CN116215584B - Variable road diameter planning method, device, equipment and storage medium - Google Patents
Variable road diameter planning method, device, equipment and storage medium Download PDFInfo
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- CN116215584B CN116215584B CN202310511880.8A CN202310511880A CN116215584B CN 116215584 B CN116215584 B CN 116215584B CN 202310511880 A CN202310511880 A CN 202310511880A CN 116215584 B CN116215584 B CN 116215584B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
Abstract
The application relates to a method, a device, equipment and a storage medium for planning a variable road diameter. The method comprises the following steps: if the secondary calculation fails, acquiring a plurality of searching nodes searched by the secondary calculation on the variable road section, and screening nodes to be screened from the plurality of searching nodes according to a searching rule; judging whether the node to be screened meets a first preset condition or not, and taking the node to be screened meeting the first preset condition as a lane node to be planned; determining a target node; if the lane node to be planned is limited by the length of the road segment and cannot be changed to the target lane in practice, a target father node of the lane node to be planned is found from a plurality of search nodes; marking a target father node and a target node, and planning a lane change path among the starting point, the target father node and the target node. According to the scheme provided by the application, the distance long enough can be planned to realize multiple lane changing from the starting point to the target lane, so that the automatic driving vehicle can stably change lanes.
Description
Technical Field
The present disclosure relates to the field of autopilot technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a variable road path.
Background
In the automatic driving variable road path planning, a navigation path based on a road level is generally obtained through a first calculation according to a starting point and a destination point, and then a navigation path of a lane level is obtained through a second calculation. However, the high-precision map is generally broken under the conditions of intersection, lane change and the like, and the connection relationship between different lanes is insufficient, so that the situation of navigation path planning failure can occur in the secondary calculation.
In the related art, the problem of insufficient connection relationship between different lanes is generally solved through local planning, but local planning can only carry out lane change planning between different lanes of the same road section, and when a starting point needs to change lanes for multiple times to reach a target lane, the length of each road section is insufficient to realize multiple times of lane change, so that an automatic driving vehicle cannot stably change lanes.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method, a device, equipment and a storage medium for planning a variable road diameter, which can plan a long enough distance to realize multiple lane changes from a starting point to a target lane, so that an automatic driving vehicle can stably change lanes.
The first aspect of the present application provides a method for planning a variable road diameter, including:
if the secondary calculation is failed, acquiring a plurality of searching nodes searched by the secondary calculation on the variable road section, and screening nodes to be screened from the plurality of searching nodes according to a searching rule;
judging whether the node to be screened meets a first preset condition or not, and taking the node to be screened meeting the first preset condition as a node of a lane to be planned, wherein the first preset condition is that the node to be screened can virtually change the lane to a target lane in a road section to which the node to be screened belongs;
determining a target node, wherein the target node is a lane node which is positioned in a road section where the lane node to be planned is positioned and is communicated with the target lane;
if the lane node to be planned is limited by the road segment length and cannot change the lane to the target lane in practice, finding a target father node of the lane node to be planned from the plurality of search nodes, wherein the sum of the road segment lengths between the target father node and the lane node to be planned meets a preset lane change planning condition;
marking the target father node and the target node, and planning a lane change path among the starting point, the target father node and the target node.
As an optional embodiment, the finding the target parent node of the lane node to be planned from the plurality of search nodes includes:
finding out a father node of the lane node to be planned from the plurality of search nodes;
judging whether the father node meets a second preset condition or not;
if the father node meets the second preset condition, the father node is used as a father node to be selected, and whether the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition is judged;
if the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets a preset lane change planning condition, the father node to be selected is used as the target father node;
otherwise, continuing to find the father node of the father node to be selected, and turning to a step of judging whether the father node meets a second preset condition.
As an optional embodiment, the second preset condition is that the father node can virtually change the lane to the target lane in the road section to which the father node belongs, and other lane nodes in the road section to which the father node belongs are communicated with other lane nodes in the road section to which the lane node to be planned belongs.
As an optional embodiment, a parent node of the lane node to be planned is found from the plurality of search nodes according to the search order of the plurality of search nodes.
