CN115451988A - Path planning method, device and navigator thereof - Google Patents
Path planning method, device and navigator thereof Download PDFInfo
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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Abstract
The invention provides a path planning method, a path planning device and a navigator. The path planning method comprises the following steps: acquiring a preset path corresponding to a target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the inevitable positions of target vehicles in the target area; judging whether the running state of the target vehicle meets the condition of replanning the route or not in the process that the target vehicle starts to run along the preset route from the starting node; determining a plurality of reference nodes according to at least a preset path and at least one preset node under the condition that the judgment result indicates yes, wherein the at least one preset node comprises obstacle coordinates and/or the current position of the target vehicle; and generating an updated path taking the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path. The method can enable the vehicle to avoid the obstacle to advance or to plan the path again to advance, thereby ensuring the safety of vehicle driving.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a path planning method, a path planning device and a navigator.
Background
With the development of the unmanned technology, the unmanned technology can be applied to a dump truck (mine car) of a mine car, and compared with a conventional passenger vehicle, the mining truck has the advantages of large volume, high load capacity, strong nonlinearity of a control system, larger automatic control difficulty, and high possibility of causing overlarge transverse deviation during unmanned tracking, thereby causing inaccurate tracking. Meanwhile, larger obstacles such as larger soil blocks, stones, mineral raw materials, pits, accumulated water and the like sometimes appear on the pavement of the mining area, and the automatic driving safety performance of the mine car is not high.
However, the existing unmanned mine car driving technology can only judge and process dangerous situations of road sections in real time while driving, the processing of the road sections is single, the generated path types are relatively simple, and the interference of other vehicles, barriers, pits, accumulated water, mining area traffic rules and the like cannot be effectively considered, so that the early warning of the dangerous road sections cannot be realized under the complex condition of the mining area, and the dangerous road sections cannot be driven and adjusted in time.
Disclosure of Invention
The invention mainly aims to provide a path planning method, a device thereof and a navigator, so as to solve the problems that in the prior art, timely driving adjustment cannot be performed on dangerous road sections, and the safety is low.
In order to achieve the above object, according to an aspect of the present invention, there is provided a path planning method including: acquiring a preset path corresponding to a target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the inevitable positions of target vehicles in the target area; in the process that the target vehicle starts to travel along the preset path from the starting node, judging whether the traveling state of the target vehicle meets a path replanning condition, wherein the path replanning condition comprises at least one of the following conditions: the method comprises the following steps that an obstacle exists in a first preset range, and the shortest distance between the current position of a target vehicle and a preset path is larger than a first preset threshold, wherein the first preset range is a circular area with the current position of the target vehicle as the center of a circle and the radius smaller than a second preset threshold; if the judgment result indicates yes, determining a plurality of reference nodes according to at least a preset path and at least one preset node, wherein the at least one preset node comprises an obstacle position and/or a current position of the target vehicle, and the plurality of reference nodes meet the following conditions: the method comprises the steps that obstacles do not exist in circular areas which respectively take a plurality of reference nodes as circle centers and have the radiuses smaller than a second preset threshold, and the shortest distances between the reference nodes and a preset path are smaller than a first preset threshold; and generating an updated path with the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path, wherein the updated path is used for enabling the running state of the target vehicle not to meet the condition of replanning the path.
Optionally, acquiring a preset path corresponding to the target area includes: collecting map data of a target area, wherein the target area is a mining area; determining a must-pass node of the target vehicle according to the map data, wherein the must-pass node at least comprises: the position of the entrance of the mining area, and the mining point and the ore discharge point of the mining area; and generating a preset path according to the necessary nodes of the target vehicle.
Optionally, when the determination result indicates that an obstacle exists in the preset range of the target vehicle, determining a plurality of reference nodes according to at least a preset path and at least one preset node includes: determining a first position node which has the shortest distance with an obstacle in a preset path, wherein the preset path is provided with a first tangent line taking the first position node as a tangent point; determining at least one first fixed reference node, which is positioned in a second preset range and has the shortest distance to the obstacle in a first extension line with the first position node as a starting point, wherein the first extension line is perpendicular to the first tangent line, and the heading angle of the at least one first fixed reference node is the same as that of the first position node; and obtaining a plurality of first variable reference nodes according to the intersection point of the circular arc passing through each first fixed reference node in the at least one first fixed reference node and the preset path, wherein the plurality of first variable reference nodes are respectively positioned in front of and behind the obstacle in the driving direction of the target vehicle.
Optionally, the radius of the arc passing through the at least one first fixed reference node is a minimum turning radius of the target vehicle at the current vehicle speed.
