CN115014372B - Path planning method, path planning device, storage medium and vehicle - Google Patents
Path planning method, path planning device, storage medium and vehicle Download PDFInfo
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Abstract
The disclosure relates to a path planning method, a path planning device, a storage medium and a vehicle. The method comprises the following steps: acquiring an initial hard boundary; determining a target boundary segment located in a lateral orientation of the obstacle from a first hard boundary nearest to the obstacle; transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after the first adjustment, and transversely moving the target boundary section after the first adjustment to a target distance in the direction of a second hard boundary to obtain a target boundary section after the second adjustment; determining an effective target boundary section according to the target boundary section after the first adjustment and the target boundary section after the second adjustment; and planning a driving path of the vehicle according to the first hard boundary and the second hard boundary constraint of the target comprising the effective target boundary section so as to enable the vehicle to transversely avoid the obstacle in the lane. In this way, the vehicle can run more stably and avoid obstacles safely.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, and in particular relates to a path planning method, a path planning device, a storage medium and a vehicle.
Background
The automatic driving automobile (Autonomous vehicles; self-driving automobile) relies on cooperation of artificial intelligence, visual computing, radar, monitoring device and global positioning system, etc., so that the controller can automatically and safely operate the motor vehicle to run without any human initiative.
In the related art, a routing module of an automatic driving system plans a road section through which a vehicle needs to pass based on a vehicle location, a destination location, and a high-precision map. The motion planning module generates a safe and comfortable driving track according to the information output by the routing module and the information provided by the sensing module and the like, and sends the safe and comfortable driving track to the vehicle control module. The vehicle control module controls the vehicle to run according to the running track. For obstacles on road sections, particularly high-speed movement obstacles, the movement planning module adopts a strategy of lane-changing running or decelerating and braking to plan a running path so as to avoid collision of vehicles with the obstacles for safety. However, the obstacle avoidance mode results in poor vehicle running stability.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a path planning method, a path planning device, a storage medium and a vehicle.
According to a first aspect of embodiments of the present disclosure, there is provided a path planning method, the method comprising:
acquiring an initial hard boundary, wherein the initial hard boundary is determined according to the boundary of a lane where a vehicle is located;
determining a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle;
transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely moving the target boundary section after first adjustment to a target distance in a second hard boundary direction to obtain a target boundary section after second adjustment;
determining an effective target boundary section according to the target boundary section after the first adjustment and the target boundary section after the second adjustment;
and planning a driving path of the vehicle according to the first hard boundary and the second hard boundary constraint of the target comprising the effective target boundary section, so that the vehicle transversely avoids the obstacle in the lane.
Optionally, the determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment includes:
Determining a first effective boundary section in the target boundary section after the first adjustment according to the position relation between the target boundary section after the first adjustment and a preset range of the vehicle;
determining a second effective boundary section in the target boundary section after the second adjustment according to the position relation between the target boundary section after the second adjustment and the preset range of the vehicle;
and determining the effective target boundary segment according to the first effective boundary segment and the second effective boundary segment.
Optionally, the determining a first effective boundary segment in the target boundary segment after the first adjustment according to the position relationship between the target boundary segment after the first adjustment and a preset range of the vehicle includes:
and determining a boundary line segment which is positioned in the preset range of the vehicle in the target boundary segment after the first adjustment as the first effective boundary segment.
Optionally, the determining a second effective boundary segment in the target boundary segment after the second adjustment according to the position relationship between the target boundary segment after the second adjustment and the preset range of the vehicle includes:
and determining a boundary line segment which is positioned outside the preset range of the vehicle in the target boundary segment after the second adjustment as the second effective boundary segment.
Optionally, the determining a target boundary segment located in a lateral direction of the obstacle from a first hard boundary closest to the obstacle comprises:
expanding the obstacle from the longitudinal direction to obtain an expanded obstacle;
and projecting the expanded obstacle onto the first hard boundary to obtain the target boundary segment.
Optionally, the lateral distance between the second adjusted target boundary segment and the second hard boundary is greater than a preset threshold.
Optionally, the obstacle is a static obstacle, and the second adjusted target boundary segment is located between a center line of the lane and the second hard boundary.
Optionally, the planning a driving path of the vehicle according to the first hard boundary of the target including the effective target boundary segment and the second hard boundary constraint includes:
taking the first hard boundary and the second hard boundary of the target as the valued boundary constraint of the optimization variable;
optimizing the optimized variable according to the valued boundary constraint and an objective function to generate a running path between the target first hard boundary and the target second hard boundary, wherein the running path consists of the optimized variable.
