WO2023273282A1

WO2023273282A1 - Planning method and apparatus for vehicle driving behavior, electronic device, and storage medium

Info

Publication number: WO2023273282A1
Application number: PCT/CN2021/143994
Authority: WO
Inventors: 朱升发
Original assignee: 上海商汤临港智能科技有限公司
Priority date: 2021-06-30
Filing date: 2021-12-31
Publication date: 2023-01-05
Also published as: CN113320544B; CN113320544A

Abstract

A planning method and apparatus for a vehicle driving behavior, an electronic device, and a storage medium. The method comprises: obtaining the comfort overhead of a vehicle between a first position and a second position on the basis of acceleration information of the vehicle in the first position and acceleration information of the vehicle in the second position; and finally planning a driving path for the vehicle on the basis of the comfort overhead. According to the method, the acceleration information of the vehicle during running and the comfort overhead are taken into consideration, such that the comfort during driving is improved.

Description

Vehicle driving behavior planning method, device, electronic device, storage medium

Cross References to Related Applications

This disclosure is based on a Chinese patent application with application number 202110738286.3 and a filing date of June 30, 2021, and claims the priority of this Chinese patent application. The entire content of this Chinese patent application is hereby incorporated into this disclosure by reference.

technical field

The present invention relates to the technical field of automatic driving, in particular to a planning method, device, electronic equipment and storage medium for vehicle driving behavior.

Background technique

Autonomous driving technology services and autonomous vehicles are a multidisciplinary system engineering. Path planning is an important part of autonomous driving technology. It is responsible for planning local motion trajectories, guiding the underlying controller of the vehicle, and controlling the steering wheel, accelerator and brake of the vehicle. Path planning can generally be divided into two parts: behavior planning and motion planning. Behavior planning is responsible for calculating a reasonable and comfortable driving strategy; motion planning is responsible for calculating the specific trajectory that the vehicle can execute.

The existing path planning is to sample the position of the vehicle during driving, and then use the dynamic programming method to search for a corresponding trajectory. However, the path obtained by sampling the position of the vehicle during driving is not smooth, as shown in Figure 1. The vehicle's execution of the driving path shown in Figure 1 will result in insufficient comfort during driving.

Contents of the invention

The invention provides a planning method, device, electronic equipment and storage medium for vehicle driving behavior. The method of the present application can improve the driving comfort of the vehicle.

In order to solve the above-mentioned technical problems, an embodiment of the present invention provides a method for planning vehicle driving behavior, including: acquiring the vehicle at the first position based on the first movement information of the vehicle at the first position and the second movement information of the vehicle at the second position And the comfort cost between the second positions, the first motion information and the second motion information at least include the acceleration information of the vehicle; based on the comfort cost, obtain the cost of the first position and the cost of the second position; The cost and the cost of the second location are used to plan the driving path of the vehicle.

Wherein, the following steps are adopted to determine the second motion information of the vehicle at the second position, including: determining the second motion information of the vehicle at the second position based on the preset acceleration interval and the first motion information.

Wherein, the first motion information also includes: speed information and displacement information of the vehicle; the step of determining the second motion information of the vehicle at the second position based on the preset acceleration interval and the first motion information includes: based on the preset acceleration interval, using The acceleration information of the vehicle at the first position determines the acceleration information of the vehicle at the second position; based on the uniform acceleration method, the acceleration information of the vehicle at the first position and the acceleration information of the vehicle at the second position are used to calculate the speed of the vehicle at the second position Information; based on the velocity information of the vehicle at the first location and the velocity information of the vehicle at the second location, the displacement information of the vehicle at the second location is calculated.

Wherein, obtaining the comfort cost of the vehicle between the first position and the second position based on the first motion information of the vehicle at the first position and the second motion information of the vehicle at the second position includes: based on the first motion information and the second 2. Motion information, construct a smooth curve function; based on the smooth curve function, calculate the comfort cost.

Wherein, the method further includes: predicting the position information of the obstacle, obtaining the distance between the vehicle and the obstacle according to the position information and the second motion information; obtaining the safety overhead of the vehicle avoiding the obstacle according to the distance between the vehicle and the obstacle; based on The comfort cost, the cost of obtaining the first position and the cost of the second position, further includes: the cost of obtaining the first position and the cost of the second position based on the comfort cost and the security cost.

