CN116576880B - Lane-level road planning method and device, terminal equipment and storage medium - Google Patents
Lane-level road planning method and device, terminal equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a lane-level road planning method, a lane-level road planning device, terminal equipment and a storage medium, wherein the lane-level road planning method comprises the following steps: acquiring an overall road path set; wherein the whole road path set comprises a plurality of road sub paths; creating a sequence for depositing path packets; grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold; when the lane-level road planning is carried out, path groups are sequentially obtained from the sequence, and the lane-level road planning is carried out according to the corresponding path groups; the need for calculation forces in lane-level planning can be reduced.
Description
Technical Field
The present invention relates to the field of high-precision map data application technologies, and in particular, to a lane-level road planning method, apparatus, terminal device, and storage medium.
Background
In the existing automatic driving and driving assistance field, the high-precision map plays a great role as a necessary sensor for advanced driving assistance, but because the data model of the high-precision map is complex and the data content is rich, great calculation force support is needed in long-distance path planning, and in the automatic driving process, the requirement on the map only needs to put a small section of detailed lane-level information in front of and behind a vehicle, so that the lane-level path planning depends on the input of road-level path planning;
in the current lane-level road-level-dependent planning process, a long-distance road-level path planning result is often mapped directly to a lane-level path planning, a global lane-level planning result is obtained, the demand for calculation force is still high, and a user needs to wait for a long time or needs to support calculation force at a cloud end when using the vehicle.
Disclosure of Invention
The embodiment of the invention provides a lane-level road planning method, a lane-level road planning device, terminal equipment and a storage medium, which can reduce the demand for calculation force in lane-level planning.
An embodiment of the present invention provides a lane-level road planning method, including:
acquiring an overall road path set; wherein the whole road path set comprises a plurality of road sub paths;
Creating a sequence for depositing path packets;
grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
and when the lane-level road planning is carried out, sequentially acquiring path groups from the sequence, and carrying out the lane-level road planning according to the corresponding path groups.
Further, the grouping each sub-path to obtain a plurality of path groups includes:
a single packet container creation step: creating an array for storing sub-paths;
a sub-path acquisition step: traversing the whole road path set, acquiring a current sub-path from the head of the whole road path set, removing the acquired sub-path from the whole road path set, and executing an empty set judging step;
empty set judging step: judging whether the current sub-path is an empty set or not; if yes, the grouping of the whole road path set is finished, and the subsequent steps are not executed any more; if not, putting the current sub-path into the tail part of the array, then calculating the length of the current sub-path, and executing an effective distance calculation step;
And calculating the effective distance: judging whether the identifier of the current sub-path is the identifier of the route starting point road; if yes, calculating the distance from the starting point of the route to the end point of the current sub-path as the effective distance of the current sub-path; if not, the length of the current sub-path is used as the effective distance of the current sub-path;
a route point judging step: judging whether the identifier of the current sub-path is the identifier of the route point road; if yes, executing a path starting point judging step; if not, executing a route end point judging step;
judging the path starting point: judging whether the current position is the starting point position of the current sub-path or not; if yes, calculating the distance from the route point in the current sub-path to the end point of the current sub-path, taking the distance as the effective distance of the current sub-path, and executing the end point judging step; if not, calculating the distance from the route point in the current sub-path to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is positioned to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step;
Judging route end point: judging whether the identifier of the current sub-path is the identifier of the route end point or not; if yes, calculating the distance from the end point of the current route to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step; if not, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, and executing a first distance judging step;
a first distance judging step: judging whether the total length of the current path packet is larger than a first threshold value or not; if yes, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; if not, executing the sub-path acquisition step.
