CN116164767A - Topology structure-based local route generation method, device, equipment and medium - Google Patents
Topology structure-based local route generation method, device, equipment and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- 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
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a local route generation method, a device, equipment and a medium based on a topological structure, which are used for generating a needed local route based on high-precision map data and global route information, intercepting the needed local route according to the real-time position of a vehicle, generating all routes once when generating global route planning, and cutting the routes subsequently, thereby reducing the occupation of resources in the software operation process, having simple and effective algorithm, industrial-grade calculation efficiency, reducing the operation load, ensuring the continuity of the routes and providing richer information.
Description
Technical Field
The invention belongs to the technical field of intelligent driving, and particularly relates to a local route generation method, device, equipment and medium based on a topological structure.
Background
With the increasing pursuit of driving safety and traffic efficiency, advanced Driving Assistance Systems (ADASs) are becoming an industrial and academic point. The high-precision map data provides light and powerful data support for ADAS function development, and the high-precision map can provide information such as global path information (routing), lane information, lane topological relation and the like.
The local route of the existing part is generated, the local route is generated according to the lane of real-time positioning and routing, the local route which is currently suitable for intelligent driving is mostly a single local route, the route is generated according to global route planning, and the situation that the global route planning of autonomous lane changing and long-time lane departure level cannot be supported is avoided, so that the intelligent driving vehicle must travel according to the global route; in the scene of the intersection, the topological relation between the left neighbor and the right neighbor of the lane is absent in the map data, so that the generated local route is interrupted; in addition, the current local route suitable for intelligent driving lacks the scene of importing and exporting a high-precision map, and cannot support the requirements of other scenes such as decision making and the like.
Disclosure of Invention
In view of the above problems, a main object of the present invention is to design a topology-based local route generation method, apparatus, device and medium, which mainly generates a required local route based on high-precision map data and global route information, and intercepts the required local route according to the real-time position of a vehicle, thereby solving the problems of local route interruption in an intersection scene and failure in providing information of import and export in a high-precision map.
The invention adopts the following technical scheme for realizing the purposes:
a local route generation method based on a map topology, the method comprising:
step 1: reading global path planning information according to a central processing unit of the intelligent network-connected automobile;
step 2: judging whether the global path planning information is updated or not;
step 3: if the global path planning information is updated, generating all routes according to the updated information;
step 4: if the global path planning information is not updated, generating all local routes according to all routes;
step 5: and selecting the local route of the position of the vehicle according to all the generated local routes and the real-time position of the vehicle.
As a further description of the present invention, in step 3, according to the update of the global path planning information, the generating step of all routes includes:
step 3.1: reassigning all lane IDs of the global path planning information, and storing the length s from the starting point to each level;
the strategy of lane ID assignment is lane id_level, lane_id is a high-precision map lane ID, and level is a relation between adjacent lane IDs of a hierarchy corresponding to a set of corresponding global path planning information;
in the generating step of all routes, the following steps are executed to generate all routes:
step 3.2: traversing all lanes of the global path planning information, searching two left adjacent lanes and two right adjacent lanes of the current lane as expansion lanes according to the traversed lanes as the current lanes, and storing the route IDs of the current expansion lanes;
step 3.3: searching a subsequent lane of the current lane according to the global path planning information, searching two left adjacent lanes and two right adjacent lanes of the subsequent lane as all adjacent lanes, and generating a specific route according to the subsequent lane attribute of the global path planning information;
step 3.4: aiming at the expansion lanes which are not correspondingly connected in the step 3.2 of all adjacent lanes in the step 3.3, generating a new route, wherein the ID of the route is the maximum ID+1 of the existing route;
step 3.5: and (3) updating the current route according to the specific route obtained in the step 3.3 and the step 3.4.