According to a second aspect of embodiments of the present disclosure, there is provided a path planning apparatus, the apparatus comprising:
an acquisition module configured to acquire an initial hard boundary, the initial hard boundary being determined from a boundary of a lane in which the vehicle is located;
a first determination module configured to determine a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle;
the adjusting module is configured to transversely move the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely move the target boundary section after first adjustment to a target distance in the direction of a second hard boundary to obtain a target boundary section after second adjustment;
a second determining module configured to determine an effective target boundary segment according to the first adjusted target boundary segment and the second adjusted target boundary segment;
and the planning module is configured to plan a driving path of the vehicle according to a first hard boundary of the target comprising the effective target boundary section and the second hard boundary constraint so as to enable the vehicle to transversely avoid the obstacle in the lane.
Optionally, the second determining module includes:
a first determining submodule configured to determine a first effective boundary segment in the target boundary segment after the first adjustment according to the positional relationship between the target boundary segment after the first adjustment and a preset range of the vehicle;
a second determining submodule configured to determine a second effective boundary segment in the target boundary segments after the second adjustment according to the positional relationship between the target boundary segments after the second adjustment and the preset range of the vehicle;
a third determination submodule configured to determine the valid target boundary segment from the first valid boundary segment and the second valid boundary segment.
Optionally, the first determining submodule is further configured to determine a boundary line segment, which is located within the preset range of the vehicle, in the target boundary segment after the first adjustment as the first effective boundary segment.
Optionally, the second determining submodule is further configured to determine a boundary line segment, which is located outside the vehicle preset range, in the target boundary segment after the second adjustment as the second valid boundary segment.
Optionally, the first determining module is further configured to expand the obstacle from the longitudinal direction to obtain an expanded obstacle; and projecting the expanded obstacle onto the first hard boundary to obtain the target boundary segment.
Optionally, the lateral distance between the second adjusted target boundary segment and the second hard boundary is greater than a preset threshold.
Optionally, the obstacle is a static obstacle, and the second adjusted target boundary segment is located between a center line of the lane and the second hard boundary.
Optionally, the planning module includes:
an execution sub-module configured to take the target first hard boundary and the target second hard boundary as valued boundary constraints of an optimization variable;
and the optimizing sub-module is configured to optimize the optimizing variable according to the valued boundary constraint and an objective function so as to generate a running path between the target first hard boundary and the target second hard boundary, wherein the running path consists of the optimized optimizing variable.
According to a third aspect of embodiments of the present disclosure, there is provided a path planning apparatus, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring an initial hard boundary, wherein the initial hard boundary is determined according to the boundary of a lane where a vehicle is located;
determining a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle;
Transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely moving the target boundary section after first adjustment to a target distance in a second hard boundary direction to obtain a target boundary section after second adjustment;
determining an effective target boundary section according to the target boundary section after the first adjustment and the target boundary section after the second adjustment;
and planning a driving path of the vehicle according to the first hard boundary and the second hard boundary constraint of the target comprising the effective target boundary section, so that the vehicle transversely avoids the obstacle in the lane.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the path planning method provided by the first aspect of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a vehicle comprising the path planning apparatus provided in the second or third aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
An initial hard boundary is obtained, the initial hard boundary being determined from the boundary of the lane in which the vehicle is located. A target boundary segment located in a lateral orientation of the obstacle is determined from a first hard boundary nearest the obstacle. And transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain the target boundary section after the first adjustment. And transversely moving the target boundary segment after the first adjustment to a target distance in the direction of the second hard boundary to obtain the target boundary segment after the second adjustment. And determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment. And planning a driving path of the vehicle according to the first hard boundary of the target including the effective target boundary section and the second hard boundary constraint, so that the vehicle can transversely avoid the obstacle in the lane. According to the method, the initial hard boundary determined according to the boundary of the lane where the vehicle is located is modified according to the position of the obstacle, so that the obstacle is located outside the modified hard boundary, the running path planning of the vehicle is restrained according to the modified hard boundary, the planned running path can be located between the second hard boundary and the first hard boundary of the target, and the vehicle can transversely avoid the obstacle located outside the modified hard boundary in the lane. Compared with the mode of transversely avoiding the obstacle in the lane in the prior art, the mode of adopting the strategy of lane changing running or speed reducing braking to plan the running path to avoid collision between the vehicle and the obstacle is adopted by the motion planning module for safety consideration, and the obstacle can be avoided more stably because no large lane changing action exists and no large-amplitude action caused by too fast speed change caused by speed reducing braking exists. That is, in this way of the present disclosure, the vehicle can be made to travel more smoothly and avoid obstacles.