As an alternative embodiment, further comprising:
if a plurality of father nodes to be selected exist between the lane node to be planned and the target father node, a secondary target father node, the sum of the road segment lengths of which and the target father node meets the preset lane change planning condition, is screened out from the plurality of father nodes to be selected;
determining a secondary target node which is a lane node positioned in a road section where a secondary target father node is positioned and communicated with the target lane;
marking the target father node and the secondary target node, and planning a lane change path among the starting point, the target father node and the secondary target node.
As an optional embodiment, the preset lane change planning condition is: the sum of the road segment lengths between the target father node and the lane node to be planned is larger than or equal to the distance required to travel for executing lane changing, and the distance required to travel for executing lane changing is determined according to the number of lane changing times between the target father node and the target node and the allowable speed of the lane changing road section.
As an alternative embodiment:
the plurality of search nodes comprise a first vehicle road node where a starting point is located and a plurality of second vehicle road nodes which have a connection relation with the starting point on a variable road section;
the screening the node to be screened from the plurality of search nodes according to the search rule comprises the following steps:
and screening out the lane nodes to be screened, which are positioned on the same lane as the first lane node, from the plurality of second lane nodes.
A second aspect of the present application provides a variable road diameter planning apparatus, comprising:
the acquisition and screening module is used for acquiring a plurality of searching nodes searched by the secondary road on the road-changing road section if the secondary road calculation fails, and screening nodes to be screened from the plurality of searching nodes according to a searching rule;
the judging module is used for judging whether the node to be screened meets a first preset condition or not, and taking the node to be screened meeting the first preset condition as a node of a lane to be planned, wherein the first preset condition is that the node to be screened can virtually change the lane to a target lane in a road section to which the node to be screened belongs;
the determining module is used for determining a target node which is a lane node positioned in the road section where the lane node to be planned is positioned and communicated with the target lane;
The searching module is used for searching a target father node of the lane node to be planned from the plurality of searching nodes if the lane node to be planned is limited by the length of the road segment and cannot change the lane to the target lane in practice, and the sum of the length of the road segment between the target father node and the lane node to be planned meets the preset lane change planning condition;
and the path planning module is used for marking the target father node and the target node and planning a lane change path between the target father node and the target node.
A third aspect of the present application provides an electronic device, comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme that this application provided can include following beneficial effect: according to the method and the device, when the secondary calculation fails, a plurality of searching nodes for searching the secondary calculation on the variable road section can be obtained; then, whether a node to be screened meeting a first preset condition selected from a plurality of search nodes is used as a lane node to be planned or not is determined, and a target node is determined; when the lane node to be planned is limited by the length of the road segment and cannot change the lane to the target lane in practice, a target father node of the lane node to be planned is found, so that the sum of the length of the road segment between the target father node and the lane node to be planned meets the preset lane changing planning condition; and finally marking the target father node and the target node, and planning a lane change path among the starting point, the target father node and the target node, so that when the length of the road section is insufficient, the road section with enough length can be planned to smoothly change lanes from the starting point to the target lane for many times, and meanwhile, the success rate of secondary calculation is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flow chart of a method for planning a variable road diameter according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a configuration of a variable road path plan according to an embodiment of the present application;
FIG. 3 is another schematic diagram of a path change plan according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a path-changing planning apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the automatic driving variable road path planning, a navigation path based on a road level is generally obtained through a first calculation according to a starting point and a destination point, and then a navigation path of a lane level is obtained through a second calculation. However, the high-precision map is generally broken under the conditions of intersection, lane change and the like, and the connection relationship between different lanes is insufficient, so that the situation of navigation path planning failure can occur in the secondary calculation.
In the related art, the problem of insufficient connection relationship between different lanes is generally solved through local planning, but local planning can only carry out lane change planning between different lanes of the same road section, and when a starting point needs to change lanes for multiple times to reach a target lane, the length of each road section is insufficient to realize multiple times of lane change, so that an automatic driving vehicle cannot stably change lanes. Taking a left turn as an example, referring to fig. 2, from the start point to the end point, it is necessary to first pass through the lane change from the start point to the target lane twice, and the local planning can only realize the lane change between the 2 lane segment, the 4 lane segment and the 5 lane segment in the road segment R2, and since the length of the road segment R2 is too short (about 30 m), it is impossible to realize the lane change from the 2 lane segment to the 5 lane segment twice.