As a further description of the present invention, in step 3.3, generating a specific route according to the following lane attributes of the global path planning information includes the following ways:
step 3.3.1: the subsequent lanes of the current global path planning information are lane changes, expansion lanes are searched in all adjacent lanes according to the tail lanes of the current route, the expansion lanes according to the lanes are added into the corresponding route, and the adjacent lanes which are not added into the specific route are generated into a new route;
step 3.3.2: the subsequent lanes of the current global path planning information have no adjacent lanes, a lane of a higher level in the global path planning information is searched, and two left adjacent lanes and two right adjacent lanes are searched until the adjacent lanes are not empty;
if the subsequent lanes of the current global path planning information have no left-right adjacent relation, searching the corresponding final lane of the current route and the corresponding expansion lane of the adjacent lane of the subsequent lane of the current global path planning information according to the final lane of the current route and the previous and subsequent expansion lanes of the final lane;
step 3.3.3: and traversing the route of the current expanding lane if the subsequent lanes of the current global path planning information are not lane-changing and have adjacent lanes, searching the subsequent lanes of the terminal lanes of each route, judging the number of the subsequent lanes, and determining the route of the current lane according to the number of the subsequent lanes.
As a further description of the present invention, in step 3.3.3, the route of the current lane is determined according to the number of subsequent lanes of the end lane of each route in such a way that:
judging whether the subsequent lanes exist in all adjacent lanes or not if the number of the subsequent lanes is 1, and adding the subsequent lanes into the corresponding routes if the subsequent lanes exist;
the number of the subsequent lanes is multiple, all the subsequent lanes are traversed, if the multiple subsequent lanes exist in the adjacent lanes, one of the subsequent lanes is added to the corresponding route, and the rest of the adjacent lanes generate a new route.
As a further description of the present invention, in step 3.5, the way to update the current route includes:
step 3.5.1: if the current route comprises the repeated lanes, the route has an import relationship, and the repeated lanes are imported by keeping the import length as a set threshold value to obtain the current route;
step 3.5.2: if the afflux length is larger than the set threshold value, screening the route of the afflux relation, and continuing to expand the route forwards by screening the route with the minimum cost value so as to generate a specific route;
and (5) screening the route with a larger cost value, and maintaining the route afflux length as a set threshold value to afflux the repeated lanes, so as to obtain the current route.
As a further description of the present invention, in step 4, all local routes are generated according to all routes, including the following steps:
step 4.1: generating a first frame route;
according to the positioning information of the current vehicle, matching the lane with the nearest global path planning information, obtaining the level where the current vehicle is located and the corresponding s, intercepting the length information of the route according to the forward and backward lengths of the current vehicle, generating a local route, and storing the start s and the end s of the current local route;
step 4.2: generating a subsequent frame route;
determining the starting position of the current frame according to the starting position of the previous frame, intercepting the length information of the route according to the starting position of the current frame and the forward and backward lengths of the position, generating a local route, and storing the starting s and the ending s of the current local route;
step 4.3: according to step 4.2, until all local routes are generated.
As a further description of the present invention, in step 5, according to all the local routes generated in step 4, in combination with the real-time position of the vehicle, a local route of the vehicle is selected, including the steps of:
step 5.1: according to the real-time position of the vehicle, matching the lane with the nearest global path planning information, calculating s where the current vehicle is located, and searching the local route where the current s is located.
The device comprises an acquisition module, a generation module and a planning module;
the acquisition module acquires global path planning information so as to enable the subsequent generation module to generate a subsequent local route;
the generation module judges whether the global path planning information is updated or not, and generates a local route according to route information of all lanes in the global path planning information;
the planning module is used for selecting the local route of the position of the vehicle by combining the current position of the vehicle with the information of the local route so as to meet the requirement of the local route.
An electronic device includes a memory, a processor, and a program stored on the memory and executable on the processor, wherein the processor implements the map topology-based local route generation method described above when executing the program.
A computer-readable storage medium storing a program which, when executed by a processor, implements the map topology-based local route generation method described above.