Further, the identifier of the current sub-path is the identifier of the route end point, the effective distances of all sub-paths in the array where the current sub-path is located are accumulated to obtain the total length of the current path packet, the current path packet is ended, and the single packet container creation step is executed, including:
The identifier of the current sub-path is not the identifier of the route end point, the effective distances of all sub-paths in the array where the current sub-path is positioned are accumulated to obtain the total length of the current path group, the current path group is ended, and a second distance judging step is executed;
a second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
Further, the identifier of the current sub-path includes an identifier of a route point, the route point is not a starting point position of the current sub-path, the effective distances of all sub-paths in the array where the current sub-path is located are accumulated to obtain the total length of the current path packet, the current path packet is ended, and the single packet container creation step is executed, including:
The identifier of the current sub-path comprises an identifier of a route point, the route point is not the starting point position of the current sub-path, the effective distances of all sub-paths in an array where the current sub-path is positioned are accumulated to obtain the total length of a current path group, the current path group is ended, and a second distance judging step is executed;
a second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
Further, if the total length of the current path packet is greater than the first threshold, storing the current path packet to the tail of the sequence, and executing a single packet container creation step, including:
Judging whether the current sub-path contains an entrance crossing or not, wherein the total length of the current path group is larger than a first threshold value; if yes, executing a sub-path acquisition step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
Further, the current sub-path does not include an entrance intersection, the current path packet is stored at the tail of the sequence, and a single packet container creation step is performed, including:
judging whether the current sub-path comprises an intersection inner path or not, if so, executing a sub-path acquisition step; if not, storing the current sub-path into an array of the current path group, and putting the array into the tail of the sequence to execute a single packet container creation step.
Further, each sub-path contains information of the sub-path;
the information of the sub path includes: an identifier and a type of road.
On the basis of the method item embodiments, the invention correspondingly provides device item embodiments;
an embodiment of the present invention correspondingly provides a lane-level road planning apparatus, including: the system comprises a data acquisition module, a grouping module and a planning module;
the data acquisition module is used for acquiring an integral road path set; wherein the whole road path set comprises a plurality of road sub paths;
The road segmentation module is used for creating a sequence for storing path groups;
grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
and the road planning module is used for sequentially acquiring path groups from the sequence when carrying out lane-level road planning, and carrying out lane-level road planning according to the corresponding path groups.
Another embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor executes the computer program to implement a lane-level road planning method according to the embodiment of the present invention.
Another embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, and when the computer program runs, controls a device where the storage medium is located to execute a lane-level road planning method according to the embodiment of the present invention.
The invention has the following beneficial effects: the invention provides a lane-level road planning method, a lane-level road planning device, a terminal device and a storage medium.
Drawings
Fig. 1 is a flow chart of a lane-level road planning method according to an embodiment of the invention.
Fig. 2 is an overall flowchart of a lane-level road planning method according to an embodiment of the present invention.
FIG. 3 is a flow chart illustrating synchronization of an automatic configuration center according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a lane-level road planning apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a lane-level road planning method according to an embodiment of the present invention includes:
step S1: acquiring an overall road path set; wherein the whole road path set comprises a plurality of road sub paths;
step S2: creating a sequence for depositing path packets;
step S3: grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
step S4: and when the lane-level road planning is carried out, sequentially acquiring path groups from the sequence, and carrying out the lane-level road planning according to the corresponding path groups.
For step S1, obtaining an overall road path set, wherein the overall road path set comprises a plurality of sub-paths; the method comprises the steps of taking a route starting point of an overall road as a route segmentation starting point, taking a route ending point of the overall road as a route segmentation ending point, segmenting the overall road route into a plurality of road sub-paths, enabling connection relations among all adjacent road sub-paths to exist, taking the sub-path comprising the route starting point as a first sub-path of an overall road path set, taking the sub-path connected with the tail point of the first sub-path as a sub-path adjacent to the first sub-path, sequentially storing all sub-paths in a sequence according to rules, and taking the sequence corresponding to all sub-paths as the overall road path set.