Among them, according to the distance between the vehicle and the obstacle, the safety cost of the vehicle avoiding the obstacle is obtained, including: if the distance is greater than the preset safety distance, the safety cost is 0; if the distance is less than the preset collision distance, the safety cost is positive infinity ; If the distance is not greater than the preset safety distance and the distance is not less than the preset collision distance, the safety cost is the ratio of the preset weight to the distance.

Wherein, based on the comfort cost and the safety cost, obtaining the cost of the first position and the cost of the second position includes: based on the comfort cost and safety cost between the previous position of the vehicle at the first position and the first position, and The cost of the previous position of the first position is calculated to obtain the cost of the first position; based on the comfort cost and safety cost of the vehicle between the first position and the second position, as well as the cost of the first position, the second position is calculated s expenses.

Wherein, the time taken by the vehicle to reach the first position from the previous position of the first position and the time taken by the vehicle to reach the second position from the first position are the same.

In order to solve the above-mentioned technical problems, an embodiment of the present invention also provides a vehicle driving behavior planning device, including: a first cost acquisition module, configured to use the first motion information of the vehicle at the first position and the second The second motion information acquires the comfort cost of the vehicle between the first position and the second position, the first motion information and the second motion information at least include the acceleration information of the vehicle; the second cost acquisition module is configured to acquire based on the comfort cost The cost of the first location and the cost of the second location; a path planning module, configured to plan the driving path of the vehicle based on the cost of the first location and the cost of the second location.

In order to solve the above technical problems, an embodiment of the present invention further provides an electronic device, including: a memory and a processor, wherein the memory stores program instructions, and the processor calls the program instructions from the memory to execute any one of the above methods.

In order to solve the above technical problem, an embodiment of the present invention further provides a computer-readable storage medium storing a program file, and the program file can be executed to implement any one of the above methods.

The beneficial effect of the present invention is different from the situation of the prior art. The planning method of the vehicle driving path provided by the present invention is based on the acceleration information of the vehicle at the first position and the acceleration information of the vehicle at the second position to obtain the vehicle at the first position and the second position. The comfort cost between the two locations is based on the comfort cost, and the driving path of the vehicle is finally planned. The method of the present application considers the acceleration information and the comfort cost of the vehicle during driving, and improves the comfort during driving.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work, wherein:

FIG. 1 is a schematic diagram of a path planning result in the prior art;

FIG. 2 is a schematic flowchart of the first embodiment of the method for planning vehicle driving behavior of the present invention;

3 is a schematic flowchart of an embodiment of a method for calculating second motion information in the method for planning vehicle driving behavior of the present invention;

FIG. 4 is a schematic flowchart of a second embodiment of the method for planning vehicle driving behavior of the present invention;

5 is a schematic diagram of the path planning results of the vehicle driving behavior planning method of the present invention;

FIG. 6 is a schematic structural diagram of an embodiment of the device for planning vehicle driving behavior according to the present invention;

7 is a schematic structural diagram of an embodiment of the electronic device of the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the longitudinal behavior planning method proposed in the prior art, the predicted trajectory of the obstacle vehicle is projected into the road coordinate system, then the longitudinal position is sampled, and a corresponding trajectory is searched out by a dynamic programming method. The search result of this method is not smooth, as shown in Figure 1, the car cannot perform such a search result, and the search calculation is heavy, requiring dense sampling of time and longitudinal position, which cannot truly reflect the dynamic constraints of the car. The present application provides a method for planning vehicle driving behavior, which can solve the above problems.

Specifically, please refer to Fig. 2, which is a schematic flow chart of an embodiment of the planning method for vehicle driving behavior of the present invention, specifically including:

Step S11: Based on the first motion information of the vehicle at the first position and the second motion information of the vehicle at the second position, the comfort cost, the first motion information and the second motion of the vehicle between the first position and the second position are acquired The information includes at least acceleration information of the vehicle.

In a specific embodiment, the vehicle needs to plan the driving route during driving. In the prior art, when the vehicle driving path is planned, the position of the vehicle is sampled. For example, the current position of the vehicle is point A, and the next position of the vehicle is predicted to be point B (that is, the next position of the vehicle is sampled), The speed and acceleration are planned based on the distance from point A to point B, and finally a search path is obtained, which includes the speed and acceleration of the vehicle. However, the final path planned based on the vehicle position is not smooth and does not conform to the dynamic constraints of the vehicle. As shown in Figure 1, it is difficult for the vehicle to perform such search results, or it cannot be guaranteed that the vehicle will drive in a behavior that meets the dynamic constraints. Less comfortable.

The method of this embodiment acquires the comfort cost of the vehicle between the first position and the second position based on the first motion information of the vehicle at the first position and the second motion information of the vehicle at the second position. The first motion information and the second motion information at least include acceleration information of the vehicle. That is, in the method of this embodiment, the acceleration information of the vehicle at the first location and the acceleration information of the second location are used to calculate the comfort cost of the vehicle between the first location and the second location. On the one hand, through the calculation of acceleration, it is possible to plan a driving path that meets the dynamic constraints, on the other hand, it can make the vehicle drive smoothly and improve the comfort during driving.

Specifically, the second motion information of the vehicle at the second position may be determined based on the preset acceleration interval and the first motion information. It should be noted that the second motion information is predicted motion information, that is, the second motion information is motion information planned by the system for the vehicle to be executed.

In an embodiment, the first motion information further includes vehicle speed information and displacement information, and the second motion information also includes vehicle speed information and displacement information.

When the vehicle travels to the first position, the acceleration information a1 , velocity information v1 and displacement information s1 at the first position at the current moment T are acquired. It is necessary to give a preset acceleration interval to calculate the acceleration information a2, velocity information v2 and displacement information s2 of the vehicle at the second position by combining the acceleration information a1, velocity information v1 and displacement information s1 of the vehicle at the first position. Please refer to Figure 3 for details, including:

Step S21: Based on the preset acceleration interval, use the acceleration information of the vehicle at the first position to determine the acceleration information of the vehicle at the second position.

For example, the preset acceleration interval is: 0.2m/s ² , then the acceleration information of the vehicle at the second position a2=a1+0.2m/s ² .

Step S22: The method based on uniform acceleration uses the acceleration information of the vehicle at the first location and the acceleration information of the vehicle at the second location to calculate the velocity information of the vehicle at the second location.

Specifically, the acceleration information a1 of the vehicle at the first position and the acceleration information a2 of the vehicle at the second position are known, and the velocity information v2 of the vehicle at the second position can be calculated, and the calculation formula is: v2=0.5(a1+a2) dt. t is the time taken by the vehicle to travel from the first location to the second location.

Step S23: Based on the speed information of the vehicle at the first position and the speed information of the vehicle at the second position, calculate the displacement information of the vehicle at the second position.

Specifically, the speed information v1 of the vehicle at the first position and the speed information v2 of the vehicle at the second position are known, and the displacement information s2 of the vehicle at the second position can be obtained. The calculation formula is: s2=0.5(v1+v2)dt .

In an embodiment, the time Δt from the first position to the second position may be further planned. In a feasible embodiment, Δt=2s is set, for example, the time when the vehicle arrives at the first location is T, then the time when the vehicle arrives at the second location can be planned to be T+Δt.

Through the above method, the second position information (acceleration information a2, velocity information v2 and displacement information s2) is calculated by combining the preset acceleration interval and the first position information (acceleration information a1, velocity information v1 and displacement information s1).

In this embodiment, after the first motion information and the second motion information are obtained, the comfort cost of the vehicle from the first position to the second position is acquired based on the first motion information and the second motion information. Specifically, a smooth curve function may be constructed based on the first motion information and the second motion information, and the comfort cost is calculated based on the smooth curve function. In this embodiment, using the smooth curve function to calculate the comfort cost can make the final planned driving path smooth and the driving comfort is strong. The smooth curve function can be polynomial.

Specifically, since there are six known quantities in the first motion information and the second motion information, a quintic polynomial may be constructed based on the first motion information and the second motion information. For example: s(t)=c ₀ +c ₁ t+c ₂ t ² +c ₃ t ³ +c ₄ t ⁴ +c ₅ *t ⁵ .

The following equations can be obtained according to the first motion information and the second motion information: s(t1)=s1, s'(t1)=v1, s"(t1)=a1; s(t2)=s2, s'(t2 )=v2, s"(t2)-a2. Solving this system of equations can further obtain the coefficients [c ₀ , c ₁ , c ₂ , c ₃ , c ₄ , c ₅ ] of the quintic polynomial.

Further, the integral of the derivative of the acceleration within the time T at the first position and the time T+Δt at the second position may be calculated according to the above-mentioned quintic polynomial, so as to obtain the comfort cost. Specifically:

Wherein, t1 is time T, and t2 is time T+Δt.

In this embodiment, using the quintic polynomial combined with the acceleration information to calculate the comfort cost can obtain a smoother driving path, making it easier for the vehicle to perform such a driving result, and can truly reflect the dynamic constraints of the vehicle and improve the driving process. comfort in. In addition, the method of this embodiment predicts the second motion information of the second position based on the first motion information of the first position, does not require dense sampling points, and can reduce the amount of calculation.

Step S12: Acquire the cost of the first location and the cost of the second location based on the comfort cost.

Specifically, the cost of the first position and the cost of the second position may be calculated by using the comfort cost. For example, the cost of the first position is calculated based on the comfort cost of the vehicle between the previous position of the first position and the first position, and the cost of the previous position of the first position. The specific calculation method is:

in,

is the comfort cost of the vehicle between the previous position n0 of the first position n1 and the first position n1, cost(n ₀ ) is the cost of the previous position no of the first position n1, and N _1-1 is the first position The position before the previous position of the .

Further, after the cost of the first position is calculated, the cost of the second position is calculated based on the comfort cost between the first position and the second position and the cost of the first position. The specific calculation formula is as the above-mentioned formula (1), and details are not repeated here.

It should be noted that the time taken by the vehicle to arrive at the first position from the previous position of the first position and the time taken by the vehicle to reach the second position from the first position are the same.

Step S13: Planning the driving route of the vehicle based on the cost of the first location and the cost of the second location.

After the cost of the first location and the cost of the second location are obtained, the driving route of the vehicle is planned based on the cost of the first location and the cost of the second location. Specifically, the path with the least cost can be found from the first location to the second location based on the dynamic programming method, and then the driving path from the first location to the second location can be obtained.

In the method of this embodiment, a smooth curve function is constructed based on the first motion information and the second motion information, and the comfort cost is calculated based on the smooth curve function, which can make the final driving path smooth, as shown in FIG. 5 . In the process of planning the route, the comfort cost is considered, which can make the driving comfort better. The application considers acceleration information and speed information in the process of route planning, and adds a uniform acceleration calculation method, which can make the final driving route conform to dynamic constraints and has strong executability. On the other hand, the method of the present application performs path planning based on the velocity information, acceleration information, and displacement information of two locations. Compared with the prior art, it does not require dense sampling points and reduces the amount of calculation.

Please refer to FIG. 4 , which is a schematic flow chart of the second embodiment of the method for planning a vehicle driving route according to the present invention, wherein step S31 and step S35 are the same as step S11 and step S13 in the above embodiment shown in FIG. 1 , the difference is that , this embodiment also includes after step S31 and before step S35:

Step S32: Predict the position information of the obstacle, and obtain the distance between the vehicle and the obstacle according to the position information and the second motion information.

In this embodiment, when the vehicle encounters an obstacle, it needs to consider how to avoid the obstacle. As shown in Figure 5, A represents an obstacle. Take A traveling horizontally and the vehicle traveling longitudinally as an example. If you want to avoid an obstacle, one method is to surpass the obstacle before meeting the obstacle, and the other method is to pass the obstacle before meeting the obstacle. Avoid obstacles before. In order to avoid obstacles, this application introduces the safety overhead of vehicle avoidance obstacles for path planning.

Specifically, the obstacle can be photographed by means of visual positioning, and the real-time position information of the obstacle can be predicted according to the captured image. In another embodiment, GPS positioning can also be performed on obstacles, and real-time position information of obstacles can be predicted according to GPS positioning results.

After the location information of the obstacle is predicted, the distance between the vehicle and the obstacle is obtained according to the location information of the obstacle and the second motion information. For example, predict the position information of the obstacle at time T (the vehicle is at the first position at this time), and obtain its road coordinates; and obtain the displacement s1 of the vehicle according to the first motion information of the vehicle at the first position, and obtain the distance to obstacles. Further, it is also possible to predict the position information of the obstacle at time T+Δt (the vehicle is at the second position at this time), obtain its road coordinates, and obtain the position s2 of the vehicle according to the second motion information of the vehicle at the second position information, The distance between the vehicle and the obstacle can be obtained when the vehicle is in the second position. Further, the position of the obstacle in the two images can be predicted by at least two pictures taken continuously, and then the driving speed and acceleration of the obstacle can be predicted. Based on the driving speed and acceleration, the position information of the predicted obstacle can be calculated in real time, for example The position information of the obstacle at time T+Δt (the vehicle is at the second position at this time) can be calculated.

After determining the position information of the obstacle and the position information of the vehicle, the distance between the obstacle and the vehicle is further determined.

Step S33: Obtain the safety cost of the vehicle avoiding the obstacle according to the distance between the vehicle and the obstacle.

Specifically, in one embodiment, if the distance is greater than the preset safety distance, the safety overhead is 0; at this time, the vehicle will not collide with the obstacle. If the distance is less than the collision distance, the safety cost is positive infinity; at this time, the vehicle collides with the obstacle, which is a safety risk. If the distance is not greater than the preset safety distance and the distance is not less than the preset collision distance, the safety cost is the ratio of the preset weight to the distance, and the preset weight can be set manually. The weight of the preset safety distance can be set to be greater than the weight of the preset collision distance, and the ratio of the weight to the distance of the preset safety distance can be further calculated, or the ratio of the weight to the distance of the preset collision distance can be calculated. Alternatively, the weight of the preset collision distance may also be set to be greater than the weight of the preset safety distance, which is not specifically limited.

In a specific embodiment, the preset safety distance is greater than the preset collision distance.

In this embodiment, the safety cost is calculated according to the distance between the vehicle and the obstacle, and the driving behavior can be set according to the safety cost to avoid collision between the vehicle and the obstacle.

Step S34: Obtain the cost of the first location and the cost of the second location based on the comfort cost and the safety cost.

Specifically, the cost of the first position and the cost of the second position may be calculated by using the comfort cost and the safety cost. For example, the cost of the first location is calculated based on the comfort cost and the safety cost of the vehicle between the first position and the first position, and the cost of the previous position of the first position. The specific calculation method is:

in,

is the sum of the comfort cost _cpst comfortable h and the safety cost cost _safety of the vehicle between the previous position n0 of the first position n1 and the first position n1, cost(n ₀ ) is the previous position no of the first position n1 Overhead, N _1-1 is the position before the previous position of the first position.

Further, after the cost of the first position is calculated, the cost of the second position is calculated based on the comfort cost and safety cost between the first position and the second position, and the cost of the first position. The specific calculation formula is as the above-mentioned formula (2), and details are not repeated here. It should be noted that the time taken by the vehicle to arrive at the first position from the previous position of the first position and the time taken by the vehicle to reach the second position from the first position are the same.

In the method of this embodiment, a smooth curve function is constructed based on the first motion information and the second motion information, and the comfort cost is calculated based on the smooth curve function, which can make the final driving path smooth, as shown in FIG. 5 . In the process of planning the route, the comfort cost is considered, which can make the driving comfort better. The application considers acceleration information and speed information in the process of route planning, and adds a uniform acceleration calculation method, which can make the final driving route conform to dynamic constraints and has strong executability. On the other hand, the vehicle driving route planning method provided by the embodiment of the present invention plans the route based on the velocity information, acceleration information and displacement information of two positions. Compared with the prior art, it does not require dense sampling points and reduces Calculations. During the driving process of the vehicle, considering the safety cost of the vehicle avoiding the obstacle, the vehicle traveling along the driving path B can avoid the obstacle A, as shown in FIG. 5 . The traveling direction of the vehicle is longitudinal, and the traveling direction of obstacles is transverse, and the displacement time diagram is established. A shown in FIG. 4 represents the obstacle position, and curve B represents the driving behavior of the vehicle. The vehicle drives according to the planned driving speed and driving acceleration as shown in curve B in the figure, and can avoid obstacle A. Based on the planning method of the vehicle driving path provided by the embodiment of the present invention, the problem of the interaction between the self-driving vehicle and other longitudinal directions at the intersection can be solved. Pre-judging whether the vehicle is overtaking or avoiding the obstacle vehicle, so as to meet the safety problem and have a certain degree of intelligence.

Furthermore, the calculation efficiency of the algorithm of the present application is high, basically only 4-5 calculations are required to achieve good results, and the calculation amount can be greatly reduced. The planning result is shown as curve B in Figure 4, which is relatively smooth and meets the dynamic constraints of the vehicle, and the vehicle can perform the search results well.

Please refer to FIG. 6 , which is a schematic structural diagram of an embodiment of a vehicle driving path planning device provided by an embodiment of the present invention, specifically including: a first cost acquisition module 51 , a second cost acquisition module 52 and a planning module 53 . The process of the vehicle driving path planning device provided in the embodiment of the present invention to solve the problem of path planning is similar to the aforementioned method, for details, reference may be made to the aforementioned description.

Wherein, the first cost acquisition module 51 is used to acquire the comfort cost of the vehicle between the first position and the second position based on the first motion information of the vehicle at the first position and the second motion information of the vehicle at the second position, the first The first movement information and the second movement information at least include acceleration information of the vehicle.

The second cost obtaining module 52 is used for obtaining the cost of the first position and the cost of the second position based on the comfort cost.

The path planning module 53 is used for planning the driving path of the vehicle based on the cost of the first location and the cost of the second location.

Further, the first cost acquisition module 51 is further configured to: determine second motion information of the vehicle at the second position based on a preset acceleration interval and the first motion information.

The first motion information also includes: speed information and displacement information of the vehicle; a first overhead acquisition module 51, specifically for:

Based on the preset acceleration interval, using the acceleration information of the vehicle at the first position to determine the acceleration information of the vehicle at the second position;

calculating the speed information of the vehicle at the second position by using the acceleration information of the vehicle at the first position and the acceleration information of the vehicle at the second position based on a uniform acceleration method;

Displacement information of the vehicle at the second position is calculated based on the speed information of the vehicle at the first position and the speed information of the vehicle at the second position.

Further, the first overhead acquisition module 51 is specifically configured to: construct a smooth curve function based on the first motion information and the second motion information;

Based on the smooth curve function, the comfort cost is calculated.

Further, the first overhead acquisition module 51 is further configured to: predict the position information of the obstacle, and acquire the distance between the vehicle and the obstacle according to the position information and the second motion information;

Obtaining a safety cost for the vehicle to avoid the obstacle according to the distance between the vehicle and the obstacle;

The second cost obtaining module 52 is further configured to: obtain the cost of the first location and the cost of the second location based on the comfort cost and the security cost.

Further, the first overhead acquisition module 51 is specifically configured to: if the distance is greater than a preset safety distance, the safety overhead is 0;

If the distance is less than the preset collision distance, the safety cost is positive infinity;

If the distance is not greater than the preset safety distance and the distance is not smaller than the preset collision distance, then the safety cost is a ratio of a preset weight to the distance.

Further, the second cost acquisition module 52 is specifically configured to: based on the comfort cost and safety cost of the vehicle between the previous position of the first position and the first position, and the cost of the first position The cost of the previous position is calculated to obtain the cost of the first position;

The cost of the second position is calculated based on the comfort cost and the safety cost of the vehicle between the first position and the second position, and the cost of the first position.

Further, the time taken by the vehicle to reach the first position from a position preceding the first position and the time taken by the vehicle to reach the second position from the first position are the same.

Please refer to FIG. 7 , which is a schematic structural diagram of an embodiment of an electronic device according to the present invention. The electronic device includes a memory 202 and a processor 201 connected to each other.

The memory 202 is used to store program instructions for implementing any one of the above methods.

The processor 201 is used to execute program instructions stored in the memory 202 .

Wherein, the processor 201 may also be referred to as a CPU (Central Processing Unit, central processing unit). The processor 201 may be an integrated circuit chip with signal processing capability. The processor 201 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components . A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The memory 202 can be a memory stick, a TF card, etc., and can store all information in the electronic equipment of the device, including input raw data, computer programs, intermediate running results and final running results are all stored in the memory. It deposits and retrieves information according to the location specified by the controller. With memory, electronic equipment has a memory function to ensure normal operation. The memory of electronic equipment can be divided into main memory (internal memory) and auxiliary memory (external memory) according to the purpose of memory, and there are also classification methods into external memory and internal memory. External storage is usually magnetic media or optical discs, which can store information for a long time. Memory refers to the storage components on the mainboard, which are used to store data and programs currently being executed, but are only used to store programs and data temporarily, and the data will be lost when the power is turned off or cut off.

In the several embodiments provided in this application, it should be understood that the disclosed methods and devices may be implemented in other ways. For example, the device implementations described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

A unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a system server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods in various embodiments of the present application.

Please refer to FIG. 8 , which is a schematic structural diagram of a computer-readable storage medium according to the present invention. The storage medium of the present application stores a program file 203 capable of realizing all the above-mentioned methods, wherein the program file 203 can be stored in the above-mentioned storage medium in the form of a software product, and includes several instructions to make a computer device (which can be a personal A computer, a server, or a network device, etc.) or a processor (processor) executes all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage device includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc and other media that can store program codes. , or terminal devices such as computers, servers, mobile phones, and tablets.

The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields, All are included in the scope of patent protection of the present invention in the same way.

Claims

A method for planning a vehicle driving path, comprising:

Acquire the comfort cost of the vehicle between the first position and the second position based on first motion information of the vehicle at the first position and second motion information of the vehicle at the second position, the first motion The information and the second movement information include at least acceleration information of the vehicle;

obtaining the cost of the first location and the cost of the second location based on the comfort cost;

A driving route of the vehicle is planned based on the cost of the first location and the cost of the second location.
The method according to claim 1, wherein determining the second movement information of the vehicle at the second location comprises:

Determining second motion information of the vehicle at the second position based on a preset acceleration interval and the first motion information.
The method according to claim 2, wherein the first motion information further includes: speed information and displacement information of the vehicle;

The step of determining second motion information of the vehicle at the second position based on a preset acceleration interval and the first motion information includes:

Based on the preset acceleration interval, using the acceleration information of the vehicle at the first position to determine the acceleration information of the vehicle at the second position;

calculating the speed information of the vehicle at the second position by using the acceleration information of the vehicle at the first position and the acceleration information of the vehicle at the second position based on a uniform acceleration method;

Displacement information of the vehicle at the second position is calculated based on the speed information of the vehicle at the first position and the speed information of the vehicle at the second position.
The method according to claim 1, wherein the acquisition of the vehicle at the first location and the second location is based on the first movement information of the vehicle at the first location and the second movement information of the vehicle at the second location. Amenity overhead between locations, including:

Constructing a smooth curve function based on the first motion information and the second motion information;

Based on the smooth curve function, the comfort cost is calculated.
The method according to claim 1, wherein the method further comprises:

Predicting the position information of the obstacle, and obtaining the distance between the vehicle and the obstacle according to the position information and the second motion information;

Obtaining a safety cost for the vehicle to avoid the obstacle according to the distance between the vehicle and the obstacle;

The acquiring the cost of the first location and the cost of the second location based on the comfort cost further includes:

Based on the comfort cost and the safety cost, the cost of the first location and the cost of the second location are obtained.
The method according to claim 5, wherein said acquiring the safety cost for the vehicle to avoid the obstacle according to the distance between the vehicle and the obstacle comprises:

If the distance is greater than a preset safety distance, the safety overhead is 0;

If the distance is less than the preset collision distance, the safety cost is positive infinity;

If the distance is not greater than the preset safety distance and the distance is not smaller than the preset collision distance, then the safety cost is a ratio of a preset weight to the distance.
The method according to claim 5, wherein said obtaining the cost of the first location and the cost of the second location based on the comfort cost and the safety cost comprises:

The first position is calculated based on a comfort cost and a safety cost of the vehicle between a position preceding the first position and the first position, and a cost of a position preceding the first position s expenses;

The cost of the second position is calculated based on the comfort cost and the safety cost of the vehicle between the first position and the second position, and the cost of the first position.
The method of claim 7 , wherein the time taken for the vehicle to reach the first location from a location preceding the first location is the same as the time taken for the vehicle to reach the second location from the first location .
A planning device for a vehicle driving path, including:

A first cost acquiring module, configured to acquire comfort of the vehicle between the first position and the second position based on first motion information of the vehicle at the first position and second motion information of the vehicle at the second position A specific overhead, the first movement information and the second movement information at least include acceleration information of the vehicle;

A second cost obtaining module, configured to obtain the cost of the first location and the cost of the second location based on the comfort cost;

A planning module, configured to plan the driving route of the vehicle based on the cost of the first location and the cost of the second location.
An electronic device, including: a memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the program described in any one of claims 1-8. described method.
A computer-readable storage medium, wherein a program file is stored, and the program file can be executed to implement the method according to any one of claims 1-8.