CN109253735B - Path planning method, device and storage medium - Google Patents
Path planning method, device and storage medium Download PDFInfo
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Abstract
The invention discloses a path planning method, a path planning device and a storage medium, and belongs to the technical field of intelligent automobiles. The method comprises the following steps: when the current turning is detected, obtaining the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile, wherein the global path is a path from a starting point to a destination planned for the intelligent automobile based on a B-spline algorithm; determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints; and fitting a Bezier curve based on the multiple road points and the multiple intersection points, and determining the fitted Bezier curve as a local path planned for the intersection to be turned, wherein the local path is used for tracking the intelligent automobile. According to the invention, the global part path is obtained through the B-spline algorithm, and the local path is processed through the berzier algorithm, so that the problem of curve smoothness of the driving path in the process of right-angle turning is solved, and the influence on the driving of the intelligent automobile is avoided.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a path planning method, a path planning device and a storage medium.
Background
The intelligent automobile integrates the functions of environmental perception, planning decision, multi-level auxiliary driving and the like, and intensively applies the technologies of computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, thereby being a typical high and new technology complex. Among them, path planning is one of the important research contents of intelligent automobiles.
At present, a path of an intelligent vehicle is generally planned through a berzier (bezier) algorithm, but the berzier algorithm is used for representing an overall path, and a local path cannot be refined, for example, for an abnormal path such as a path with an obstacle or a path with a right angle bend, the path planning cannot be performed through the conventional berzier algorithm. Therefore, a path planning method is needed.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a path planning device and a storage medium, which are used for solving the problem that the driving of an intelligent automobile is influenced because the local path cannot be refined in the related technology. The technical scheme is as follows:
in a first aspect, a method for path planning is provided, where the method includes:
when the current turning is detected, obtaining the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile, wherein the global path is a path from a starting point to a destination planned for the intelligent automobile based on a B-spline algorithm;
determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints;
fitting a Bezier curve based on the plurality of road points and the plurality of intersection points, and determining the fitted Bezier curve as a local path planned for the intersection to be turned, wherein the local path is used for tracking the intelligent automobile.
Optionally, the multiple waypoints include a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first waypoint is a pre-entry point of a first intersection in the intersections to be turned in the driving path of the smart vehicle, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in the intersections to be turned, the fourth waypoint is a pre-exit point of the second intersection, and first straight lines where the first waypoint and the second waypoint are located are perpendicular to second straight lines where the third waypoint and the fourth waypoint are located.
Optionally, the determining a plurality of intersections of the intersection according to the waypoint information of the plurality of waypoints includes:
determining a vertical point between the first line and the second line as a first intersection point;
and determining a second intersection point and a third intersection point according to a preset proportionality coefficient based on the position of the first intersection point, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
Optionally, after determining the fitted Bezier curve as the planned path for the intersection to be turned, the method further includes:
determining the distance between the current position of the intelligent automobile and the second waypoint in the process that the intelligent automobile moves according to the local path;
when the distance between the current position of the intelligent automobile and the second road point is smaller than or equal to a first distance threshold value, determining the intersection wiring distance of the intersection to be turned as a first wiring distance;
when the distance between the current position of the intelligent automobile and the second road point is greater than the first distance threshold and is less than or equal to a second distance threshold, determining that the intersection wiring distance of the intersection to be turned is a second wiring distance;
when the intelligent automobile is detected to move to the position of the first intersection, determining the distance between the current position of the intelligent automobile and the third intersection;
when the distance between the current position of the intelligent automobile and the third route point is smaller than or equal to the first distance threshold, determining that the intersection wiring distance of the intersection to be turned is a third wiring distance;
and when the distance between the current position of the intelligent automobile and the third route point is larger than the first distance threshold value, determining that the intelligent automobile completes turning at the road junction to be turned.
Optionally, before the step of obtaining the waypoint information of the plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile when it is detected that the intelligent automobile needs to turn currently, the method further includes:
acquiring the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile;
b spline interpolation processing is carried out on the basis of the waypoint information of each waypoint to obtain a primary path in the form of a discrete state sequence;
and carrying out characteristic point filling processing on the preliminary path to obtain the global path with continuous sequence.
Optionally, after obtaining the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile, the method further includes:
and when the waypoint information comprises the position information of the waypoints, determining the position of the intersection passed by the intelligent automobile in the driving process from the starting point to the destination according to the position information of each waypoint.
Optionally, the intersection to be turned is an intersection, a T-shaped intersection or an L-shaped intersection.