And the target boundary section is adjusted twice, and the effective target boundary section is determined according to the target boundary section after the first adjustment and the target boundary section after the second adjustment, so that the planned driving path is smoother, the collision between the vehicle and an obstacle can be avoided, and the safety of the vehicle is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flow chart illustrating a path planning method according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating an initial hard boundary, according to an example embodiment.
FIG. 3 is a schematic diagram of a target boundary segment, according to an example embodiment.
FIG. 4 is a schematic diagram of a moving object boundary segment, according to an example embodiment.
FIG. 5 is a schematic diagram illustrating a sample-based path generation approach, according to an example embodiment.
Fig. 6 is a schematic diagram of an effective target boundary segment and travel path, according to an example embodiment.
Fig. 7 is a block diagram illustrating a path planning apparatus according to an example embodiment.
Fig. 8 is a block diagram illustrating an apparatus for path planning in accordance with an exemplary embodiment.
Fig. 9 is a block diagram illustrating another apparatus for path planning in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
In order to make the technical solutions of the present disclosure easier for those skilled in the art, the following description will be given for simplicity.
In the related art, a path planning method adopted by an autonomous vehicle is a method provided by Apollo EM Motion Planner. The functional architecture of Apollo includes a high-precision Map module (HD Map) for providing high-precision Map information. A Localization module (Localization) and a Perception module (permission) for providing a current dynamic environment around the vehicle. A Prediction module (Prediction) for providing predicted future environmental information. And a routing module (routing) for outputting all road segments traversed by the vehicle in the process from the departure point to the destination based on the dedicated routing map routing_map. And the motion planning module (MotionPlanning) is used for receiving all information, generating a safe and comfortable track and sending the safe and comfortable track to the vehicle control module. The motion planning module plans a driving path by adopting a strategy of variable-path driving or deceleration braking for the obstacles on the road section, especially the dynamic obstacles moving at high speed, so as to avoid the collision of the vehicle with the obstacles. However, the vehicle may run very unevenly due to a large lane change motion or a large motion caused by too fast a speed change due to deceleration braking. For example, the phenomenon of unstable vehicle running caused by sudden braking, rapid deceleration, sudden lane change, etc.
In view of the above, the present disclosure provides a path planning method, a path planning device, a storage medium, and a vehicle, so as to solve the above technical problems. It should be noted that the technical solution of the present disclosure is mainly directed to improvement of motion planning modules (MotionPlanning).
The following describes the embodiments of the present disclosure in detail.
Fig. 1 is a flowchart illustrating a path planning method according to an exemplary embodiment, which is applied to an electronic device controlling a vehicle, for example, an on-board computer/controller, a remote server connected to the vehicle, etc., as shown in fig. 1. The path planning method comprises the following steps.
In step S11, an initial hard boundary is acquired, which is determined from the boundary of the lane in which the vehicle is located.
For example, referring to fig. 2, two initial hard boundaries (represented by the dashed lines in fig. 2) are determined from the boundaries of the lane in which the vehicle is located in fig. 2 (represented by the two solid lines in fig. 2). The distance between the initial hard boundary and the lane boundary is set according to the requirements.
In step S12, a target boundary segment located in a lateral orientation of the obstacle is determined from a first hard boundary closest to the obstacle.
The first hard boundary closest to the obstacle is one of the two initial hard boundaries with the smallest lateral distance from the obstacle. The first hard boundary may be a hard boundary located on the left side in the vehicle traveling direction or a hard boundary located on the right side in the vehicle traveling direction, specifically determined according to the position of the obstacle.
In some embodiments, the determining a target boundary segment located in a lateral orientation of the obstacle from a first hard boundary nearest to the obstacle comprises:
expanding the obstacle from the longitudinal direction to obtain an expanded obstacle; and projecting the expanded obstacle onto the first hard boundary to obtain the target boundary segment.