Compared with the prior art, the invention has the technical effects that:
the invention provides a local route generation method, a device, equipment and a medium based on a topological structure, which are used for generating all routes once and cutting the routes subsequently when global route planning is generated, so that the occupation of resources in the software operation process is reduced, the algorithm is simple and effective, the industrial-level calculation efficiency is realized, the calculation load is reduced, the continuity of the routes is ensured, and more abundant information is provided.
Drawings
FIG. 1 is a schematic overall flow chart of the generating method of the present invention;
FIG. 2 is a schematic view of a routing lane and level according to the present invention;
FIG. 3 is a schematic view of a pruning path according to the present invention;
FIG. 4 is a schematic diagram illustrating the generation of a summary route in the present invention;
FIG. 5 is a schematic diagram illustrating the generation of an afflux route according to the present invention;
FIG. 6 is a schematic diagram of all route generation in the present invention;
FIG. 7 is a schematic diagram of a partial route generation in accordance with the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
in one embodiment of the present invention, a local route generation method based on a map topology is disclosed, and referring to fig. 1, the method includes:
step 1: reading global path planning information according to a central processing unit of the intelligent network-connected automobile;
step 2: judging whether the global path planning information is updated or not;
step 3: if the global path planning information is updated, generating all routes according to the updated information;
step 4: if the global path planning information is not updated, generating all local routes according to all routes;
step 5: and selecting the local route of the position of the vehicle according to all the generated local routes and the real-time position of the vehicle.
Specifically, referring to fig. 1 to 7, the specific analysis is performed for the above disclosed local route generation step according to this embodiment, where the content is as follows:
1. in step 1, the lane-level navigation information is obtained according to the global path planning information read by the central processing unit of the intelligent network-connected automobile.
2. In the step 2, judging whether the global path planning information is updated, if so, executing the step 3, and if not, executing the step 4;
in this embodiment, whether the global path planning information is updated or not is specifically determined in the following manner:
storing the previous global path planning lane ID set, and if the current global path planning lane ID set is different from the previous global path planning lane ID set, considering that the global path is updated; and if the current global path planning lane ID set is the same as the last global path planning lane ID set, the global path is considered to be not updated.
3. In step 3, according to the update of the global path planning information (routing), the generating steps of all routes include the following steps:
step 3.1: traversing all lanes of routing, reassigning all lane IDs, and storing the length s from the starting point to each level;
the strategy of lane ID assignment is lane id_level, lane_id is a high-precision map lane ID, level is a level corresponding to a corresponding set of global path planning information, and adjacent lane IDs have a successor relationship and a successor relationship; if a lane change occurs in routing, the level is not changed and all lengths s from the start point to the current level are saved.
As in fig. 2, the lane ID is assigned again a_0, b_1, c_2, d_2, e_3, f_4, g_4, h_5, i_6. The lengths of each layer are respectively 0, 100, 200, 300, 400, 500, 600 and 700, and the symbol S is used level To represent, for example: s is S 0 ＝0，S 1 ＝100，S 2 ＝200…。
In the generating step of all routes, the following steps are performed to generate all routes:
step 3.2: traversing all lanes of the global path planning information, searching two left adjacent lanes and two right adjacent lanes of the current lane as expansion lanes according to the traversed lanes as current lanes, wherein at most five routes can be shared, the adjacent lanes can be absent, the IDs are respectively named as 0,1,2,3 and 4, and the route IDs of the current expansion lanes are stored;
in this embodiment, if only the current lane of the global planned route is provided, only one route is provided, and in order to meet the requirements of multiple routes in the vehicle driving process, an expansion lane is additionally provided, and the expansion lane can generate multiple routes.