In a second aspect, a path planning apparatus is provided, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the waypoint information of a plurality of waypoints in an intersection to be turned from a global path of the intelligent automobile when the current required turning is detected, and the global path is a path planned from a starting point to a destination for the intelligent automobile based on a B spline algorithm;
the first determining module is used for determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints;
a second determination module for fitting a Bezier curve based on the plurality of road points and the plurality of intersection points, and determining the fitted Bezier curve as a local path planned for the intersection to be turned, wherein the local path is used for tracking the intelligent automobile.
Optionally, the multiple waypoints include a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first waypoint is a pre-entry point of a first intersection in the intersections to be turned in the driving path of the smart vehicle, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in the intersections to be turned, the fourth waypoint is a pre-exit point of the second intersection, and first straight lines where the first waypoint and the second waypoint are located are perpendicular to second straight lines where the third waypoint and the fourth waypoint are located.
Optionally, the first determining module includes:
a first determination submodule for determining a perpendicular point between the first straight line and the second straight line as a first intersection point;
and the second determining submodule is used for determining a second intersection and a third intersection according to a preset proportionality coefficient on the basis of the position of the first intersection, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
Optionally, the apparatus further comprises:
the third determining module is used for determining the distance between the current position of the intelligent automobile and the second waypoint in the process that the intelligent automobile moves according to the local path;
the fourth determining module is used for determining the intersection wiring distance of the intersection to be turned as the first wiring distance when the distance between the current position of the intelligent automobile and the second intersection is smaller than or equal to the first distance threshold value;
the fifth determining module is used for determining the intersection wiring distance of the intersection to be turned as the second wiring distance when the distance between the current position of the intelligent automobile and the second intersection is greater than the first distance threshold and smaller than or equal to the second distance threshold;
a sixth determining module, configured to determine, when it is detected that the smart car moves to the location where the first intersection is located, a distance between the current location of the smart car and the third intersection;
the seventh determining module is used for determining that the intersection wiring distance of the intersection to be turned is a third wiring distance when the distance between the current position of the intelligent automobile and the third intersection is smaller than or equal to the first distance threshold;
and the eighth determining module is used for determining that the intelligent automobile completes turning at the intersection to be turned when the distance between the current position of the intelligent automobile and the third route point is greater than the first distance threshold value.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile;
the first processing module is used for carrying out B spline interpolation processing on the basis of the waypoint information of each waypoint to obtain a primary path in a discrete state sequence form;
and the second processing module is used for carrying out characteristic point filling processing on the preliminary path to obtain the global path with continuous sequence.
Optionally, the apparatus further comprises:
and the ninth determining module is used for determining the position of the intersection passed by the intelligent automobile in the driving process from the starting point to the destination according to the position information of each road point when the road point information comprises the position information of the road point.
Optionally, the intersection to be turned is an intersection, a T-shaped intersection or an L-shaped intersection.
In a third aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of the above-mentioned first aspects.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, the waypoint information of a plurality of waypoints of the intersection to be turned can be acquired from the global path determined based on the B-spline algorithm, and the positions of a plurality of intersections are determined according to the plurality of waypoints of the intersection to be turned, so that the local path can be planned through the Bezier algorithm according to the plurality of waypoints and the plurality of intersections, the problem of curve smoothness of the driving path in the process of turning at right angles is solved, the influence on the driving of the intelligent automobile is avoided, and the intelligent automobile can accurately turn.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a path planning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a second path planning method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third path planning method provided in the embodiment of the present invention;
fig. 4 is a schematic diagram of a local path planning at a turning intersection according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first path planning apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a first determining module according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a second path planning apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a third path planning apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a fourth path planning apparatus according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present invention in detail, the application scenarios related to the embodiments of the present invention are explained separately.
At present, in recent years, research on intelligent automobiles is attracting more and more attention, wherein path planning of intelligent automobiles is an important part in the field of research on intelligent automobiles. At present, path planning is generally carried out on intelligent automobiles by a berzier (Bezier) method, but the berzier algorithm is generally a whole planning method and cannot embody local properties. For example, for an abnormal path such as a path with an obstacle or a path with a right angle bend, a local path planning cannot be performed by the conventional berzier algorithm.
Based on such a scenario, the embodiment of the invention provides a path planning method for improving the accuracy of path planning.
After describing the application scenario of the embodiment of the present invention, the path planning method provided by the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a path planning method according to an embodiment of the present invention, and referring to fig. 1, the method is applied to an intelligent vehicle, and includes the following steps.
Step 101: when the current turning requirement is detected, obtaining the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile, wherein the global path is a path from a starting point to a destination planned for the intelligent automobile based on a B-spline algorithm.
Step 102: and determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints.