Wherein the longitudinal direction refers to the lane extending direction. For example, as shown in fig. 3, the obstacle is extended from the longitudinal direction, resulting in an extended obstacle. Projecting the extended obstacle onto the first hard boundary to obtain a target boundary segment in the first hard boundary. Here, when the obstacle is expanded, the expansion size is set according to the requirement. Such as ten percent back and forth. For another example, expand 20 cm back and forth.
In step S13, the target boundary segment is moved laterally from one side of the obstacle to the other side of the obstacle, so as to obtain a target boundary segment after the first adjustment, and the target boundary segment after the first adjustment is moved laterally toward the second hard boundary direction by a target distance, so as to obtain a target boundary segment after the second adjustment.
For example, referring to fig. 4, the target boundary segment is moved laterally from one side of the obstacle to the other side of the obstacle to obtain a first adjusted target boundary segment α, and the first adjusted target boundary segment α is moved laterally toward the second hard boundary by a target distance to obtain a second adjusted target boundary segment β.
In some embodiments, the first adjusted target boundary segment α is a lateral distance greater than or equal to 0 from the obstacle. Preferably, the first adjusted target boundary segment α is a lateral distance from the obstacle equal to ten percent of the lateral width of the obstacle. The target distance may be a preset empirical value of 20 cm, 30 cm, etc.
In step S14, an effective target boundary segment is determined according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment.
In some embodiments, the effective target boundary segment is determined from the first adjusted target boundary segment and the second adjusted target boundary segment. The length (longitudinal length) of the effective target boundary segment is equal to the length of the target boundary segment.
In step S15, a driving path of the vehicle is planned according to a first hard boundary of the target including the effective target boundary section and the second hard boundary constraint, so that the vehicle can avoid the obstacle laterally in the lane.
The operation that the vehicle transversely avoids the obstacle in the lane refers to that the vehicle executes nudge operation on the obstacle in the lane. nudge operation refers to a left/right avoidance mode. It should be noted that in the present disclosure, the action of the vehicle to avoid the obstacle in the lateral direction (i.e., nudge operation) is different from the action of the vehicle to overtake and brake. The first hard boundary of the object including the valid object boundary segment refers to a hard boundary after the object boundary segment in the initial first hard boundary is adjusted to the valid object boundary segment.
It should be noted that, the related art path planning methods can be divided into two types. One type is a sampling-based path generation method, which is exemplified in fig. 5 in which a plurality of paths are first generated and then one of the paths is selected as a target path.
The other is an optimized path generation mode, which converts the problem of searching an optimal path from a starting point to an end point into an extremum problem of solving a set of objective functions with constraint conditions, and converts the path planning problem into a function optimization problem. And an optimal solution can be searched in the value boundary by setting an objective function and the value boundary constraint condition. The advantages and disadvantages of the driving path obtained by adopting the path generation mode based on optimization depend on the setting of the objective function and the value boundary constraint condition.
In some embodiments, the planning of the travel path of the vehicle according to the target first hard boundary including the effective target boundary segment, the second hard boundary constraint includes:
taking the first hard boundary and the second hard boundary of the target as the valued boundary constraint of the optimization variable; optimizing the optimized variable according to the valued boundary constraint and an objective function to generate a running path between the target first hard boundary and the target second hard boundary, wherein the running path consists of the optimized variable.
For example, the objective function may be set to:
wherein l i Characterizing the optimization variables in the SL coordinate system, i=1, 2, 3..n, L min_i ≤l i ≤L max_i ，L min_i And L max_i Boundary constraint of sign value, l ref_i A coordinate point on a lane center line in the SL coordinate system is characterized. Optimization variable l i The initial value of the optimization variable l can be any value, preferably i The initial value of (a) is a coordinate point on the lane center line. In the SL coordinate system, S represents the longitudinal distance and L represents the transverse distance. Wherein L is min_i And L max_i Is determined from the second hard boundary and the first hard boundary of the target. That is, in the SL coordinate system, the value of the abscissa of the optimization variable ranges between the second hard boundary and the target first hard boundary without exceeding the second hard boundary and/or the target first hard boundary. For each optimization variable l i From the corresponding L based on the objective function min_i ≤l i ≤L max_i And searching an optimal solution in a range to obtain an optimized variable after optimization. The plurality of optimized variables are used to form the travel path.
Optimizing the optimization variable according to the valued boundary constraint and the objective function can generate a driving path between the second hard boundary and the first hard boundary of the target. For example, a travel path as shown in fig. 6 (the curve with an arrow in fig. 6 characterizes the travel path) may be generated.
