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115200604A (en) * | 2022-09-16 | 2022-10-18 | 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115200604A (en) * | 2022-09-16 | 2022-10-18 | 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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