Step 103: fitting a Bezier curve based on the plurality of road points and the plurality of intersection points, and determining the fitted Bezier curve as a local path planned for the intersection to be turned, wherein the local path is used for tracking the intelligent automobile.
In the embodiment of the invention, the waypoint information of a plurality of waypoints of the intersection to be turned can be acquired from the global path determined based on the B-spline algorithm, and the positions of a plurality of intersections are determined according to the plurality of waypoints of the intersection to be turned, so that the local path can be planned through the berzier algorithm according to the plurality of waypoints and the plurality of intersections, the problem of curve smoothness of the driving path in the process of turning at right angles is solved, the influence on the driving of the intelligent automobile is avoided, and the intelligent automobile can accurately turn.
Optionally, the multiple waypoints include a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first waypoint is a pre-entry point of a first intersection in the intersections to be turned in the path where the smart vehicle travels, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in the intersections to be turned, the fourth waypoint is a pre-exit point of the second intersection, and first straight lines where the first waypoint and the second waypoint are located are perpendicular to second straight lines where the third waypoint and the fourth waypoint are located.
Optionally, determining a plurality of intersections of the intersection according to the waypoint information of the plurality of waypoints includes:
determining a vertical point between the first line and the second line as a first intersection point;
and determining a second intersection point and a third intersection point according to a preset proportionality coefficient based on the position of the first intersection point, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
Optionally, after determining the fitted Bezier curve as the planned path for the intersection to be turned, the method further includes:
determining the distance between the current position of the intelligent automobile and the second waypoint in the process that the intelligent automobile moves according to the local path;
when the distance between the current position of the intelligent automobile and the second road point is smaller than or equal to a first distance threshold value, determining the intersection wiring distance of the intersection to be turned as a first wiring distance;
when the distance between the current position of the intelligent automobile and the second waypoint is greater than the first distance threshold and is less than or equal to a second distance threshold, determining that the intersection wiring distance of the intersection to be turned is a second wiring distance;
when the intelligent automobile is detected to move to the position of the first intersection, determining the distance between the current position of the intelligent automobile and the third intersection;
when the distance between the current position of the intelligent automobile and the third route point is smaller than or equal to the first distance threshold, determining that the intersection wiring distance of the intersection to be turned is a third wiring distance;
and when the distance between the current position of the intelligent automobile and the third route point is greater than the first distance threshold value, determining that the intelligent automobile completes turning at the intersection to be turned.
Optionally, when it is detected that a turn is currently required, before obtaining waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent vehicle, the method further includes:
acquiring the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile;
b spline interpolation processing is carried out on the basis of the waypoint information of each waypoint to obtain a primary path in the form of a discrete state sequence;
and carrying out characteristic point filling processing on the preliminary path to obtain the global path with continuous sequence.
Optionally, after obtaining the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile, the method further includes:
and when the waypoint information comprises the position information of the waypoints, determining the position of the intersection passed by the intelligent automobile in the driving process from the starting point to the destination according to the position information of each waypoint.
Optionally, the intersection to be turned is an intersection, a T-shaped intersection or an L-shaped intersection.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described in detail herein.
Because the path planning of the intelligent automobile can comprise global path planning and local path planning, and the local path planning is established on the global path, the method for planning the global path of the intelligent automobile is explained before the local path planning of the intelligent automobile.
The global path planning means that an optimal driving path from a starting point to a destination is searched for an intelligent vehicle according to certain evaluation criteria (shortest walking route, minimum used time and the like) in an intricate traffic network, and the global path planning includes two sub-problems of environment modeling and path searching. The local path planning means that a safe and collision-free path is planned for the intelligent vehicle in an environment with an obstacle, so that the intelligent vehicle can bypass the obstacle and safely reach a preset target point.
Fig. 2 is a flowchart of a path planning method according to an embodiment of the present invention, and referring to fig. 2, the method includes the following steps.
Step 201: and the intelligent automobile acquires the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile.
Since the intelligent automobile usually needs a starting point and a destination when driving, the intelligent automobile can acquire the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile before moving. The travel path file may be a map file stored in advance or acquired from another device.
It should be noted that the waypoint information may include location information of the waypoint, road identification, and the like, and the location information may be waypoint longitude and latitude, heading angle, and the like.
When the intelligent automobile is initialized through the initsys () function, the driving path file is read, and therefore the waypoint information of each waypoint can be read from the driving path file. In addition, in order to avoid interference of other waypoint information in the travel route file, the intelligence may store the waypoint information separately in one storage space after acquiring the waypoint information of each waypoint between the start point and the destination.
