CN109253735A - Paths planning method, device and storage medium - Google Patents
Paths planning method, device and storage medium Download PDFInfo
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- CN109253735A CN109253735A CN201811451030.9A CN201811451030A CN109253735A CN 109253735 A CN109253735 A CN 109253735A CN 201811451030 A CN201811451030 A CN 201811451030A CN 109253735 A CN109253735 A CN 109253735A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention discloses a kind of paths planning method, device and storage mediums, belong to intelligent automobile technical field.This method comprises: when detecting that, from the waypoint information obtained in the global path of intelligent automobile wait multiple waypoints in crossing of turning, global path is the path slave starting point to destination planned based on B-spline algorithm intelligent automobile when currently needing to turn；According to the waypoint information of multiple waypoints, multiple crosspoints at crossing to be turned are determined；It is fitted Bezier Bezier curve based on multiple waypoints and multiple crosspoints, and the Bezier curve of fitting is determined as to be directed to the local path planned at crossing to be turned, local path is for tracking intelligent automobile.The present invention obtains full local path by B-spline algorithm, is handled by berzier algorithm local path, solves the problems, such as the line smoothing degree of driving path during quarter bend turning, avoids the influence to intelligent vehicle running.
Description
Technical field
The present invention relates to intelligent automobile technical field, in particular to a kind of paths planning method, device and storage medium.
Background technique
Intelligent automobile is the automobile for integrating the functions such as environment sensing, programmed decision-making, multi-grade auxiliary driving, it
Concentration has used the technologies such as computer, modern sensing, information fusion, communication, artificial intelligence and automatic control, is typical high-new
Technological synthesis body.Wherein, path planning is one of important research content of intelligent automobile.
Currently, path planning is usually carried out to intelligent automobile by berzier (Bezier) algorithm, still, due to
Berzier algorithm can not refine local path, for indicating whole path for example, for there are the roads of barrier
The off paths such as diameter or quarter bend path can not carry out path planning by current berzier algorithm.Therefore, one is needed
Kind paths planning method.
Summary of the invention
The embodiment of the invention provides a kind of paths planning method, device and storage mediums, for solving in the related technology
The problem that micronization processes cause intelligent vehicle running impacted can not be carried out to local path.The technical solution is as follows:
In a first aspect, providing a kind of paths planning method, which comprises
When detect currently need to turn when, from being obtained in the global path of intelligent automobile wait multiple roads in crossing of turning
Point waypoint information, the global path be based on B-spline algorithm to the intelligent automobile plan slave starting point to destination
Path；
According to the waypoint information of the multiple waypoint, multiple crosspoints at the crossing to be turned are determined；
It is fitted Bezier Bezier curve based on the multiple waypoint and the multiple crosspoint, and will be described in fitting
Bezier curve is determined as the local path planned for the crossing to be turned, and the local path is for tracking intelligent vapour
Vehicle.
Optionally, the multiple waypoint include the first waypoint, the second waypoint, third waypoint and the 4th waypoint, described first
Waypoint is the pre- inlet point described in the path of intelligent vehicle running wait the first crossing in crossing of turning, and second waypoint is institute
The exit point at the first crossing is stated, the third waypoint is the inlet point wait the second crossing in crossing of turning, the 4th tunnel
Point is the pre- exit point at second crossing, first straight line and the third waypoint where first waypoint and the second waypoint
It is mutually perpendicular to second straight line where the 4th waypoint.
Optionally, the waypoint information according to the multiple waypoint determines multiple crosspoints at the crossing, comprising:
Vertical point between the first straight line and the second straight line is determined as the first crosspoint；
The waypoint information of position, second waypoint based on first crosspoint and the waypoint letter of the third waypoint
Breath, determines the second crosspoint and third crosspoint according to preset ratio coefficient.
Optionally, the path that the Bezier curve of fitting is determined as to be planned for the crossing to be turned
Later, further includes:
It carries out determining the intelligent automobile current location in moving process according to the local path in the intelligent automobile
The distance between described second waypoint；
When the distance between the intelligent automobile current location and second waypoint are less than or equal to first distance threshold value
When, determine that the crossing wiring distance at the crossing to be turned is the first wiring distance；
When the distance between the intelligent automobile current location and second waypoint be greater than the first distance threshold value, and
When less than or equal to second distance threshold value, determine that the crossing wiring distance at the crossing to be turned is the second wiring distance；
When detecting that the intelligent automobile is moved to the first crosspoint position, determine that the intelligent automobile is worked as
The distance between front position and the third waypoint；
When the distance between the intelligent automobile current location and the third waypoint are less than or equal to the first distance
When threshold value, determine that the crossing wiring distance at the crossing to be turned is third wiring distance；
When the distance between the intelligent automobile current location and the third waypoint are greater than the first distance threshold value,
Determine the intelligent automobile described wait complete turning at crossing of turning.
Optionally, it is described when detect currently need to turn when, road to be turned is obtained from the global path of intelligent automobile
Before the waypoint information of multiple waypoints in mouthful, further includes:
The waypoint information of each waypoint is obtained from driving path file according to the starting point and destination of the intelligent automobile；
Waypoint information based on each waypoint carries out B-spline interpolation processing, obtains the first of discrete state sequence form
Step diameter；
Characteristic point filling processing is carried out to the preliminary path, obtains the global path of Sequentially continuous.
Optionally, described that each waypoint is obtained from driving path file according to the starting point and destination of the intelligent automobile
Waypoint information after, further includes:
When the waypoint information includes the location information of waypoint, according to the location information of each waypoint, institute is determined
State position of the intelligent automobile from the crossing that starting point is passed through into destination driving process.