Optionally, when the determination result indicates that the shortest distance between the current position of the target vehicle and the preset path is greater than a first preset threshold, determining a plurality of reference nodes according to at least the preset path and at least one preset node includes: determining the current position of the target vehicle as a second fixed reference node; and determining the intersection point of the circular arc passing through the second fixed reference node and the preset path to obtain a second variable reference node, wherein the plurality of second variable reference nodes are positioned in front of the target vehicle in the driving direction of the target vehicle.
Optionally, the radius of the circular arc passing through the second fixed reference node is a minimum turning radius of the target vehicle at the current vehicle speed.
Optionally, generating an updated path according to the multiple reference nodes and the preset path includes: and connecting the plurality of reference nodes by adopting a curve with continuous curvature to generate an updating path.
Optionally, connecting a plurality of reference nodes by using a curve with continuous curvature to generate an updated path, including: sequentially connecting adjacent reference nodes in the plurality of reference nodes by adopting a clothoid, wherein the plurality of reference nodes comprise: at least one variable reference node located on the preset path, and at least one fixed reference node located outside the preset path; and under the condition that any one variable reference node in the at least one variable reference node and the adjacent reference node cannot be connected through a clothoid, determining a second position node in front of the variable reference node from a preset path to obtain an updated variable reference node, wherein the second position node and the adjacent reference node can be connected through the clothoid.
According to another aspect of the present invention, there is also provided a path planning apparatus, including: the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a preset path corresponding to a target area, the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the nodes which are necessary to pass through a target vehicle in the target area; the judging module is used for judging whether the running state of the target vehicle meets a path replanning condition or not in the process that the target vehicle runs along a preset path from the starting node, wherein the path replanning condition comprises at least one of the following conditions: obstacles exist in a preset range of the target vehicle, and the shortest distance between the current position of the target vehicle and a preset path is greater than a first preset threshold value; the determining module is used for determining a plurality of reference nodes according to at least a preset path and at least one preset node under the condition that the judging result indicates yes, wherein the at least one preset node comprises obstacle coordinates and/or the current position of the target vehicle; the generating module is used for generating an updated path according to the plurality of reference nodes and the preset path, wherein the updated path is used for indicating the driving direction of the target vehicle after passing through the current position.
According to another aspect of the present invention, there is also provided a navigator including: a positioning device for acquiring a current position of a target vehicle in a target area; a processor for receiving a current location of a target vehicle; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the path planning method as described above, depending on the current position of the target vehicle.
The technical scheme of the invention provides a path planning method, which comprises the following steps: acquiring a preset path corresponding to a target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the inevitable positions of a target vehicle in the target area; judging whether the running state of the target vehicle meets the condition of replanning the route or not in the process that the target vehicle runs along the preset route from the starting node; determining a plurality of reference nodes according to at least a preset path and at least one preset node under the condition that the judgment result indicates yes, wherein the at least one preset node comprises obstacle coordinates and/or the current position of the target vehicle; and generating an updated path with the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path. According to the scheme, when the vehicle encounters the obstacle or deviates from the preset path, early warning on the dangerous road section can be realized in advance, and different local paths with the preset path can be generated through the obstacle and/or the current position of the vehicle in the preset path, so that the vehicle can avoid the obstacle to advance or replan the path to advance, the aim of timely driving and adjusting the dangerous road section is fulfilled, and the driving safety of the vehicle is guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram illustrating a hardware structure of a computer terminal for a path planning method according to an exemplary embodiment;
FIG. 2 is a flow diagram illustrating a method of path planning in accordance with an exemplary embodiment;
fig. 3 is a block diagram of a path planning method according to embodiment 2 of the present invention;
fig. 4 is a block diagram of a device of a navigator according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a path planning method embodiment, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
The method embodiment provided by embodiment 1 of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Fig. 1 shows a hardware structure block diagram of a computer terminal (or mobile device) for implementing a path planning method. As shown in fig. 1, the computer terminal 10 (or mobile device) may include one or more (shown with 102a, 102b, \8230; 102 n) a processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the electronic device. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors 102 and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuit may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computer terminal 10 (or mobile device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the path planning method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the path planning method of the application program. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with the user interface of the computer terminal 10 (or mobile device).