In the data making process, the route starting point of the whole road is taken as a route segmentation starting point, the route ending point of the whole road is taken as a route segmentation ending point, when the whole road route is segmented into a plurality of road sub-paths, the sub-paths are broken according to the type, the intersection nodes, the length and the like of the road, and each sub-path is the result of breaking the whole road; because the data with oversized path has the storage problem, wastes a large amount of memory, and has the problem of difficult reading or failure reading in the data reading process, the length of each obtained sub-path is not more than 5km in the data manufacturing process;
it should be added that the lane-level path planning calculation time does not exceed 500ms within 50km through test verification. The requirement of the system on time-consuming performance of lane-level path planning is met, specific judgment is carried out on sub-paths entering and exiting from a passing point and a bifurcation intersection, and the fact that the set path grouping distance is judged to be 25km at this time is obtained empirically, so that less calculation force is wasted, in the embodiment, the value of the first threshold value is 25km, the value of the second threshold value is 10km, and the value of the third threshold value is 50km.
For step S2, a sequence for depositing path packets is created, which may be acquired sequentially.
S3, grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; when grouping, each time a path group is obtained, the operation of storing the path group into the sequence is performed once, and when grouping the sub-paths, each sub-path is obtained according to the whole road path set sequence as described in step S1, and each sub-path is grouped; when grouping each sub-path, each sub-path grouping needs to satisfy: the sum of the lengths of the sub-paths in the path group is greater than a first threshold value or the sum of the lengths of the sub-paths in each path group is greater than a second threshold value and less than a third threshold value; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
in a preferred embodiment, grouping sub-paths to obtain a number of path groups includes:
a single packet container creation step: creating an array for storing sub-paths;
a sub-path acquisition step: traversing the whole road path set, acquiring a current sub-path from the head of the whole road path set, removing the acquired sub-path from the whole road path set, and executing an empty set judging step;
Empty set judging step: judging whether the current sub-path is an empty set or not; if yes, the grouping of the whole road path set is finished, and the subsequent steps are not executed any more; if not, putting the current sub-path into the tail part of the array, then calculating the length of the current sub-path, and executing an effective distance calculation step;
and calculating the effective distance: judging whether the identifier of the current sub-path is the identifier of the route starting point road; if yes, calculating the distance from the starting point of the route to the end point of the current sub-path as the effective distance of the current sub-path; if not, the length of the current sub-path is used as the effective distance of the current sub-path;
a route point judging step: judging whether the identifier of the current sub-path is the identifier of the route point road; if yes, executing a path starting point judging step; if not, executing a route end point judging step;
judging the path starting point: judging whether the current position is the starting point position of the current sub-path or not; if yes, calculating the distance from the route point in the current sub-path to the end point of the current sub-path, taking the distance as the effective distance of the current sub-path, and executing the end point judging step; if not, calculating the distance from the route point in the current sub-path to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is positioned to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step;
Judging route end point: judging whether the identifier of the current sub-path is the identifier of the route end point or not; if yes, calculating the distance from the end point of the current route to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step; if not, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, and executing a first distance judging step;
a first distance judging step: judging whether the total length of the current path packet is larger than a first threshold value or not; if yes, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; if not, executing the sub-path acquisition step.
Specifically, as shown in fig. 2, an overall flow chart of a lane-level road planning method according to an embodiment of the present invention is provided; when each sub-path is grouped by executing a lane-level road planning method, the following steps are executed:
All packet container creation step: creating a container linkGroup for storing the entire grouping result (i.e., the sequence for depositing path groupings described in step S2 above); the step of creating all packet containers is performed only once during a road planning;
a single packet container creation step: creating an array link vector for storing links of the current path packet (i.e., the current sub-path);
a sub-path acquisition step: traversing the whole road path set, acquiring a current sub-path from the head of the whole road path set sequence, removing the acquired sub-path from the whole road path set when the current sub-path is acquired, and executing an empty set judging step; for example: as shown in fig. 2, the currently acquired sub-path is the first sub-path of the whole road path set, and the whole road path set is denoted by link, where each sub-path in link is denoted by link1, link2, …, and link respectively, and then the current sub-path is link1.