It should be noted that the objective function is only one function exemplarily shown for the principle of the path generation method based on optimization, and is not limited to the objective function applicable to the present disclosure.
Optionally, the second adjusted target boundary segment is located between the center line of the lane and the second hard boundary.
In the case that the second adjusted target boundary segment is located between the lane center line and the second hard boundary, a part of the planned driving path may be located between the second adjusted target boundary segment and the second hard boundary, that is, the part of the planned driving path may be located as far as possible on a side of the second adjusted target boundary segment, which is towards the second hard boundary, and setting the function term for the centering in the objective function may enable the part of the planned driving path to approach the lane center line as far as possible, that is, the part of the planned driving path may be located as far as possible on a side of the second adjusted target boundary segment, which is towards the lane center line (that is, on a side of the first hard boundary).
With the above method, an initial hard boundary is obtained, which is determined according to the boundary of the lane in which the vehicle is located. A target boundary segment located in a lateral orientation of the obstacle is determined from a first hard boundary nearest the obstacle. And transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain the target boundary section after the first adjustment. And transversely moving the target boundary segment after the first adjustment to a target distance in the direction of the second hard boundary to obtain the target boundary segment after the second adjustment. And determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment. And planning a driving path of the vehicle according to the first hard boundary of the target including the effective target boundary section and the second hard boundary constraint, so that the vehicle can transversely avoid the obstacle in the lane. According to the method, the initial hard boundary determined according to the boundary of the lane where the vehicle is located is modified according to the position of the obstacle, so that the obstacle is located outside the modified hard boundary, the running path planning of the vehicle is restrained according to the modified hard boundary, the planned running path can be located between the second hard boundary and the first hard boundary of the target, and the vehicle can transversely avoid the obstacle located outside the modified hard boundary in the lane. Compared with the mode of transversely avoiding the obstacle in the lane in the prior art, the mode of adopting the strategy of lane changing running or speed reducing braking to plan the running path to avoid collision between the vehicle and the obstacle is adopted by the motion planning module for safety consideration, and the obstacle can be avoided more stably because no large lane changing action exists and no large-amplitude action caused by too fast speed change caused by speed reducing braking exists. That is, in this way of the present disclosure, the vehicle can be made to travel more smoothly and avoid obstacles.
And the target boundary section is adjusted twice, and the effective target boundary section is determined according to the target boundary section after the first adjustment and the target boundary section after the second adjustment, so that the planned driving path is smoother, the collision between the vehicle and an obstacle can be avoided, and the safety of the vehicle is improved.
Optionally, the determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment includes:
determining a first effective boundary section in the target boundary section after the first adjustment according to the position relation between the target boundary section after the first adjustment and a preset range of the vehicle; determining a second effective boundary section in the target boundary section after the second adjustment according to the position relation between the target boundary section after the second adjustment and the preset range of the vehicle; and determining the effective target boundary segment according to the first effective boundary segment and the second effective boundary segment.
That is, the effective target boundary segment includes a partial boundary segment of the target boundary segment after the first adjustment (the partial boundary segment may be the entire target boundary segment after the first adjustment, and may be zero), and further includes a partial boundary segment of the target boundary segment after the second adjustment (the partial boundary segment may be the entire target boundary segment after the second adjustment, and may be zero).
In some embodiments, the determining the first effective boundary segment in the target boundary segment after the first adjustment according to the position relationship between the target boundary segment after the first adjustment and the preset range of the vehicle includes: and determining a boundary line segment which is positioned in the preset range of the vehicle in the target boundary segment after the first adjustment as the first effective boundary segment.
Correspondingly, the determining a second effective boundary segment in the target boundary segment after the second adjustment according to the position relationship between the target boundary segment after the second adjustment and the preset range of the vehicle includes: and determining a boundary line segment which is positioned outside the preset range of the vehicle in the target boundary segment after the second adjustment as the second effective boundary segment.