Further, since there may be an intersection that needs to turn in the path from the starting point to the destination, at this time, in order to facilitate the following intelligent vehicle to turn, after the intelligent vehicle acquires the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent vehicle, when the waypoint information includes the position information of the waypoint, the position of the intersection that the intelligent vehicle passes through in the driving process from the starting point to the destination can be determined according to the position information of each waypoint.
Step 202: and the intelligent automobile carries out B-spline interpolation processing based on the waypoint information of each waypoint to obtain a primary path in a discrete state sequence form.
It should be noted that the B-spline (B-spline) interpolation method combines all the advantages of the Bezier method, including geometric invariance, affine invariance, etc., and overcomes the disadvantage of the Bezier method that the whole curve is affected by moving one control vertex, which is caused by the fact that the whole representation does not have local properties. Therefore, the smart terminal can perform B-spline interpolation processing based on the waypoint information of each waypoint.
The intelligent vehicle may insert a first preset number of points between every two waypoints by using a B-spline interpolation processing method, where the first preset number may be set in advance, for example, the first preset number may be 50, 60, and so on.
Step 203: and the intelligent automobile carries out characteristic point filling processing on the preliminary path to obtain a global path with continuous sequences.
In a normal case, after B-spline interpolation processing is performed on each waypoint, points included in the preliminary path may be greater than or equal to a second preset number of points, and when the number of points included in the preliminary path is greater than or equal to the second preset number of points, the preliminary path may be directly used as a global path. And when the number of the points included in the initial path does not reach the second preset number, namely is smaller than the second preset number, the intelligent automobile can not drive according to the initial path subsequently. At this time, the intelligent automobile may perform feature point filling processing on the preliminary path to obtain a global path including a number greater than or equal to a second preset number.
The global path is a path planned for the intelligent automobile from a starting point to a destination, and the global path meets the conditions that the walking route from the starting point to the destination is shortest, the used time is shortest and the like.
It should be noted that the second preset number may be set in advance, for example, the second preset number may be 200, 220, and so on.
In the embodiment of the invention, the waypoint information of each waypoint can be extracted in the initialization of the program, and the global path planning is carried out according to the waypoint information of each waypoint and the B-spline algorithm to obtain the global path, thereby ensuring the convenience and the accuracy of the subsequent local path planning.
Next, a description will be given of a manner of planning a local route (the local route is used for tracking the smart car) when the smart car travels along the global route.
Fig. 3 is a flowchart of a path planning method according to an embodiment of the present invention, and referring to fig. 3, the method includes the following steps.
Step 301: when the intelligent automobile detects that the intelligent automobile needs to turn at present, the method acquires the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile.
The global path is a path from a starting point to a destination planned by the intelligent automobile based on a B-spline algorithm, and the specific method is detailed in the steps 201 to 203.
The intelligent automobile can obtain the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile when detecting that the intelligent automobile needs to turn at present.
It should be noted that, referring to fig. 4, the multiple waypoints include a first waypoint 1, a second waypoint 2, a third waypoint 3 and a fourth waypoint 4, the first waypoint is a pre-entry point of a first intersection in intersections to be turned in a path where the smart vehicle is traveling, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in intersections to be turned, the fourth waypoint is a pre-exit point of the second intersection, and first straight lines of the first waypoint and the second waypoint are perpendicular to second straight lines where the third waypoint and the fourth waypoint are located.
When the first road point and the second road point can be located at the center of the lane line, and the third road point and the fourth road point can also be located at the center of the lane line, the intelligent automobile is located at the center of the lane line when entering the intersection, and the exit of the intelligent automobile is also located at the center of the lane line. In addition, the intersection to be turned can be an intersection, a T-shaped intersection or an L-shaped intersection.
Furthermore, when the intelligent automobile runs according to the global path, in order to accurately turn, the intelligent automobile can acquire the longitude and latitude and the course angle of the current position, the interpolation points and the current position are converted into the same coordinate system, then the intelligent automobile can determine the distance between the difference points which are closest to the intersection in each interpolation point, and whether the intelligent automobile needs to turn at present can be determined according to the distance between the difference points and the closest interpolation point.
In addition, in the process that the intelligent automobile runs according to the global path, the distance between every two difference points and whether the intelligent automobile deviates from each interpolation point can be determined, and when the deviation exists, adjustment is carried out in time, and the pre-aiming point of the intelligent automobile is determined.
Step 302: the intelligent automobile can determine a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints.
Because the intelligent vehicle may not be able to turn accurately according to a plurality of waypoints of the intersection, in order to enable the intelligent vehicle to turn accurately, the intelligent vehicle may additionally determine several points to control the intelligent vehicle to turn, for example, the intelligent vehicle may determine a plurality of intersections of the intersection to be turned according to waypoint information of the plurality of waypoints.