Empty set judging step: judging whether the current sub-path is an empty set or not; if the current sub-path is an empty set, indicating that no sub-path to be grouped exists in the current whole road path set, finishing grouping all the sub-paths at the moment, ending grouping all the sub-paths in the whole road path set, and not executing the subsequent steps; if the current sub-path is not the empty set, indicating that sub-paths needing grouping exist in the current whole road path set, then placing the current sub-path into the tail of the created array for storing the current path grouping, namely placing link1 into the tail of the link vector array in FIG. 2;
In a preferred embodiment, each sub-path contains information of the sub-path; the information of the sub path includes: an identifier and a type of road; when link1 is placed into a link vector, information carried by link1 is placed into the tail of a link vector array at the same time;
note that the information of the sub path includes, but is not limited to, an identifier for identifying the sub path and a type of the road; the identifier Fu Tongchang for identifying the sub-path is represented by an ID, which is a globally unique identifier of the sub-path link; the type of road is generally denoted by linkType, and the type of road may identify a road class in which the current path is located, for example: major roads, minor roads, national roads, provincial roads, etc.;
after the current sub-path is put into the tail of the array, calculating the length of the current sub-path, namely calculating the length disc of link1 shown in fig. 2; executing an effective distance calculation step after the calculation is completed;
and calculating the effective distance: the effective distance calculating step is to calculate according to whether the identifier of the current sub-path contains the identifier of the route starting point road or not as a reference, namely judging whether the link ID carried by the route starting point is consistent with the link1ID of the current sub-path, if so, indicating that the link1 contains the route starting point, and if not, indicating that the link1 does not contain the route starting point; if the current sub-path includes a start point of the route, calculating a distance between the start point of the route and an end point of the current sub-path (i.e., disttart shown in fig. 2), where an effective distance of the current sub-path is distutelink=disttart; if the current sub-path does not contain the starting point of the route, the effective distance disroutelink=dislink of the current sub-path at the moment; a route point judgment step of executing the route point judgment step after the effective distance calculation step is executed;
A route point judging step: judging whether the link ID carried by the route point is consistent with the link1ID of the current sub-path or not according to the condition that whether the identifier of the current sub-path comprises the identifier of the route point road or not is taken as a reference, if so, indicating that the link1 comprises the route point, and if not, indicating that the link1 does not comprise the route point; if the current sub-path contains the route points, executing a path starting point judging step to judge whether the route points contained in the current sub-path are located at the path starting point positions of the current sub-path; if the current sub-path does not contain the route points, executing a route end point judging step;
judging the path starting point: determining whether the position of the route point in the current sub-path is the starting point position of the current sub-path according to the coordinate position information carried in the current sub-path; if the route point in the current sub-path is the starting point position of the current sub-path, calculating the distance from the position of the route point in the current sub-path to the path end point of the current sub-path as the effective distance of the current sub-path; that is, as shown in fig. 2, the distance disttart from the route point on link1 to the tail point of link1 (i.e., the path end point of link 1) is calculated, and the effective distance distutelink=disttart of link 1; if the route point in the current sub-path is not the starting point position of the current sub-path, the distance from the route point in the current sub-path to the end point of the current sub-path is obtained, the road length of the current sub-path is obtained, the difference between the effective distance of the current sub-path and the road length of the current sub-path is calculated to obtain the effective distance of the current sub-path, namely, as shown in fig. 2, the distance distend (namely, the road length) from the position of the route point on link1 to the link1 tail point (namely, the path end point of link 1) is calculated, and the effective distance distutelink=distiteelin-distend of link 1; after the effective distance of the current sub-path is obtained, the effective distances of all sub-paths in the array where the current sub-path is located are accumulated, namely, the effective distances shown in fig. 2 are accumulated, distlinkVec+ =distutelink, and at this time, the length of distlinkVec is the total length of paths formed by the effective distances of all sub-paths in the current path group;
In a preferred embodiment, the identifier of the current sub-path includes an identifier of a route point, the route point is not a starting point position of the current sub-path, the effective distances of the sub-paths in the array where the current sub-path is located are accumulated to obtain the total length of the current path packet, the current path packet is ended, and the step of creating a single packet container is performed, including: the identifier of the current sub-path comprises an identifier of a route point, the route point is not the starting point position of the current sub-path, the effective distances of all sub-paths in an array where the current sub-path is positioned are accumulated to obtain the total length of a current path group, the current path group is ended, and a second distance judging step is executed; a second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
Specifically, after the total length of the current path packet is obtained, whether the total length of the current path packet is smaller than 10km (i.e. the second threshold value) is judged, as shown in fig. 2, whether the array length dislinkVec of the current path packet is smaller than 10km is judged, if so, the last path packet is taken out from the tail of the sequence linkGroup in which the packet is already completed and stored into the array linkVectoend of the sequence linkGroup, whether the array length linkVectoend. Dis of the last path packet is larger than 50km is judged, if so, the current path packet is put into the tail of the last path packet linkVectoend, the array of the last path packet is updated, the total length of the updated last path packet is calculated, the last path packet linkVectoend is put into the tail of the sequence linkGroup again, and the path packet is ended; if the array length distlinkVec of the current path packet is greater than 10km, the current path packet is taken as an independent packet to be put into the tail part of the sequence linkGroup, and the current path packet is ended.