The vehicle preset range refers to a square area centered on the vehicle, for example. As another example, the vehicle preset range refers to a circular area with a radius of 10 meters with the vehicle as a center. See fig. 6. And determining a boundary line segment which is positioned in the preset range of the vehicle in the target boundary segment after the first adjustment as a first effective boundary segment, and determining a boundary line segment which is positioned outside the preset range of the vehicle in the target boundary segment after the second adjustment as a second effective boundary segment. The first and second effective boundary segments constitute an effective target boundary segment. The target first hard boundary including the effective target boundary segment is an adjusted first hard boundary, as shown in fig. 6 (B) (i.e., a hard boundary consisting of a plurality of boundary segments on the right). Since the effective target boundary segment includes a partial boundary segment in the first adjusted target boundary segment (i.e., a first effective boundary segment) and a partial boundary segment in the second adjusted target boundary segment (i.e., a second effective boundary segment). The second effective boundary section and the first effective boundary section can enable the planned driving path to lean against the second hard boundary as far as possible so as to avoid collision with an obstacle. The centering in the objective function can enable the planned driving path to lean against the center line of the lane as far as possible so as to avoid the situation that the lane cannot be passed through. Wherein the second effective boundary segment is farther from the vehicle than the first effective boundary segment, the second effective boundary segment may cause a travel path (closer to the vehicle) to have a tendency toward a second hard boundary in combination with a smoothness setting in the objective function, and the first effective boundary segment may cause the tendency to be a slowly varying tendency. Thus, a smoother travel path can be obtained from the travel path planning of the vehicle based on the first hard boundary and the second hard boundary constraint of the object including the effective object boundary segment.
Optionally, the lateral distance between the second adjusted target boundary segment and the second hard boundary is greater than a preset threshold.
The preset threshold value is used for avoiding the situation that the transverse distance between the target boundary section after the second adjustment and the second hard boundary is too short, so that the situation that the planned partial path causes the vehicle to run across the lane, the vehicle runs by pressing the lane to form a solid line and the vehicle cannot pass through the lane can be avoided.
The obstacle may be a dynamic obstacle or a static obstacle, preferably the obstacle is a static obstacle.
A static obstacle refers to an obstacle having a movement speed less than a speed threshold. The speed threshold may or may not be 0. In particular, it may be determined from the minimum unit of measure of the speed quantification tool.
Alternatively, the travel path is a travel path within 100 (or 200) milliseconds (the reaction time of a person is 300 milliseconds at maximum) of the vehicle in the future. The planning period of the aforementioned path planning method is 100 (or 200) milliseconds once.
In some scenarios, the number of obstacles is multiple, and the path planning method is adopted for each obstacle to adjust the corresponding first hard boundary so as to plan the travel path. In the case where the positions of the plurality of obstacles are located on different sides of the lane, the first hard boundary corresponding to one obstacle may be the second hard boundary corresponding to another obstacle. In an extreme case, a plurality of obstacles are located on different sides of the lane, the plurality of obstacles have the same longitudinal distance from the vehicle, and the plurality of obstacles are located in front of the vehicle, in which case, with the method of the present disclosure, it is possible to draw a travelable travel path without regulation, in which case the vehicle can be controlled to decelerate and stop.
Fig. 7 is a block diagram illustrating a path planning apparatus according to an example embodiment. Referring to fig. 7, the apparatus 700 includes:
an acquisition module 710 configured to acquire an initial hard boundary, the initial hard boundary being determined from a boundary of a lane in which the vehicle is located;
a first determination module 720 configured to determine a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle;
an adjustment module 730 configured to laterally move the target boundary segment from one side of the obstacle to the other side of the obstacle to obtain a first adjusted target boundary segment, and laterally move the first adjusted target boundary segment toward a second hard boundary direction by a target distance to obtain a second adjusted target boundary segment;
a second determining module 740 configured to determine an effective target boundary segment according to the first adjusted target boundary segment and the second adjusted target boundary segment;
a planning module 750 is configured to plan a travel path for the vehicle according to a target first hard boundary including the effective target boundary segment, the second hard boundary constraint, so that the vehicle laterally avoids the obstacle within the lane.
