CN115435803A - Global road network planning method and device for vehicle, vehicle and storage medium - Google Patents
Global road network planning method and device for vehicle, vehicle and storage medium Download PDFInfo
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- 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
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- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- 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 relates to a global road network planning method and device for vehicles, the vehicles and a storage medium, wherein the method comprises the following steps: the method comprises the steps of recording a target site map through a preset recording path and preprocessing the target site map to obtain a plurality of path points, selecting a plurality of target nodes from the path points and extracting a plurality of coordinates respectively, generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix, further determining a first road section where an actual starting point of a vehicle is located and a second road section where an actual end point of the vehicle is located, determining a current functional scene working condition according to the actual starting point, the first road section, the actual end point and the second road section, and planning a global road network of the vehicle according to a corresponding planning strategy to the current functional scene working condition, so that the path is shortest. The map information is used for carrying out classification processing and label storage on the same working condition, so that the frequency of calling a complex algorithm is reduced, the storage space is saved, the actual operation efficiency of the algorithm is improved, and the point-to-point global road network planning of the low-speed automatic driving system in a limited map range is realized.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for global road network planning for a vehicle, and a storage medium.
Background
In recent years, an intelligent networked automobile is listed as one of strong national strategic development objects, the intelligent networked automobile is definitely provided with control functions of information sharing, complex environment perception, intelligent decision making, automatic cooperation and the like through a vehicle-mounted sensor data fusion technology and a multi-party network communication technology, and the intelligent travel of high efficiency, safety, comfort and energy conservation is realized by combining with an ITS. At present, the L4 level automatic driving automobile still faces the challenges of large technical difficulty, high manufacturing cost, incomplete laws and regulations, insufficient mass production verification, awaiting exploration of market mode and the like. In contrast, the low-speed smart vehicles in the area, such as the autonomous driving barge vehicle (e.g., park barge vehicle), the autonomous driving transport vehicle (e.g., port transport vehicle) in the fixed scene, and the autonomous Parking (e.g., auto Valet Parking) are easier to be mass-produced and landed.
The intelligent vehicle path planning in the scene based on the low-speed area comprises global path planning and local path planning. The global path planning is to plan an optimal drivable path meeting the driving constraint of the intelligent vehicle based on environmental information (such as a map, an obstacle and a road boundary), and has navigation capability; the local path planning refers to a safe driving path which is quickly planned by the intelligent vehicle for avoiding an obstacle on the basis of a global path, and a global path planning algorithm is mainly introduced below.
In the related art, the global path planning through a plurality of fixed nodes has a plurality of well-established algorithms, such as Dijkstra algorithm and Floyd algorithm, i.e., freoude algorithm. Since the Dijkstra algorithm is applicable to the shortest path of a single node, the computation of invalid computation redundancy is too much, and therefore, the Floyd algorithm is described in the following. The Floyd algorithm is used for finding the shortest path among nodes in a given weighted graph and is oriented to the shortest path solving problem of any two points, mixed graphs and weighted graphs. The algorithm is essentially based on the iterative operation of the adjacency matrix of the graph, realizes the path search of the known graph by setting the distance matrix and the path matrix between any point pairs, and is an algorithm for solving the shortest path problem between any point pairs. And iteratively calculating a global distance matrix and an optimal path matrix through a Floyd algorithm, and reading a waypoint sequence in the path matrix to realize rapid and efficient global path planning.
However, in practical application, due to the limitation of the computing capability of the vehicle-mounted embedded hardware, the time complexity of the Floyd algorithm is examined, and therefore, the considered improvement idea should be to more compactly plan a reasonable path.
Disclosure of Invention
The application provides a global road network planning method and device for a vehicle, the vehicle and a storage medium, and aims to solve the problems that due to the limitation of the computing capability of vehicle-mounted embedded hardware, a Floyd algorithm needs to be called for many times, the complexity of path planning is increased, the operating efficiency is reduced and the like.
An embodiment of a first aspect of the present application provides a global road network planning method for a vehicle, including the following steps: recording a target site map according to a preset recording path, and preprocessing the preset recording path to obtain a plurality of path points; selecting a plurality of target nodes from the plurality of path points, extracting coordinates of the plurality of target nodes, and generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix; and determining a first road section where an actual starting point of the vehicle is located and a second road section where an actual terminal point of the vehicle is located, determining a current functional scene working condition according to the actual starting point, the first road section, the actual terminal point and the second road section, and planning a global road network of the vehicle according to a planning strategy corresponding to the current functional scene working condition, so that the paths of the actual starting point and the actual terminal point are shortest.