The operation of determining the multiple intersections of the intersection to be turned according to the waypoint information of the multiple waypoints by the intelligent automobile can be as follows: determining a vertical point between the first straight line and the second straight line as a first intersection point; and determining the second intersection point and the third intersection point according to a preset proportionality coefficient based on the position of the first intersection point, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
It should be noted that, the intelligent automobile may not determine the distance between the first intersection point and the second waypoint based on the position information of the second waypoint included in the position information of the first intersection point and the waypoint of the second waypoint, and determine the second intersection point according to the distance and the preset scaling factor. Similarly, the smart car may determine a distance between the first intersection point and the third intersection point based on the position information of the third intersection point included in the position information of the first intersection point and the position information of the third intersection point, and determine the third intersection point according to the distance and a preset scaling factor. At this time, the second intersection point will be located on the first straight line, and the third straight line is located on the second straight line.
It should be further noted that the preset scaling factor may be set in advance, for example, the preset scaling factor may be 2:1, that is, a ratio between a distance between the second waypoint and the second intersection and a distance between the second intersection and the first intersection is 2:1, and a ratio between a distance between the third intersection and a distance between the third intersection and the first intersection is 2: 1.
In addition, referring to fig. 4, the first intersection may also be a third distance threshold from the perpendicular point between the first straight line and the second straight line, and is located at a point on the second straight line that is far from the third waypoint, so that the smart car determines, based on the position of the first intersection, the waypoint information of the second waypoint, and the waypoint information of the third waypoint, that the second intersection 6 and the third intersection 7 will no longer be located on the first straight line and the second straight line, respectively, according to a preset scaling factor.
It should be noted that the third distance threshold may be set in advance, for example, the third distance threshold may be 1 meter, 0.5 meter, and so on.
Step 303: the intelligent automobile fits a Bezier curve based on the multiple road points and the multiple intersection points, and determines the fitted Bezier curve as a local path planned for the intersection to be turned.
It should be noted that, after the intelligent vehicle plans the local path, the intelligent vehicle may travel according to the local path, and the intelligent vehicle needs to turn according to the intersection wiring distance during the travel. That is, after the intelligent vehicle determines the fitted Bezier curve as the path planned for the intersection to be turned, the distance between the current position of the intelligent vehicle and the second waypoint can be determined in the process of moving according to the local path; when the distance between the current position of the intelligent automobile and the second road point is smaller than or equal to a first distance threshold value, determining the intersection wiring distance of the intersection to be turned as a first wiring distance; when the distance between the current position of the intelligent automobile and the second road point is greater than a first distance threshold value and is less than or equal to a second distance threshold value, determining the intersection wiring distance of the intersection to be turned as a second wiring distance; when the intelligent automobile is detected to move to the position of the first intersection, determining the distance between the current position of the intelligent automobile and the third intersection; when the distance between the current position of the intelligent automobile and the third route point is smaller than or equal to the first distance threshold value, determining that the intersection wiring distance of the intersection to be turned is the third wiring distance; and when the distance between the current position of the intelligent automobile and the third route point is larger than the first distance threshold value, determining that the intelligent automobile completes turning at the road junction to be turned.
When the distance between the current position of the intelligent automobile and the second road point is smaller than or equal to the first distance threshold, the curve is over small, and therefore the intersection wiring distance of the intersection to be turned is determined to be the smaller first wiring distance; when the distance between the current position of the intelligent automobile and the second road point is greater than the first distance threshold value and less than or equal to the second distance threshold value, the curve is larger, and therefore the intersection wiring distance of the intersection to be turned can be determined to be the larger second wiring distance; when the intelligent automobile is detected to move to the position of the first intersection, the intelligent automobile is indicated to pass through the first intersection and approach the second intersection, so that the distance between the current position of the intelligent automobile and the third intersection can be determined, and when the distance between the current position of the intelligent automobile and the third intersection is smaller than or equal to the first distance threshold, the intersection wiring distance of the intersection to be turned is determined to be the third wiring distance.
It should be noted that the first distance threshold may be set in advance, for example, the first distance threshold may be 5 meters, 6 meters, and so on. The second distance threshold may also be set in advance, for example, the second distance threshold may be 25 meters, 24 meters, and so on. The first wiring distance may be set in advance, for example, the first wiring distance may be 0.5 m or the like. The second wiring distance may be set in advance, for example, the second wiring distance may be 15 meters or the like. The third wiring distance may be set in advance, for example, the third wiring distance may be-0.5 m or the like.