In view of the above problems, the embodiments of the present application provide a method for planning a variable road diameter, which can plan a long enough distance to realize multiple lane changes from a starting point to a target lane, so that an automatic driving vehicle can smoothly change lanes.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a flow chart of a variable road diameter planning method according to an embodiment of the present application.
Referring to fig. 1, an embodiment of the present application provides a method for planning a variable road diameter, including the following steps:
s1: if the secondary calculation fails, a plurality of searching nodes searched by the secondary calculation on the variable road section are obtained, and the nodes to be screened are screened from the plurality of searching nodes according to the searching rule.
The secondary calculation path in the embodiment of the present application refers to a lane-level calculation path such as an a-star algorithm. The generation of the path track generally obtains the path track of the road level through a first path calculation, and then obtains the path track of the lane level through a second path calculation.
In the course of the calculation, each road is divided into several road segments in the direction of extension, each road segment comprising a plurality of lane segments. In one example, for a certain road segment, the server may learn, based on the high-precision map, the lane in which the vehicle is traveling to the road segment and the lane in which the vehicle is required to be located at the end point of traveling, and if the two lanes are different, may determine that the road segment is a road-changing road segment. For example, referring to fig. 2, the server knows that the vehicle enters the section a on the rightmost auxiliary road of the section a based on the high-definition map, and from the section a, the vehicle should be located on the leftmost left turning lane (i.e., the target lane) of the section a when entering the section B in a left turning, and the two lanes are not the same lane, so the server can determine the section a as a changed road section.
The secondary calculation road searches the associated lane segments from the starting point to the target lane in the lane-changing road section according to the searching rule, for example, tree-shaped searching is carried out according to the connection relation of the lanes. The embodiment of the application will result in a secondary road calculation with a 3-lane segment in the road segment R3, a 2-lane segment in the road segment R2, a 4-lane segment, and 1-and 8-lane segments in the road segment R1. This is because the starting point is located within the 3-lane segment within the road segment R3, so the 3-lane segment is searched first. Depending on the connection of the lanes, the 3-lane segment may go straight to the 2-lane segment in the road segment R2 and the variable lane to the 4-lane segment in the road segment R2, the 2-lane segment in the road segment R2 may go straight to the 1-lane segment in the road segment R1, and the 4-lane segment in the road segment R2 may go straight to the 8-lane segment in the road segment R1, so that these lane segments are searched.
As an alternative embodiment, the plurality of search nodes includes a first road node where the start point is located, and a plurality of second road nodes having a connection relationship with the start point on the varying road segment. Screening nodes to be screened from a plurality of search nodes according to a search rule, including:
And screening the lane nodes to be screened, which are positioned on the same lane as the first lane node, from the plurality of second lane nodes.
Referring to fig. 2, the first lane node of the present embodiment is a 3-lane segment, and the plurality of second lane nodes includes a 2-lane segment, a 4-lane segment within the road segment R2, and a 1-lane segment and an 8-lane segment within the road segment R1. The nodes to be screened may be search nodes located in the same lane as the start point, for example, a 1-lane segment and a 2-lane segment.
S2: judging whether the node to be screened meets a first preset condition, taking the node to be screened meeting the first preset condition as a node of a lane to be planned, wherein the first preset condition is that the node to be screened can virtually change the lane to a target lane in the road section to which the node to be screened belongs.
In this embodiment of the present invention, the first preset condition may be that a connection relationship exists between a node to be screened and other lane segments in a road segment to which the node to be screened belongs (that is, the node to be screened may change from the lane segment to which the node to be screened belongs to other lane segments on the same road segment), and a connection relationship also exists between other lane segments and a target lane (that is, the node to be screened may change from the other lane segments to the target lane), and the target lane may also be located in the road segment to which the node to be screened belongs, that is, the node to be screened may change from the node to be screened to the target lane on the same road segment. The connection relationships mentioned above refer to connection relationships on the map data, that is to say, the virtual lane change from the segment to be screened to the target lane is possible according to the map data, and the virtual lane change is not represented, and the virtual lane change from the segment to be screened to the target lane is also possible when driving on the real road.