According to the technical means, the map information is utilized to classify the same working condition, so that the frequency of calling a complex algorithm is reduced, the storage space is saved, the actual operation efficiency of the algorithm is improved, and the point-to-point global road network planning of the low-speed automatic driving system in a limited map range is realized.
Further, in an embodiment of the present application, the determining a first road segment where an actual start point of the vehicle is located and a second road segment where an actual end point of the vehicle is located includes: acquiring first position information of the actual starting point, second position information of the actual end point and third position information of the multiple path points, wherein the third position information comprises a mapping relation between the path points and the attribution road sections; acquiring a first path point with a minimum distance from the actual starting point and a second path point with a minimum distance from the actual end point from the plurality of path points based on the first position information, the second position information and the third position information; and determining a first road section where the actual starting point of the vehicle is located according to the first path point, and determining a second road section where the actual terminal point of the vehicle is located according to the second path point.
According to the technical means, the shortest path between each piece of position information is determined, so that flexible point-to-point path planning is realized.
Further, in an embodiment of the application, the determining a current functional scene operating condition according to the actual starting point, the first road segment, the actual ending point, and the second road segment includes: if the first road section and the second road section are coincident, calculating a first difference value between the first path point and the end node of the first road section and a second difference value between the second path point and the end node of the first road section; when the absolute value of the first difference is larger than the absolute value of the second difference, determining that the current function scene working condition is a first function scene working condition; when the absolute value of the first difference is equal to the absolute value of the second difference, determining that the current function scene working condition is a second function scene working condition; and when the absolute value of the first difference is smaller than the absolute value of the second difference, determining that the current function scene working condition is a third function scene working condition.
According to the technical means, different scene working conditions are determined according to the relationship between the starting point road section and the end point road section and the difference between the starting point and the end point, and preparation can be made for calculating the shortest path.
Further, in an embodiment of the present application, the determining a current functional scene operating condition according to the actual starting point, the first road segment, the actual ending point, and the second road segment further includes: if the first road section and the second road section are not overlapped, when the end node of the first road section is equal to the start node of the second road section, determining that the current function scene working condition is a fourth function scene working condition; and when the first road segment end node is not equal to the second road segment start node, determining that the current functional scene working condition is a fifth functional scene working condition.
According to the technical means, different scene working conditions are determined according to the relation between the starting point road section and the terminal point road section and the difference between the starting point and the terminal point, and preparation can be made for calculating the shortest path.
Further, in an embodiment of the present application, the planning a global road network of vehicles according to the planning strategy corresponding to the current functional scenario working condition includes: when the current functional scene working condition is the first functional scene working condition, updating the preset inter-node distance matrix information and the path segment name matrix information according to preset values respectively, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information; when the current functional scene working condition is the second functional scene working condition, generating error reporting information of a global road network of a planning vehicle; when the current functional scene working condition is the third functional scene working condition or the fifth functional scene working condition, inputting the first difference value, the second difference value, the first road segment end node and the second road segment start node into a preset Floyd algorithm function to obtain new preset distance matrix information between nodes and new road segment name matrix information, and planning a global road network of a vehicle according to the new preset distance matrix information between nodes and the new road segment name matrix information; and when the current functional scene working condition is the fourth functional scene working condition, updating the preset inter-node distance matrix information according to the first road segment end node, updating the path segment name matrix information according to the preset value, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information.
According to the technical means, the distance between each road section and the node is updated according to different scene working conditions, so that the operation efficiency of the algorithm is improved, and the operation cost is reduced.
Further, in an embodiment of the present application, the preset inter-node distance matrix is constructed based on a real map.
According to the technical means, the distance between the nodes of each section of the path is obtained through the real map, and the accuracy of the path distance is improved.
An embodiment of a second aspect of the present application provides a global road network planning apparatus for a vehicle, including: the system comprises a preprocessing module, a storage module and a processing module, wherein the preprocessing module is used for recording a target site map according to a preset recording path and preprocessing the preset recording path to obtain a plurality of path points; the generating module is used for selecting a plurality of target nodes from the plurality of path points, extracting coordinates of the plurality of target nodes, and generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix; and the planning module is used for determining a first road section where an actual starting point of the vehicle is located and a second road section where an actual terminal point of the vehicle is located, determining a current function scene working condition according to the actual starting point, the first road section, the actual terminal point and the second road section, and planning a global road network of the vehicle according to a planning strategy corresponding to the current function scene working condition so as to enable the path of the actual starting point and the actual terminal point to be shortest.