With the above-described apparatus 700, an initial hard boundary is obtained, which is determined from the boundary of the lane in which the vehicle is located. A target boundary segment located in a lateral orientation of the obstacle is determined from a first hard boundary nearest the obstacle. And transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain the target boundary section after the first adjustment. And transversely moving the target boundary segment after the first adjustment to a target distance in the direction of the second hard boundary to obtain the target boundary segment after the second adjustment. And determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment. And planning a driving path of the vehicle according to the first hard boundary of the target including the effective target boundary section and the second hard boundary constraint, so that the vehicle can transversely avoid the obstacle in the lane. According to the method, the initial hard boundary determined according to the boundary of the lane where the vehicle is located is modified according to the position of the obstacle, so that the obstacle is located outside the modified hard boundary, the running path planning of the vehicle is restrained according to the modified hard boundary, the planned running path can be located between the second hard boundary and the first hard boundary of the target, and the vehicle can transversely avoid the obstacle located outside the modified hard boundary in the lane. Compared with the mode of transversely avoiding the obstacle in the lane in the prior art, the mode of adopting the strategy of lane changing running or speed reducing braking to plan the running path to avoid collision between the vehicle and the obstacle is adopted by the motion planning module for safety consideration, and the obstacle can be avoided more stably because no large lane changing action exists and no large-amplitude action caused by too fast speed change caused by speed reducing braking exists. That is, in this way of the present disclosure, the vehicle can be made to travel more smoothly and avoid obstacles.
And the target boundary section is adjusted twice, and the effective target boundary section is determined according to the target boundary section after the first adjustment and the target boundary section after the second adjustment, so that the planned driving path is smoother, the collision between the vehicle and an obstacle can be avoided, and the safety of the vehicle is improved.
Optionally, the second determining module 740 includes:
a first determining submodule configured to determine a first effective boundary segment in the target boundary segment after the first adjustment according to the positional relationship between the target boundary segment after the first adjustment and a preset range of the vehicle;
a second determining submodule configured to determine a second effective boundary segment in the target boundary segments after the second adjustment according to the positional relationship between the target boundary segments after the second adjustment and the preset range of the vehicle;
a third determination submodule configured to determine the valid target boundary segment from the first valid boundary segment and the second valid boundary segment.
Optionally, the first determining submodule is further configured to determine a boundary line segment, which is located within the preset range of the vehicle, in the target boundary segment after the first adjustment as the first effective boundary segment.
Optionally, the second determining submodule is further configured to determine a boundary line segment, which is located outside the vehicle preset range, in the target boundary segment after the second adjustment as the second valid boundary segment.
Optionally, the first determining module is further configured to expand the obstacle from the longitudinal direction to obtain an expanded obstacle; and projecting the expanded obstacle onto the first hard boundary to obtain the target boundary segment.
Optionally, the lateral distance between the second adjusted target boundary segment and the second hard boundary is greater than a preset threshold.
Optionally, the obstacle is a static obstacle, and the second adjusted target boundary segment is located between a center line of the lane and the second hard boundary.
Optionally, the planning module 750 includes:
an execution sub-module configured to take the target first hard boundary and the target second hard boundary as valued boundary constraints of an optimization variable;
and the optimizing sub-module is configured to optimize the optimizing variable according to the valued boundary constraint and an objective function so as to generate a running path between the target first hard boundary and the target second hard boundary, wherein the running path consists of the optimized optimizing variable.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the path planning method provided by the present disclosure.
Fig. 8 is a block diagram illustrating an apparatus 800 for path planning in accordance with an exemplary embodiment. For example, apparatus 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.
Referring to fig. 8, apparatus 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the apparatus 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the path planning method described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phonebook data, messages, pictures, videos, and the like. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power component 806 provides power to the various components of the device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 800.
The multimedia component 808 includes a screen between the device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 800 is in an operational mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the apparatus 800. For example, the sensor assembly 814 may detect an on/off state of the device 800, a relative positioning of the components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, an orientation or acceleration/deceleration of the device 800, and a change in temperature of the device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communication between the apparatus 800 and other devices, either in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the path planning methods described above.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including instructions executable by processor 820 of apparatus 800 to perform the path planning method described above. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described path planning method when executed by the programmable apparatus.
Fig. 9 is a block diagram illustrating an apparatus 1900 for path planning in accordance with an example embodiment. For example, the apparatus 1900 may be provided as a server. Referring to fig. 9, the apparatus 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that are executable by the processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the steps of the path planning method described above.
The apparatus 1900 may further include a power component 1926 configured to perform power management of the apparatus 1900, a wired or wireless network interface 1950 configured to connect the apparatus 1900 to a network, and an input/output (I/O) interface 1958. The apparatus 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server TM ，Mac OS X TM ，Unix TM ，Linux TM ，FreeBSD TM Or the like.