In the foregoing operating environment, the present application provides a path planning method as shown in fig. 2, where fig. 2 is a flowchart of a path planning method according to embodiment 1 of the present invention, and as shown in fig. 2, the method includes:
step S202, acquiring a preset path corresponding to the target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the necessary passing positions of the target vehicle in the target area;
step S204, in the process that the target vehicle starts to run along the preset path from the starting node, judging whether the running state of the target vehicle meets the condition of replanning the path, wherein the replanning path condition comprises at least one of the following conditions: the method comprises the following steps that an obstacle exists in a first preset range, and the shortest distance between the current position of a target vehicle and a preset path is larger than a first preset threshold, wherein the first preset range is a circular area with the current position of the target vehicle as the center of a circle and the radius smaller than a second preset threshold;
step S206, under the condition that the judgment result indicates yes, determining a plurality of reference nodes at least according to the preset path and at least one preset node, wherein the at least one preset node comprises the position of the obstacle and/or the current position of the target vehicle, and the plurality of reference nodes meet the following conditions: the method comprises the steps that obstacles do not exist in circular areas which take a plurality of reference nodes as circle centers and have radiuses smaller than a second preset threshold value respectively, and the shortest distances between the plurality of reference nodes and a preset path are smaller than a first preset threshold value;
and step S208, generating an updated path taking the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path, wherein the updated path is used for enabling the running state of the target vehicle not to meet the condition of replanning the path.
By adopting the path planning method, the dangerous condition possibly met on the future driving path of the vehicle is judged by detecting and early warning the current position of the vehicle within a certain range (namely a first preset range), namely the vehicle meets an obstacle or deviates from the originally driving preset path, so that early warning on the dangerous road section is realized, and different local paths from the preset path can be generated by the obstacle and/or the current position of the vehicle in the preset path, so that the vehicle can avoid the obstacle to advance or replan advance path is planned again, thereby achieving the purpose of timely driving and adjusting the dangerous road section and ensuring the driving safety of the vehicle.
The target area is an area in which a path needs to be planned, the target area may be any area in which a path can be implemented, and the preset path is a vehicle travel path in the target area.
In some alternative embodiments, the target area is a mine area, and the predetermined path is a path traveled by a mine car located in the mine area. The mine car is a heavy dump truck used for completing the tasks of rock earthwork stripping and ore transportation in surface mines, and has the working characteristics of short transportation distance and heavy bearing, and is usually loaded by a large electric shovel or a hydraulic shovel to and fro a mining point and an ore unloading point. Because great barrier can appear sometimes in the mining area road surface, for example the existence meets the condition such as great clod, stone, mineral raw materials, pit, ponding and mining area traffic rules, and because the mine car volume is great, the load capacity is high, the control system nonlinearity is strong, the automatic control degree of difficulty is great, under the condition of considering above-mentioned complicated traffic, the transverse deviation appears too big easily when unmanned tracking, leads to the tracking inaccurate. Therefore, the application provides a path planning method, so that the deviation correction of the real-time position of the path target vehicle is carried out and the driving path is planned again.
In the above optional embodiment, the obtaining of the preset path corresponding to the target area may include: collecting map data of a target area, wherein the target area is a mining area; determining a must-pass node of the target vehicle according to the map data, wherein the must-pass node at least comprises: the entry position of the mining area, and the mining point and the unloading point of the mining area; and generating a preset path according to the nodes which are necessary to pass by the target vehicle.
In the above embodiment, first, according to a topographic survey of a target area, map data corresponding to the target area is obtained, where the map data includes partial key position data in the target area, the key position data is used as a marker, and a key position point of a preset path is set according to the marker to determine a necessary passing node of a target vehicle, and then the necessary passing nodes of the target vehicle are connected to form the preset path of the vehicle.
In the above embodiment, since the area is a mine area, there may be mine cars transporting mineral resources and mining site tools during the running of the mine cars, and it is necessary for the mine cars to receive commands or signals in real time in the mine area so as to change the route according to the commands or signals, so that the mine car should store the entry position of the mine area in the mine area, the mining point position and the ore discharge point position of the mine area, and the entry position of the mine area in the indispensable node is the starting position point and the returning position point after the termination of the mission, and the mining point and the ore discharge point are the advancing process point of the mission of the mine car. The preset path of the target vehicle is determined by collecting the map data in the target area.
In some optional embodiments, in a case that the determination result indicates that an obstacle exists within the preset range of the target vehicle, determining a plurality of reference nodes according to at least a preset path and at least one preset node includes: determining a first position node which has the shortest distance with an obstacle in a preset path, wherein the preset path is provided with a first tangent line taking the first position node as a tangent point; determining at least one first fixed reference node, which is positioned in a second preset range and has the shortest distance to the obstacle in a first extension line with the first position node as a starting point, wherein the first extension line is perpendicular to the first tangent line, and the heading angle of the at least one first fixed reference node is the same as that of the first position node; and obtaining a plurality of first variable reference nodes according to the intersection point of the arc passing through each first fixed reference node in the at least one first fixed reference node and the preset path, wherein the plurality of first variable reference nodes are respectively positioned in front of and behind the obstacle in the driving direction of the target vehicle.
