阅读说明：本技术 轨迹规划方法、轨迹规划装置、存储介质与电子设备 (Trajectory planning method, trajectory planning device, storage medium, and electronic apparatus ) 是由 李柏 于 2019-11-14 设计创作，主要内容包括：本公开提供一种轨迹规划方法、装置、存储介质与电子设备,涉及智能导航技术领域。该方法包括：在地图中获取起点和终点,确定起点的状态参数,状态参数包括时刻；建立开放列表,以记录其中每个节点的状态参数,将起点加入开放列表；依次以开放列表中代价值最小的节点为父节点,根据预设间隔时间内的状态变量,确定该父节点的子节点的状态参数,并将子节点加入开放列表,将该父节点从开放列表移除；当将终点加入开放列表时,从终点开始,依次连接子节点及其父节点,直到连接到起点,得到目标路径；根据目标路径中每个节点的状态参数,生成从起点到终点的目标轨迹。本公开可以实现在动态场景中的轨迹规划,并且符合车辆等物体的运动学特性。(The disclosure provides a track planning method, a track planning device, a storage medium and electronic equipment, and relates to the technical field of intelligent navigation. The method comprises the following steps: acquiring a starting point and an end point in a map, and determining state parameters of the starting point, wherein the state parameters comprise time; establishing an open list to record the state parameters of each node, and adding a starting point into the open list; sequentially taking the node with the minimum cost value in the open list as a father node, determining the state parameters of the child nodes of the father node according to the state variables in the preset interval time, adding the child nodes into the open list, and removing the father node from the open list; when the end point is added into the open list, the child nodes and the father nodes thereof are sequentially connected from the end point until the child nodes are connected to the starting point, and a target path is obtained; and generating a target track from the starting point to the end point according to the state parameter of each node in the target path. The method and the system can realize the track planning in a dynamic scene and conform to the kinematics characteristics of objects such as vehicles.)

1. A trajectory planning method, comprising:

acquiring a starting point and an end point in a map, and determining state parameters of the starting point;

establishing an open list to record the state parameters of each node, and adding the starting point into the open list, wherein the state parameters of each node comprise the time corresponding to the node;

sequentially taking the node with the minimum cost value in the open list as a father node, determining the state parameters of the child nodes of the father node according to state variables in preset interval time, adding the child nodes into the open list, and removing the father node from the open list;

when the end point is added into the open list, sequentially connecting child nodes and father nodes thereof from the end point until the child nodes are connected to the starting point to obtain a target path;

and generating a target track from the starting point to the end point according to the state parameter of each node in the target path.

2. The method of claim 1, wherein the state parameters further comprise attitude and velocity.

3. The method according to claim 2, wherein the determining the state parameter of the child node of the parent node according to the state variable in the preset interval time comprises:

acquiring each state variable combination;

and respectively calculating the child nodes reached after the preset interval time is moved through each state variable combination based on the state parameters of the father node, and calculating the state parameters of the child nodes.

4. A method according to any of claims 1 to 3, characterized in that the state variables comprise a speed variable and a steering variable.

5. The method of claim 1, wherein the cost value of the child node is determined when the child node is added to the open list by:

determining a first descendant value of the child node according to the first descendant value of the parent node of the child node and a difference between the state parameters of the child node and the parent node thereof;

determining a cost value of the child node to the destination as a second descendant value of the child node;

determining a cost value of the child node according to the first child value and the second child value of the child node;

wherein the first progeny value of the starting point is 0.

6. The method of claim 5, wherein the cost value from any node to the endpoint is determined by:

calculating the length of a Reeds-Shepp curve from any node to the terminal point as a first length;

determining the length of a path from any node to the terminal point through an A star algorithm as a second length;

and taking the larger length value of the first length and the second length as the cost value of any node to the terminal.

7. The method of claim 1, wherein when adding the child node to the open list, the method further comprises:

when the child node is already positioned in the open list, acquiring an original parent node of the child node;

calculating the primary value of the child node based on the original father node, and calculating the current value of the child node based on the current father node;

when the primary cost value is smaller than the current cost value, the relationship between the child node and the original father node is reserved;

and when the primary cost value is larger than the current cost value, updating the father node of the child node as the current father node.

8. The method of claim 1, wherein after adding the child node to the open list, the method further comprises:

when a preset condition is met, generating a Reeds-Shepp curve from the child node to the terminal;

calculating the state parameters of each node in the Reeds-Shepp curve when the uniform movement is adopted based on the state parameters of the child nodes;

judging whether the Reeds-Shepp curve collides with an obstacle in the map or not according to the state parameters of all nodes in the Reeds-Shepp curve;

when the fact that the Reeds-Shepp curve collides with the obstacles in the map is determined, the step of determining the state parameters of the child nodes of the father nodes by taking the node with the minimum cost value in the open list as the father node according to the state variables in the preset interval time is continuously executed;

when the Reeds-Shepp curve is determined not to collide with the obstacles in the map, sequentially connecting child nodes and parent nodes thereof from the child nodes until the child nodes are connected to the starting point, and obtaining a target path by combining the Reeds-Shepp curve;

and generating a target track from the starting point to the end point according to the state parameter of each node in the target path.

9. The method according to claim 1, wherein when adding the child node to the open list, the child node located in the closed list is removed, and the remaining child nodes are added to the open list.

10. The method of claim 9, wherein after removing the parent node from the open list, the method further comprises:

and adding the father node into the closed list.

11. The method of claim 9, wherein after determining the state parameters of the child nodes of the parent node according to the state variables within the preset time interval, the method further comprises:

and when the child node is determined to collide with the obstacle in the map according to the state parameters of the child node, adding the child node into the closed list.

12. The method of claim 9, wherein after removing the parent node from the open list, if the open list is empty, then determining that trajectory planning has failed.

13. The method of claim 1, wherein the open list is empty before the starting point is added to the open list.

14. A trajectory planning apparatus, comprising:

the acquisition module is used for acquiring a starting point and an end point in a map and determining the state parameters of the starting point;

the establishing module is used for establishing an open list so as to record the state parameter of each node, and adding the starting point into the open list, wherein the state parameter of each node comprises the time corresponding to the node;

the expansion module is used for sequentially taking the node with the minimum cost value in the open list as a father node, determining the state parameters of the child nodes of the father node according to the state variables in the preset interval time, adding the child nodes into the open list, and removing the father node from the open list;

the connection module is used for sequentially connecting child nodes and father nodes thereof from the end point until the child nodes are connected to the starting point to obtain a target path when the end point is added into the open list;

and the generating module is used for generating a target track from the starting point to the end point according to the state parameter of each node in the target path.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 13.

16. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the method of any of claims 1 to 13 via execution of the executable instructions.