CN116048087B - Local path planning method and device, electronic equipment and readable storage medium - Google Patents
Local path planning method and device, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The invention provides a planning method, a planning device, electronic equipment and a readable storage medium for local paths, comprising the following steps: if a lane change request of the target vehicle is received, determining an initial local path of the target vehicle; the lane change request comprises a lane change from a ramp to a main ramp request or a lane change from the main ramp to the ramp request; determining a channel changing control point corresponding to the channel changing request based on the initial local path; and planning a target local path of the target vehicle according to the lane change control point so that the target vehicle executes a first lane change action according to the target local path. The invention can obviously improve the safety of vehicle lane change under the lane change scene of the ramp mouth.
Description
Technical Field
The present invention relates to the field of path planning technologies, and in particular, to a method and apparatus for planning a local path, an electronic device, and a readable storage medium.
Background
At present, the lane changing strategy of the intelligent network-connected automobile comprises lane changing of a main road and lane changing of a turn road junction. Most of the existing path planning methods only use Bezier curves to plan the lane changing scene of the main road, and lack the planning of the lane changing scene of the turn road, but the intelligent network-connected automobile is very easy to cause traffic accidents when the turn road is changed, especially when the turn road is lack of lane lines.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus, an electronic device and a readable storage medium for planning a local path, which can significantly improve the safety of a vehicle lane change in a lane change scene.
In a first aspect, an embodiment of the present invention provides a method for planning a local path, including: if a lane change request of a target vehicle is received, determining an initial local path of the target vehicle; the lane change request comprises a lane change from a ramp to a main lane or a lane change from the main lane to the ramp; determining a channel switching control point corresponding to the channel switching request based on the initial local path; and planning a target local path of the target vehicle according to the lane change control point so that the target vehicle executes a first lane change action according to the target local path.
In one embodiment, determining a channel change control point corresponding to the channel change request based on the initial local path includes: discretizing the initial local path to obtain a plurality of characteristic reference points; determining a lane change control point corresponding to the lane change request based on the characteristic reference point, the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be incorporated; the current lane is a ramp and the target lane is a main lane, or the current lane is a main lane and the target lane is a ramp.
In one embodiment, determining the lane change control point corresponding to the lane change request based on the feature reference point, the lane center line of the current lane in which the target vehicle is located, and the lane center line of the target lane in which the target vehicle is to be incorporated includes: determining an intersection according to the lane center line of a current lane where a target vehicle is located and the lane center line of a target lane where the target vehicle is to be incorporated; determining a starting point and an ending point from the characteristic reference points respectively based on the intersection point and a first preset distance value; wherein the lane change control point includes the intersection point, the start point, and the end point.
In one embodiment, determining a start point and an end point from the feature reference points, respectively, based on the intersection point and a first preset distance value, includes: if the distance between the current position of the target vehicle and the intersection is smaller than the first preset distance value, determining the current position as a starting point; if the distance between the current position of the target vehicle and the intersection point is larger than the first preset distance value, determining a circular section by taking the intersection point as a circle center and the first preset distance value as a radius; determining a target feature reference point intersecting the circular interval from the feature reference points; if the distance between the current position of the target vehicle and the target feature reference point is smaller than a second preset distance value, determining the target feature reference point as a starting point; and if the distance between the current position of the target vehicle and the target feature reference point is larger than the second preset distance value, determining the target feature reference point as an ending point.
In one embodiment, planning the target local path of the target vehicle according to the lane-change control point includes: determining an intermediate local path of the target vehicle based on the intersection, the starting point, and the ending point using a second order bezier curve; and performing first-order low-pass filtering processing on the middle local path to obtain a target local path of the target vehicle.
In one embodiment, the method further comprises: and converting the initial local path, the lane center line of the current lane where the target vehicle is located, the lane center line of the target lane where the target vehicle is to be merged and the coordinate data in the current position of the target vehicle from a world coordinate system to a vehicle coordinate system to obtain the coordinate data in the vehicle coordinate system.
In one embodiment, the method further comprises: if the lane change request is the lane change from ramp to main lane request and the target vehicle has already executed the first lane change action, controlling the target vehicle to execute a second lane change action according to a preset main lane change plan; wherein the second lane-changing action is a lane-change of the target vehicle from a sub-road in the main road to another sub-road.
In a second aspect, an embodiment of the present invention further provides a local path planning apparatus, including: the initial path determining module is used for determining an initial local path of the target vehicle if a lane change request of the target vehicle is received; the lane change request comprises a lane change from a ramp to a main lane or a lane change from the main lane to the ramp; the control point determining module is used for determining a channel changing control point corresponding to the channel changing request based on the initial local path; and the target path determining module is used for planning a target local path of the target vehicle according to the lane change control point so that the target vehicle executes lane change action according to the target local path.
In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory storing computer-executable instructions executable by the processor to implement the method of any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
The embodiment of the invention provides a local path planning method, a local path planning device, electronic equipment and a readable storage medium, wherein if a lane change request (comprising a lane change request from a ramp to a main lane or a lane change request from the main lane to the ramp) of a target vehicle is received, an initial local path of the target vehicle is determined, a lane change control point corresponding to the lane change request is determined based on the initial local path, and finally, the target local path of the target vehicle is planned according to the lane change control point, so that the target vehicle executes a first lane change action according to the target local path. The method provides a local path planning method for the road change scene of the road junction, after the initial local path is determined, the road change control point is determined based on the initial local path, and the target local path is planned on the basis of the control point, so that the target vehicle can change from the road to the main road or from the main road to the road.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for planning a local path according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an on-ramp scenario for an intelligent networked vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second-order Bezier curve according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a partial path before passing through a merge point according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a partial path after passing through a merge point according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a path curve of a channel change end according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an up ramp before starting according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a sub-road from the top ramp to the left side of the main ramp according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a sub-road from a lane change to the right side of a main lane according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a lateral acceleration curve of an intelligent network-connected vehicle during lane change according to an embodiment of the present invention;
FIG. 11 is a flowchart illustrating another method for planning a local path according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a planning apparatus for a local path according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, the existing path planning method lacks planning for a road changing scene of a road junction, so that traffic accidents are easy to send under the road changing scene of the road junction, and the problems of more noise signals, poor anti-interference performance and the like exist in the path planned by the existing Bezier curve path planning method, so that the planned path still has a larger optimization space.
For the convenience of understanding the present embodiment, first, a detailed description will be given of a method for planning a local path disclosed in the present embodiment, referring to a flow chart of a method for planning a local path shown in fig. 1, the method mainly includes the following steps S102 to S106:
step S102, if a lane change request of the target vehicle is received, determining an initial local path of the target vehicle. The lane change request comprises a lane change from a ramp to a main lane or a lane change from the main lane to the ramp, the target vehicle can be an intelligent network car, and the initial local path can be a desired path planned based on the existing path planning algorithm. In one embodiment, the target vehicle can monitor the road condition in real time, and when the current side is monitored to have a incorporable main road or ramp, a road changing request can be generated, and an initial local path is obtained according to a high-precision map.
Step S104, determining a channel switching control point corresponding to the channel switching request based on the initial local path. The lane change control point includes an intersection point, a starting point and a termination point, where the intersection point may be a point where a lane center line of a current lane where the target vehicle is located is closest to a lane center line longitudinal position of a target lane where the target vehicle is to be incorporated, or may be a point where the lane center line of the current lane intersects with the lane center line of the target lane. In one embodiment, the initial local path may be discretized to obtain a plurality of feature reference points, and then a lane change control point corresponding to the lane change request is determined based on the feature reference points, the lane center line of the current lane, and the lane center line of the target lane.
Step S106, the target local path of the target vehicle is planned according to the lane change control point, so that the target vehicle executes the first lane change action according to the target local path. In one embodiment, a second order Bezier curve fit may be used to fit a reasonable intermediate local path, and then the intermediate local path may be filtered using first order low pass filtering to obtain a smooth target local path.
The local path planning method provided by the embodiment of the invention provides a local path planning method aiming at the road changing scene of the road junction, after the initial local path is determined, the road changing control point is determined based on the initial local path, and the target local path is planned on the basis of the control point, so that the target vehicle is changed from the road to the main road or from the main road to the road.
In one embodiment, the initial local path, the lane center line of the current lane in which the target vehicle is located, the lane center line of the target lane in which the target vehicle is to be incorporated, and the coordinate data in the current position of the target vehicle may all be converted from the world coordinate system to the vehicle coordinate system to obtain the coordinate data in the vehicle coordinate system. In practical application, for the path planning problem, coordinate data in the world coordinate system needs to be transferred to the vehicle coordinate system, and a coordinate conversion equation is as follows:
x loc ＝x′·cos(θ ego )+y′·sin(θ ego )；y loc ＝y′·cos(θ ego )-x′·sin(θ ego )。
wherein x is loc 、y loc Is the horizontal and vertical coordinates theta of the target vehicle in the vehicle coordinate system ego The yaw angle, x ', y' are the horizontal and vertical coordinates of the target vehicle in the world coordinate system.
And converting coordinate data related to path planning into a vehicle coordinate system by using the coordinate conversion equation so as to plan the local path of the target based on the coordinate data in the vehicle coordinate system.
Bezier curves are a way to represent curves by way of vector connections. Due to the continuous, non-abrupt nature of the bezier curve curvature, it can be used in path planning to smooth the desired path. In path planning, the shape of the Bezier curve is determined by control points, and k control points can obtain the k-1 order Bezier curve. The smoothing algorithm of the expected path uses a second-order Bezier curve, three control points are needed, and in order to obtain a smoothed path curve, the selection of the control points is very important, and the selection is performed based on the characteristic reference points of the high-precision map, specifically, the channel change control points corresponding to the channel change request can be determined according to the following steps 1 to 2:
and step 1, discretizing the initial local path to obtain a plurality of characteristic reference points. In one embodiment, the initial local path may be derived from a high-precision map and discretized into 71 feature reference points.
And 2, determining a lane change control point corresponding to the lane change request based on the characteristic reference point, the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be incorporated. The lane change control points comprise an intersection point, a starting point and an ending point. In a specific embodiment, in order to better represent the positions of three control points, the three control points are defined as a starting point, an intersection point and an ending point according to the running direction of the vehicle on the road, respectively. See steps 2.1 to 2.2 below:
and 2.1, determining an intersection point according to the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be merged. For easy understanding, the embodiment of the invention takes the case that the target vehicle changes from the ramp to the main ramp as an example, refer to a schematic diagram of an intelligent network-connected vehicle ramp scene shown in fig. 2, wherein lane 1 is a ramp, lanes 2 and 3 are main ramps, and the initial position of the target vehicle is located on lane 1 and needs to enter into lane 3 for driving. In a specific implementation, a point where the lane center line of the current lane is closest to the lane center line longitudinal position of the target lane is taken as an intersection point, and the intersection point is denoted as a merge point.
And 2.2, respectively determining a starting point and an ending point from the characteristic reference points based on the crossing point and the first preset distance value. In a specific embodiment, reference may be made to the following steps 2.2.1 to 2.2.5:
step 2.2.1, if the distance between the current position of the target vehicle and the intersection is smaller than a first preset distance value, determining the current position as a starting point. In one embodiment, the current location may be determined directly as the starting point if the distance between the current location and the intersection is less than a first preset distance threshold.
And 2.2.2, if the distance between the current position of the target vehicle and the intersection is greater than a first preset distance value, determining a circular section by taking the intersection as a circle center and taking the first preset distance value as a radius. In one embodiment, if the distance between the current position and the intersection is greater than a first preset distance threshold, the intersection is required to be used as a circle center, and the first preset distance is required to be used as a radius to make a circle, so that a circular interval is obtained.
And 2.2.3, determining a target characteristic reference point intersected with the circular interval from the characteristic reference points. In one embodiment, there should be two target feature reference points intersecting the circular area, one of which is closer to the target vehicle, and the other is farther from the target vehicle, and is determined as the ending point.
And 2.2.4, if the distance between the current position of the target vehicle and the target feature reference point is smaller than a second preset distance value, determining the target feature reference point as a starting point. Alternatively, the second preset distance value may be equal to the first preset distance value, that is, when the distance between the target feature reference point and the current position is smaller than the radius of the circular region, the target feature reference point may be determined as the start point.
And 2.2.5, if the distance between the current position of the target vehicle and the target feature reference point is greater than a second preset distance value, determining the target feature reference point as an ending point. In one embodiment, the target feature reference point may be determined to be an ending point when the distance between the target feature reference point and the current location is greater than the radius of the circular region. The three control points determined according to the steps 1 to 2 can well meet the requirement of path planning.
On the basis of the foregoing embodiment, the embodiment of the present invention further provides an implementation manner of planning a target local path of a target vehicle according to a lane change control point, which is referred to as the following steps a to b:
and a step a, determining a middle local path of the target vehicle based on the intersection, the starting point and the ending point by using the second-order Bezier curve. In one embodiment, see a schematic diagram of a second order Bezier curve as shown in FIG. 3. In practical application, the curvature requirement of the local path does not exceed the curvature of the drivable track of the target vehicle, and the middle local path output by the corresponding secondary Bezier curve can be determined according to the following formula:
S 1 ＝(1-fac)P 0 +facP 1 ；S 2 ＝(1-fac)P 1 +facP 2 . Wherein P is 0 ，P 1 ，P 2 Respectively a starting point, an intersecting point and an ending point of the Bezier curve, fac epsilon (0, 1), S 1 、S 2 The two points are line segments P 0 P 1 、P 1 P 2 And (5) obtaining a linear difference result according to the parameter fac. When fac changes from 0 to 1, it can be expressed as P 0 ，P 1 ，P 2 A second order bezier curve defined by three points.
Based on this, the formula of the second order bezier curve is:
S＝(1-fac)S 1 +facS 2 。
and b, performing first-order low-pass filtering processing on the intermediate local path to obtain a target local path of the target vehicle. In one embodiment, the middle local path of the second-order bezier curve plan may be sampled to obtain sampling points (also referred to as sampling information), and then the sampling points are low-pass filtered by using first-order low-pass filtering to further reject noise signals. The formula of a filtering algorithm adopted for carrying out first-order low-pass filtering processing on the sampling points is as follows:
Y(n)＝a·X(n)+(1-a)Y(n-1)。
wherein Y (n) is the filtering result; a is a filtering coefficient, the smaller the value is, the more stable the value is, and the larger the value is, the more sensitive the value is; x (n) is the sampling result; y (n-1) is the previous filtering result. In practical application, a first-order low-pass filtering process is performed on each sampling point to obtain a filtering result of each sampling point, and then the filtering results of all the sampling points are connected to obtain a required target local path.
Based on the foregoing embodiments, the target vehicle will drive from the current lane into the target lane after passing the merge point. For example, the fixed radius of Bezier curve control point is set to 20m, the lane width is 3.5m, the controlled vehicle adopts PID (Proportional Intergral Derivative) control method, the intelligent network automobile model parameters are shown in table 1, the sampling time is 0.025s, and whether the up ramp operation can be completed by checking and tracking the expected path is checked.
TABLE 1
Based on the intelligent network-connected automobile model parameters, according to the method for planning a local path provided in the foregoing embodiment, a local path schematic diagram before passing through a merge point shown in fig. 4, a local path schematic diagram after passing through a merge point shown in fig. 5, and a path curve schematic diagram of a lane change end shown in fig. 6 may be obtained. As shown in fig. 4 to 6, the cross represents the position of the target vehicle, the square line represents the planned path, the dotted line represents the center line of each of the two sub-roads of the main road, and as can be seen from fig. 4 to 6, the target vehicle can well perform the ramp-up operation and change the road to the desired road through the target local path planned by the embodiment of the invention.
In one embodiment, if the lane change request is a lane change from a ramp to a main lane request and the target vehicle has performed the first lane change action, that is, the target vehicle has changed from the ramp to the main lane, the target vehicle is controlled to perform the second lane change action according to the preset main lane change plan. The second lane changing action is that the target vehicle changes lanes from a sub-lane to another sub-lane in the main lane. For more visual display of the effect, a Bird's-Eye Scope tool is used for scene playback, the effect is as shown in fig. 7 to 9, wherein fig. 7 is a schematic diagram before starting the ramp, fig. 8 is a schematic diagram of completing the ramp to the left side of the main road, and fig. 9 is a schematic diagram of changing the ramp to the right side of the main road. As shown in fig. 7 to 9, by playing back data through Bird's-Eye Scope, it can be seen that the intelligent network connection automobile can run according to the expected requirement, and the local path planned by the invention can well meet the road switching requirement of the intelligent network connection automobile road junction.
Referring further to FIG. 10, which is a schematic diagram of a lateral acceleration curve during lane change for an intelligent network-connected vehicle, it is generally believed that the acceleration is less than 3m/s 2 The requirements of comfort level indexes of drivers and passengers can be met, and the absolute value of the transverse maximum acceleration of the intelligent network-connected automobile is not more than 2m/s according to the curve 2 Therefore, the curve planned by the invention can meet the comfort requirements of drivers and passengers.
In order to solve the problem of local path planning when the existing intelligent network connection automobile turn road junction is changed, the embodiment of the invention provides a map feature reference point-based local path planning method, and the planned target local path can well meet the intelligent network connection automobile turn road junction changing requirement. For easy understanding, another method for planning a local path is provided in the embodiment of the present invention, referring to a flowchart of another method for planning a local path shown in fig. 11, the method mainly includes the following steps S1102 to S1112:
step S1102, the intelligent internet of vehicles starts local path planning.
Step S1104, whether the target vehicle passes through the merge point. If yes, go to step S1110; if not, step S1106 is performed.
In step S1106, the control point is obtained through the feature reference point.
Step S1108, ramp road path planning. The step a to the step b can be specifically referred to in the ramp road changing path planning, that is, the process of planning the target local path of the target vehicle according to the road changing control point, and the embodiments of the present invention will not be described herein.
Step S1110, whether to change the road to the desired road. If yes, go to step S1112; if not, step S1102 is performed.
In step S1112, the road path is changed. The process of road path changing planning of the main road can refer to the process of road path changing from a sub-road in the main road to another sub-road of the target vehicle, and the embodiments of the present invention are not described herein.
In summary, in the intelligent network-connected automobile on-ramp scene, the intersection point of the main ramp and the ramp is marked as a merge point, and the initial position of the target vehicle is on the ramp and needs to be changed to the main ramp through the ramp mouth. Aiming at the scene, before a target vehicle passes through a merge point, a corresponding expected path is planned according to a characteristic reference point given by a high-precision map; after passing the merge point, the method needs to be switched to a main road lane change planning method until the own vehicle changes lanes to the expected lane of the main road. The method has the advantages of smooth path, low curvature, strong interference resistance, strong real-time performance and easy realization, ensures the safe lane change of the intelligent network-connected automobile at the ramp opening, effectively improves the comfort level of passengers in the automobile, and solves the problem of path change planning at the ramp opening.
For the method for planning a local path provided in the foregoing embodiment, an embodiment of the present invention provides a device for planning a local path, referring to a schematic structural diagram of a device for planning a local path shown in fig. 12, where the device mainly includes the following parts:
an initial path determination module 1202 configured to determine an initial local path of the target vehicle if a lane change request of the target vehicle is received; the lane change request comprises a lane change from a ramp to a main ramp request or a lane change from the main ramp to the ramp request;
a control point determining module 1204, configured to determine a channel changing control point corresponding to the channel changing request based on the initial local path;
the target path determining module 1206 is configured to plan a target local path of the target vehicle according to the lane change control point, so that the target vehicle performs a lane change according to the target local path.
The local path planning device provided by the embodiment of the invention provides a local path planning method aiming at the road changing scene of the road junction, after the initial local path is determined, the road changing control point is determined based on the initial local path, and the target local path is planned on the basis of the control point, so that the target vehicle is changed from the road to the main road or from the main road to the road.
In one embodiment, the control point determination module 1204 is further configured to: discretizing the initial local path to obtain a plurality of characteristic reference points; determining a lane change control point corresponding to a lane change request based on the characteristic reference point, the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be incorporated; the current lane is a ramp and the target lane is a main road, or the current lane is a main road and the target lane is a ramp.
In one embodiment, the control point determination module 1204 is further configured to: determining an intersection according to the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be merged; determining a starting point and an ending point from the characteristic reference points respectively based on the crossing point and a first preset distance value; the lane change control point comprises an intersection point, a starting point and an ending point.
In one embodiment, the control point determination module 1204 is further configured to: if the distance between the current position of the target vehicle and the intersection is smaller than a first preset distance value, determining the current position as a starting point; if the distance between the current position of the target vehicle and the intersection point is larger than a first preset distance value, determining a circular section by taking the intersection point as a circle center and taking the first preset distance value as a radius; determining a target feature reference point intersecting the circular interval from the feature reference points; if the distance between the current position of the target vehicle and the target feature reference point is smaller than a second preset distance value, determining the target feature reference point as a starting point; and if the distance between the current position of the target vehicle and the target feature reference point is greater than a second preset distance value, determining the target feature reference point as an ending point.
In one embodiment, the target path determination module 1206 is further configured to: determining a middle local path of the target vehicle based on the intersection, the starting point and the ending point by using the second-order Bezier curve; and performing first-order low-pass filtering processing on the intermediate local path to obtain a target local path of the target vehicle.
In one embodiment, the apparatus further includes a coordinate conversion module configured to: and converting the initial local path, the lane center line of the current lane where the target vehicle is located, the lane center line of the target lane where the target vehicle is to be merged and the coordinate data in the current position of the target vehicle from the world coordinate system to the vehicle coordinate system so as to obtain the coordinate data in the vehicle coordinate system.
In one embodiment, the apparatus further includes a sub-road lane changing module configured to: if the lane change request is from a ramp lane change to a main lane request and the target vehicle has executed the first lane change action, controlling the target vehicle to execute the second lane change action according to a preset main lane change plan; the second lane changing action is that the target vehicle changes lanes from a sub-lane to another sub-lane in the main lane.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 130, a memory 131, a bus 132 and a communication interface 133, the processor 130, the communication interface 133 and the memory 131 being connected by the bus 132; the processor 130 is arranged to execute executable modules, such as computer programs, stored in the memory 131.
The memory 131 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 133 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 132 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 13, but not only one bus or type of bus.
The memory 131 is configured to store a program, and the processor 130 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 130 or implemented by the processor 130.
The processor 130 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 130. The processor 130 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131, and in combination with the hardware, performs the steps of the above method.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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 removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A method for planning a local path, comprising:
if a lane change request of a target vehicle is received, determining an initial local path of the target vehicle; the lane change request comprises a lane change from a ramp to a main lane or a lane change from the main lane to the ramp;
determining a channel switching control point corresponding to the channel switching request based on the initial local path;
planning a target local path of the target vehicle according to the lane change control point so that the target vehicle executes a first lane change action according to the target local path;
determining a channel switching control point corresponding to the channel switching request based on the initial local path comprises the following steps:
discretizing the initial local path to obtain a plurality of characteristic reference points;
determining a lane change control point corresponding to the lane change request based on the characteristic reference point, the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be incorporated; the current lane is a ramp and the target lane is a main lane, or the current lane is a main lane and the target lane is a ramp;
determining a lane change control point corresponding to the lane change request based on the feature reference point, a lane center line of a current lane in which the target vehicle is located, and a lane center line of a target lane in which the target vehicle is to be incorporated, including:
determining an intersection according to the lane center line of a current lane where a target vehicle is located and the lane center line of a target lane where the target vehicle is to be incorporated;
determining a starting point and an ending point from the characteristic reference points respectively based on the intersection point and a first preset distance value;
wherein the lane change control point comprises the intersection point, the starting point and the ending point;
determining a start point and an end point from the feature reference points based on the intersection point and a first preset distance value, respectively, comprising:
if the distance between the current position of the target vehicle and the intersection is smaller than the first preset distance value, determining the current position as a starting point;
if the distance between the current position of the target vehicle and the intersection point is larger than the first preset distance value, determining a circular section by taking the intersection point as a circle center and the first preset distance value as a radius;
determining a target feature reference point intersecting the circular interval from the feature reference points;
if the distance between the current position of the target vehicle and the target feature reference point is smaller than a second preset distance value, determining the target feature reference point as a starting point;
and if the distance between the current position of the target vehicle and the target feature reference point is larger than the second preset distance value, determining the target feature reference point as an ending point.
2. The method of claim 1, wherein planning the target local path of the target vehicle according to the lane-change control point comprises:
determining an intermediate local path of the target vehicle based on the intersection, the starting point, and the ending point using a second order bezier curve;
and performing first-order low-pass filtering processing on the middle local path to obtain a target local path of the target vehicle.
3. The method of planning a local path according to claim 1 or 2, characterized in that the method further comprises:
and converting the initial local path, the lane center line of the current lane where the target vehicle is located, the lane center line of the target lane where the target vehicle is to be merged and the coordinate data in the current position of the target vehicle from a world coordinate system to a vehicle coordinate system to obtain the coordinate data in the vehicle coordinate system.
4. The method of planning a local path according to claim 1 or 2, characterized in that the method further comprises:
if the lane change request is the lane change from ramp to main lane request and the target vehicle has already executed the first lane change action, controlling the target vehicle to execute a second lane change action according to a preset main lane change plan; wherein the second lane-changing action is a lane-change of the target vehicle from a sub-road in the main road to another sub-road.
5. A local path planning apparatus, comprising:
the initial path determining module is used for determining an initial local path of the target vehicle if a lane change request of the target vehicle is received; the lane change request comprises a lane change from a ramp to a main lane or a lane change from the main lane to the ramp;
the control point determining module is used for determining a channel changing control point corresponding to the channel changing request based on the initial local path;
the target path determining module is used for planning a target local path of the target vehicle according to the lane change control point so that the target vehicle executes lane change action according to the target local path;
the control point determination module is further configured to:
discretizing the initial local path to obtain a plurality of characteristic reference points;
determining a lane change control point corresponding to the lane change request based on the characteristic reference point, the lane center line of the current lane where the target vehicle is located and the lane center line of the target lane where the target vehicle is to be incorporated; the current lane is a ramp and the target lane is a main lane, or the current lane is a main lane and the target lane is a ramp;
the control point determination module is further configured to:
determining an intersection according to the lane center line of a current lane where a target vehicle is located and the lane center line of a target lane where the target vehicle is to be incorporated;
determining a starting point and an ending point from the characteristic reference points respectively based on the intersection point and a first preset distance value;
wherein the lane change control point comprises the intersection point, the starting point and the ending point;
the control point determination module is further configured to:
if the distance between the current position of the target vehicle and the intersection is smaller than the first preset distance value, determining the current position as a starting point;
if the distance between the current position of the target vehicle and the intersection point is larger than the first preset distance value, determining a circular section by taking the intersection point as a circle center and the first preset distance value as a radius;
determining a target feature reference point intersecting the circular interval from the feature reference points;
if the distance between the current position of the target vehicle and the target feature reference point is smaller than a second preset distance value, determining the target feature reference point as a starting point;
and if the distance between the current position of the target vehicle and the target feature reference point is larger than the second preset distance value, determining the target feature reference point as an ending point.
6. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 4.
7. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 4.
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