In the above embodiment, if an obstacle is detected to exist on the preset path in the process of the target vehicle traveling, the target vehicle stops traveling the preset path, and replans the path at the current position of the target vehicle to go forward by bypassing the obstacle. Specifically, when a path is planned again, a current position node of the target vehicle is determined, a detected shortest distance between the current position node of the target vehicle and the obstacle is determined according to the shortest distance, a first position node of the obstacle on a preset path is determined according to the shortest distance, a first tangent is made on the first position node of the obstacle, a first extension line perpendicular to the first tangent is made based on the first tangent, the first position node is used as a starting point of the first extension line, one node in the first extension line is determined along a direction far away from the preset path, the node is used as a first fixed reference point, a course angle of the first fixed reference point is set to be the same as a course angle of the first position node, and a path different from the preset path is determined according to the first fixed reference point, the current position of the target vehicle in the preset path and a connecting line of the first fixed reference point so as to update the preset path, so that the target vehicle travels from the original preset path to update the path, and the purpose of avoiding the obstacle is achieved.
In the above embodiment, when the first fixed reference point is determined according to the current position node of the target vehicle, the area is determined with the current position node of the target vehicle as the center, the distance from the current position node of the target vehicle to the edge of the area in the area is set to be the second preset range, and further when the shortest distance between the current position node of the target vehicle and the obstacle is within the second preset range, it is determined that the target vehicle meets the obstacle, and the travel path of the target vehicle needs to be re-planned.
In the above embodiment, when it is determined that a plurality of obstacles exist in the second preset range of the target vehicle, the first position node of each obstacle is determined according to the shortest distance between the detected target vehicle and each obstacle located in the preset path, and then according to each shortest distance, each first position node is used as a tangent point to obtain each first tangent line corresponding to each first position node, each first tangent line is used as a baseline to determine each first extension line corresponding to each first tangent line, the first position node of the obstacle located on each first extension line is determined as a starting point of each first extension line, and then one node in the first extension lines is used as a first fixed reference point, so that each first position node corresponds to one first fixed reference point, and when a plurality of obstacles exist in the second preset range of the target vehicle, a plurality of first fixed reference points are obtained, the current position node of the target vehicle located on the preset path and the plurality of first fixed reference points are connected to obtain updated paths different from the preset path of the target vehicle, so as to update the target path of the target vehicle from the preset path, thereby updating the target path.
In the above embodiment, the first fixed position node is determined according to the sizes of different obstacles, and when the target vehicle travels from the preset path to the first fixed position node, the position node on the preset path that starts to enter the updated path is used as the first variable reference node, and the position node on the preset path of the first variable reference point is changed according to the sizes of the different obstacles to update the first variable reference position node, where the target vehicle does not pass through the obstacle yet, that is, the first variable reference position node is located behind the obstacle.
In the above-described embodiment, after the node reaches the first fixed position node according to the current position of the target vehicle, an arc is drawn with the first fixed position node as a starting point so that the target vehicle can pass around the obstacle, and an intersection point between the arc and the preset path serves as a first variable reference point located in front of the obstacle. In the process that the target vehicle travels according to the arc, if the target vehicle is detected to be blocked by the obstacle again, the position of the first variable reference point in the preset path is changed, namely an arc line is determined at the current position node of the target vehicle, so that the intersection point between the arc line and the preset path is the updated first variable reference node, and the updated first variable reference node is located in front of the original first variable reference node in the traveling direction of the target vehicle.
In some optional embodiments, after the target vehicle enters the updated path, if an obstacle located on the updated path is detected in the process of traveling the updated path, the method for replanning the path is repeated, and the traveling path of the target vehicle is updated again to avoid the obstacle.
In some alternative embodiments, the radius of the arc passing through the at least one first fixed reference node is the minimum turning radius of the target vehicle at the current vehicle speed.
In the above embodiment, since the target vehicle needs to control itself to turn to an updated path from the preset path when encountering an obstacle, so as to avoid the obstacle located on the preset path, and since the target vehicle is large in size and heavy in weight, the target vehicle may cause a rollover when turning, in this embodiment, first, the vehicle speed of the current driving state of the target vehicle is determined, and the minimum turning radius at which the target vehicle does not rollover is determined according to the vehicle speed, so that an arc is drawn with the minimum turning radius as the origin point and the intersection point of the arc and the first extension line as the first fixed reference point, so as to determine the updated path of the target vehicle, and when the target vehicle turns into the updated path, the vehicle can be prevented from rollover.
In the above embodiment, in order to enable the target vehicle to deviate from the preset path by turning when encountering the obstacle, so that the target obstacle does not turn over during the process of bypassing the obstacle, the current running speed of the target vehicle can be reduced, so that the target vehicle can smoothly turn to enter the updated path under the condition of just bypassing the obstacle, and the target vehicle is prevented from deviating from the preset path seriously.
