阅读说明：本技术 一种路径规划方法、装置、存储介质及电子设备 (Path planning method and device, storage medium and electronic equipment ) 是由 刘江江 于 2021-08-18 设计创作，主要内容包括：本发明实施例公开了一种路径规划方法、装置、存储介质及电子设备。其中方法包括：获取目标对象的当前位置,以及目标提示物的位置；若所述目标提示物不在所述目标对象的检测范围内,则获取所述目标对象的状态参数,基于所述状态参数和当前位置确定所述目标对象的辅助路径；基于所述目标对象的目标朝向确定在所述辅助路径上的临界点,其中,所述目标朝向为路径停止线上辅助点到所述目标提示物的朝向；基于所述辅助路径和所述临界点确定所述目标对象的行驶路径。以保证目标提示物进入目标对象的检测范围,可识别目标提示物的提示信息,避免在转弯过程中无法获取提示信息导致目标对象停止行驶的问题,提高了自动驾驶的性能。(The embodiment of the invention discloses a path planning method, a path planning device, a storage medium and electronic equipment. The method comprises the following steps: acquiring the current position of a target object and the position of a target prompt object; if the target prompting object is not in the detection range of the target object, acquiring a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and the current position; determining a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation of the auxiliary point on the path stopping line to the target cue object; determining a travel path of the target object based on the auxiliary path and the critical point. The target prompting object can enter the detection range of the target object, the prompting information of the target prompting object can be identified, the problem that the target object stops driving due to the fact that the prompting information cannot be obtained in the turning process is avoided, and the automatic driving performance is improved.)

1. A method of path planning, comprising:

acquiring the current position of a target object and the position of a target prompt object;

if the target prompting object is not in the detection range of the target object, acquiring a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and the current position, wherein the target object is on the auxiliary path;

determining a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation of the auxiliary point on the path stopping line to the target cue object;

determining a travel path of the target object based on the auxiliary path and the critical point.

2. The method of claim 1, wherein obtaining a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and a current location comprises:

acquiring a current corner and wheelbase of the target object;

determining a circular auxiliary path of the target object based on the current corner, wheelbase, and the current position.

3. The method of claim 2, wherein the current location of the target object comprises location point coordinates and a location orientation relative to a target cue;

the radius of the circular auxiliary path is determined based on the current corner and wheelbase;

the center of the circular auxiliary path is determined based on the direction vector perpendicular to the position orientation, the radius, and the position point coordinates.

4. The method of claim 1, wherein determining critical points on the secondary path based on the target orientation of the target object comprises:

determining two candidate points on the secondary path that are parallel to the target orientation;

and determining candidate points with the same direction as the target direction as the current object according to the driving direction of the current object, wherein the candidate points are determined as critical points.

5. The method of claim 1, wherein determining the travel path of the target object based on the auxiliary path and the critical point comprises:

determining an auxiliary path segment between the current position of the target object and the critical point on the auxiliary path as a first travel path of the target object based on the travel direction of the target object.

6. The method of claim 5, further comprising, after the determining an auxiliary path segment on the auxiliary path between the current position of the target object and the critical point as the first travel path of the target object:

determining the position relation of a current object positioned at a critical point relative to the path stop line;

and determining a second driving path of the target object based on the position relation, wherein the second driving path is a straight path and is used for assisting the target object to drive to a regular position relative to the path stop line.

7. The method of claim 1, further comprising:

and if the target prompting object is in the detection range of the target object, determining the straight-line driving path of the target object according to a path stop line and the current position of the target object.

8. A path planning apparatus, comprising:

the position acquisition module is used for acquiring the current position of the target object and the position of the target prompt object;

an auxiliary path determining module, configured to, if the target prompt object is not within the detection range of the target object, obtain a state parameter of the target object, and determine an auxiliary path of the target object based on the state parameter and a current position, where the target object is on the auxiliary path;

a critical point determining module for determining a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation from the auxiliary point on the path stopping line to the target cue object;

a first travel path determination module to determine a travel path of the target object based on the auxiliary path and the critical point.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the path planning method according to any of claims 1-7 when executing the program.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a path planning method according to any one of claims 1-7.

Technical Field

The embodiment of the invention relates to the technical field of path planning, in particular to a path planning method, a path planning device, a storage medium and electronic equipment.

Background

Autonomous driving is an important direction of development. However, in the process of implementing the present invention, the inventors found that at least the following technical problems exist in the prior art:

in the automatic driving process, the automatic driving vehicle has difficulty in acquiring the remaining time of the green light in consideration of the layout of sensors of the automatic driving vehicle, the algorithm performance and the high-precision map data maintenance cost. Therefore, it is impossible to determine whether or not the autonomous vehicle can pass by the vehicle speed, the intersection size, and the green light remaining time. Therefore, the condition of the red light pressing line exists, and the vehicle needs to be backed to the rear of the stop line. Considering the layout of vehicle sensors and the navigation path, the pure reversing may cause the traffic light not to be in the visual field of the sensors, so that the sensing module cannot identify the state of the traffic light, and the main vehicle is always stopped at the stop line.