Judging route end point: judging whether the link ID carried by the route end point is consistent with the link1ID of the current sub-path or not according to the condition that whether the identifier of the current sub-path contains the identifier of the route end point road or not is taken as a reference, if so, indicating that the link1 contains the route end point, and if not, indicating that the link1 does not contain the route end point; if the current sub-path comprises a route end point, calculating the distance from the current route end point to the end point of the current sub-path to obtain the road length of the current sub-path, and calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path; that is, as shown in fig. 2, a distance distend (i.e., the road length) from the route end point on link1 to the tail point of link1 (i.e., the path end point of link 1) is calculated, and the effective distance distutelink=distutelink-distend of link 1; accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, ending the current path group, and executing a single packet container creation step; if the current sub-path includes a route end point, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, namely accumulating the effective distances, as shown in fig. 2, and executing a first distance judging step;
In a preferred embodiment, the identifier of the current sub-path is the identifier of the route end point, the effective distances of the sub-paths in the array where the current sub-path is located are accumulated to obtain the total length of the current path packet, the current path packet is ended, and the step of creating the single packet container is executed, including: the identifier of the current sub-path is not the identifier of the route end point, the effective distances of all sub-paths in the array where the current sub-path is positioned are accumulated to obtain the total length of the current path group, the current path group is ended, and a second distance judging step is executed; a second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
Specifically, after the total length of the current path packet is obtained, whether the total length of the current path packet is smaller than 10km (i.e. the second threshold value) is judged, as shown in fig. 2, whether the array length dislinkVec of the current path packet is smaller than 10km is judged, if so, the last path packet is taken out from the tail of the sequence linkGroup in which the packet is already completed and stored into the array linkVectoend of the sequence linkGroup, whether the array length linkVectoend. Dis of the last path packet is larger than 50km is judged, if so, the current path packet is put into the tail of the last path packet linkVectoend, the array of the last path packet is updated, the total length of the updated last path packet is calculated, the last path packet linkVectoend is put into the tail of the sequence linkGroup again, and the path packet is ended; if the array length distlinkVec of the current path packet is greater than 10km, the current path packet is taken as an independent packet to be put into the tail part of the sequence linkGroup, and the current path packet is ended.
A first distance judging step: judging whether the total length of the current path packet is greater than 25km (namely the first threshold value); if the length of the current path packet is greater than 25km (i.e. the first threshold), storing the current path packet to the tail of the sequence linkGroup; if the current path packet length is less than or equal to 25km (i.e., the first threshold), executing a sub-path acquisition step;
In a preferred embodiment, the total length of the current path packet is greater than a first threshold, the current path packet is stored at the end of the sequence, and a single packet container creation step is performed, comprising: judging whether the current sub-path contains an entrance crossing or not, wherein the total length of the current path group is larger than a first threshold value; if yes, executing a sub-path acquisition step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
specifically, as shown in fig. 2, the total length dislinkVec of the current path packet is greater than 25km (i.e., the first threshold value), whether the current sub-path includes an entry intersection is determined, if the current sub-path includes an entry path, the sub-path obtaining step is executed, if the current sub-path does not include an entry intersection, the array linkVector of the path packet where the current sub-path is located is placed at the tail of the sequence linkGroup, and then the current path packet is used as a single packet, and the single packet is ended.