Referring to fig. 2, the embodiment of the present application determines whether the node to be screened, for example, the 1-lane segment and the 2-lane segment, meets the first preset condition, and as can be seen from fig. 2, there is no connection relationship between the three lane segments of the road segment R1, and the lane segment R1 cannot be changed, so it is determined that the 1-lane segment does not meet the first preset condition. The road segment R2 may be changed in a connection relationship (indicated by "x" in the drawing) between the three lane segments, and thus it is determined that the 2-lane segment satisfies the first preset condition, and the 2-lane segment is taken as the lane node to be planned.
S3: and determining a target node, wherein the target node is a lane node which is positioned in a road section where the lane node to be planned is positioned and is communicated with the target lane.
When the screening node meets a first preset condition, the road section where the screening node is located can be subjected to lane changing planning, and the lane is changed to the target lane. Then it is necessary to determine a target node in the road segment where the screening node is located, where the connection relationship may refer to the target node being located on the target lane, and may refer to the target node being changeable to the target lane, for example, the number of lanes of the road segment where the screening node is located is not equal to the number of lanes of the next road segment, and the lanes are converged or split, and then it is necessary to converge or split the vehicle to the target node to reach the target lane.
Referring to fig. 2, when it is determined that the 2-lane segment satisfies the first preset condition, the 2-lane segment is taken as a lane node to be planned, and the target node is determined to be the 5-lane segment.
S4: if the lane node to be planned is limited by the road segment length and cannot change the lane to the target lane in practice, a target father node of the lane node to be planned is found from the plurality of search nodes, and the sum of the road segment lengths between the target father node and the lane node to be planned meets the preset lane change planning condition.
Referring to fig. 2, since the length of the road segment R2 is insufficient (about 30 m) to realize lane change twice, that is, lane change from the 2-lane segment to the 5-lane segment twice, the embodiment of the present application determines that the found parent node is the target parent node by finding the parent node of the lane node to be planned, for example, the 2-lane segment, until the sum of the road segment lengths between the lane node to be planned and the parent node satisfies the preset lane change planning condition. The preset lane change planning condition means that lane change planning can be performed in a road section between a lane node to be planned and a target father node, the length in the road section can realize lane change of preset times, and finally the lane is changed to the target lane.
In addition, the target parent node needs to be between the start point and the end point.
The preset lane change planning conditions in the embodiment of the application are as follows: the sum of the road segment lengths between the target father node and the lane node to be planned is larger than or equal to the distance required to run for executing lane changing, and the distance required to run for executing lane changing is determined according to the number of lane changing times of the lane changing number between the target father node and the target node and the allowable speed of the lane changing road section.
The method for determining the distance required to travel for executing the lane change according to the lane change times of the lane change number between the target father node and the target node and the allowable speed of the lane change road section comprises the following steps: determining the distance required to travel for single lane change on the lane change road section according to the allowable speed of the lane change road section; multiplying the distance required to travel for a single lane change on the lane change section by the number of lane change times between the target parent node and the target node, and taking the multiplied result as the distance required to travel for executing the lane change.
For example, in the case that the allowable speed of the road section of the lane change is 30km/h and the lane change is required once between the target father node and the target node, the distance required to run for executing the lane change is about 40m; in the case where the allowable vehicle speed of the lane-change section is 30km/h and the lane change is required twice between the target parent node and the target node, the distance required to travel to perform the lane change is approximately 50m. The target parent node in fig. 2 is a 3-lane segment, and the sum of the road segment lengths of the 2-lane segment and the 3-lane segment is approximately 50m, which is equal to the distance that the lane change needs to be performed, so that the lane change can be performed twice from the 3-lane segment to the 5-lane segment.
S5: marking a target father node and a target node, and planning a lane change path among the starting point, the target father node and the target node.
And planning a lane changing path among the starting point, the target father node and the target node according to the target father node and the target node determined by the steps, wherein the sum of the road segment lengths between the lane node to be planned and the target father node can enable the vehicle to change lanes from the target father node to the target node within the allowable speed.