Step 3.3: searching a subsequent lane of a current lane in routing according to the global path planning information, and searching two left adjacent lanes and two right adjacent lanes of the subsequent lane, namely all adjacent lanes according to the subsequent lane of the global path planning information. According to the embodiment, a specific route is generated according to the following lane attribute of the global path planning information, and the method specifically comprises the following operation steps:
step 3.3.1: the subsequent lanes of the current global path planning information are lane changes, expansion lanes are searched in all adjacent lanes according to the tail lanes of the current route, the expansion lanes according to the lanes are added into the corresponding route, and the adjacent lanes which are not added into the specific route are generated into a new route; the ID of the route is the maximum ID+ 1 of the existing route, for example, in FIG. 2, lane c and lane d are lane-changing relationships, and lanes f and g are lane-changing relationships.
Step 3.3.2: the subsequent lanes of the current global path planning information have no adjacent lanes, a higher-level lane in the global path planning information is searched, and two left adjacent lanes and two right adjacent lanes are searched until the adjacent lanes are not empty.
It should be noted that, in the high-precision map data, the following lanes may not have a left-right adjacent relationship, but have a preceding-following adjacent relationship; if the subsequent lanes of the current global path planning information have no left-right adjacent relation, searching the expansion lanes of the final lane of the current route and the adjacent lanes of the subsequent lanes of the current global path planning information by adopting a depth-first searching algorithm according to the final lane of the current route and the previous and subsequent expansion lanes of the final lane.
Specifically, in this embodiment, since multiple lanes may exist in the subsequent lanes of one lane, pruning operation needs to be performed on the search algorithm result, and the operation steps are as follows:
(1) Performing tag assignment on adjacent lanes, if the adjacent lanes are routing, the tag is 0, the left lane of routing is 1, the left lane of routing is 2, the tag of the right lane of routing is-1, and the right lane of routing is-2;
(2) According to the depth-first search algorithm, if the routes have a connection relationship, the connection is performed with the same tag value as the first priority, and after the connection, the lanes are no longer connected with other lanes, so that the routes are guaranteed to have a parallel relationship.
As shown in fig. 3, lanes e, f, g are routing lanes, then:
e, tag:0, left neighbor: a, tag 1, right neighbor: h, tag: -1;
f, tag:0, no left and right adjacent lanes;
g, tag:0, left neighbor: c, tag:1, right neighbor: j, tag: -1;
a following lanes b, d;
b a subsequent lane c;
d a subsequent lane g;
h succeeding lanes k, i;
k a subsequent lane g;
i subsequent lanes j;
the lane b, d, k, i cannot be found by searching the left adjacent lane and the right adjacent lane through f, the subsequent lanes of a and h need to be found, the route abc, adg, efg, hkg, hij can be found by depth-first searching, and the route abc, efg, hij is finally reserved by clipping according to the tag of the route lane.
Step 3.3.3: and traversing the route of the current expanding lane if the subsequent lanes of the current global path planning information are not lane-changing and have adjacent lanes, searching the subsequent lanes of the terminal lanes of each route, judging the number of the subsequent lanes, and determining the route of the current lane according to the number of the subsequent lanes.
Further, in step 3.3.3 of the present embodiment, the manner of determining the route of the current lane according to the number of the subsequent lanes of the end lanes of each route is:
(1) Judging whether the subsequent lanes exist in all adjacent lanes or not if the number of the subsequent lanes is 1, and adding the subsequent lanes into corresponding routes if the subsequent lanes exist;
if the current lane is far from the routing route distance and direction, the direction threshold is set to pi/6.0 (parameter modifiable), the distance threshold is set to 200 meters (parameter modifiable), and this lane is no longer added to the corresponding route.
(2) Traversing all the subsequent lanes, adding one of the subsequent lanes into a corresponding route if the subsequent lanes exist in the adjacent lanes, and generating a new route by the remaining adjacent lanes;
the generated new route needs to store the route 200 meters behind (parameters can be modified), the ID of the route is the maximum id+1 of the existing route, and the relationship with the route is the remittance. As shown in fig. 4, where b and c, d and e are the same lane, route 0 and route 1 have a junction at this time, route 0 and route 1 are kept to have a length of 200 meters overlapping.