In another preferred embodiment, the current sub-path does not contain an entry intersection, the current path packet is stored at the end of the sequence, and the single packet container creation step is performed, comprising: judging whether the current sub-path comprises an intersection inner path or not, if so, executing a sub-path acquisition step; if not, storing the current sub-path into an array of the current path group, and putting the array into the tail of the sequence to execute a single packet container creation step;
Specifically, when the current sub-path does not contain the entering intersection, judging whether the current sub-path contains an intersection inner path, and if so, executing a sub-path acquisition step; if the path in the intersection is not included, the current sub-path is placed at the tail of an array linkVector of the current path group, the array is placed at the tail of a sequence linkGroup, and then the current path group is used as a single group, and the single group is ended.
Step S4, after each sub-path group in the whole road path set is completed, according to the sequence stored with the sub-path group result as a reference of road planning, when the road planning at the lane level is carried out, according to the travelling process of the vehicle in the road, the path groups are sequentially obtained from the sequence, the extracted path groups are calculated, the vehicle is guided to travel according to the calculation result, and the road planning at the lane level is realized; as shown in fig. 3, after the lane-level path planning thread is started, the linkVec input is continuously acquired from the header of the sequence linkGroup, so as to perform lane-level path planning.
It should be noted that, the packet planning flow shown in fig. 2 and the lane-level path planning flow shown in fig. 3 do not belong to the same thread; the route points refer to positions on the route where the vehicle needs to stop midway; the tail point of the sub-path refers to the last point of the ordered longitude and latitude coordinate points of the sub-path; the in-intersection path refers to a path inside the intersection.
The embodiment of the invention has the following beneficial effects:
1. the time complexity of lane-level path planning can be controlled in limited resources, and the user experience is ensured;
2. the reasonable path grouping strategy can prevent the end point of the path grouping from generating an error result and generate an overall backtracking condition; for example: at the intersection, the path segmentation needs to be calculated after the intersection;
3. the set threshold value obtained after the path grouping passes the test is constrained, so that the distance of the path grouping is ensured not to be too short, the waste of calculation resources is reduced, and the situation that the application cannot be supported when the lane-level path planning occurs is avoided;
4. special treatment is carried out on the route starting point, the route ending point, the route point and the like, so that the overall road level planning is not influenced after the path is grouped.
On the basis of the method item embodiments, the invention correspondingly provides the device item embodiments.
As shown in fig. 4, an embodiment of the present invention provides a lane-level road planning apparatus, including: the system comprises a data acquisition module, a grouping module and a planning module;
the data acquisition module is used for acquiring an integral road path set; wherein the whole road path set comprises a plurality of road sub paths;
The road segmentation module is used for creating a sequence for storing path groups;
grouping each sub-path to obtain a plurality of path groups, and sequentially storing the plurality of path groups into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
and the road planning module is used for sequentially acquiring path groups from the sequence when carrying out lane-level road planning, and carrying out lane-level road planning according to the corresponding path groups.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
It will be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
On the basis of the method item embodiment, the invention correspondingly provides a terminal equipment item embodiment.
An embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements a lane-level road planning method according to any one of the present invention when executing the computer program. The terminal device may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor, a memory.
The terminal device may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor, a memory.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf 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. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the terminal device, and which connects various parts of the entire terminal device using various interfaces and lines.
The memory may be used to store the computer program, and the processor may implement various functions of the terminal device by running or executing the computer program stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Based on the method item embodiments, the invention correspondingly provides storage medium item embodiments.
An embodiment of the present invention provides a storage medium, where the storage medium includes a stored computer program, where the computer program, when executed, controls a device where the storage medium is located to execute a lane-level road planning method according to any one of the present invention.
The storage medium is a computer readable storage medium, and the computer program is stored in the computer readable storage medium, and when executed by a processor, the computer program can implement the steps of the above-mentioned method embodiments. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (9)
1. A lane-level road planning method, comprising:
acquiring an overall road path set; wherein the whole road path set comprises a plurality of road sub paths;
creating a sequence for depositing path packets;
grouping all sub paths to obtain a plurality of path groups;
the grouping each sub-path to obtain a plurality of path groups includes:
a single packet container creation step: creating an array for storing sub-paths;
a sub-path acquisition step: traversing the whole road path set, acquiring a current sub-path from the head of the whole road path set, removing the acquired sub-path from the whole road path set, and executing an empty set judging step;
empty set judging step: judging whether the current sub-path is an empty set or not; if yes, the grouping of the whole road path set is finished, and the subsequent steps are not executed any more; if not, putting the current sub-path into the tail part of the array, then calculating the length of the current sub-path, and executing an effective distance calculation step;
and calculating the effective distance: judging whether the identifier of the current sub-path is the identifier of the route starting point road; if yes, calculating the distance from the starting point of the route to the end point of the current sub-path as the effective distance of the current sub-path; if not, the length of the current sub-path is used as the effective distance of the current sub-path;
A route point judging step: judging whether the identifier of the current sub-path is the identifier of the route point road; if yes, executing a path starting point judging step; if not, executing a route end point judging step;
judging the path starting point: judging whether the current position is the starting point position of the current sub-path or not; if yes, calculating the distance from the route point in the current sub-path to the end point of the current sub-path, taking the distance as the effective distance of the current sub-path, and executing the end point judging step; if not, calculating the distance from the route point in the current sub-path to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is positioned to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step;
judging route end point: judging whether the identifier of the current sub-path is the identifier of the route end point or not; if yes, calculating the distance from the end point of the current route to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step; if not, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, and executing a first distance judging step;
A first distance judging step: judging whether the total length of the current path packet is larger than a first threshold value or not; if yes, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; if not, executing a sub-path acquisition step;
sequentially storing a plurality of path packets into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
and when the lane-level road planning is carried out, sequentially acquiring path groups from the sequence, and carrying out the lane-level road planning according to the corresponding path groups.
2. The lane-level road planning method of claim 1, wherein the identifier of the current sub-path is an identifier of a route end point, the effective distances of the sub-paths in the array where the current sub-path is located are accumulated to obtain the total length of the current path group, the current path group is ended, and the single-packet container creation step is performed, comprising:
the identifier of the current sub-path is not the identifier of the route end point, the effective distances of all sub-paths in the array where the current sub-path is positioned are accumulated to obtain the total length of the current path group, the current path group is ended, and a second distance judging step is executed;
A second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
3. The lane-level road planning method of claim 1, wherein the identifier of the current sub-path includes an identifier of a route point, the route point is not a start point position of the current sub-path, the effective distances of the sub-paths in the array where the current sub-path is located are accumulated to obtain a total length of the current path packet, the current path packet is ended, and the single packet container creation step is performed, comprising:
The identifier of the current sub-path comprises an identifier of a route point, the route point is not the starting point position of the current sub-path, the effective distances of all sub-paths in an array where the current sub-path is positioned are accumulated to obtain the total length of a current path group, the current path group is ended, and a second distance judging step is executed;
a second distance judging step: judging whether the total length of the current path packet is smaller than a second threshold value, if so, taking out the last path packet from the tail part of the sequence, and executing a third distance judging step; if not, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step;
a third distance judging step: judging whether the total length of the previous path packet is greater than a third threshold value, if so, storing the previous path packet into the array tail of the current path packet, updating the current path packet, calculating the total length of the current path packet, storing the current path packet into the sequence tail, and executing a single packet container creation step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
4. The lane-level road planning method of claim 1 wherein the storing the current path packet at the end of the sequence if the total length of the current path packet is greater than a first threshold, performing a single packet container creation step comprising:
Judging whether the current sub-path contains an entrance crossing or not, wherein the total length of the current path group is larger than a first threshold value; if yes, executing a sub-path acquisition step; if not, storing the current path packet to the tail of the sequence, and executing a single packet container creation step.
5. The lane-level road planning method of claim 4 wherein the current sub-path does not include an entrance intersection, the current path packet is stored at the end of the sequence, and the single packet container creation step is performed comprising:
judging whether the current sub-path comprises an intersection inner path or not, if so, executing a sub-path acquisition step; if not, storing the current sub-path into an array of the current path group, and putting the array into the tail of the sequence to execute a single packet container creation step.
6. A lane-level road planning method according to claim 1 wherein each sub-path comprises information of the sub-path;
the information of the sub path includes: an identifier and a type of road.
7. A lane-level road planning apparatus, comprising: the system comprises a data acquisition module, a grouping module and a planning module;
the data acquisition module is used for acquiring an integral road path set; wherein the whole road path set comprises a plurality of road sub paths;
The grouping module is used for creating a sequence for storing path grouping; grouping all sub paths to obtain a plurality of path groups; the grouping each sub-path to obtain a plurality of path groups includes: a single packet container creation step: creating an array for storing sub-paths; a sub-path acquisition step: traversing the whole road path set, acquiring a current sub-path from the head of the whole road path set, removing the acquired sub-path from the whole road path set, and executing an empty set judging step; empty set judging step: judging whether the current sub-path is an empty set or not; if yes, the grouping of the whole road path set is finished, and the subsequent steps are not executed any more; if not, putting the current sub-path into the tail part of the array, then calculating the length of the current sub-path, and executing an effective distance calculation step; and calculating the effective distance: judging whether the identifier of the current sub-path is the identifier of the route starting point road; if yes, calculating the distance from the starting point of the route to the end point of the current sub-path as the effective distance of the current sub-path; if not, the length of the current sub-path is used as the effective distance of the current sub-path; a route point judging step: judging whether the identifier of the current sub-path is the identifier of the route point road; if yes, executing a path starting point judging step; if not, executing a route end point judging step; judging the path starting point: judging whether the current position is the starting point position of the current sub-path or not; if yes, calculating the distance from the route point in the current sub-path to the end point of the current sub-path, taking the distance as the effective distance of the current sub-path, and executing the end point judging step; if not, calculating the distance from the route point in the current sub-path to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is positioned to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step; judging route end point: judging whether the identifier of the current sub-path is the identifier of the route end point or not; if yes, calculating the distance from the end point of the current route to the end point of the current sub-path to obtain the road length of the current sub-path, calculating the difference between the effective distance of the current sub-path and the road length of the current sub-path to obtain the effective distance of the current sub-path, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, ending the current path group, and executing the single-time group container creation step; if not, accumulating the effective distances of all sub-paths in the array where the current sub-path is located to obtain the total length of the current path group, and executing a first distance judging step; a first distance judging step: judging whether the total length of the current path packet is larger than a first threshold value or not; if yes, storing the current path packet to the tail part of the sequence, and executing a single packet container creation step; if not, executing a sub-path acquisition step; sequentially storing a plurality of path packets into the sequence; wherein the sum of the lengths of the sub-paths in each path group is greater than a first threshold or the sum of the lengths of the sub-paths in each path group is greater than a second threshold and less than a third threshold; the second threshold is less than the first threshold; the first threshold is less than the third threshold;
And the planning module is used for sequentially acquiring path groups from the sequence when carrying out lane-level road planning, and carrying out lane-level road planning according to the corresponding path groups.
8. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing a lane-level road planning method according to any one of claims 1 to 6 when executing the computer program.
9. A storage medium comprising a stored computer program, wherein the computer program, when run, controls a device in which the storage medium is located to perform a lane-level road planning method according to any one of claims 1 to 6.
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