Further, in an embodiment of the present application, the planning module includes: a first obtaining unit, configured to obtain first location information of the actual starting point, second location information of the actual ending point, and third location information of the multiple waypoints, where the third location information includes a mapping relationship between the waypoint and the home road segment; a second acquisition unit configured to acquire, from the plurality of waypoints, a first waypoint whose distance from the actual start point is smallest and a second waypoint whose distance from the actual end point is smallest based on the first position information, the second position information and the third position information; and the first determining unit is used for determining a first road section where the actual starting point of the vehicle is located according to the first path point and determining a second road section where the actual terminal point of the vehicle is located according to the second path point.
Further, in an embodiment of the present application, the planning module includes: the calculating unit is used for calculating a first difference value between the first path point and the end node of the first path segment and a second difference value between the second path point and the end node of the first path segment if the first path segment is superposed with the second path segment; the second determining unit is used for determining the current function scene working condition as a first function scene working condition when the absolute value of the first difference is larger than the absolute value of the second difference; when the absolute value of the first difference is equal to the absolute value of the second difference, determining that the current function scene working condition is a second function scene working condition; and when the absolute value of the first difference is smaller than the absolute value of the second difference, determining that the current function scene working condition is a third function scene working condition.
Further, in an embodiment of the present application, the planning module further includes: the judging unit is used for determining that the current function scene working condition is a fourth function scene working condition when the end node of the first road section is equal to the start node of the second road section if the first road section and the second road section are not overlapped; and when the first segment ending node is not equal to the second segment starting node, determining that the current functional scene working condition is a fifth functional scene working condition.
Further, in an embodiment of the present application, the planning module includes: the first planning unit is used for respectively updating the preset inter-node distance matrix information and the path segment name matrix information according to preset values when the current functional scene working condition is the first functional scene working condition, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information; the generating unit is used for generating error reporting information of the global road network of the planning vehicle when the current functional scene working condition is the second functional scene working condition; a second planning unit, configured to input the first difference, the second difference, the first road segment end node, and the second road segment start node to a preset Floyd algorithm function when the current function scene operating condition is the third function scene operating condition or the fifth function scene operating condition, obtain new preset inter-node distance matrix information and new road segment name matrix information, and plan a global road network of the vehicle according to the new preset inter-node distance matrix information and the new road segment name matrix information; and the third planning unit is used for updating the preset inter-node distance matrix information according to the first road segment end node when the current functional scene working condition is the fourth functional scene working condition, updating the path segment name matrix information according to the preset value, and planning the global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information.
Further, in an embodiment of the present application, the preset inter-node distance matrix is constructed based on a real map.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and operable on the processor, the processor executing the program to implement the global road network planning method for vehicles as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor, so as to implement the global road network planning method for vehicles according to the foregoing embodiments.
According to the method and the device, a target site map is recorded through a preset recording path and preprocessed to obtain a plurality of path points, a plurality of target nodes are selected from the path points and a plurality of coordinates are respectively extracted, a plurality of paths are generated according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix, a first road section where an actual starting point of a vehicle is located and a second road section where an actual end point of the vehicle is located are further determined, current functional scene working conditions are determined according to the actual starting point, the first road section, the actual end point and the second road section, a global road network of the vehicle is planned according to a planning strategy corresponding to the actual end point, the paths of the actual starting point and the actual end point are shortest, the same working conditions are classified and labeled and stored through map information, the frequency of calling a complex algorithm is reduced, the storage space is saved, the actual operation efficiency of the algorithm is improved, and the point-to-point road network planning of a low-speed automatic driving system in a limited map range is achieved. Therefore, the problems that due to the limitation of the computing capability of the vehicle-mounted embedded hardware, a Floyd algorithm needs to be called for many times, the complexity of path planning is increased, the operation efficiency is reduced and the like are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a global road network planning method for vehicles according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of a pre-recorded target site according to one embodiment of the present application;
FIG. 3 is an exemplary graph of an inter-node distance matrix according to one embodiment of the present application;
FIG. 4 is an illustration of node seating designations in accordance with an embodiment of the present application;
FIG. 5 is a diagram of an example of a matrix identifying road names for road segments in accordance with one embodiment of the present application;
FIG. 6 is an exemplary diagram of different scenario condition analysis according to one embodiment of the present application;
FIG. 7 is an exemplary diagram of a global road network planning device for vehicles according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Description of reference numerals: 10-global road network planning means of vehicles; 100-a preprocessing module, 200-a generating module and 300-a planning module.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A global road network planning method, a device, a vehicle, and a storage medium for a vehicle according to an embodiment of the present invention are described below with reference to the drawings. The method comprises the steps of recording a target site map through a preset recorded path and preprocessing the target site map to obtain a plurality of path points, selecting a plurality of target nodes from the plurality of path points and respectively extracting a plurality of coordinates, generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix, further determining a first road section where an actual starting point of a vehicle is located and a second road section where an actual end point of the vehicle is located, determining a current functional scene working condition according to the actual starting point, the first road section, the actual end point and the second road section, planning the global road network of the vehicle according to a planning strategy corresponding to the actual terminal point, enabling the paths of the actual starting point and the actual end point to be shortest, classifying the same working conditions through map information, labeling and storing, reducing the frequency of complex algorithm calling, saving storage space, improving actual operation efficiency, and achieving the problem that the low-speed automatic driving system points in a limited map range reach the global driving efficiency. Therefore, the problems that due to the limitation of the computing capability of the vehicle-mounted embedded hardware, a Floyd algorithm needs to be called for many times, the complexity of path planning is increased, the operation efficiency is reduced and the like are solved.