In addition, under the condition that the target vehicle avoids the obstacle in the second preset range, the position node located on the preset path in the second preset range is obtained, the position node is used as a preparation position node after the current vehicle reenters the preset path from the updated path, and the target vehicle is sent to the original preset path according to the first fixed reference point and the preparation position node. Further optionally, when the target vehicle is located at the first fixed position node, acquiring a current traveling speed of the target vehicle, determining a minimum turning radius of the target vehicle without lateral bending according to the current traveling speed, and determining the preliminary position node located on the preset path according to the minimum turning radius, so as to obtain a path where the target vehicle enters the preset path from the updated path.
In some optional embodiments, in a case that the determination result indicates that the shortest distance between the current position of the target vehicle and the preset path is greater than a first preset threshold, determining a plurality of reference nodes according to at least the preset path and at least one preset node includes: determining the current position of the target vehicle as a second fixed reference node; and determining the intersection point of the circular arc passing through the second fixed reference node and the preset path to obtain a second variable reference node, wherein the plurality of second variable reference nodes are positioned in front of the target vehicle in the driving direction of the target vehicle.
In the above embodiment, after it is detected that the target vehicle deviates from the preset path, an updated path is determined according to the current position node of the target vehicle, and the updated path is used as a new traveling path of the target vehicle in the target area. In the process of detecting that the target vehicle deviates from the preset path, the target vehicle is placed at the edge of the preset path in advance, the position node where the target vehicle is located at the moment is used as a third position node, then the position node, far away from the edge of the path of the target vehicle, on the preset path is determined as a fourth position node, the shortest distance between the third position node and the fourth position node is a first preset threshold value, then the current position node of the target vehicle in the driving process is determined, if the distance between the current position node of the target vehicle and the road section of the closest preset path is larger than the first preset distance, the target vehicle is determined to deviate from the preset path, and the driving path of the target vehicle needs to be re-planned so that the target vehicle returns to the route of the preset path.
Or in the above embodiment, the first preset threshold is a center line of the preset path as a reference point, a distance from the reference point to an edge of the path is used as the first preset threshold, and when the vertical distance between the target vehicle and the reference point is greater than the first preset threshold, it indicates that the vehicle deviates from the preset path, and the driving path of the target vehicle needs to be re-planned, so that the target vehicle returns to the route of the preset path.
In the above embodiment, when the shortest distance between the current position of the target vehicle and the preset path is greater than the first preset threshold value, and the target vehicle is to return to the route of the preset path, the current position node of the target vehicle is determined first, the current position node is determined as the second fixed position node, the position node located on the preset path and closest to the second fixed position node is used as the second variable reference node, the second variable reference node is located in front of the target vehicle in the traveling direction, and the second variable reference node is connected to the second fixed position node to form the route returning to the preset path. Further optionally, a connecting line between the second variable reference node and the second fixed position node is a circular arc.
In some alternative embodiments, the radius of the arc passing through the second fixed reference node is the minimum turning radius of the target vehicle at the current vehicle speed.
In the above embodiment, since there may be a sharp turn in the process of the target vehicle entering the preset path from the area outside the preset path, in this embodiment, the vehicle speed in the current driving state of the target vehicle is determined to determine the minimum turning radius at which the target vehicle turns without rollover at the vehicle speed, and the second variable reference point located on the preset path is determined according to the minimum turning radius and the second fixed position node.
In the above embodiment, since there is a case where an obstacle occurs in the process of returning the target vehicle deviated from the preset path to the preset path, when the second variable reference point on the preset path is determined according to the second fixed position node and the minimum turning radius, the path is planned to bypass the obstacle, and the target vehicle is returned to the preset path on the basis of bypassing the obstacle. In the embodiment, a path planning method that the target vehicle meets the obstacle on the preset path is introduced, and the updated second variable reference point is obtained on the preset path by updating the updated path that the target vehicle returns to the preset path, so that the target vehicle returns to the normal rail and the obstacle is subjected to risk avoidance.
In some optional embodiments, generating an updated path according to a plurality of reference nodes and a preset path includes: and connecting the plurality of reference nodes by adopting a curve with continuous curvature to generate an updating path.
In the process of connecting a plurality of reference nodes to form an updated path, the planning algorithm of the updated path can adopt hybrid A, RRT and other algorithms, and adopt a mode of 3 times spline curve and the like to perform path fitting, or adopt a mode of a clothoid curve with continuous curvature and the like.