Optionally, the crossing to be turned is cross crossing, T font crossing or L font crossing.
Second aspect, provides a kind of path planning apparatus, and described device includes:
First obtain module, for when detect currently need to turn when, from the global path of intelligent automobile obtain to
The waypoint information of multiple waypoints in turning crossing, the global path are to be planned based on B-spline algorithm the intelligent automobile
The path slave starting point to destination；
First determining module determines the multiple of the crossing to be turned for the waypoint information according to the multiple waypoint
Crosspoint；
Second determining module, for bent based on the multiple waypoint and the multiple crosspoint fitting Bezier Bezier
Line, and the Bezier curve of fitting is determined as the local path that the crossing to be turned for described in is planned, the part
Path is for tracking intelligent automobile.
Optionally, the multiple waypoint include the first waypoint, the second waypoint, third waypoint and the 4th waypoint, described first
Waypoint is the pre- inlet point described in the path of intelligent vehicle running wait the first crossing in crossing of turning, and second waypoint is institute
The exit point at the first crossing is stated, the third waypoint is the inlet point wait the second crossing in crossing of turning, the 4th tunnel
Point is the pre- exit point at second crossing, first straight line and the third waypoint where first waypoint and the second waypoint
It is mutually perpendicular to second straight line where the 4th waypoint.
Optionally, first determining module includes:
First determines submodule, for the vertical point between the first straight line and the second straight line to be determined as the first friendship
Crunode；
Second determine submodule, for position, second waypoint based on first crosspoint waypoint information and
The waypoint information of the third waypoint determines the second crosspoint and third crosspoint according to preset ratio coefficient.
Optionally, described device further include:
Third determining module determines institute in moving process for carrying out in the intelligent automobile according to the local path
State the distance between intelligent automobile current location and second waypoint；
4th determining module, for being less than when the distance between the intelligent automobile current location and second waypoint or
When equal to first distance threshold value, determine that the crossing wiring distance at the crossing to be turned is the first wiring distance；
5th determining module, for being greater than institute when the distance between the intelligent automobile current location and second waypoint
When stating first distance threshold value, and being less than or equal to second distance threshold value, determine that the crossing wiring distance at the crossing to be turned is
Second wiring distance；
6th determining module, for when detecting that the intelligent automobile is moved to the first crosspoint position,
Determine the distance between the intelligent automobile current location and the third waypoint；
7th determining module, for being less than when the distance between the intelligent automobile current location and the third waypoint or
When equal to the first distance threshold value, determine that the crossing wiring distance at the crossing to be turned is third wiring distance；
8th determining module, for being greater than institute when the distance between the intelligent automobile current location and the third waypoint
When stating first distance threshold value, determine the intelligent automobile described wait complete turning at crossing of turning.
Optionally, described device further include:
Second obtain module, for according to the intelligent automobile starting point and destination obtained from driving path file respectively
The waypoint information of a waypoint；
First processing module carries out B-spline interpolation processing for the waypoint information based on each waypoint, obtains discrete
The preliminary path of status switch form；
Second processing module obtains the described of Sequentially continuous for carrying out characteristic point filling processing to the preliminary path
Global path.
Optionally, described device further include:
9th determining module, for when the waypoint information includes the location information of waypoint, according to each waypoint
Location information, determine position of the intelligent automobile from the crossing that starting point is passed through into destination driving process.
Optionally, the crossing to be turned is cross crossing, T font crossing or L font crossing.
The third aspect provides a kind of computer readable storage medium, is stored with computer program in the storage medium,
The computer program realizes any method in above-mentioned first aspect when being executed by processor.
Technical solution bring beneficial effect provided in an embodiment of the present invention includes at least:
In embodiments of the present invention, crossing to be turned can be obtained from the global path determined based on B-spline algorithm
The waypoint information of multiple waypoints, and according to multiple waypoints at crossing to be turned, the position in multiple crosspoints is determined, thus according to more
A waypoint and multiple crosspoints can carry out the planning of local path by Bezier algorithm, during solving quarter bend turning
The line smoothing degree problem of driving path, avoids the influence to intelligent vehicle running, intelligent automobile is made accurately to turn.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of paths planning method flow chart provided in an embodiment of the present invention；
Fig. 2 is a kind of provided in an embodiment of the present invention second paths planning method flow chart；
Fig. 3 is that the embodiment of the present invention provides the third paths planning method structural schematic diagram；
Fig. 4 is a kind of local paths planning schematic diagram at crossing of turning provided in an embodiment of the present invention；
Fig. 5 is the first path planning apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of first determining module provided in an embodiment of the present invention；
Fig. 7 is second of path planning apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 8 is the third path planning apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is the 4th kind of path planning apparatus structural schematic diagram provided in an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of intelligent automobile provided in an embodiment of the present invention
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Before carrying out detailed explanation to the embodiment of the present invention, the first application to being related in the embodiment of the present invention
Scene is explained respectively.
Currently, in recent years, the research of intelligent automobile has attracted more and more attention from people, wherein advise in the path of intelligent automobile
Draw is a pith in intelligent vehicle research field.Currently, usually by berzier (Bezier) method come to intelligent vapour
Vehicle, which carries out path planning, still since berzier algorithm is usually integrated planning, cannot embody local property.For example, for
There are the off paths such as the path of barrier or quarter bend path, can not carry out local road by current berzier algorithm
Diameter planning.
Based on such scene, the embodiment of the invention provides a kind of path planning sides for improving path planning accuracy
Method.