Specifically, fig. 1 is a schematic flowchart of a global road network planning method for vehicles according to an embodiment of the present disclosure.
As shown in fig. 1, the global road network planning method for vehicles includes the following steps:
in step S101, a target site map is recorded according to a preset recording path, and the preset recording path is preprocessed to obtain a plurality of path points.
Specifically, as shown in fig. 2, in order to meet the accuracy of vehicle global road network planning, in the example of the present application, a target site map recorded by a preset recording path is fully utilized, and since a plurality of redundant points exist in the preset recording path, in order to implement flexible "point-to-point" path planning, in the embodiment of the present application, first, preprocessing such as redundant point deletion, coordinate conversion, path smoothing and the like needs to be performed on the preset recording path to obtain a plurality of preprocessed path points; secondly, constructing a distance matrix between nodes based on the target site map, so as to describe the topological relation between the nodes in an abstract way, and storing a plurality of path points obtained after preprocessing in the matrix. The preset distance matrix between the nodes is constructed based on a real map.
In step S102, a plurality of target nodes are selected from the plurality of path points, coordinates of the plurality of target nodes are extracted, and a plurality of paths are generated according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix.
Specifically, according to the target site map recorded based on the preset recording path, firstly, a plurality of target nodes are selected from a plurality of path points, the selected target nodes are named, coordinates of the plurality of target nodes are extracted, and then, a plurality of paths are generated based on the preset inter-node distance matrix and the coordinates of the plurality of target nodes.
Specifically, as shown in fig. 2, the prerecorded target site map is a loop formed by 1600 discontinuous waypoints, and first, 8 nodes are defined in the discontinuous waypoints, as shown in fig. 3, and the main purpose of the prerecorded target site map is to prepare for the subsequent intersection function; secondly, naming one by one based on the selected 8 nodes, naming roads in the intersection by singular number, and naming straight roads by even number; finally, as shown in fig. 4, after the node network and the road names matched with the node network are established, the coordinates of each node are extracted from the preprocessed inter-node distance matrix to form 8 paths, so as to prepare for the later analysis. It should be noted that, as shown in fig. 5, the link sequences in the embodiment of the present application are arranged in order, and the link sequences in other working conditions are not arranged in order.
In step S103, a first road segment where the actual starting point of the vehicle is located and a second road segment where the actual ending point of the vehicle is located are determined, a current functional scene operating condition is determined according to the actual starting point, the first road segment, the actual ending point and the second road segment, and a global road network of the vehicle is planned according to a planning strategy corresponding to the current functional scene operating condition, so that the paths of the actual starting point and the actual ending point are the shortest.
Specifically, after the obtained node information is processed, different working conditions of the current functional scene need to be determined for the road segments where the actual start point and the actual end point of the vehicle are located and the different relationships between the actual start point and the actual end point, and then analyzed, so as to plan the global road network of the vehicle, so that the paths of the actual start point and the actual end point are the shortest, which is discussed in detail according to a specific embodiment below.
Optionally, in an embodiment of the present application, determining a first road segment where an actual start point of the vehicle is located and a second road segment where an actual end point of the vehicle is located includes: acquiring first position information of an actual starting point, second position information of an actual end point and third position information of a plurality of path points, wherein the third position information comprises a mapping relation between the path points and an attribution road section; acquiring a first path point with the minimum distance from the actual starting point and a second path point with the minimum distance from the actual end point from the plurality of path points based on the first position information, the second position information and the third position information; and determining a first road section where the actual starting point of the vehicle is located according to the first path point, and determining a second road section where the actual finishing point of the vehicle is located according to the second path point.