According to the method and the device, when the secondary calculation fails, a plurality of searching nodes for searching the secondary calculation on the variable road section can be obtained; then, whether a node to be screened meeting a first preset condition selected from a plurality of search nodes is used as a lane node to be planned or not is determined, and a target node is determined; when the lane node to be planned is limited by the length of the road segment and cannot change the lane to the target lane in practice, a target father node of the lane node to be planned is found, so that the sum of the length of the road segment between the target father node and the lane node to be planned meets the preset lane changing planning condition; and finally marking the target father node and the target node, and planning a lane change path among the starting point, the target father node and the target node, so that when the length of the road section is insufficient, the road section with enough length can be planned to smoothly change lanes from the starting point to the target lane for many times, and meanwhile, the success rate of secondary calculation is improved.
As an optional embodiment, the step S4 of finding the target parent node of the lane node to be planned from the plurality of search nodes includes steps S40 to S44:
step S40: and finding a parent node of the lane node to be planned from the plurality of search nodes.
According to the method and the device for the lane node planning, the father node of the lane node to be planned can be found from the plurality of search nodes according to the search sequence of the plurality of search nodes.
The quadratic calculation of the embodiment of the application results in a 3-lane segment in the road segment R3, a 2-lane segment in the road segment R2, a 4-lane segment, and a 1-lane segment and an 8-lane segment in the road segment R1. For example, the lane node to be planned is a 2-lane segment within the road segment R2, the 2-lane segment is searched for from a 3-lane segment within the road segment R3, the 3-lane segment is searched for first, and then the 2-lane segment is searched for, so that the parent node of the 2-lane segment is known to be the 3-lane segment according to the searching order.
Step S41: and judging whether the father node meets a second preset condition.
The second preset condition in the embodiment of the present application may be that the parent node may virtually change the road in the road segment to which the parent node belongs to the target lane, and other lane nodes in the road segment where the parent node is located are communicated with other lane nodes in the road segment where the lane node to be planned is located.
In this embodiment of the present invention, the second preset condition may be that a connection relationship exists between the father node and other lane segments in the road segment to which the father node belongs (that is, the father node may change lanes from the lane segment to other lane segments on the same road segment), and a connection relationship also exists between the other lane segments and the target lane (that is, the father node may change lanes from the other lane segments to the target lane), and the target lane may also be located in the road segment to which the father node belongs, that is, the father node may change lanes to the target lane on the same road segment. The above-mentioned connection relations refer to connection relations on map data, that is, virtual lane change from a parent node to a target lane according to the map data, and do not represent lane change from the parent node to the target lane even when traveling on a real road.
Referring to fig. 2, there is a connection relationship (indicated by "x" in the figure) between three lane segments of the road segment R3, which can be changed, satisfying the condition that a parent node can virtually change lanes to a target lane within the road segment to which it belongs. Meanwhile, the 3-lane segment is communicated with the 2-lane segment, the 6-lane segment is communicated with the 4-lane segment, the 7-lane segment is connected with the 5-lane segment, and the condition that other lane nodes in the road segment where the father node is located are communicated with other lane nodes in the road segment where the lane node to be planned is located is met. Therefore, the 3-lane segment as a parent node satisfies the second preset condition.
Step S42: if the father node meets the second preset condition, the father node is used as the father node to be selected, and whether the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition is judged.
Referring to fig. 2, the 3-lane segment satisfies a second preset condition, and the 3-lane segment is taken as a parent node to be selected. And judging whether the sum of the road segment lengths of the 2-lane segment and the 3-lane segment meets the preset lane change planning condition. The preset lane change planning condition means that lane change planning can be performed in a road section between a 2-lane section and a 3-lane section, the length in the road section can realize multiple lane change, and finally the lane change is performed on a target lane.
Step S43: and if the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition, the father node to be selected is taken as the target father node.
If the sum of the road segment lengths of the 2-lane segment and the 3-lane segment meets the preset lane change planning condition, the 3-lane segment is taken as a target father node, a lane change path is planned among the starting point, the 3-lane segment and the target father node, and the sum of the road segment lengths between the lane node to be planned and the target father node can enable the vehicle to change the lane from the target father node to the target node within the allowable speed.
Step S44: otherwise, continuing to find the father node of the father node to be selected, and turning to the step of judging whether the father node meets the second preset condition.
If the sum of the road segment lengths of the 2-lane segment and the 3-lane segment does not meet the preset lane change planning condition, continuously searching for the father node of the 3-lane segment according to the searching sequence, and turning to step S41 to judge whether the father node of the 3-lane segment meets the second preset condition, and repeating steps S41 to S43 until the target father node is found.
As an alternative embodiment, referring to fig. 3, further comprising steps S45 to S47:
step S45: if a plurality of father nodes to be selected exist between the lane node to be planned and the target father node, a secondary target father node, the sum of the road segment lengths of which and the target father node meets the preset lane change planning condition, is selected from the plurality of father nodes to be selected.
If the 2-lane segment of the road segment R2 is used as the lane node to be planned, the 3-lane segment of the road segment R3, which is the parent node of the 2-lane segment, is found first in the process of finding the target parent node, and the 2-lane segment meets the second preset condition, but the sum of the road segment lengths of the 2-lane segment and the 3-lane segment does not meet the preset lane change planning condition, then the 9-lane segment, which is the parent node of the 3-lane segment, is required to be found, and the 9-lane segment is determined to meet the second preset condition, and the sum of the road segment lengths of the 2-lane segment and the 9-lane segment meets the preset lane change planning condition, and finally the 9-lane segment is used as the target parent node. Then there is a parent node to be selected, namely a 3-lane segment, between the 2-lane segment and the 9-lane segment, and if the sum of the road segment lengths of the 3-lane segment and the 9-lane segment meets the preset lane change planning condition, the 3-lane segment is used as the secondary target parent node.
Step S46: and determining a secondary target node, wherein the secondary target node is a lane node which is positioned in the road section where the secondary target father node is positioned and is communicated with the target lane.
When the secondary target father node meets a second preset condition, the road section where the secondary target father node is located can be subjected to lane changing planning, and the lane is changed to the target lane. Then it is necessary to determine the secondary target node, i.e. the 7-lane segment, having a connection relationship with the target lane within the road segment where the secondary target parent node is located, where the connection relationship may refer to the secondary target node being located on the target lane, or may refer to the secondary target node being changeable to the target lane, for example, the number of lanes of the road segment where the secondary target parent node is located is not equal to the number of lanes of the next road segment, and the lanes appear to converge or diverge, and then it is necessary to converge or diverge before the vehicle reaches the target lane when driving onto the target node.
Step S47: marking a target father node and a secondary target node, and planning a secondary lane change path among the starting point, the target father node and the secondary target node.
According to the target father node and the secondary target node determined by the steps, a secondary lane change path can be planned among the starting point, the target father node and the secondary target node, and the sum of the road segment lengths between the secondary target node and the target father node can enable the vehicle to change lanes from the target father node to the target node within the allowable speed. The secondary lane-change path may be lane-changed in advance as compared to planning a lane-change path between the starting point, the target parent node, and the target node.
Corresponding to the embodiment of the application function implementation method, the application further provides a road diameter changing planning device, electronic equipment and corresponding embodiments.
Referring to fig. 4, a variable road diameter planning apparatus according to an embodiment of the present application includes:
the obtaining and screening module 40 is configured to obtain a plurality of searching nodes searched by the secondary road on the variable road section if the secondary road fails, and screen the nodes to be screened from the plurality of searching nodes according to the searching rule. The plurality of search nodes comprise a first vehicle road node where the starting point is located and a plurality of second vehicle road nodes which have connection relation with the starting point on the variable road section. The obtaining and screening module 40 further includes a screening module for screening out the plurality of second lane nodes for a lane node to be screened that is located on the same lane as the first lane node.
The judging module 41 is configured to judge whether the node to be screened meets a first preset condition, and take the node to be screened that meets the first preset condition as a node of the lane to be planned, where the first preset condition is that the node to be screened can virtually change the lane to the target lane in the road segment to which the node to be screened belongs.
In this embodiment of the present invention, the first preset condition may be that a connection relationship exists between a node to be screened and other lane segments in a road segment to which the node to be screened belongs (that is, the node to be screened may change from the lane segment to which the node to be screened belongs to other lane segments on the same road segment), and a connection relationship also exists between other lane segments and a target lane (that is, the node to be screened may change from the other lane segments to the target lane), and the target lane may also be located in the road segment to which the node to be screened belongs, that is, the node to be screened may change from the node to be screened to the target lane on the same road segment. The connection relationships mentioned above refer to connection relationships on the map data, that is to say, the virtual lane change from the segment to be screened to the target lane is possible according to the map data, and the virtual lane change is not represented, and the virtual lane change from the segment to be screened to the target lane is also possible when driving on the real road.