Step 3.4: and (3) generating a new route aiming at the expansion lanes which are not correspondingly connected in the step 3.2 of all the adjacent lanes in the step 3.3, wherein the ID of the route is the maximum ID+ 1 of the existing route.
Step 3.5: and (3) according to the specific route obtained in the step 3.3 and the step 3.4, updating the current route by the specific body, wherein the method for updating the current route comprises the following steps:
step 3.5.1: if the current route comprises the repeated lanes, the route has an import relationship, and the repeated lanes are imported by keeping the import length as a set threshold value to obtain the current route;
in this embodiment, the sink length is kept at 200 meters (parameters can be modified).
Step 3.5.2: if the afflux length is more than 200 meters, screening the route of the afflux relation, and continuing to expand the route forwards by screening the route with the minimum cost value, so as to generate a specific route;
and (5) screening the route with a larger cost value, not expanding forward, maintaining the merging length of the route to be 200 meters, and merging the repeated lanes to obtain the current route.
In this embodiment, the cost value is calculated as follows:
wherein n is the number of lanes of the route; w (w) 1 Is a routing lane length weight, w 2 Is a route length weight; in this embodiment, according to the empirical value, w 1 1.0 (parameters can be modified), w 2 100 (parameters modifiable);
a 2 length, length is the length of the route.
In this embodiment, as shown in fig. 5, there is an import relationship between route 0 and route 1, the length of the import is kept to be 200 meters (parameters can be modified), then route 0 and route 1 are calculated according to the cost of route respectively, if the cost value of route 1 is smaller, the extension expansion is continued, and route 0 is not expanded.
And repeatedly executing the steps 3.3, 3.4 and 3.5 until all lanes of the routing are traversed, and generating all routes as shown in fig. 6.
4. In step 4, all local routes are generated according to all routes, including the following steps:
step 4.1: generating a first frame route;
according to the positioning information of the current vehicle, matching the nearest lane of the global path planning information, obtaining the level (level) where the current vehicle is located and the corresponding s, setting the forward length to be 400 meters (parameters can be modified) and the backward length to be 150 meters (parameters can be configured), intercepting the length information of the route according to the forward and backward lengths of the current vehicle, generating a local route, and storing the start s and the stop s of the current local route.
Step 4.2: generating a subsequent frame route;
according to the starting position of the previous frame, the starting position of the current frame is the starting position of the previous frame plus 200 meters, the forward direction length is set to 400 meters (parameters can be modified) and the backward direction length is set to 150 meters (parameters can be configured), according to the starting position of the current frame and the forward and backward lengths of the position, the length information of the route is intercepted, a local route is generated, and the starting of the current local route is stored
And terminate->
Wherein m represents the number of frames;
step 4.3: step 4.2 is repeated until all local routes are generated, as shown in fig. 7.
5. In step 5, selecting a local route of the position of the vehicle according to all the local routes generated in step 4 and combining the real-time position of the vehicle, including the following steps:
step 5.1: according to the real-time position of the vehicle, matching the lane with the nearest global path planning information, calculating s where the current vehicle is located, and searching the local route where the current s is located;
the specific calculation mode is as follows:
according to the positioning information of the current vehicle, searching all lanes within a range of 50 meters nearby based on the positioning information, removing lanes with angle difference larger than 100 degrees and non-global planning lanes according to the running direction of the vehicle and the direction of a map lane, then calculating the minimum transverse distance value in the remaining global planning lanes according to positioning projection to serve as a matched lane, and obtaining P of a projection point s And P l Value, where P s P is the distance from the projection point to the lane start point l Is the transverse distance value between the positioning point and the projection point.