Specifically, in the embodiment of the application, position information (x, y, heading) of an actual starting point and an actual end point of a vehicle is firstly obtained, namely first position information of the actual starting point and second position information of the actual end point comprise an x coordinate, a y coordinate and a course angle; secondly, obtaining map path point information (x, y, heading, label), namely third position information of a plurality of path points, including mapping relations among x coordinates, y coordinates, course angles of all path points and attributive road sections of the path points; and finally, acquiring a first path point with the minimum distance from the actual starting point and a second path point with the minimum distance from the actual end point from the plurality of path points based on the first position information, the second position information and the third position information, respectively recording the first path point and the second path point as spn and dpn, determining a first path section where the actual starting point of the vehicle is located according to the first path point and a second path section where the actual end point of the vehicle is located according to the second path point, respectively recording the start _ road and the destination _ road, respectively recording the start node and the end node of the start _ road as sp2 and sp1, respectively recording the start node and the end node of the destination _ road as dp1 and dp2.
Optionally, in an embodiment of the present application, determining the current functional scene operating condition according to the actual starting point, the first road segment, the actual ending point, and the second road segment includes: if the first road section and the second road section are overlapped, calculating a first difference value between the first path point and the end node of the first road section and a second difference value between the second path point and the end node of the first road section; when the absolute value of the first difference is larger than the absolute value of the second difference, determining that the current function scene working condition is a first function scene working condition; when the absolute value of the first difference is equal to the absolute value of the second difference, determining that the current function scene working condition is a second function scene working condition; and when the absolute value of the first difference is smaller than the absolute value of the second difference, determining that the current function scene working condition is a third function scene working condition.
Optionally, in an embodiment of the present application, determining the current functional scene operating condition according to the actual starting point, the first road segment, the actual ending point, and the second road segment, further includes: if the first road section and the second road section are not overlapped, when the end node of the first road section is equal to the start node of the second road section, determining that the current function scene working condition is a fourth function scene working condition; and when the end node of the first road section is not equal to the start node of the second road section, determining that the current function scene working condition is a fifth function scene working condition.
Optionally, in an embodiment of the present application, planning a global road network of a vehicle according to a planning strategy corresponding to a current functional scenario working condition includes: when the current functional scene working condition is a first functional scene working condition, respectively updating preset inter-node distance matrix information and path segment name matrix information according to preset values, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and path segment name matrix information; when the current function scene working condition is a second function scene working condition, generating error reporting information of a global road network of a planning vehicle; when the current function scene working condition is a third function scene working condition or a fifth function scene working condition, inputting a first difference value, a second difference value, a first road segment end node and a second road segment start node into a preset Floyd algorithm function to obtain new preset inter-node distance matrix information and new road segment name matrix information, and planning a global road network of the vehicle according to the new preset inter-node distance matrix information and the new road segment name matrix information; and when the current functional scene working condition is a fourth functional scene working condition, updating the preset inter-node distance matrix information according to the first road segment end node, updating the path segment name matrix information according to the preset value, and planning the global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information.
Specifically, as shown in fig. 6, in the embodiment of the present application, the current function scene operating condition is determined according to the positions of the road sections where the actual starting point and the actual ending point are located, and the current function scene operating condition is specifically divided into two situations, that is, the starting point path segment coincides with the ending point path segment, and the starting point path segment does not coincide with the ending point path segment.
Specifically, if a starting point path segment is overlapped with an end point path segment, namely a first road segment is overlapped with a second road segment, calculating a first difference value of spn and sp1 and a second difference value of dpn and dp1, when a two-point distance d1 of | spn-sp1| is greater than a two-point distance d2 of | dpn-sp1|, determining that the current function scene working condition is a first function scene working condition, and then, not needing to perform a Floyd algorithm, updating inter-node distance matrix information and path segment name matrix information, namely route _ nodes =0 and route _routes =0, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and path segment name matrix information; when the distance d1 between two points of | spn-sp1| is equal to the distance d2 between two points of | dpn-sp1|, namely spn and dpn are the same point, determining a second function scene working condition of the current function scene working condition, and generating error reporting information of the global road network of the planned vehicle; and when the distance d1 between two points of | spn-sp1| is smaller than the distance d2 between two points of | dpn-sp1|, determining that the current functional scene working condition is a third functional scene working condition, namely inputting d1, d2, sp1 and dp1 into a Floyd algorithm function to obtain new inter-node distance matrix information route _ nodes and new path segment name matrix information route _ routes, and planning the global road network of the vehicle according to the new preset inter-node distance matrix information and the new path segment name matrix information.