In another exemplary embodiment, there is also provided a vehicle including any of the above embodiments.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A method of path planning, the method comprising:
acquiring an initial hard boundary, wherein the initial hard boundary is determined according to the boundary of a lane where a vehicle is located;
determining a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle, wherein the obstacle is a static obstacle;
Transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely moving the target boundary section after first adjustment to a target distance in a second hard boundary direction to obtain a target boundary section after second adjustment;
determining an effective target boundary section according to the target boundary section after the first adjustment and the target boundary section after the second adjustment;
planning a driving path of the vehicle according to a first hard boundary of a target comprising the effective target boundary section and the second hard boundary constraint, so that the vehicle transversely avoids the obstacle in the lane;
the determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment includes:
determining a boundary line segment which is positioned in a preset range of the vehicle in the target boundary segment after the first adjustment as a first effective boundary segment;
determining a boundary line segment which is positioned outside the preset range of the vehicle in the target boundary segment after the second adjustment as a second effective boundary segment;
and determining the effective target boundary segment according to the first effective boundary segment and the second effective boundary segment.
2. The method of claim 1, wherein the determining a target boundary segment located in a lateral orientation of the obstacle from a first hard boundary nearest to the obstacle comprises:
expanding the obstacle from the longitudinal direction to obtain an expanded obstacle;
and projecting the expanded obstacle onto the first hard boundary to obtain the target boundary segment.
3. The method of claim 1, wherein a lateral distance between the second adjusted target boundary segment and the second hard boundary is greater than a preset threshold.
4. A method according to any one of claims 1-3, characterized in that the second adjusted target boundary segment is located between the centre line of the lane and the second hard boundary.
5. A method according to any one of claims 1-3, wherein said planning a travel path for the vehicle in accordance with target first hard boundaries comprising the effective target boundary segments, the second hard boundary constraints, comprises:
taking the first hard boundary and the second hard boundary of the target as the valued boundary constraint of the optimization variable;
Optimizing the optimized variable according to the valued boundary constraint and an objective function to generate a running path between the target first hard boundary and the target second hard boundary, wherein the running path consists of the optimized variable.
6. A path planning apparatus, the apparatus comprising:
an acquisition module configured to acquire an initial hard boundary, the initial hard boundary being determined from a boundary of a lane in which the vehicle is located;
a first determination module configured to determine a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary closest to the obstacle, wherein the obstacle is a static obstacle;
the adjusting module is configured to transversely move the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely move the target boundary section after first adjustment to a target distance in the direction of a second hard boundary to obtain a target boundary section after second adjustment;
a second determining module configured to determine an effective target boundary segment according to the first adjusted target boundary segment and the second adjusted target boundary segment;
A planning module configured to plan a travel path of the vehicle according to a target first hard boundary including the effective target boundary segment, the second hard boundary constraint, so as to enable the vehicle to laterally avoid the obstacle in the lane;
the second determining module includes:
a first determining submodule configured to determine a boundary line segment within a preset range of the vehicle in the target boundary segment after the first adjustment as a first effective boundary segment;
a second determining submodule configured to determine a boundary segment located outside the vehicle preset range in the target boundary segment after the second adjustment as a second effective boundary segment;
a third determination submodule configured to determine the valid target boundary segment from the first valid boundary segment and the second valid boundary segment.
7. A path planning apparatus, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring an initial hard boundary, wherein the initial hard boundary is determined according to the boundary of a lane where a vehicle is located;
determining a target boundary segment located in a lateral orientation of an obstacle from a first hard boundary nearest to the obstacle, wherein the obstacle is a static obstacle;
Transversely moving the target boundary section from one side of the obstacle to the other side of the obstacle to obtain a target boundary section after first adjustment, and transversely moving the target boundary section after first adjustment to a target distance in a second hard boundary direction to obtain a target boundary section after second adjustment;
determining an effective target boundary section according to the target boundary section after the first adjustment and the target boundary section after the second adjustment;
planning a driving path of the vehicle according to a first hard boundary of a target comprising the effective target boundary section and the second hard boundary constraint, so that the vehicle transversely avoids the obstacle in the lane;
the determining an effective target boundary segment according to the target boundary segment after the first adjustment and the target boundary segment after the second adjustment includes:
determining a boundary line segment which is positioned in a preset range of the vehicle in the target boundary segment after the first adjustment as a first effective boundary segment;
determining a boundary line segment which is positioned outside the preset range of the vehicle in the target boundary segment after the second adjustment as a second effective boundary segment;
and determining the effective target boundary segment according to the first effective boundary segment and the second effective boundary segment.
8. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 5.
9. A vehicle, characterized in that it comprises a path planning device according to claim 6 or 7.
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