The determining module 42 is configured to determine a target node, where the target node is a lane node located in a road segment where a lane node to be planned is located and is in communication with the target lane.
When the screening node meets a first preset condition, the road section where the screening node is located can be subjected to lane changing planning, and the lane is changed to the target lane. Then it is necessary to determine a target node in the road segment where the screening node is located, where the connection relationship may refer to the target node being located on the target lane, and may refer to the target node being changeable to the target lane, for example, the number of lanes of the road segment where the screening node is located is not equal to the number of lanes of the next road segment, and the lanes are converged or split, and then it is necessary to converge or split the vehicle to the target node to reach the target lane.
The searching module 43 is configured to find a target parent node of the lane node to be planned from the plurality of searching nodes if the lane node to be planned is limited by the road segment length and cannot actually change the lane to the target lane, and a sum of the road segment lengths between the target parent node and the lane node to be planned satisfies a preset lane change planning condition.
The path planning module 44 is configured to mark the target parent node and the target node, and plan a lane-changing path between the target parent node and the target node.
And planning a lane changing path among the starting point, the target father node and the target node according to the target father node and the target node determined by the steps, wherein the sum of the road segment lengths between the lane node to be planned and the target father node can enable the vehicle to run according to the preset speed and change the lane from the target father node for a preset number of times to reach the target node.
As an alternative embodiment, the search module 43 comprises:
and the acquisition module is used for finding the father node of the lane node to be planned from the plurality of search nodes.
The first judging module is used for judging whether the father node meets a second preset condition.
And the second judging module is used for taking the father node as the father node to be selected and judging whether the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition or not if the father node meets the second preset condition.
The target father node determining module is used for taking the father node to be selected as the target father node if the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition; otherwise, continuing to find the father node of the father node to be selected, and continuing to judge whether the father node meets the second preset condition through the first judging module.
As an alternative embodiment, the search module 43 further comprises:
and the secondary target father node screening module is used for screening secondary target father nodes, the sum of the road segment lengths of which and the target father nodes meets the preset lane change planning condition, from the plurality of the father nodes to be selected if a plurality of the father nodes to be selected exist between the lane node to be planned and the target father nodes.
And the secondary target node determining module is used for determining a secondary target node, wherein the secondary target node is a lane node which is positioned in the road section where the secondary target father node is positioned and is communicated with the target lane.
And the secondary variable path planning module is used for marking the target father node and the secondary target node and planning a secondary variable path among the starting point, the target father node and the secondary target node.
According to the method and the device, when the secondary calculation fails, a plurality of searching nodes for searching the secondary calculation on the variable road section can be obtained; then, whether a node to be screened meeting a first preset condition selected from a plurality of search nodes is used as a lane node to be planned or not is determined, and a target node is determined; when the lane node to be planned is limited by the length of the road segment and cannot change the lane to the target lane in practice, a target father node of the lane node to be planned is found, so that the sum of the length of the road segment between the target father node and the lane node to be planned meets the preset lane changing planning condition; and finally marking the target father node and the target node, and planning a lane change path among the starting point, the target father node and the target node, so that when the length of the road section is insufficient, the road section with enough length can be planned to smoothly change lanes from the starting point to the target lane for many times, and meanwhile, the success rate of secondary calculation is improved.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 5, an electronic device 500 includes a memory 510 and a processor 520.
The processor 520 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 510 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 520 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some embodiments, memory 510 may include a readable and/or writable removable storage device, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a blu-ray read only disc, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disk, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 510 has stored thereon executable code that, when processed by the processor 520, causes the processor 1020 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or a server, etc.), causes the processor to perform part or all of the steps of the above-described methods according to the present application.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. The method for planning the variable road diameter is characterized by comprising the following steps of:
if the secondary calculation is failed, acquiring a plurality of searching nodes searched by the secondary calculation on the variable road section, and screening nodes to be screened from the plurality of searching nodes according to a searching rule;
judging whether the node to be screened meets a first preset condition or not, and taking the node to be screened meeting the first preset condition as a node of a lane to be planned, wherein the first preset condition is that the node to be screened can virtually change the lane to a target lane in a road section to which the node to be screened belongs;
determining a target node, wherein the target node is a lane node which is positioned in a road section where the lane node to be planned is positioned and is communicated with the target lane;
if the lane node to be planned is limited by the road segment length and cannot change the lane to the target lane in practice, finding a target father node of the lane node to be planned from the plurality of search nodes, wherein the sum of the road segment lengths between the target father node and the lane node to be planned meets a preset lane change planning condition;
marking the target father node and the target node, and planning a lane change path among the starting point, the target father node and the target node;
The finding the target parent node of the lane node to be planned from the plurality of search nodes includes:
finding out a father node of the lane node to be planned from the plurality of search nodes;
judging whether the father node meets a second preset condition or not;
if the father node meets the second preset condition, the father node is used as a father node to be selected, and whether the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition is judged;
if the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets a preset lane change planning condition, the father node to be selected is used as the target father node;
otherwise, continuing to find the father node of the father node to be selected, and turning to a step of judging whether the father node meets a second preset condition.
2. The method according to claim 1, characterized in that the second preset condition is that the parent node is virtually lane-changeable to the target lane within the road segment to which it belongs, and that other lane nodes within the road segment in which the parent node is located are in communication with other lane nodes within the road segment in which the lane node to be planned is located.
3. The method of claim 1, wherein a parent node of the lane node to be planned is found from the plurality of search nodes according to a search order of the plurality of search nodes.
4. The method as recited in claim 1, further comprising:
if a plurality of father nodes to be selected exist between the lane node to be planned and the target father node, a secondary target father node, the sum of the road segment lengths of which and the target father node meets the preset lane change planning condition, is screened out from the plurality of father nodes to be selected;
determining a secondary target node which is a lane node positioned in a road section where a secondary target father node is positioned and communicated with the target lane;
marking the target father node and the secondary target node, and planning a lane change path among the starting point, the target father node and the secondary target node.
5. The method of claim 1, wherein the preset lane change planning condition is: the sum of the road segment lengths between the target father node and the lane node to be planned is larger than or equal to the distance required to travel for executing lane changing, and the distance required to travel for executing lane changing is determined according to the number of lane changing times between the target father node and the target node and the allowable speed of the lane changing road section.
6. The method according to claim 1, characterized in that:
the plurality of search nodes comprise a first vehicle road node where a starting point is located and a plurality of second vehicle road nodes which have a connection relation with the starting point on a variable road section;
the screening the node to be screened from the plurality of search nodes according to the search rule comprises the following steps:
and screening out the lane nodes to be screened, which are positioned on the same lane as the first lane node, from the plurality of second lane nodes.
7. A variable road diameter planning apparatus, comprising:
the acquisition and screening module is used for acquiring a plurality of searching nodes searched by the secondary road on the road-changing road section if the secondary road calculation fails, and screening nodes to be screened from the plurality of searching nodes according to a searching rule;
the judging module is used for judging whether the node to be screened meets a first preset condition or not, and taking the node to be screened meeting the first preset condition as a node of a lane to be planned, wherein the first preset condition is that the node to be screened can virtually change the lane to a target lane in a road section to which the node to be screened belongs;
the determining module is used for determining a target node which is a lane node positioned in the road section where the lane node to be planned is positioned and communicated with the target lane;
The searching module is used for searching a target father node of the lane node to be planned from the plurality of searching nodes if the lane node to be planned is limited by the length of the road segment and cannot change the lane to the target lane in practice, and the sum of the length of the road segment between the target father node and the lane node to be planned meets the preset lane change planning condition; the finding the target parent node of the lane node to be planned from the plurality of search nodes includes:
finding out a father node of the lane node to be planned from the plurality of search nodes;
judging whether the father node meets a second preset condition or not;
if the father node meets the second preset condition, the father node is used as a father node to be selected, and whether the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets the preset lane change planning condition is judged;
if the sum of the road segment lengths of the lane node to be planned and the father node to be selected meets a preset lane change planning condition, the father node to be selected is used as the target father node;
otherwise, continuing to find the father node of the father node to be selected, and turning to a step of judging whether the father node meets a second preset condition;
And the path planning module is used for marking the target father node and the target node and planning a lane change path between the target father node and the target node.
8. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-6.
9. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-6.
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