It, next will be in conjunction with attached drawing to the embodiment of the present invention after the application scenarios to the embodiment of the present invention are introduced
The paths planning method of offer describes in detail.
Fig. 1 is a kind of flow chart of paths planning method provided in an embodiment of the present invention, and referring to Fig. 1, this method is applied to
In intelligent automobile, include the following steps.
Step 101: when detect currently need to turn when, obtain from the global path of intelligent automobile wait in crossing of turning
Multiple waypoints waypoint information, the global path be based on B-spline algorithm to the intelligent automobile plan slave starting point to purpose
The path on ground.
Step 102: according to the waypoint information of multiple waypoint, determining multiple crosspoints at the crossing to be turned.
Step 103: Bezier Bezier curve, and being somebody's turn to do fitting are fitted based on multiple waypoint and multiple crosspoint
Bezier curve is determined as the local path planned for the crossing to be turned, and the local path is for tracking intelligent automobile.
In embodiments of the present invention, crossing to be turned can be obtained from the global path determined based on B-spline algorithm
The waypoint information of multiple waypoints, and according to multiple waypoints at crossing to be turned, the position in multiple crosspoints is determined, thus according to more
A waypoint and multiple crosspoints can carry out the planning of local path by berzier algorithm, solve quarter bend turning process
The line smoothing degree problem of middle driving path, avoids the influence to intelligent vehicle running, turns intelligent automobile accurately
It is curved.
Optionally, multiple waypoint includes the first waypoint, the second waypoint, third waypoint and the 4th waypoint, first waypoint
To be somebody's turn to do the pre- inlet point wait the first crossing in crossing of turning in the path of intelligent vehicle running, which is first crossing
Exit point, which is the inlet point at the second crossing in crossing turn, and the 4th waypoint is second crossing
Pre- exit point, the first straight line and the third waypoint and the 4th waypoint place second where first waypoint and the second waypoint are straight
Line is mutually perpendicular to.
Optionally, according to the waypoint information of multiple waypoint, multiple crosspoints at the crossing are determined, comprising:
Vertical point between the first straight line and the second straight line is determined as the first crosspoint；
The waypoint information of position, second waypoint based on first crosspoint and the waypoint information of the third waypoint, are pressed
The second crosspoint and third crosspoint are determined according to preset ratio coefficient.
Optionally, after the Bezier curve of fitting being determined as the path planned for the crossing to be turned, also
Include:
Carried out in moving process in the intelligent automobile according to the local path, determine the intelligent automobile current location and this
The distance between two waypoints；
When the distance between the intelligent automobile current location and second waypoint are less than or equal to first distance threshold value, really
The crossing wiring distance at the fixed crossing to be turned is the first wiring distance；
When the distance between the intelligent automobile current location and second waypoint be greater than the first distance threshold value, and be less than or
When equal to second distance threshold value, determine that the crossing wiring distance at the crossing to be turned is the second wiring distance；
When detecting that the intelligent automobile is moved to the first crosspoint position, the intelligent automobile current location is determined
The distance between the third waypoint；
When the distance between the intelligent automobile current location and the third waypoint are less than or equal to the first distance threshold value,
The crossing wiring distance for determining the crossing to be turned is third wiring distance；
When the distance between the intelligent automobile current location and the third waypoint are greater than the first distance threshold value, determining should
Intelligent automobile completes turning at the crossing to be turned.
Optionally, when detect currently need to turn when, obtain from the global path of intelligent automobile wait in crossing of turning
Multiple waypoints waypoint information before, further includes:
The waypoint information of each waypoint is obtained from driving path file according to the starting point and destination of the intelligent automobile；
Waypoint information based on each waypoint carries out B-spline interpolation processing, obtains the preliminary of discrete state sequence form
Path；
Characteristic point filling processing is carried out to the preliminary path, obtains the global path of Sequentially continuous.
Optionally, the waypoint of each waypoint is obtained from driving path file according to the starting point of the intelligent automobile and destination
After information, further includes:
When the waypoint information includes the location information of waypoint, according to the location information of each waypoint, the intelligence is determined
Position of the automobile from the crossing that starting point is passed through into destination driving process.
Optionally, crossing to be turned is cross crossing, T font crossing or L font crossing.
All the above alternatives, can form alternative embodiment of the invention according to any combination, and the present invention is real
It applies example and this is no longer repeated one by one.
It may include global path planning and local paths planning due to carrying out path planning to intelligent automobile, and local road
Diameter planning is established in global path, therefore, before carrying out local paths planning to intelligent automobile, is first planned intelligent automobile
The mode of global path is explained.
Wherein, global path planning refers in complicated traffic network, according to certain evaluation criterion (walking road
Line is most short, the time used is minimum etc.) it is that intelligent vehicle finds a best driving path from starting point to destination, including environment
Modeling and route searching two sub-problems.Local paths planning refers in the environment there are barrier, plans for intelligent vehicle
One safety without the path touched, can cut-through object, arrive safe and sound predetermined target point.
Fig. 2 is a kind of flow chart of paths planning method provided in an embodiment of the present invention, and referring to fig. 2, this method includes such as
Lower step.
Step 201: intelligent automobile obtains each road according to the starting point and destination of intelligent automobile from driving path file
The waypoint information of point.
Due to being typically required for starting point and destination in intelligent vehicle running, intelligent automobile can moved
Before dynamic, the waypoint information of each waypoint is obtained from driving path file according to the starting point and destination of intelligent automobile.The traveling
Path file can be the map file for being previously stored or obtaining from other equipment.