Further, if the starting point path segment is not overlapped with the end point path segment, that is, the first path segment is not overlapped with the second path segment, when the first path segment sp1 is equal to the second path segment dp1, it is determined that the current functional scene working condition is a fourth functional scene working condition, a Floyd algorithm is not needed, sp1 and inter-node distance matrix information are updated, path segment name matrix information is updated according to a preset value, that is, route _ nodes = sp1 and route _ routes =0, and a global road network of the vehicle is planned according to the updated preset inter-node distance matrix information and the updated path segment name matrix information; when the first road segment sp1 and the second road segment dp1 are not equal, determining that the current functional scene working condition is a fifth functional scene working condition, inputting d1, d2, sp1 and dp1 into a Floyd algorithm function to obtain new inter-node distance matrix information route _ nodes and new road segment name matrix information route _ routes, and planning a global road network of the vehicle according to the new preset inter-node distance matrix information and the new road segment name matrix information.
According to the global road network planning method for the vehicle, a target site map is recorded through a preset recording path and is preprocessed, a plurality of path points are obtained, a plurality of target nodes are selected from the path points, a plurality of coordinates are respectively extracted, a plurality of paths are generated according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix, a first road section where an actual starting point of the vehicle is located and a second road section where an actual end point of the vehicle is located are further determined, the current function scene working condition is determined according to the actual starting point, the first road section, the actual end point and the second road section, the global road network of the vehicle is planned according to a planning strategy corresponding to the current function scene working condition, the paths of the actual starting point and the actual end point are shortest, the same working condition is classified and labeled and stored through map information, the frequency of calling a complex algorithm is reduced, the storage space is saved, the actual operation efficiency of the algorithm is improved, and the global road network planning from point to point of a low-speed automatic driving system in a limited map range is achieved. Therefore, the problems that due to the limitation of the computing capability of the vehicle-mounted embedded hardware, a Floyd algorithm needs to be called for many times, the complexity of path planning is increased, the operation efficiency is reduced and the like are solved.
Next, a global road network planning apparatus for vehicles according to an embodiment of the present application will be described with reference to the drawings.
Fig. 7 is a block diagram of a global road network planning device for vehicles according to an embodiment of the present application.
As shown in fig. 7, the global road network planning apparatus 10 for vehicles includes: a preprocessing module 100, a generation module 200, and a planning module 800.
The system comprises a preprocessing module 100, a map generating module and a map generating module, wherein the preprocessing module 100 is used for recording a target site map according to a preset recording path and preprocessing the preset recording path to obtain a plurality of path points;
a generating module 200, configured to select multiple target nodes from multiple path points, extract coordinates of the multiple target nodes, and generate multiple paths according to the coordinates of the multiple target nodes based on a preset inter-node distance matrix; and
the planning module 300 is configured to determine a first road segment where an actual starting point of the vehicle is located and a second road segment where an actual ending point of the vehicle is located, determine a current functional scene operating condition according to the actual starting point, the first road segment, the actual ending point and the second road segment, and plan a global road network of the vehicle according to a planning strategy corresponding to the current functional scene operating condition, so that a path of the actual starting point and the actual ending point is shortest.
Optionally, in an embodiment of the present application, the planning module 300 includes: the device comprises a first acquisition unit, a second acquisition unit and a first determination unit.
The first acquiring unit is used for acquiring first position information of an actual starting point, second position information of an actual end point and third position information of a plurality of path points, wherein the third position information comprises a mapping relation between the path points and an attribution road section;
a second acquisition unit configured to acquire a first path point having a minimum distance from the actual start point and a second path point having a minimum distance from the actual end point from among the plurality of path points based on the first position information, the second position information, and the third position information;
and the first determining unit is used for determining a first road section where the actual starting point of the vehicle is located according to the first path point and determining a second road section where the actual terminal point of the vehicle is located according to the second path point.
Optionally, in an embodiment of the present application, the planning module 300 includes: a calculation unit and a second determination unit.
The calculating unit is used for calculating a first difference value between the first path point and the first path segment end node and a second difference value between the second path point and the first path segment end node if the first path segment is superposed with the second path segment;
the second determining unit is used for determining the current function scene working condition as the first function scene working condition when the absolute value of the first difference is larger than the absolute value of the second difference; when the absolute value of the first difference is equal to the absolute value of the second difference, determining the current function scene working condition as a second function scene working condition; and when the absolute value of the first difference is smaller than the absolute value of the second difference, determining that the current function scene working condition is a third function scene working condition.
Optionally, in an embodiment of the present application, the planning module 300 further includes:
the judging unit is used for determining that the current function scene working condition is a fourth function scene working condition when the end node of the first road segment is equal to the start node of the second road segment if the first road segment is not overlapped with the second road segment; and when the end node of the first road section is not equal to the start node of the second road section, determining that the current function scene working condition is a fifth function scene working condition.
Optionally, in an embodiment of the present application, the planning module 300 includes: the device comprises a first planning unit, a generating unit, a second planning unit and a third planning unit.
The system comprises a first planning unit, a second planning unit and a third planning unit, wherein the first planning unit is used for respectively updating preset distance matrix information among nodes and path segment name matrix information according to preset values when the current function scene working condition is a first function scene working condition, and planning a global road network of a vehicle according to the updated preset distance matrix information among nodes and the updated preset path segment name matrix information;
the generating unit is used for generating error reporting information of a global road network of a planning vehicle when the current functional scene working condition is a second functional scene working condition;
the second planning unit is used for inputting the first difference value, the second difference value, the first road section end node and the second road section start node into a preset Floyd algorithm function when the current function scene working condition is a third function scene working condition or a fifth function scene working condition, obtaining new preset distance matrix information among nodes and new road section name matrix information, and planning a global road network of the vehicle according to the new preset distance matrix information among the nodes and the new road section name matrix information;
and the third planning unit is used for updating the preset inter-node distance matrix information according to the first road section end node when the current function scene working condition is a fourth function scene working condition, updating the path section name matrix information according to the preset value, and planning the global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path section name matrix information.
Optionally, in an embodiment of the present application, the preset inter-node distance matrix is constructed based on a real map.
According to the global road network planning device for the vehicle, a target site map is recorded through a preset recording path and is preprocessed, a plurality of path points are obtained, a plurality of target nodes are selected from the path points, a plurality of coordinates are respectively extracted, a plurality of paths are generated according to the coordinates of the plurality of target nodes based on a preset distance matrix between the nodes, a first road section where an actual starting point of the vehicle is located and a second road section where an actual end point of the vehicle is located are further determined, current function scene working conditions are determined according to the actual starting point, the first road section, the actual end point and the second road section, the global road network of the vehicle is planned according to a planning strategy corresponding to the current function scene working conditions, the paths of the actual starting point and the actual end point are shortest, the same working conditions are classified and stored in a labeling mode through map information, the frequency of complex algorithm calling is reduced, storage space is saved, the actual operation efficiency of the algorithm is improved, and the global road network from point to point of a low-speed automatic driving system in a limited map range is planned. Therefore, the problems that due to the limitation of the computing power of vehicle-mounted embedded hardware, a Floyd algorithm needs to be called for many times, the complexity of path planning is increased, the operation efficiency is reduced and the like are solved.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.
The processor 802, when executing the program, implements the global road network planning method for vehicles provided in the above embodiments.
Optionally, the vehicle further comprises:
a communication interface 803 for communicating between the memory 801 and the processor 802.
A memory 801 for storing computer programs operable on the processor 802.
The Memory 801 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 may be connected to each other via a bus and communicate with each other. The bus 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 thick line is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on one chip, the memory 801, the processor 802, and the communication interface 803 may complete mutual communication through an internal interface.
The processor 802 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the above method for global road network planning of a vehicle.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A global road network planning method for vehicles is characterized by comprising the following steps:
recording a target site map according to a preset recording path, and preprocessing the preset recording path to obtain a plurality of path points;
selecting a plurality of target nodes from the plurality of path points, extracting coordinates of the plurality of target nodes, and generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix; and
determining a first road section where an actual starting point of the vehicle is located and a second road section where an actual terminal point of the vehicle is located, determining a current function scene working condition according to the actual starting point, the first road section, the actual terminal point and the second road section, and planning a global road network of the vehicle according to a planning strategy corresponding to the current function scene working condition, so that the paths of the actual starting point and the actual terminal point are shortest.
2. The method of claim 1, wherein determining a first road segment where an actual start point of the vehicle is located and a second road segment where an actual end point of the vehicle is located comprises:
acquiring first position information of the actual starting point, second position information of the actual end point and third position information of the multiple path points, wherein the third position information comprises a mapping relation between the path points and an attribution road section;
acquiring a first path point with a minimum distance from the actual starting point and a second path point with a minimum distance from the actual end point from the plurality of path points based on the first position information, the second position information and the third position information;
and determining a first road section where the actual starting point of the vehicle is located according to the first path point, and determining a second road section where the actual finishing point of the vehicle is located according to the second path point.
3. The method of claim 2, wherein determining a current functional scenario operating condition based on the actual start point, the first road segment, the actual end point, and the second road segment comprises:
if the first road section and the second road section are coincident, calculating a first difference value between the first path point and the end node of the first road section and a second difference value between the second path point and the end node of the first road section;
when the absolute value of the first difference is larger than the absolute value of the second difference, determining that the current function scene working condition is a first function scene working condition; when the absolute value of the first difference is equal to the absolute value of the second difference, determining that the current function scene working condition is a second function scene working condition; and when the absolute value of the first difference is smaller than the absolute value of the second difference, determining that the current function scene working condition is a third function scene working condition.
4. The method of claim 3, wherein determining a current functional scenario operating condition based on the actual start point, the first road segment, the actual end point, and the second road segment further comprises:
if the first road section and the second road section are not overlapped, when the end node of the first road section is equal to the start node of the second road section, determining that the current function scene working condition is a fourth function scene working condition; and when the first segment ending node is not equal to the second segment starting node, determining that the current functional scene working condition is a fifth functional scene working condition.
5. The method according to claim 4, wherein planning the global road network of the vehicle according to the planning strategy corresponding to the working condition of the current functional scenario comprises:
when the current functional scene working condition is the first functional scene working condition, updating the preset inter-node distance matrix information and the path segment name matrix information according to preset values respectively, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information;
when the current functional scene working condition is the second functional scene working condition, generating error reporting information of a global road network of a planning vehicle;
when the current functional scene working condition is the third functional scene working condition or the fifth functional scene working condition, inputting the first difference value, the second difference value, the first road segment end node and the second road segment start node into a preset Floyd algorithm function to obtain new preset distance matrix information between nodes and new road segment name matrix information, and planning a global road network of a vehicle according to the new preset distance matrix information between nodes and the new road segment name matrix information;
and when the current functional scene working condition is the fourth functional scene working condition, updating the preset inter-node distance matrix information according to the first road segment end node, updating the path segment name matrix information according to the preset value, and planning a global road network of the vehicle according to the updated preset inter-node distance matrix information and the updated path segment name matrix information.
6. The method according to any one of claims 1 to 5, wherein the preset inter-node distance matrix is constructed based on a real-world map.
7. A global road network planning device for vehicles, comprising:
the system comprises a preprocessing module, a storage module and a processing module, wherein the preprocessing module is used for recording a target site map according to a preset recording path and preprocessing the preset recording path to obtain a plurality of path points;
the generating module is used for selecting a plurality of target nodes from the plurality of path points, extracting coordinates of the plurality of target nodes, and generating a plurality of paths according to the coordinates of the plurality of target nodes based on a preset inter-node distance matrix; and
the planning module is used for determining a first road section where an actual starting point of the vehicle is located and a second road section where an actual terminal point of the vehicle is located, determining a current function scene working condition according to the actual starting point, the first road section, the actual terminal point and the second road section, and planning a global road network of the vehicle according to a planning strategy corresponding to the current function scene working condition, so that the path of the actual starting point and the actual terminal point is shortest.
8. The apparatus of claim 7, wherein the planning module comprises:
a first obtaining unit, configured to obtain first location information of the actual starting point, second location information of the actual ending point, and third location information of the multiple waypoints, where the third location information includes a mapping relationship between the waypoint and the home road segment;
a second acquisition unit configured to acquire, from the plurality of waypoints, a first waypoint whose distance from the actual start point is smallest and a second waypoint whose distance from the actual end point is smallest based on the first position information, the second position information and the third position information;
and the determining unit is used for determining a first road section where the actual starting point of the vehicle is located according to the first path point and determining a second road section where the actual finishing point of the vehicle is located according to the second path point.
9. A vehicle, characterized by comprising: memory, processor and computer program stored on said memory and executable on said processor, said processor executing said program to implement a method of global road network planning for vehicles according to any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a global road network planning method for vehicles according to any of claims 1-6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115857515A (en) * | 2023-02-22 | 2023-03-28 | 成都瑞华康源科技有限公司 | AGV robot route planning method, system and storage medium |
| CN116337103A (en) * | 2023-05-17 | 2023-06-27 | 中国地质大学（武汉） | Hierarchical ubiquitous navigation method and device based on region classification and computer equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115857515A (en) * | 2023-02-22 | 2023-03-28 | 成都瑞华康源科技有限公司 | AGV robot route planning method, system and storage medium |
| CN115857515B (en) * | 2023-02-22 | 2023-05-16 | 成都瑞华康源科技有限公司 | AGV robot route planning method, system and storage medium |
| CN116337103A (en) * | 2023-05-17 | 2023-06-27 | 中国地质大学（武汉） | Hierarchical ubiquitous navigation method and device based on region classification and computer equipment |
| CN116337103B (en) * | 2023-05-17 | 2023-08-29 | 中国地质大学（武汉） | Hierarchical ubiquitous navigation method and device based on region classification and computer equipment |
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