In addition, when the distance between the current position of the intelligent automobile and the second road point is greater than the second distance threshold, or when the distance between the current position of the intelligent automobile and the third road point is greater than the second distance threshold, the curve is over large, and the intersection wiring distance does not need to be determined.
In the embodiment of the invention, the intelligent automobile can acquire the waypoint information of a plurality of waypoints of the intersection to be turned from the global path determined based on the B-spline algorithm, and determine the positions of a plurality of intersections according to the plurality of waypoints of the intersection to be turned, so that the local path planning can be carried out according to the plurality of waypoints and the plurality of intersections through the berzier algorithm, the problem of curve smoothness of the driving path in the right-angle turning process is solved, and meanwhile, intersection wiring at different distances can be selected according to the road conditions of the intersection to be turned, the influence on the driving of the intelligent automobile is avoided, and the intelligent automobile can accurately turn.
After explaining the path planning method provided by the embodiment of the present invention, a path planning apparatus provided by the embodiment of the present invention is introduced next.
Fig. 5 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present invention, and referring to fig. 5, the apparatus may be implemented by software, hardware, or a combination of the two. The device includes: a first obtaining module 501, a first determining module 502 and a second determining module 503.
A first obtaining module 501, configured to obtain, when it is detected that a turn is currently needed, waypoint information of multiple waypoints in an intersection to be turned from a global path of an intelligent vehicle, where the global path is a path planned from a starting point to a destination by the intelligent vehicle based on a B-spline algorithm;
a first determining module 502, configured to determine, according to the waypoint information of the multiple waypoints, multiple intersections of the intersection to be turned;
a second determining module 503, configured to fit a Bezier curve based on the plurality of road points and the plurality of intersection points, and determine the fitted Bezier curve as a local path planned for the intersection to be turned, where the local path is used for tracking the smart car.
Optionally, the multiple waypoints include a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first waypoint is a pre-entry point of a first intersection in the intersections to be turned in the driving path of the smart vehicle, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in the intersections to be turned, the fourth waypoint is a pre-exit point of the second intersection, and first straight lines where the first waypoint and the second waypoint are located are perpendicular to second straight lines where the third waypoint and the fourth waypoint are located.
Optionally, referring to fig. 6, the first determining module 502 includes:
a first determination submodule 5021 for determining a perpendicular point between the first straight line and the second straight line as a first intersection point;
the second determining submodule 5022 is configured to determine a second intersection and a third intersection according to a preset scaling factor based on the position of the first intersection, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
Optionally, referring to fig. 7, the apparatus further comprises:
a third determining module 504, configured to determine a distance between the current location of the smart car and the second waypoint in a process that the smart car moves according to the local path;
a fourth determining module 505, configured to determine, when a distance between the current position of the smart vehicle and the second waypoint is less than or equal to a first distance threshold, that a junction connection distance of the intersection to be turned is a first connection distance;
a fifth determining module 506, configured to determine, when the distance between the current position of the smart vehicle and the second waypoint is greater than the first distance threshold and is less than or equal to a second distance threshold, that the intersection connection distance of the intersection to be turned is a second connection distance;
a sixth determining module 507, configured to determine, when it is detected that the smart car moves to the location where the first intersection is located, a distance between the current location of the smart car and the third intersection;
a seventh determining module 508, configured to determine, when a distance between the current position of the smart vehicle and the third route point is less than or equal to the first distance threshold, that the intersection connection distance of the intersection to be turned is a third connection distance;
an eighth determining module 509, configured to determine that the smart car completes turning at the intersection to be turned when the distance between the current location of the smart car and the third route point is greater than the first distance threshold.
Optionally, referring to fig. 8, the apparatus further comprises:
the second obtaining module 5010 is configured to obtain waypoint information of each waypoint from the driving path file according to the starting point and the destination of the smart car;
the first processing module 5011 is configured to perform B-spline interpolation processing based on the waypoint information of each waypoint to obtain a preliminary path in the form of a discrete state sequence;
a second processing module 5012, configured to perform feature point filling processing on the preliminary path to obtain the global path with continuous sequence.
Optionally, referring to fig. 9, the apparatus further comprises:
a ninth determining module 5013, configured to determine, when the waypoint information includes location information of waypoints, a location of an intersection where the smart vehicle passes in a driving process from a starting point to a destination according to the location information of each waypoint.
Optionally, the intersection to be turned is an intersection, a T-shaped intersection or an L-shaped intersection.