Judging the lane where the current positioning is located according to the projected lane, and further obtaining the level where the current positioning is located, wherein the global S value of the vehicle is the global S corresponding to the level level Value and projection point P s Sum of values, i.e. s=s level +P s . Based on the S value at this time and the start of the local route
And terminate->
The value, judge the local route to meet the condition as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
indicating the start position of the partial route of the mth frame, < >>
Representing an end position of the mth frame partial route; for example: />
e -6 Representing very smallA value which is an empirical value in order to ensure that the value of S is at
And->
Within the range.
The embodiment creatively provides a local route generation method based on a map topological structure, which generates routes of a plurality of parallel lanes, provides more abundant information for intelligent driving lane changing and decision, and provides greater freedom for lane changing and decision; the method makes up for the interruption of the route caused by the lack of adjacent topological relation of map data in the crossing scene, ensures the continuity of the local route, provides information of import and export in the local route, and enriches the scene information of the route; when the global path planning is generated, all routes are generated at one time, and the subsequent route cutting is performed, so that the occupation of resources in the software operation process is reduced, the algorithm is simple and effective, the industrial-level calculation efficiency is realized, and the calculation load is reduced.
In another embodiment of the invention, a local route generating device based on a map topological structure is disclosed, and the device comprises an acquisition module, a generating module and a planning module;
the acquisition module acquires global path planning information so as to enable the subsequent generation module to generate a subsequent local route; the generation module is used for judging whether the global path planning information is updated or not and generating a local route according to the route information of all lanes in the global path planning information; and the planning module is used for selecting the local route of the position of the vehicle by combining the current position of the vehicle with the information of the local route so as to meet the requirement of the local route.
In another embodiment of the present invention, an electronic device is disclosed that includes a memory, a processor, and a program stored on the memory and executable on the processor, the processor implementing the map topology-based local route generation method described above when executing the program.
In another embodiment of the present invention, a computer-readable storage medium storing a program which, when executed by a processor, implements the map topology-based local route generation method described above is disclosed.
The above embodiments are only for illustrating the technical solution of the present invention, but not for limiting, and other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. The local route generation method based on the map topological structure is characterized by comprising the following steps of:
step 1: reading global path planning information according to a central processing unit of the intelligent network-connected automobile;
step 2: judging whether the global path planning information is updated or not;
step 3: if the global path planning information is updated, generating all routes according to the updated information;
step 4: if the global path planning information is not updated, generating all local routes according to all routes;
step 5: and selecting the local route of the position of the vehicle according to all the generated local routes and the real-time position of the vehicle.
2. The map topology-based local route generation method of claim 1, wherein: in step 3, according to the update of the global path planning information, the generating step of all routes includes:
step 3.1: reassigning all lane IDs of the global path planning information, and storing the length s from the starting point to each level;
the strategy of lane ID assignment is lane id_level, lane_id is a high-precision map lane ID, level is a level corresponding to a set of corresponding global path planning information, and adjacent lane IDs have a relationship between successor and successor;
in the generating step of all routes, the following steps are executed to generate all routes:
step 3.2: traversing all lanes of the global path planning information, searching two left adjacent lanes and two right adjacent lanes of the current lane as expansion lanes according to the traversed lanes as the current lanes, and storing the route IDs of the current expansion lanes;
step 3.3: searching a subsequent lane of the current lane according to the global path planning information, searching two left adjacent lanes and two right adjacent lanes of the subsequent lane as all adjacent lanes, and generating a specific route according to the subsequent lane attribute of the global path planning information;
step 3.4: aiming at the expansion lanes which are not correspondingly connected in the step 3.2 of all adjacent lanes in the step 3.3, generating a new route, wherein the ID of the route is the maximum ID+1 of the existing route;
step 3.5: and (3) updating the current route according to the specific route obtained in the step 3.3 and the step 3.4.