It should be noted that waypoint information may include the location information of waypoint, road markings etc., which can be with
For waypoint longitude and latitude, course angle etc..
Wherein, intelligent automobile can read driving path file when being initialized by initsys () function, from
And the waypoint information of each waypoint is read from driving path file.In addition, in order to avoid its in driving path file
He interferes waypoint information, intelligently can be after the waypoint information for getting each waypoint between starting point and destination, by the road
Point information is stored separately in a memory space.
Further, due to that may have the crossing for needing to turn in the path from starting point to destination, at this point, in order to
Facilitate subsequent intelligent automobile to turn, intelligent automobile according to intelligent automobile starting point and destination from driving path file
It, can also be when waypoint information includes the location information of waypoint, according to each waypoint after the waypoint information for obtaining each waypoint
Location information, determine position of the intelligent automobile from the crossing that starting point is passed through into destination driving process.
Step 202: intelligent automobile carries out B-spline interpolation processing based on the waypoint information of each waypoint, obtains discrete state
The preliminary path of sequence form.
It should be noted that B-spline (B-spline) interpolation method has had both all advantages of Bezier method, including several
Why not it is denaturalized, affine-invariant features etc., while overcomes in Bezier method since whole expression is brought without local property
The shortcomings that, i.e., a mobile control vertex will will affect entire curve.Therefore, intelligent terminal can be based on each waypoint
Waypoint information carries out B-spline interpolation processing.
Wherein, intelligent automobile can use B-spline interpolation process method, and the first present count is inserted between every two waypoint
A point is measured, which can be arranged in advance, for example, first preset quantity can be 50,60 etc..
Step 203: intelligent automobile carries out characteristic point filling processing to preliminary path, obtains the global path of Sequentially continuous.
By in general, after carrying out B-spline interpolation processing to each waypoint, the point that includes in preliminary path may be with
And it is greater than or equal to the second preset quantity point, and the quantity for the point that step diameter included originally is greater than or equal to the second preset quantity
At a, which can be directly as global path.And the quantity for the point for including in the diameter of step originally is not up to second
When preset quantity is less than the second preset quantity, when subsequent possibly of intelligent automobile can not be according to preliminary route.At this point, intelligence
Automobile can carry out characteristic point filling processing to preliminary path, obtain including the overall situation of the quantity more than or equal to the second preset quantity
Path.
Wherein, which is the path slave starting point to destination planned intelligent automobile, and the global path is
The path for the conditions such as track route of the satisfaction from starting point to destination is most short, the time used is minimum.
It should be noted that second preset quantity can be arranged in advance, for example, second preset quantity can for 200,
220 etc..
In embodiments of the present invention, the waypoint information of each waypoint can be extracted in the initialization of program, and according to each
The waypoint information and B-spline algorithm of a waypoint carry out global path planning, global path are obtained, to ensure that subsequent carry out office
The convenience and accuracy of the planning in portion path.
Next, carrying out when driving to intelligent automobile according to global path, to local path, (local path is for tracking
Intelligent automobile) mode planned is explained.
Fig. 3 is a kind of flow chart of paths planning method provided in an embodiment of the present invention, and referring to Fig. 3, this method includes such as
Lower step.
Step 301: when intelligent automobile, which detects, currently to be needed to turn, obtained from the global path of intelligent automobile wait turn
The waypoint information of multiple waypoints in detour mouth.
Wherein, global path be intelligent automobile based on B-spline algorithm to intelligent automobile plan slave starting point to destination
Path, specific method are detailed in above-mentioned steps 201- step 203.
Due to may include the crossing for needing to turn in global path, intelligent automobile is run over according to global path
Cheng Zhong, it will drive to and turn to turning path, turn in order to accurately control intelligent automobile, intelligent automobile can
With detect currently need to turn when, from the road obtained in the global path of intelligent automobile wait multiple waypoints in crossing of turning
Point information.
It should be noted that referring to fig. 4, multiple waypoint includes the first waypoint 1, the second waypoint 2, third waypoint 3 and the
Four waypoints 4, the first waypoint are the pre- inlet point in the path of intelligent vehicle running wait the first crossing in crossing of turning, the second waypoint
For the exit point at the first crossing, third waypoint is the inlet point wait the second crossing in crossing of turning, and the 4th waypoint is the second crossing
Pre- exit point, second straight line is mutually hung down where the first straight line and third waypoint of the first waypoint and the second waypoint and the 4th waypoint
Directly.
Wherein, when the first waypoint and the second waypoint can be located at lane line center, third waypoint and the 4th waypoint can also be with
Positioned at lane line center, then intelligent automobile will be located at lane line center when entering crossing, outlet is also at lane line center.Separately
Outside, being somebody's turn to do crossing to be turned can be cross crossing, T font crossing or L font crossing.
Further, intelligent automobile according to global path when driving, in order to accurately turn, intelligent automobile
The longitude and latitude and course angle of available present position, are all transformed into interpolation point and current location under the same coordinate system,
Then intelligent automobile can determine with the distance between difference point nearest from crossing in each interpolation point, according to nearest with this
The distance between interpolation point can determine whether intelligent automobile currently needs to turn.
In addition, can determine between every two difference point in driving process according to global path in intelligent automobile
Whether there is deviation between distance and intelligent automobile and each interpolation point, be adjusted in time when there are deviation, and determines intelligence
Energy automobile is taken aim at a little in advance.
Step 302: intelligent automobile can determine multiple intersections at crossing to be turned according to the waypoint information of multiple waypoints
Point.
Due to that sometimes possibly accurately intelligent automobile can not be made to turn according to multiple waypoints at crossing, be
Intelligent automobile can be made accurately to turn, intelligent automobile can additionally determine that several points are turned to control intelligent automobile
It is curved, for example, intelligent automobile can determine multiple crosspoints at crossing to be turned according to the waypoint information of multiple waypoints.
Wherein, intelligent automobile determines the operation in multiple crosspoints at crossing to be turned according to the waypoint information of multiple waypoints
It can be with are as follows: the vertical point between first straight line and second straight line is determined as the first crosspoint；Based on the first cross-point locations, second
The waypoint information of waypoint and the waypoint information of third waypoint determine that the second crosspoint and third intersect according to preset ratio coefficient
Point.
It should be noted that intelligent automobile can include in the waypoint information based on the first cross-point locations and the second waypoint
The second waypoint location information, do not determine the distance between the first crosspoint and the second waypoint, according to this distance and preset
Proportionality coefficient determines the second crosspoint.Similarly, intelligent automobile can be believed based on the waypoint of the first cross-point locations and third waypoint
The location information for the third waypoint for including in breath determines the distance between the first crosspoint and third waypoint, according to this distance with
And preset ratio coefficient determines third crosspoint.The second crosspoint will be located in first straight line at this time, and third straight line is located at second
On straight line.
It should also be noted that, the preset ratio coefficient can be arranged in advance, for example, the preset ratio coefficient can be 2:
1, i.e. ratio of the second waypoint at a distance from the second crosspoint between the distance between the second crosspoint and the first crosspoint is
2:1, ratio of the third waypoint at a distance from third crosspoint between the distance between third crosspoint and the first crosspoint are
2:1。
In addition, referring to fig. 4, which may be the vertical third between first straight line and second straight line
Distance threshold, and be located at the second straight line on far from third waypoint point, thus intelligent automobile be based on the first cross-point locations,
The waypoint information of second waypoint and the waypoint information of third waypoint determine the second crosspoint 6 and third according to preset ratio coefficient
Crosspoint 7 also will be no longer located in first straight line and second straight line.
It should be noted that the third distance threshold can be arranged in advance, for example, the third distance threshold can for 1 meter,
0.5 meter etc..
Step 303: intelligent automobile is based on multiple waypoints and multiple crosspoints are fitted Bezier Bezier curve, and will fitting
Bezier curve be determined as the local path planned for crossing to be turned.
It should be noted that intelligent automobile can be gone according to local path after intelligent automobile plans local path
It sails, intelligent automobile needs are turned according to crossing wiring distance in the process of moving.It that is to say, intelligent automobile is by fitting
Bezier curve is determined as after the path planned for crossing to be turned, and can also be moved through according to local path
Cheng Zhong determines the distance between intelligent automobile current location and the second waypoint；When intelligent automobile current location and the second waypoint it
Between distance when being less than or equal to first distance threshold value, determine that the crossing wiring distance at crossing to be turned is the first wiring distance；
When the distance between intelligent automobile current location and the second waypoint be greater than first distance threshold value, and be less than or equal to second distance threshold
When value, determine that the crossing wiring distance at crossing to be turned is the second wiring distance；When detecting that intelligent automobile is moved to the first friendship
When crunode position, the distance between intelligent automobile current location and third waypoint are determined；When intelligent automobile current location with
When the distance between third waypoint is less than or equal to first distance threshold value, determine that the crossing wiring distance at crossing to be turned is third
Wiring distance；When the distance between intelligent automobile current location and third waypoint are greater than first distance threshold value, intelligence vapour is determined
Vehicle is wait complete turning at crossing of turning.
Wherein, when the distance between intelligent automobile current location and the second waypoint are less than or equal to first distance threshold value,
Illustrate that bend is too small, accordingly, it is determined that the crossing wiring distance at crossing to be turned also is lesser first wiring distance；When intelligent vapour
When the distance between vehicle current location and the second waypoint are greater than first distance threshold value and are less than or equal to second distance threshold value, explanation
Bend is larger, hence, it can be determined that the crossing wiring distance at crossing to be turned is larger second wiring distance；When detecting intelligence
When automobile is moved to the first crosspoint position, illustrate that intelligent automobile has had been subjected to the first crossing, close towards the second crossing,
Hence, it can be determined that the distance between intelligent automobile current location and third waypoint, and work as intelligent automobile current location and third
When the distance between waypoint is less than or equal to first distance threshold value, determine that the crossing wiring distance at crossing to be turned is third wiring
Distance.
It should be noted that the first distance threshold value can be arranged in advance, for example, the first distance threshold value can for 5 meters,
6 meters etc..Second distance threshold value can be equally arranged in advance, for example, the second distance threshold value can be 25 meters, 24 meters etc..
First wiring distance can be arranged in advance, for example, the first wiring distance can be 0.5 meter etc..Second wiring distance can be with thing
First it is arranged, for example, the second wiring distance can be 15 meters etc..Third wiring distance can be arranged in advance, for example, the third connects
Linear distance can be -0.5 meter etc..
In addition, when the distance between intelligent automobile current location and the second waypoint are greater than second distance threshold value, alternatively, working as intelligence
When energy the distance between current car position and third waypoint are greater than second distance threshold value, illustrate that bend is excessive, do not need at this time
Determine crossing wiring distance.
In embodiments of the present invention, intelligent automobile can be obtained from the global path determined based on B-spline algorithm wait turn
The waypoint information of multiple waypoints of detour mouth, and according to multiple waypoints at crossing to be turned, determine the position in multiple crosspoints, from
And the planning of local path can be carried out by berzier algorithm according to multiple waypoints and multiple crosspoints, solve quarter bend
The line smoothing degree problem of driving path during turning, meanwhile, different distance can be selected according to the road conditions at crossing to be turned
Crossing wiring, avoid the influence to intelligent vehicle running, intelligent automobile made accurately to turn.
After paths planning method provided in an embodiment of the present invention is explained, next, to of the invention real
The path planning apparatus for applying example offer is introduced.
Fig. 5 is a kind of structural schematic diagram of path planning apparatus provided in an embodiment of the present invention, and referring to Fig. 5, which can
With being implemented in combination with by software, hardware or both.The device includes: the first acquisition module 501,502 and of the first determining module
Second determining module 503.
First obtain module 501, for when detect currently need to turn when, obtained from the global path of intelligent automobile
Wait the waypoint information of multiple waypoints in crossing of turning, the global path is to be advised based on B-spline algorithm to the intelligent automobile
The path slave starting point to destination drawn；
First determining module 502 determines the more of the crossing to be turned for the waypoint information according to the multiple waypoint
A crosspoint；
Second determining module 503, for being fitted Bezier Bezier based on the multiple waypoint and the multiple crosspoint
Curve, and the Bezier curve of fitting is determined as the local path that the crossing to be turned for described in is planned, the office
Portion path is for tracking intelligent automobile.
Optionally, the multiple waypoint include the first waypoint, the second waypoint, third waypoint and the 4th waypoint, described first
Waypoint is the pre- inlet point described in the path of intelligent vehicle running wait the first crossing in crossing of turning, and second waypoint is institute
The exit point at the first crossing is stated, the third waypoint is the inlet point wait the second crossing in crossing of turning, the 4th tunnel
Point is the pre- exit point at second crossing, first straight line and the third waypoint where first waypoint and the second waypoint
It is mutually perpendicular to second straight line where the 4th waypoint.
Optionally, referring to Fig. 6, first determining module 502 includes:
First determines submodule 5021, for the vertical point between the first straight line and the second straight line to be determined as the
One crosspoint；
Second determines submodule 5022, the waypoint letter for position, second waypoint based on first crosspoint
The waypoint information of breath and the third waypoint, determines the second crosspoint and third crosspoint according to preset ratio coefficient.
Optionally, referring to Fig. 7, described device further include:
Third determining module 504 is determined for carrying out in moving process in the intelligent automobile according to the local path
The distance between the intelligent automobile current location and second waypoint；
4th determining module 505 is small for working as the distance between the intelligent automobile current location and second waypoint
When first distance threshold value, determine that the crossing wiring distance at the crossing to be turned is the first wiring distance；
5th determining module 506 is big for working as the distance between the intelligent automobile current location and second waypoint
In the first distance threshold value, and when being less than or equal to second distance threshold value, determine the crossing wiring at the crossing to be turned away from
With a distance from for the second wiring；
6th determining module 507 detects that the intelligent automobile is moved to first crosspoint position for working as
When, determine the distance between the intelligent automobile current location and the third waypoint；
7th determining module 508 is small for working as the distance between the intelligent automobile current location and the third waypoint
When the first distance threshold value, determine that the crossing wiring distance at the crossing to be turned is third wiring distance；
8th determining module 509 is big for working as the distance between the intelligent automobile current location and the third waypoint
When the first distance threshold value, determine the intelligent automobile described wait complete turning at crossing of turning.
Optionally, referring to Fig. 8, described device further include:
Second obtain module 5010, for according to the intelligent automobile starting point and destination obtained from driving path file
Take the waypoint information of each waypoint；
First processing module 5011 carries out B-spline interpolation processing for the waypoint information based on each waypoint, obtains
The preliminary path of discrete state sequence form；
Second processing module 5012 obtains Sequentially continuous for carrying out characteristic point filling processing to the preliminary path
The global path.
Optionally, referring to Fig. 9, described device further include:
9th determining module 5013, for when the waypoint information includes the location information of waypoint, according to described each
The location information of waypoint determines position of the intelligent automobile from the crossing that starting point is passed through into destination driving process.
Optionally, the crossing to be turned is cross crossing, T font crossing or L font crossing.
In conclusion in embodiments of the present invention, intelligent automobile can be from the global path determined based on B-spline algorithm
The waypoint information of multiple waypoints at crossing to be turned is obtained, and according to multiple waypoints at crossing to be turned, determines multiple crosspoints
Position solved so that the planning that Bezier algorithm carries out local path can be passed through according to multiple waypoints and multiple crosspoints
The line smoothing degree problem of driving path during quarter bend turning, meanwhile, it can be selected according to the road conditions at crossing to be turned
The crossing wiring of different distance, avoids the influence to intelligent vehicle running, intelligent automobile is made accurately to turn.
It should be understood that path planning apparatus provided by the above embodiment is in planning path, only with above-mentioned each function
The division progress of module can according to need and for example, in practical application by above-mentioned function distribution by different function moulds
Block is completed, i.e., the internal structure of device is divided into different functional modules, to complete all or part of function described above
Energy.In addition, path planning apparatus provided by the above embodiment and paths planning method embodiment belong to same design, it is specific real
Existing process is detailed in embodiment of the method, and which is not described herein again.
Figure 10 shows the structural block diagram of the intelligent automobile 1000 of an illustrative embodiment of the invention offer.In general, intelligence
Energy automobile 1000 includes: processor 1001 and memory 1002.
Processor 1001 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
Reason device 1001 can be realized using industrial personal computer.Processor 1001 also may include primary processor and coprocessor, primary processor
It is the processor for being handled data in the awake state, also referred to as CPU (Central Processing Unit, in
Central processor)；Coprocessor is the low power processor for being handled data in the standby state.In some implementations
In example, processor 1001 can be integrated with GPU (Graphics Processing Unit, image processor), and GPU is for bearing
The rendering and drafting of content to be shown needed for blaming display screen.In some embodiments, processor 1001 can also include AI
(Artificial Intelligence, artificial intelligence) processor, the AI processor is for handling the calculating in relation to machine learning
Operation.
Memory 1002 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 1002 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 1002 can
Storage medium is read for storing at least one instruction, at least one instruction performed by processor 1001 for realizing this Shen
Please in embodiment of the method provide paths planning method.
In some embodiments, intelligent automobile 1000 is also optional includes: peripheral device interface 1003 and at least one outside
Peripheral equipment.It can be connected by bus or signal wire between processor 1001, memory 1002 and peripheral device interface 1003.Respectively
A peripheral equipment can be connected by bus, signal wire or circuit board with peripheral device interface 1003.Specifically, peripheral equipment packet
Include: CAN (Controller Area Network, controller local area network) 1004, touch display screen 1005, camera 1006,
At least one of voicefrequency circuit 1007, positioning component 1008 and power supply 1009.
Peripheral device interface 1003 can be used for I/O (Input/Output, input/output) is relevant outside at least one
Peripheral equipment is connected to processor 1001 and memory 1002.In some embodiments, processor 1001, memory 1002 and periphery
Equipment interface 1003 is integrated on same chip or circuit board；In some other embodiments, processor 1001, memory
1002 and peripheral device interface 1003 in any one or two can be realized on individual chip or circuit board, this implementation
Example is not limited this.
Display screen 1005 is for showing UI (User Interface, user interface).The UI may include figure, text,
Icon, video and its their any combination.When display screen 1005 is touch display screen, display screen 1005 also there is acquisition to exist
The ability of the touch signal on the surface or surface of display screen 1005.The touch signal can be used as control signal and be input to place
Reason device 1001 is handled.At this point, display screen 1005 can be also used for providing virtual push button and/or dummy keyboard, it is also referred to as soft to press
Button and/or soft keyboard.In some embodiments, display screen 1005 can be one, and the front panel of intelligent automobile 1000 is arranged；?
In other embodiments, display screen 1005 can be at least two, be separately positioned on the different surfaces of intelligent automobile 1000 or be in
Foldover design；In still other embodiments, display screen 1005 can be flexible display screen, and the bending of intelligent automobile 1000 is arranged in
On surface or on fold plane.Even, display screen 1005 can also be arranged to non-rectangle irregular figure, namely abnormity screen.It is aobvious
Display screen 1005 can use LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-
Emitting Diode, Organic Light Emitting Diode) etc. materials preparation.
CCD camera assembly 1006 is for acquiring image or video.Optionally, CCD camera assembly 1006 includes front camera
And rear camera.In general, the front panel of terminal is arranged in front camera, the back side of terminal is arranged in rear camera.?
In some embodiments, rear camera at least two is that main camera, depth of field camera, wide-angle camera, focal length are taken the photograph respectively
As any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide
Pan-shot and VR (Virtual Reality, virtual reality) shooting function or other fusions are realized in camera fusion in angle
Shooting function.
Voicefrequency circuit 1007 may include microphone and loudspeaker.Microphone is used to acquire the sound wave of user and environment, and
It converts sound waves into electric signal and is input to processor 1001 and handled.For stereo acquisition or the purpose of noise reduction, microphone
The different parts of intelligent automobile 1000 can be separately positioned on to be multiple.Microphone can also be that array microphone or omnidirectional are adopted
Collection type microphone.Loudspeaker is then used to that sound wave will to be converted to from the electric signal of processor 1001.Loudspeaker can be traditional
Wafer speaker is also possible to piezoelectric ceramic loudspeaker.It, not only can be by electric signal when loudspeaker is piezoelectric ceramic loudspeaker
The audible sound wave of the mankind is converted to, the sound wave that the mankind do not hear can also be converted electrical signals to carry out the purposes such as ranging.
In some embodiments, voicefrequency circuit 1007 can also include earphone jack.
Positioning component 1008 is used for the current geographic position of positioning intelligent automobile 1000, to realize navigation or LBS
(Location Based Service, location based service).Positioning component 1008 can be the GPS based on the U.S.
The dipper system of (Global Positioning System, global positioning system), China, the Gray of Russia receive this system
Or the positioning component of the Galileo system of European Union.
Power supply 1009 is used to be powered for the various components in intelligent automobile 1000.Power supply 1009 can be alternating current,
Direct current, disposable battery or rechargeable battery.When power supply 1009 includes rechargeable battery, which can be supported
Wired charging or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, intelligent automobile 1000 further includes having one or more sensors 1010.The one or more
Sensor 1010 includes but is not limited to: acceleration transducer 1011.
Acceleration transducer 1011 can detecte adding in three reference axis of the coordinate system established with intelligent automobile 1000
Velocity magnitude.For example, acceleration transducer 1011 can be used for detecting component of the acceleration of gravity in three reference axis.Processing
The acceleration of gravity signal that device 1001 can be acquired according to acceleration transducer 1011 controls touch display screen 1005 with lateral view
Figure or longitudinal view carry out the display of user interface.Acceleration transducer 1011 can be also used for game or the movement number of user
According to acquisition.
It that is to say, the embodiment of the present invention provides not only a kind of intelligent automobile, including processor and is used for storage processor
The memory of executable instruction, wherein processor is configured as executing the method in Fig. 1, Fig. 2 and embodiment shown in Fig. 3, and
And the embodiment of the invention also provides a kind of computer readable storage medium, it is stored with computer program in the storage medium, it should
The paths planning method in Fig. 1, Fig. 2 and embodiment shown in Fig. 3 may be implemented when computer program is executed by processor.
It will be understood by those skilled in the art that structure shown in Figure 10 does not constitute the restriction to intelligent automobile 1000,
It may include perhaps combining certain components than illustrating more or fewer components or being arranged using different components.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of paths planning method, which is characterized in that the described method includes:
When detect currently need to turn when, from being obtained in the global path of intelligent automobile wait multiple waypoints in crossing of turning
Waypoint information, the global path are the path slave starting point to destination planned based on B-spline algorithm the intelligent automobile；
According to the waypoint information of the multiple waypoint, multiple crosspoints at the crossing to be turned are determined；
Bezier Bezier curve is fitted based on the multiple waypoint and the multiple crosspoint, and by the Bezier of fitting
Curve is determined as the local path planned for the crossing to be turned, and the local path is for tracking intelligent automobile.
2. the method as described in claim 1, which is characterized in that the multiple waypoint includes the first waypoint, the second waypoint, third
Waypoint and the 4th waypoint, first waypoint be intelligent vehicle running path described in wait in crossing of turning the first crossing it is pre-
Inlet point, second waypoint are the exit point at first crossing, and the third waypoint is described wait in crossing of turning second
The inlet point at crossing, the 4th waypoint are the pre- exit point at second crossing, first waypoint and the second waypoint place
First straight line and the third waypoint and the 4th waypoint where second straight line be mutually perpendicular to.
3. method according to claim 2, which is characterized in that the waypoint information according to the multiple waypoint determines institute
State multiple crosspoints at crossing, comprising:
Vertical point between the first straight line and the second straight line is determined as the first crosspoint；
The waypoint information of position, second waypoint based on first crosspoint and the waypoint information of the third waypoint,
The second crosspoint and third crosspoint are determined according to preset ratio coefficient.
4. method according to claim 2, which is characterized in that described that the Bezier curve of fitting is determined as institute
After stating the path that crossing to be turned is planned, further includes:
It carries out determining the intelligent automobile current location and institute in moving process according to the local path in the intelligent automobile
State the distance between second waypoint；
When the distance between the intelligent automobile current location and second waypoint are less than or equal to first distance threshold value, really
The crossing wiring distance at the fixed crossing to be turned is the first wiring distance；
When the distance between the intelligent automobile current location and second waypoint are greater than the first distance threshold value, and it is less than
Or when being equal to second distance threshold value, determine that the crossing wiring distance at the crossing to be turned is the second wiring distance；
When detecting that the intelligent automobile is moved to the first crosspoint position, the intelligent automobile present bit is determined
Set the distance between described third waypoint；
When the distance between the intelligent automobile current location and the third waypoint are less than or equal to the first distance threshold value
When, determine that the crossing wiring distance at the crossing to be turned is third wiring distance；
When the distance between the intelligent automobile current location and the third waypoint are greater than the first distance threshold value, determine
The intelligent automobile is described wait complete turning at crossing of turning.
5. the method as described in claim 1, which is characterized in that it is described when detect currently need to turn when, from intelligent automobile
Global path in obtain waypoint information wait multiple waypoints in crossing of turning before, further includes:
The waypoint information of each waypoint is obtained from driving path file according to the starting point and destination of the intelligent automobile；
Waypoint information based on each waypoint carries out B-spline interpolation processing, obtains the first step of discrete state sequence form
Diameter；
Characteristic point filling processing is carried out to the preliminary path, obtains the global path of Sequentially continuous.
6. method as claimed in claim 5, which is characterized in that the starting point and destination according to the intelligent automobile is from row
After sailing the waypoint information for obtaining each waypoint in path file, further includes:
When the waypoint information includes the location information of waypoint, according to the location information of each waypoint, the intelligence is determined
Position of the energy automobile from the crossing that starting point is passed through into destination driving process.
7. method according to claim 1 or 2, which is characterized in that the crossing to be turned is cross crossing, T font road
Mouth or L font crossing.
8. a kind of path planning apparatus, which is characterized in that described device includes:
First obtain module, for when detect currently need to turn when, obtain from the global path of intelligent automobile wait turn
The waypoint information of multiple waypoints in crossing, the global path be based on B-spline algorithm to the intelligent automobile plan from
Path of the starting point to destination；
First determining module determines multiple intersections at the crossing to be turned for the waypoint information according to the multiple waypoint
Point；
Second determining module, for being fitted Bezier Bezier curve based on the multiple waypoint and the multiple crosspoint, and
The Bezier curve of fitting is determined as to the local path planned for the crossing to be turned, the local path is used
In tracking intelligent automobile.
9. device as claimed in claim 8, which is characterized in that the multiple waypoint includes the first waypoint, the second waypoint, third
Waypoint and the 4th waypoint, first waypoint be intelligent vehicle running path described in wait in crossing of turning the first crossing it is pre-
Inlet point, second waypoint are the exit point at first crossing, and the third waypoint is described wait in crossing of turning second
The inlet point at crossing, the 4th waypoint are the pre- exit point at second crossing, first waypoint and the second waypoint place
First straight line and the third waypoint and the 4th waypoint where second straight line be mutually perpendicular to.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Any method in claim 1-7 is realized when computer program is executed by processor.
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