In summary, in the embodiment of the present invention, the intelligent vehicle may obtain the waypoint information of the multiple waypoints of the intersection to be turned from the global path determined based on the B-spline algorithm, and determine the positions of the multiple intersections according to the multiple waypoints of the intersection to be turned, so that the local path planning may be performed according to the multiple waypoints and the multiple intersections through the Bezier algorithm, thereby solving the problem of curve smoothness of the driving path during the right-angle turning process, and simultaneously, the intersection connections at different distances may be selected according to the road conditions of the intersection to be turned, thereby avoiding the influence on the driving of the intelligent vehicle, and enabling the intelligent vehicle to turn accurately.
It should be noted that: the path planning apparatus provided in the foregoing embodiment is only illustrated by dividing the functional modules when planning a path, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the path planning apparatus and the path planning method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
Fig. 10 shows a block diagram of an intelligent vehicle 1000 according to an exemplary embodiment of the present invention. In general, the smart car 1000 includes: a processor 1001 and a memory 1002.
In some embodiments, the smart car 1000 may further optionally include: a peripheral interface 1003 and at least one peripheral. The processor 1001, memory 1002 and peripheral interface 1003 may be connected by a bus or signal line. Various peripheral devices may be connected to peripheral interface 1003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: CAN (Controller Area Network) 1004, touch screen 1005, camera 1006, audio circuitry 1007, pointing component 1008, and power supply 1009.
The peripheral interface 1003 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 1001 and the memory 1002. In some embodiments, processor 1001, memory 1002, and peripheral interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1001, the memory 1002, and the peripheral interface 1003 may be implemented on separate chips or circuit boards, which are not limited by this embodiment.
The display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1005 is a touch display screen, the display screen 1005 also has the ability to capture touch signals on or over the surface of the display screen 1005. The touch signal may be input to the processor 1001 as a control signal for processing. At this point, the display screen 1005 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 1005 may be one, providing a front panel of the smart car 1000; in other embodiments, the number of the display screens 1005 may be at least two, and the at least two display screens 1005 are respectively disposed on different surfaces of the smart car 1000 or are in a folding design; in still other embodiments, the display screen 1005 may be a flexible display screen disposed on a curved surface or a folded surface of the smart car 1000. Even more, the display screen 1005 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display screen 1005 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The camera assembly 1006 is used to capture images or video. Optionally, the camera assembly 1006 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions.
The audio circuit 1007 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1001 for processing. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be respectively disposed at different positions of the smart car 1000. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is then used to convert the electrical signals from the processor 1001 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuit 1007 may also include a headphone jack.
The positioning component 1008 is used to locate the current geographic Location of the smart car 1000 to implement navigation or LBS (Location Based Service). The Positioning component 1008 may be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
The power supply 1009 is used to supply power to the respective components in the smart car 1000. The power source 1009 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 1009 includes a rechargeable battery, the rechargeable battery may support wired charging or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the smart car 1000 further includes one or more sensors 1010. The one or more sensors 1010 include, but are not limited to: an acceleration sensor 1011.
The acceleration sensor 1011 can detect the magnitude of acceleration on three coordinate axes of the coordinate system established with the smart car 1000. For example, the acceleration sensor 1011 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 1001 may control the touch display screen 1005 to display a user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1011. The acceleration sensor 1011 may also be used for acquisition of motion data of a game or a user.
That is, not only is an embodiment of the present invention provide an intelligent vehicle including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the method in the embodiments shown in fig. 1, 2 and 3, but also an embodiment of the present invention provides a computer-readable storage medium having a computer program stored therein, and the computer program can implement the path planning method in the embodiments shown in fig. 1, 2 and 3 when the computer program is executed by the processor.
Those skilled in the art will appreciate that the configuration shown in fig. 10 is not intended to be limiting of the smart car 1000 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A method of path planning, the method comprising:
when the current need of turning is detected, acquiring the waypoint information of a plurality of waypoints in an intersection to be turned from a global path of the intelligent automobile, wherein the global path is a path from a starting point to a destination planned for the intelligent automobile based on a B-spline algorithm, the plurality of waypoints comprise a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first waypoint is a pre-entry point of a first intersection in the intersection to be turned in the path in which the intelligent automobile runs, the second waypoint is an exit point of the first intersection, the third waypoint is an entry point of a second intersection in the intersection to be turned, the fourth waypoint is a pre-exit point of the second intersection, and a first straight line where the first waypoint and the second waypoint are located is mutually perpendicular to a second straight line where the third waypoint and the fourth waypoint are located;
determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints;
fitting a Bezier curve based on the plurality of road points and the plurality of intersection points, and determining the fitted Bezier curve as a local path planned for the intersection to be turned, wherein the local path is used for tracking the intelligent automobile;
the method further comprises the following steps:
determining the distance between the current position of the intelligent automobile and the second waypoint in the process that the intelligent automobile moves according to the local path;
when the distance between the current position of the intelligent automobile and the second road point is smaller than or equal to a first distance threshold value, determining the intersection wiring distance of the intersection to be turned as a first wiring distance;
when the distance between the current position of the intelligent automobile and the second road point is greater than the first distance threshold and is less than or equal to a second distance threshold, determining that the intersection wiring distance of the intersection to be turned is a second wiring distance;
when the intelligent automobile is detected to move to the position of the first intersection, determining the distance between the current position of the intelligent automobile and the third intersection;
when the distance between the current position of the intelligent automobile and the third route point is smaller than or equal to the first distance threshold, determining that the intersection wiring distance of the intersection to be turned is a third wiring distance;
and when the distance between the current position of the intelligent automobile and the third route point is larger than the first distance threshold value, determining that the intelligent automobile completes turning at the road junction to be turned.