3. The map topology-based local route generation method of claim 2, wherein: in step 3.3, generating a specific route according to the following lane attribute of the global path planning information includes the following modes:
step 3.3.1: the subsequent lanes of the current global path planning information are lane changes, expansion lanes are searched in all adjacent lanes according to the tail lanes of the current route, the expansion lanes according to the lanes are added into the corresponding route, and the adjacent lanes which are not added into the specific route are generated into a new route;
step 3.3.2: the subsequent lanes of the current global path planning information have no adjacent lanes, a lane of a higher level in the global path planning information is searched, and two left adjacent lanes and two right adjacent lanes are searched until the adjacent lanes are not empty;
if the subsequent lanes of the current global path planning information have no left-right adjacent relation, searching the corresponding final lane of the current route and the corresponding expansion lane of the adjacent lane of the subsequent lane of the current global path planning information according to the final lane of the current route and the previous and subsequent expansion lanes of the final lane;
step 3.3.3: and traversing the route of the current expanding lane if the subsequent lanes of the current global path planning information are not lane-changing and have adjacent lanes, searching the subsequent lanes of the terminal lanes of each route, judging the number of the subsequent lanes, and determining the route of the current lane according to the number of the subsequent lanes.
4. A local route generation method based on map topology according to claim 3, characterized in that: in step 3.3.3, the way of determining the route of the current lane according to the number of subsequent lanes of the end lane of each route is:
judging whether the subsequent lanes exist in all adjacent lanes or not if the number of the subsequent lanes is 1, and adding the subsequent lanes into the corresponding routes if the subsequent lanes exist;
the number of the subsequent lanes is multiple, all the subsequent lanes are traversed, if the multiple subsequent lanes exist in the adjacent lanes, one of the subsequent lanes is added to the corresponding route, and the rest of the adjacent lanes generate a new route.
5. The map topology-based local route generation method of claim 2, wherein: in step 3.5, the method for updating the current route includes:
step 3.5.1: if the current route comprises the repeated lanes, the route has an import relationship, and the repeated lanes are imported by keeping the import length as a set threshold value to obtain the current route;
step 3.5.2: if the afflux length is larger than the set threshold value, screening the route of the afflux relation, and continuing to expand the route forwards by screening the route with the minimum cost value so as to generate a specific route;
and (5) screening the route with a larger cost value, not expanding forward, maintaining the route afflux length as a set threshold value, and afflux the repeated lanes to obtain the current route.
6. The map topology-based local route generation method of claim 1, wherein: in step 4, all local routes are generated according to all routes, including the following steps:
step 4.1: generating a first frame route;
according to the positioning information of the current vehicle, matching the lane with the nearest global path planning information, obtaining the level where the current vehicle is located and the corresponding s, intercepting the length information of the route according to the forward and backward lengths of the current vehicle, generating a local route, and storing the start s and the end s of the current local route;
step 4.2: generating a subsequent frame route;
determining the starting position of the current frame according to the starting position of the previous frame, intercepting the length information of the route according to the starting position of the current frame and the forward and backward lengths of the position, generating a local route, and storing the starting s and the ending s of the current local route;
step 4.3: according to step 4.2, until all local routes are generated.
7. The map topology-based local route generation method of claim 1, wherein: in step 5, selecting a local route of the position of the vehicle according to all the local routes generated in step 4 and combining the real-time position of the vehicle, including the following steps:
step 5.1: according to the real-time position of the vehicle, matching the lane with the nearest global path planning information, calculating s where the current vehicle is located, and searching the local route where the current s is located.
8. The local route generating device based on the map topological structure is characterized by comprising an acquisition module, a generating module and a planning module;
the acquisition module acquires global path planning information so as to enable the subsequent generation module to generate a subsequent local route;
the generation module judges whether the global path planning information is updated or not, and generates a local route according to route information of all lanes in the global path planning information;
the planning module is used for selecting the local route of the position of the vehicle by combining the current position of the vehicle with the information of the local route so as to meet the requirement of the local route.
9. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-7 when the program is executed by the processor.
10. A computer readable storage medium storing a program which, when executed by a processor, implements the method of any one of claims 1-7.
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