In the above-described embodiment, in order to make the travel route of the target vehicle on the road ahead smooth and non-meandering, therefore, in this embodiment, a plurality of reference nodes are connected using a curve having a continuous curvature to generate an updated path so that the vehicle moves more safely and is guided to the preset path.
In some optional embodiments, the generating the updated path by connecting a plurality of reference nodes with a curve having a continuous curvature includes: sequentially connecting adjacent reference nodes in the plurality of reference nodes by adopting a clothoid, wherein the plurality of reference nodes comprise: at least one variable reference node located on the preset path, and at least one fixed reference node located outside the preset path; and under the condition that any one variable reference node in the at least one variable reference node and the adjacent reference node cannot be connected through a clothoid, determining a second position node in front of the variable reference node from a preset path to obtain an updated variable reference node, wherein the second position node and the adjacent reference node can be connected through the clothoid.
In the above embodiment, since the target vehicle encounters a dangerous road segment during the traveling process or may have different vehicle parameters, that is, the vehicle parameters include the traveling speed of the vehicle, the weight of the cargo carried by the vehicle, and the like, so that any one of the at least one variable reference node and the adjacent reference node cannot be connected by the original clothoid, in order to ensure safe traveling of the target vehicle, the vehicle parameters of the current target vehicle are obtained, a second position node in front of the variable reference node is determined from the preset path, the second position node is used as an updated variable reference node, and the curvature of the target vehicle when connecting a plurality of reference points is changed according to the vehicle parameters of the target vehicle and the updated variable reference node, so as to obtain an updated path connected by a new curvature-continuous curve, wherein the clothoid may be a type including an arc C, a straight line S, and an arc C, or a path type abbreviated as CCC.
Example 2
According to an embodiment of the present invention, there is also provided an apparatus for implementing the path planning method, and fig. 3 is a block diagram of a structure of the path planning apparatus according to embodiment 2 of the present invention, where the apparatus includes: the acquiring module 302, the determining module 304, the determining module 306 and the generating module 308 are described in detail below:
an obtaining module 302, configured to obtain a preset path corresponding to a target area, where the preset path has a start node and a plurality of position nodes, and the start node and the plurality of position nodes are used to represent nodes that are necessary to pass through a target vehicle in the target area;
the determining module 304 is configured to determine whether a driving state of the target vehicle meets a re-planned path condition in a process that the target vehicle starts to drive along a preset path from a start node, where the re-planned path condition includes at least one of: obstacles exist in a preset range of the target vehicle, and the shortest distance between the current position of the target vehicle and a preset path is greater than a first preset threshold value;
a determining module 306, configured to determine, when the determination result indicates yes, a plurality of reference nodes according to at least a preset path and at least one preset node, where the at least one preset node includes obstacle coordinates and/or a current position of the target vehicle;
the generating module 308 is configured to generate an updated path according to the plurality of reference nodes and a preset path, where the updated path is used to indicate a driving direction of the target vehicle after passing through the current position.
It should be noted here that the acquiring module 302, the determining module 304, the determining module 306, and the generating module 308 correspond to steps S202 to S208 in embodiment 1, and a plurality of modules are the same as the corresponding steps in the implementation example and the application scenario, but are not limited to the disclosure in embodiment 1.
Example 3
Fig. 4 is a block diagram illustrating a structure of a navigator according to an exemplary embodiment. As shown in fig. 4, the navigator may include: one or more (only one shown) processors 41, a memory 42 for storing processor-executable instructions, and a positioning device; wherein the positioning device is configured to obtain a current position of the target vehicle in the target area; the processor is configured to receive a current location of the target vehicle and execute instructions to implement the path planning method of any of the above.
The memory may be configured to store software programs and modules, such as program instructions/modules corresponding to the path planning method and apparatus in the embodiments of the present invention, and the processor executes various functional applications and data processing by operating the software programs and modules stored in the memory, so as to implement the path planning method. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory located remotely from the processor, and these remote memories may be connected to the computer terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor can call the information and application program stored in the memory through the transmission device to execute the following steps: acquiring a preset path corresponding to a target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the plurality of position nodes are used for representing the inevitable positions of a target vehicle in the target area; in the process that the target vehicle starts to travel along the preset path from the starting node, judging whether the traveling state of the target vehicle meets a path replanning condition, wherein the path replanning condition comprises at least one of the following conditions: the method comprises the following steps that an obstacle exists in a first preset range, and the shortest distance between the current position of a target vehicle and a preset path is larger than a first preset threshold, wherein the first preset range is a circular area with the current position of the target vehicle as the center of a circle and the radius smaller than a second preset threshold; if the judgment result indicates yes, determining a plurality of reference nodes according to at least a preset path and at least one preset node, wherein the at least one preset node comprises an obstacle position and/or a current position of the target vehicle, and the plurality of reference nodes meet the following conditions: the method comprises the steps that obstacles do not exist in circular areas which take a plurality of reference nodes as circle centers and have radiuses smaller than a second preset threshold value respectively, and the shortest distances between the plurality of reference nodes and a preset path are smaller than a first preset threshold value; and generating an updated path with the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path, wherein the updated path is used for enabling the running state of the target vehicle not to meet the condition of replanning the path.
Optionally, the processor may further execute the program code of the following steps: acquiring a preset path corresponding to the target area, including: collecting map data of a target area, wherein the target area is a mining area; determining a must pass node of the target vehicle according to the map data, wherein the must pass node at least comprises: the position of the entrance of the mining area, and the mining point and the ore discharge point of the mining area; and generating a preset path according to the nodes which are necessary to pass by the target vehicle.
Optionally, the processor may further execute the program code of the following steps: determining a plurality of reference nodes according to at least a preset path and at least one preset node under the condition that the judgment result indicates that the obstacle exists in the preset range of the target vehicle, wherein the determining comprises the following steps: determining a first position node which has the shortest distance with an obstacle in a preset path, wherein the preset path is provided with a first tangent line taking the first position node as a tangent point; determining at least one first fixed reference node, which is positioned in a second preset range and has the shortest distance to the obstacle in a first extension line with the first position node as a starting point, wherein the first extension line is perpendicular to the first tangent line, and the heading angle of the at least one first fixed reference node is the same as that of the first position node; and obtaining a plurality of first variable reference nodes according to the intersection point of the arc passing through each first fixed reference node in the at least one first fixed reference node and the preset path, wherein the plurality of first variable reference nodes are respectively positioned in front of and behind the obstacle in the driving direction of the target vehicle.
Optionally, the processor may further execute the program code of the following steps: the radius of the circular arc passing through the at least one first fixed reference node is the minimum turning radius of the target vehicle at the current vehicle speed.
Optionally, the processor may further execute the program code of the following steps: under the condition that the judgment result indicates that the shortest distance between the current position of the target vehicle and the preset path is greater than a first preset threshold, determining a plurality of reference nodes at least according to the preset path and at least one preset node, wherein the determining comprises the following steps: determining the current position of the target vehicle as a second fixed reference node; and determining the intersection point of the circular arc passing through the second fixed reference node and the preset path to obtain a second variable reference node, wherein the plurality of second variable reference nodes are positioned in front of the target vehicle in the driving direction of the target vehicle.
Optionally, the processor may further execute the program code of the following steps: and the radius of the circular arc passing through the second fixed reference node is the minimum turning radius of the target vehicle at the current vehicle speed.
Optionally, the processor may further execute the program code of the following steps: generating an updating path according to the multiple reference nodes and a preset path, wherein the generating comprises the following steps: and connecting the plurality of reference nodes by adopting a curve with continuous curvature to generate an updating path.
Optionally, the processor may further execute the program code of the following steps: connecting a plurality of reference nodes by adopting a curve with continuous curvature to generate an updating path, wherein the method comprises the following steps: sequentially connecting adjacent reference nodes in the plurality of reference nodes by adopting a clothoid, wherein the plurality of reference nodes comprise: at least one variable reference node located on the preset path, and at least one fixed reference node located outside the preset path; and under the condition that any one variable reference node in the at least one variable reference node and the adjacent reference node cannot be connected through a clothoid, determining a second position node in front of the variable reference node from a preset path to obtain an updated variable reference node, wherein the second position node and the adjacent reference node can be connected through the clothoid.
Those of ordinary skill in the art will appreciate that the configuration shown in FIG. 4 is merely illustrative. Fig. 4 is a diagram showing the structure of the navigator. For example, more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 4 may also be included or have a different configuration than shown in FIG. 4.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, read-Only memories (ROMs), random Access Memories (RAMs), magnetic or optical disks, and the like.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
The present invention has been described in terms of the preferred embodiment, and it is not intended to be limited to the embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of path planning, comprising:
the method comprises the steps of obtaining a preset path corresponding to a target area, wherein the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the position nodes are used for representing the necessary passing positions of a target vehicle in the target area;
in the process that the target vehicle starts to run along the preset path from the starting node, judging whether the running state of the target vehicle meets a path replanning condition, wherein the path replanning condition comprises at least one of the following conditions: the method comprises the following steps that obstacles exist in a first preset range, and the shortest distance between the current position of a target vehicle and a preset path is greater than a first preset threshold, wherein the first preset range is a circular area with the current position of the target vehicle as the center of a circle and the radius of the circular area being smaller than a second preset threshold;
if the judgment result indicates yes, determining a plurality of reference nodes according to at least the preset path and at least one preset node, wherein the at least one preset node comprises an obstacle position and/or a current position of the target vehicle, and the plurality of reference nodes meet the following conditions: the circular areas which respectively take the reference nodes as circle centers and have the radiuses smaller than the second preset threshold value do not have obstacles, and the shortest distances between the reference nodes and the preset path are smaller than the first preset threshold value;
and generating an updated path with the current position of the target vehicle as a starting point according to the plurality of reference nodes and the preset path, wherein the updated path is used for enabling the running state of the target vehicle not to meet the condition of replanning the path.
2. The path planning method according to claim 1, wherein the obtaining of the preset path corresponding to the target area includes:
collecting map data of the target area, wherein the target area is a mining area;
determining a must pass node of the target vehicle according to the map data, wherein the must pass node at least comprises: the entry location of the mine area, and the mining and unloading points of the mine area;
and generating the preset path according to the indispensable nodes of the target vehicle.
3. The method according to claim 1, wherein, in a case that the determination result indicates that an obstacle exists within a preset range of the target vehicle, determining a plurality of reference nodes according to at least the preset path and at least one preset node comprises:
determining a first position node having the shortest distance to the obstacle in the preset path, wherein the preset path has a first tangent line taking the first position node as a tangent point;
determining at least one first fixed reference node, which is located in a second preset range from the shortest distance to the obstacle in a first extension line with the first position node as a starting point, wherein the first extension line is perpendicular to the first tangent line, and the heading angle of the at least one first fixed reference node is the same as that of the first position node;
and obtaining a plurality of first variable reference nodes according to the intersection point of the arc passing through each first fixed reference node in the at least one first fixed reference node and the preset path, wherein the plurality of first variable reference nodes are respectively positioned in front of and behind the obstacle in the driving direction of the target vehicle.
4. The path planning method according to claim 3, wherein the radius of the circular arc passing through the at least one first fixed reference node is a minimum turning radius of the target vehicle at the current vehicle speed.
5. The path planning method according to claim 1, wherein in a case that the determination result indicates that the shortest distance between the current position of the target vehicle and the preset path is greater than a first preset threshold, determining a plurality of reference nodes according to at least the preset path and at least one preset node includes:
determining the current position of the target vehicle as a second fixed reference node;
and determining an intersection point of an arc passing through the second fixed reference node and the preset path to obtain a second variable reference node, wherein the plurality of second variable reference nodes are positioned in front of the target vehicle in the driving direction of the target vehicle.
6. The path planning method according to claim 5, wherein the radius of the circular arc passing through the second fixed reference node is a minimum turning radius of the target vehicle at the current vehicle speed.
7. The path planning method according to any one of claims 1 to 6, wherein generating an updated path according to the plurality of reference nodes and the preset path includes:
and connecting the plurality of reference nodes by adopting a curve with continuous curvature to generate the updating path.
8. The method according to claim 7, wherein the generating the updated path by connecting the plurality of reference nodes with a curve having a continuous curvature comprises:
sequentially connecting adjacent reference nodes of the plurality of reference nodes using a clothoid, wherein the plurality of reference nodes comprises: at least one variable reference node located on the preset path, and at least one fixed reference node located outside the preset path;
and under the condition that any one variable reference node in the at least one variable reference node and the adjacent reference node cannot be connected through the clothoid, determining a second position node in front of the variable reference node from the preset path to obtain an updated variable reference node, wherein the second position node and the adjacent reference node can be connected through the clothoid.
9. A path planning apparatus, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a preset path corresponding to a target area, the preset path is provided with a starting node and a plurality of position nodes, and the starting node and the position nodes are used for representing nodes necessary to pass through a target vehicle in the target area;
a determining module, configured to determine whether a driving state of the target vehicle meets a path replanning condition in a process that the target vehicle starts to drive along the preset path from the start node, where the path replanning condition includes at least one of: obstacles exist in a preset range of the target vehicle, and the shortest distance between the current position of the target vehicle and the preset path is greater than a first preset threshold value;
the determining module is used for determining a plurality of reference nodes according to at least the preset path and at least one preset node under the condition that the judging result indicates yes, wherein the at least one preset node comprises obstacle coordinates and/or the current position of the target vehicle;
and the generating module is used for generating an updated path according to the plurality of reference nodes and the preset path, wherein the updated path is used for indicating the driving direction of the target vehicle after passing through the current position.
10. A navigator, characterized by comprising:
a positioning device for acquiring a current position of a target vehicle in a target area;
a processor for receiving a current location of the target vehicle;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the path planning method of any one of claims 1 to 8 in dependence on the current location of the target vehicle.
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