2. The method of claim 1, wherein said determining a plurality of intersections of the intersection based on the waypoint information for the plurality of waypoints comprises:
determining a vertical point between the first line and the second line as a first intersection point;
and determining a second intersection point and a third intersection point according to a preset proportionality coefficient based on the position of the first intersection point, the waypoint information of the second waypoint and the waypoint information of the third waypoint.
3. The method of claim 1, wherein before obtaining waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the smart car when it is detected that the turn is currently required, the method further comprises:
acquiring the waypoint information of each waypoint from the driving path file according to the starting point and the destination of the intelligent automobile;
b spline interpolation processing is carried out on the basis of the waypoint information of each waypoint to obtain a primary path in the form of a discrete state sequence;
and carrying out characteristic point filling processing on the preliminary path to obtain the global path with continuous sequence.
4. The method of claim 3, wherein after obtaining the waypoint information of each waypoint from the travel path file according to the start point and the destination of the intelligent automobile, the method further comprises:
and when the waypoint information comprises the position information of the waypoints, determining the position of the intersection passed by the intelligent automobile in the driving process from the starting point to the destination according to the position information of each waypoint.
5. The method of claim 1, wherein the intersection to be turned is an intersection, a T-shaped intersection, or an L-shaped intersection.
6. A path planning apparatus, the apparatus comprising:
the first acquisition module is used for acquiring the waypoint information of a plurality of waypoints in the intersection to be turned from the global path of the intelligent automobile when the current required turning is detected, the global path is a path from a starting point to a destination planned for the intelligent automobile based on a B-spline algorithm, wherein the plurality of waypoints comprise a first waypoint, a second waypoint, a third waypoint and a fourth waypoint, the first road point is a pre-entrance point of a first road junction in the roads to be turned in the driving path of the intelligent automobile, the second road point is the exit point of the first intersection, the third road point is the entrance point of the second intersection in the intersections to be turned, the fourth road point is a pre-exit point of the second intersection, and a first straight line where the first road point and the second road point are located is perpendicular to a second straight line where the third road point and the fourth road point are located;
the first determining module is used for determining a plurality of intersections of the intersection to be turned according to the waypoint information of the plurality of waypoints;
a second determination module, configured to fit a Bezier curve based on the plurality of waypoints and the plurality of intersections, and determine the fitted Bezier curve as a local path planned for the intersection to be turned, where the local path is used for tracking a smart car;
the device further comprises:
the third determining module is used for determining the distance between the current position of the intelligent automobile and the second waypoint in the process that the intelligent automobile moves according to the local path;
the fourth determining module is used for determining the intersection wiring distance of the intersection to be turned as the first wiring distance when the distance between the current position of the intelligent automobile and the second intersection is smaller than or equal to the first distance threshold value;
the fifth determining module is used for determining the intersection wiring distance of the intersection to be turned as the second wiring distance when the distance between the current position of the intelligent automobile and the second intersection is greater than the first distance threshold and smaller than or equal to the second distance threshold;
a sixth determining module, configured to determine, when it is detected that the smart car moves to the location where the first intersection is located, a distance between the current location of the smart car and the third intersection;
the seventh determining module is used for determining that the intersection wiring distance of the intersection to be turned is a third wiring distance when the distance between the current position of the intelligent automobile and the third intersection is smaller than or equal to the first distance threshold;
and the eighth determining module is used for determining that the intelligent automobile completes turning at the intersection to be turned when the distance between the current position of the intelligent automobile and the third route point is greater than the first distance threshold value.
7. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-5.
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| US20230012987A1 (en) * | 2020-01-03 | 2023-01-19 | Nokia Technologies Oy | Obtaining a navigation path |
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Effective date of registration: 20220221 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Anhui 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |