CN115683139A - Vehicle-mounted map path planning method, system, electronic equipment and storage medium - Google Patents
Vehicle-mounted map path planning method, system, electronic equipment and storage medium Download PDFInfo
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- CN115683139A CN115683139A CN202211194189.3A CN202211194189A CN115683139A CN 115683139 A CN115683139 A CN 115683139A CN 202211194189 A CN202211194189 A CN 202211194189A CN 115683139 A CN115683139 A CN 115683139A
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Abstract
The invention provides a vehicle-mounted map path planning method, a system, electronic equipment and a storage medium, wherein the method comprises the following steps: loading a map within a set range of a starting point positioning position of the vehicle, and setting travel information of a passing point and a terminal point of the vehicle; acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle; acquiring a road-level planning result based on a bidirectional A-star search algorithm; and planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result. In the vehicle path planning process, a lane planning method is used for planning lanes; the upper layer performs road-level planning by using a bidirectional A-search algorithm, the middle layer determines a lane where the starting point is actually located by combining a road planning result and lane matching information, and the lower layer performs lane-level planning; the problem that a path planning scheme fails due to the fact that the vehicle is not located accurately can be solved.
Description
Technical Field
The present invention relates to the field of automatic driving, and in particular, to a method, a system, an electronic device, and a storage medium for vehicle map path planning.
Background
The current path planning algorithm has matured well after years of development, but the planning process rarely considers the problem of planning failure or unreasonable caused by inaccurate positioning. Due to the limitations of the price and accuracy of the positioning sensor, the position received from the sensor often deviates from the actual position. If the information of the positioning sensor is directly used for lane planning, and the condition of inaccurate positioning position is not considered, the lane planning is often failed. If such a situation occurs during the driving of the autonomous vehicle, the subsequent motion control of the vehicle will be disabled, which is very dangerous during the driving of the vehicle. The information in a certain range of the position points is matched, the information in the range is considered in the planning process, the optimal matching information of the lane is searched through the optimal matching information of the road, and therefore the lane planning is carried out, and the problem can be solved on a simple scene. In a simple scene, the road matched with the optimal matching result is the same as the road where the actual vehicle is located, and the result at the moment is very close to the actual condition. Complex scenarios, such as a localization point located between two parallel roads and further away from the actual position of the vehicle. In complex scenarios, current planning schemes will not be effective.
Disclosure of Invention
The invention provides a vehicle-mounted map path planning method, a vehicle-mounted map path planning system, electronic equipment and a storage medium, aiming at the technical problems of high positioning precision and less planning failure caused by inaccurate positioning.
According to a first aspect of the invention, a vehicle-mounted map path planning method is provided, which comprises the following steps:
loading a map within a set range of a starting point positioning position of the vehicle, and setting travel information of a passing point and a terminal point of the vehicle;
acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle;
acquiring a road-level planning result based on a bidirectional A-star search algorithm according to the vehicle starting point positioning position and the travel information of the vehicle passing points and the vehicle end point;
and planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the obtaining of the road and lane attribute information near the starting point positioning position of the vehicle based on map matching near the vehicle position includes:
and matching in a map within a set range based on the vehicle starting point positioning position, and acquiring roads near the vehicle starting point positioning position and a plurality of lanes included in each road.
Optionally, the obtaining a road-level planning result based on a bidirectional a × search algorithm according to the vehicle starting point location position and the trip information of the vehicle passing point and the end point includes:
a. acquiring matching information of a road set of a position where a starting point is located from a map, and acquiring matching information of a road set of an end point;
b. initializing a starting point, mainly calculating the estimated cost from a road where the starting point is located to an end point, and putting the estimated cost into a forOpen table; the forOpen table is used for storing the cost of the road nodes which are not processed in the forward searching process;
c. initializing a terminal, mainly calculating the estimated cost from a road where the terminal is located to a starting point, and putting the estimated cost into a backOpen table; the backOpen table is used for storing the road node cost which is not processed in the backward searching process;
d. forward search, calculating the cost of minOpen adjacent roads based on the element minOpen with the minimum cost in the forOpen table, updating the forOpen table by using the adjacent roads, and putting the minOpen element into the forCLOSE table; the forClose table is used for storing roads processed by the forward search process;
e. judging whether a path is found or not in a forward direction, searching whether a currently processed minOpen element exists in a backoff table or not, if so, indicating that the path is searched out, and ending; if not, a backward search is entered.
f. Backward searching, calculating the cost of minbackOpen adjacent roads based on an element minbackOpen with the minimum cost in the backOpen table, updating the backOpen table by using the adjacent roads, and putting the minbackOpen element into the backClose table; the backClose table is used for storing roads processed in the backward searching process;
g. judging whether a path is found or not, searching whether a currently processed minbackOpen element exists in a forClose table or not, if so, indicating that the path is searched, and ending; if not, a forward search is entered.
Optionally, if the search result is not found, repeatedly executing d to g to perform the next round of search, further including:
when the maximum search number or the maximum search time is reached, the search is ended.
Optionally, the method further comprises determining lane information matched with the vehicle starting point positioning position:
based on the starting point positioning position of the vehicle, searching a plurality of lanes on a map within a set range;
and screening out lane information matched with the vehicle starting point positioning position based on the distance between the vehicle starting point positioning position and each lane and the vehicle course.
Optionally, the performing lane planning according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain the lane-level planning result includes:
and searching the road to which each lane matched with the positioning position of the vehicle starting point belongs, and if the road to which the lane belongs is the same as the road in the road-level planning result, taking the lane as the lane-level planning result.
According to a second aspect of the present invention, there is provided an in-vehicle map path planning system, comprising:
the loading module is used for loading a map within a set range of a starting point positioning position of the vehicle and setting travel information of a passing point and a terminal point of the vehicle;
the acquisition module is used for acquiring road and lane attribute information near the starting point positioning position of the vehicle based on map matching near the position of the vehicle;
the first planning module is used for planning roads based on a bidirectional A-star search algorithm according to the positioning position of the starting point of the vehicle and the travel information of the route points and the end points of the vehicle to obtain a road-level planning result;
and the second planning module is used for planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
According to a third aspect of the present invention, there is provided an electronic device, comprising a memory, and a processor, wherein the processor is configured to implement the steps of the in-vehicle map path planning method when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium, on which a computer management-like program is stored, which when executed by a processor, implements the steps of the vehicle-mounted map path planning method.
According to the vehicle-mounted map path planning method, the vehicle-mounted map path planning system, the electronic device and the storage medium, in the vehicle path planning process, based on the vehicle starting point positioning position, the passing point and the end point position of the vehicle, the optimal road planning result is obtained based on the two-way A-star search algorithm, the optimal planning lane in the road is found based on the vehicle starting point positioning position, the lane level planning result is obtained, and the problem that the path planning scheme fails due to inaccurate vehicle positioning position can be solved.
Drawings
Fig. 1 is a flowchart of a vehicle-mounted map path planning method provided by the present invention;
FIG. 2 is a schematic view of a vehicle origin location position and a vehicle actual origin position;
FIG. 3 is a schematic diagram of a road and a lane where a vehicle starting point locating position and an actual starting point position of the vehicle are located;
fig. 4 is a schematic structural diagram of a vehicle-mounted map path planning system according to the present invention;
fig. 5 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 6 is a schematic diagram of a hardware structure of a possible computer-readable storage medium provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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, belong to the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
The existing planning scheme is mainly based on the condition of high positioning precision, and the problem of planning failure caused by inaccurate positioning is less considered. The positioning sensor is expensive, and is influenced by environmental and safety factors, and a certain uncertain deviation exists between the positioning position in the automatic driving field and the position of an actual vehicle. If the side roads are simpler, e.g. only one road or two roads are opposite in direction, the scene can be handled with a simpler planning scheme. However, if the two roads are parallel roads and the directions are the same, the position given by the positioning sensor is located on the map between the two roads and is deviated from the actual position of the vehicle on the map, i.e., the vehicle is positioned on the other parallel road, the more optimal matching information of the vehicle position is matched to the lane where the road closer to the position is located. In such a situation, the scheme of performing the lane planning by searching the optimal matching information through the road often results in failure of the lane planning. If the autonomous vehicle is traveling on a highway, the following motion control will not be possible due to failure of path planning caused by inaccuracy of the positioning position, which is very dangerous on the highway.
Fig. 1 is a flowchart of a vehicle-mounted map path planning method provided by the present invention, and as shown in fig. 1, the vehicle-mounted map path planning method mainly includes the following steps:
s1, loading a map within a set range of a starting point positioning position of a vehicle, and setting travel information of a passing point and an end point of the vehicle.
It is understood that the start point position information of the vehicle is located by using the sensor, and a map within a certain range of the start point location position of the vehicle is loaded, wherein the loaded map is derived from actually collected data, and an end point position and a route point that the vehicle needs to reach are set.
And S2, acquiring road and lane attribute information near the starting point positioning position of the vehicle based on map matching near the position of the vehicle.
As an embodiment, the acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle includes: and matching in a map within a set range based on the vehicle starting point positioning position, and acquiring roads near the vehicle starting point positioning position and a plurality of lanes included in each road.
It is understood that map matching near the vehicle position is performed based on the vehicle origin localization position, and the road near the vehicle origin localization position and the lane attribute information included in each lane are acquired.
And S3, acquiring a road level planning result based on a bidirectional A-star search algorithm according to the vehicle starting point positioning position and the travel information of the vehicle passing point and the vehicle terminal point.
Wherein, referring to fig. 2, the actual location of the starting point is on the trunk and the location of the starting point is on the side broken road. In this case, if the optimal road matching information is used to find the optimal matching information of the lane, thereby performing a lane planning scheme, failure of the lane planning may be caused. The processing of the starting point position finds the matching information of the lane through the road planning result, rather than finding the optimal matching information. Finding the optimal matching information may make lane planning impossible in case of inaccurate positioning positions. This problem can be solved by using a method of finding matching information from the road planning result for the processing of the starting point.
And referring to fig. 3, the road, lane center line, lane boundary line, vehicle localization position and vehicle actual position are shown in fig. 3. As can be seen from fig. 3, the vehicle is located at a position that drifts to a road next to the road where the actual position is located. In the case where the directions of travel of the two roads are the same, the best match road and lane information for the starting point will be one next to the actual location. In an actual scene, the road a (the road where the vehicle start point positioning position is located) cannot reach the end point, and the road B (the road where the vehicle actual position is located) can reach the end point and is the road where the vehicle is actually located. At this time, if a scheme of performing lane planning by searching for optimal matching information of a lane using the optimal matching information of the road is used, failure of the lane planning may be caused.
Based on the position of the starting point of the vehicle and the travel information of the route point and the end point of the vehicle, the invention obtains a road-level planning result based on a bidirectional A-star search algorithm, and the road-level planning result comprises a planned road.
The specific algorithm of the bidirectional A-search algorithm comprises the following steps:
1. determining a road set where a starting point and an end point are located: the roads from the starting point to the end point and the roads from the end point to the starting point are searched in two directions, and a road set between the starting point and the end point is formed.
2. Calculating the cost from the starting point to the end point; f (n) = g (n) + h (n), where n denotes a position where the current point is located, g (n) denotes an actual cost from the initial point to the current point n, h (n) denotes an estimated cost from the current point to the end point, and f (n) denotes an estimated cost from the start point to the end point through the current point n, where the cost is calculated using the euclidean distance. The starting point and corresponding cost are then put into the forOpen table.
3. Calculating the cost from the end point to the starting point; cost representation is the same as step 2, and then the endpoint and the corresponding cost are put into the backOpen table.
4. Starting searching, namely judging whether forOpen and backOpen are empty or not in the first step; forOpen being empty indicates that the starting point is not on the road, and backOpen indicates that the ending point is not on the road.
5. Secondly, forward searching; taking an element minOpen with the minimum cost from a forOpen table, searching whether minOpen exists in a backClose table, if yes, processing adjacentRoads of a road (mainly cost calculation) near the minOpen road, and putting minOpen into the forClose table; taking a road (a point from the current position point to a nearby road) from the adjacentRoads, judging whether the road is passable or not, if the road is not passable, discarding the road without processing, and then processing the next road; if the road is passable, checking whether the element already exists in the forOpen table, if so, updating the cost of the element in the forOpen table, and if not, checking whether the element exists in the forClose table, if so, updating the cost of the element in the forClose table, otherwise, adding the element as a new element into the forOpen table.
6. Thirdly, judging whether forOpen and backOpen are empty or not, and searching backwards when the forOpen and the backOpen are not empty; taking the minimum element minbackOpen from the backOpen table, searching whether minbackOpen exists in a forClose table, if so, continuously processing the adjacencies of roads of the minbackOpen, and putting minbackOpen into the backClose table; taking a road from the adjacentRoads, judging whether the road is passable or not, and processing the next road; the method comprises the steps of checking whether an element already exists in a backOpen table or not, if yes, updating the cost of the element in the backOpen table, if not, checking whether the element exists in the backClose table or not, if yes, updating the cost of the element in the backClose table or not, and if not, adding the element into the backOpen table.
7. Judging whether a path from the starting point to the end point is found: taking out the element with the minimum cost from backOpen, searching in a forClose table based on the element with the minimum cost, and if the element with the minimum cost is found, determining a path from a starting point to a terminal point, namely a road-level planning result; if the search frequency is not found, ending the search if the maximum search frequency is reached; or the maximum search time is reached arbitrarily, and the process is finished, otherwise, the next round of search is continued from the step 4 until a road planning path from the starting point to the end point is found.
And S4, performing lane planning according to the lane information matched with the vehicle starting point positioning position and the road level planning result, and solving to obtain a lane level planning result.
As an embodiment, the method further comprises determining lane information that the vehicle starting point location position matches: based on the starting point positioning position of the vehicle, searching a plurality of lanes on a map within a set range; and screening out lane information matched with the vehicle starting point positioning position based on the distance between the vehicle starting point positioning position and each lane and the vehicle course.
Correspondingly, the performing lane planning according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain the lane-level planning result includes: and searching the road to which each lane matched with the vehicle starting point positioning position belongs, and taking the lane as a lane level planning result if the road to which the lane belongs is the same as the road in the road level planning result.
It can be understood that firstly, the lane information matched with the vehicle starting point positioning position is found on the map within the set range, and a plurality of lanes matched with the vehicle starting point positioning position can be screened out according to the vehicle course and the distance between the vehicle starting point positioning position and each lane.
And searching the road to which each lane matched with the positioning position of the vehicle starting point belongs, and if the road to which the lane belongs is the same as the road in the road-level planning result, taking the lane as the lane-level planning result. For example, the lanes matched with the vehicle starting point positioning position include lane 1, lane 2 and lane 3, where lane 1 belongs to road a, lane 2 belongs to road B, and lane 3 belongs to road C, and if the road in the road-level planning result in the previous step is B, then lane 2 belonging to road B is the optimal lane, and is used as the lane-level planning result from the starting point to the ending point.
Fig. 4 is a structural diagram of a vehicle-mounted map path planning system according to an embodiment of the present invention, and as shown in fig. 4, the vehicle-mounted map path planning system includes a loading module 401, an obtaining module 402, a first planning module 403, and a second planning module 404, where:
the loading module 401 is used for loading a map within a set range of a starting point positioning position of a vehicle and setting travel information of a passing point and a terminal point of the vehicle; an obtaining module 402, configured to obtain road and lane attribute information near a starting point positioning location of a vehicle based on map matching near the vehicle location; the first planning module 403 is configured to perform road-level planning based on a bidirectional a-search algorithm according to a vehicle starting point location position and trip information of a vehicle route point and a vehicle end point, and obtain a road-level planning result; and the second planning module 404 is configured to plan a lane according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solve to obtain a lane-level planning result.
It can be understood that the vehicle-mounted map path planning system provided by the present invention corresponds to the vehicle-mounted map path planning methods provided in the foregoing embodiments, and the relevant technical features of the vehicle-mounted map path planning system may refer to the relevant technical features of the vehicle-mounted map path planning method, which are not described herein again.
Referring to fig. 5, fig. 5 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 5, an embodiment of the present invention provides an electronic device 500, which includes a storage 510, a processor 520, and a computer program 511 stored in the storage 510 and running on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps: loading a map within a set range of a starting point positioning position of the vehicle, and setting travel information of a passing point and a terminal point of the vehicle; acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle; acquiring a road-level planning result based on a bidirectional A-star search algorithm according to a vehicle starting point positioning position and the travel information of a vehicle passing point and a vehicle terminal point; and planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
Referring to fig. 6, fig. 6 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present invention. As shown in fig. 6, the present embodiment provides a computer-readable storage medium 600 having a computer program 611 stored thereon, the computer program 611, when executed by a processor, implementing the steps of: loading a map within a set range of a starting point positioning position of the vehicle, and setting travel information of a passing point and a terminal point of the vehicle; acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle; acquiring a road-level planning result based on a bidirectional A-star search algorithm according to a vehicle starting point positioning position and the travel information of a vehicle passing point and a vehicle terminal point; and planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
According to the vehicle-mounted map path planning method, the vehicle-mounted map path planning system, the electronic device and the storage medium, in the vehicle path planning process, the optimal road planning result is obtained based on the two-way A-search algorithm based on the vehicle starting point positioning position, the passing point and the end point position of the vehicle, the planning lane in the road is found based on the vehicle starting point positioning position, the lane level planning result is obtained, and the problem that the path planning scheme fails due to inaccurate vehicle positioning position can be solved.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A vehicle-mounted map path planning method is characterized by comprising the following steps:
loading a map within a set range of a starting point positioning position of the vehicle, and setting travel information of a passing point and a terminal point of the vehicle;
acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle;
acquiring a road-level planning result based on a bidirectional A-star search algorithm according to a vehicle starting point positioning position and the travel information of a vehicle passing point and a vehicle terminal point;
and planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
2. The vehicle-mounted map path planning method according to claim 1, wherein the obtaining of road and lane attribute information near a vehicle starting point positioning position based on map matching near the vehicle position comprises:
and matching in a map within a set range based on the vehicle starting point positioning position, and acquiring roads near the vehicle starting point positioning position and a plurality of lanes included in each road.
3. The method for planning the vehicle-mounted map path according to claim 1, wherein the step of obtaining the road-level planning result based on a bidirectional a-x search algorithm according to the vehicle starting point positioning position and the travel information of the vehicle passing point and the vehicle ending point comprises:
a. acquiring matching information of a road set of a position where a starting point is located from a map, and acquiring matching information of a road set of an end point;
b. initializing a starting point, mainly calculating the estimated cost from a road where the starting point is located to an end point, and putting the estimated cost into a forOpen table; the forOpen table is used for storing the unprocessed road node cost in the forward searching process;
c. initializing a terminal, mainly calculating the estimated cost from a road where the terminal is located to a starting point, and putting the estimated cost into a backOpen table; the backOpen table is used for storing the road node cost which is not processed in the backward searching process;
d. forward search, calculating the cost of minOpen adjacent roads based on the element minOpen with the minimum cost in the forOpen table, updating the forOpen table by using the adjacent roads, and putting the minOpen element into the forCLOSE table; the forClose table is used for storing roads processed by the forward search process;
e. judging whether a path is found or not in the forward direction, searching whether a currently processed minOpen element exists in a backClose table or not, if so, indicating that the path is searched out, and ending; if not, a backward search is entered.
f. Backward searching, calculating the cost of minbackOpen adjacent roads based on the element minbackOpen with the minimum cost in the backOpen table, updating the backOpen table by using the adjacent roads, and putting the minbackOpen element into the backClose table; the backClose table is used for storing roads processed in the backward searching process;
g. judging whether a path is found or not, searching whether a currently processed minbackOpen element exists in a forClose table or not, if so, indicating that the path is searched, and ending; if not, a forward search is entered.
4. The vehicle-mounted map path planning method according to claim 3, wherein if the vehicle-mounted map path is not found, the step of repeatedly executing d-f to search for the next round further comprises the following steps:
when the maximum search number or the maximum search time is reached, the search is ended.
5. The vehicle-mounted map path planning method according to claim 1, further comprising determining lane information that the vehicle origin location position matches:
based on the starting point positioning position of the vehicle, searching a plurality of lanes on a map within a set range;
and screening out lane information matched with the vehicle starting point positioning position based on the distance between the vehicle starting point positioning position and each lane and the vehicle course.
6. The vehicle-mounted map path planning method according to claim 1, wherein the step of performing lane planning according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain the lane-level planning result comprises:
and searching the road to which each lane matched with the positioning position of the vehicle starting point belongs, and if the road to which the lane belongs is the same as the road in the road-level planning result, taking the lane as the lane-level planning result.
7. An on-board map path planning system, comprising:
the loading module is used for loading a map within a set range of a starting point positioning position of the vehicle and setting travel information of a passing point and a terminal point of the vehicle;
the acquisition module is used for acquiring road and lane attribute information near a starting point positioning position of the vehicle based on map matching near the position of the vehicle;
the first planning module is used for planning roads based on a bidirectional A-star search algorithm according to the positioning position of the starting point of the vehicle and the travel information of the route points and the end points of the vehicle to obtain a road-level planning result;
and the second planning module is used for planning lanes according to the lane information matched with the vehicle starting point positioning position and the road-level planning result, and solving to obtain a lane-level planning result.
8. An electronic device, comprising a memory, a processor for implementing the steps of the in-vehicle map path planning method according to any one of claims 1-6 when executing a computer management-like program stored in the memory.
9. A computer-readable storage medium, characterized in that a computer management-like program is stored thereon, which, when being executed by a processor, carries out the steps of the vehicle-mounted map path planning method according to any one of claims 1 to 6.
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| CN116576880A (en) * | 2023-05-11 | 2023-08-11 | 国汽大有时空科技(安庆)有限公司 | Lane-level road planning method and device, terminal equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116576880A (en) * | 2023-05-11 | 2023-08-11 | 国汽大有时空科技(安庆)有限公司 | Lane-level road planning method and device, terminal equipment and storage medium |
| CN116576880B (en) * | 2023-05-11 | 2024-01-02 | 国汽大有时空科技(安庆)有限公司 | Lane-level road planning method and device, terminal equipment and storage medium |
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