Disclosure of Invention

The embodiment of the invention provides a path planning method, a path planning device, a storage medium and electronic equipment, which are used for improving the path planning quality and ensuring the smooth passage of a main vehicle.

In a first aspect, an embodiment of the present invention provides a path planning method, including:

acquiring the current position of a target object and the position of a target prompt object;

if the target prompting object is not in the detection range of the target object, acquiring a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and the current position, wherein the target object is on the auxiliary path;

determining a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation of the auxiliary point on the path stopping line to the target cue object;

determining a travel path of the target object based on the auxiliary path and the critical point.

Optionally, obtaining the state parameter of the target object, and determining the auxiliary path of the target object based on the state parameter and the current position includes:

acquiring a current corner and wheelbase of the target object;

determining a circular auxiliary path of the target object based on the current corner, wheelbase, and the current position.

Optionally, the current position of the target object includes position point coordinates and a position orientation relative to the target cue object;

the radius of the circular auxiliary path is determined based on the current corner and wheelbase;

the center of the circular auxiliary path is determined based on the direction vector perpendicular to the position orientation, the radius, and the position point coordinates.

Optionally, the determining a critical point on the auxiliary path based on the target orientation of the target object includes:

determining two candidate points on the secondary path that are parallel to the target orientation;

and determining candidate points with the same direction as the target direction as the current object according to the driving direction of the current object, wherein the candidate points are determined as critical points.

Optionally, the determining a driving path of the target object based on the auxiliary path and the critical point includes:

determining an auxiliary path segment between the current position of the target object and the critical point on the auxiliary path as a first travel path of the target object based on the travel direction of the target object.

Optionally, after determining an auxiliary path segment between the current position of the target object on the auxiliary path and the critical point as the first travel path of the target object, the method further includes:

determining the position relation of a current object positioned at a critical point relative to the path stop line;

and determining a second driving path of the target object based on the position relation, wherein the second driving path is a straight path and is used for assisting the target object to drive to a regular position relative to the path stop line.

Optionally, the method further includes:

and if the target prompting object is in the detection range of the target object, determining the straight-line driving path of the target object according to a path stop line and the current position of the target object.

In a second aspect, an embodiment of the present invention further provides a path planning apparatus, including:

the position acquisition module is used for acquiring the current position of the target object and the position of the target prompt object;

an auxiliary path determining module, configured to, if the target prompt object is not within the detection range of the target object, obtain a state parameter of the target object, and determine an auxiliary path of the target object based on the state parameter and a current position, where the target object is on the auxiliary path;

a critical point determining module for determining a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation from the auxiliary point on the path stopping line to the target cue object;

a first travel path determination module to determine a travel path of the target object based on the auxiliary path and the critical point.

In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the path planning method according to any embodiment of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the path planning method according to any embodiment of the present invention.

According to the technical scheme provided by the embodiment, in the turning driving process of the target object, if the target prompting object is not in the detection range of the target object, the auxiliary path is set, the critical point meeting the target orientation is determined on the auxiliary path, the path section between the current position and the driving direction of the target object is determined as the first driving path, and the target object is controlled to drive on the basis of the first driving path, so that the target prompting object enters the detection range of the target object when reaching the position corresponding to the critical point, the prompting information of the target prompting object can be identified, the problem that the target object stops driving due to the fact that the prompting information cannot be obtained in the turning process is avoided, and the automatic driving performance is improved.

Drawings

Fig. 1 is a schematic flow chart of a path planning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an autopilot scenario provided by an embodiment of the invention;

FIG. 3 is a schematic diagram of an auxiliary path provided by an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a path planning apparatus according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a schematic flow chart of a path planning method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a low-speed vehicle performs path planning during turning in an automatic driving scenario, and the method may be executed by a path planning device according to an embodiment of the present invention, where the path planning device may be implemented by software and/or hardware, and the path planning device may be configured on an electronic computing device such as an on-board controller, a mobile phone, and a tablet computer.

Referring to fig. 2, fig. 2 is a schematic diagram of an automatic driving scenario provided in an embodiment of the present invention. In this embodiment, the autonomous vehicle (i.e., the target object) is a low-speed vehicle, and during autonomous driving, in a turning (especially, left-turning) scene, the driving path is straight to the opposite side of the road, and after making a 90-degree turn, the autonomous vehicle passes through the intersection in the straight direction, see fig. 2. In fig. 2, the stop line may be provided by a navigation device, or may be acquired by an autonomous vehicle (i.e., the host vehicle in fig. 2) through a sensor (e.g., a camera, a radar, or the like), the left turn route (i.e., the guiding line) of the low-speed autonomous vehicle may be the route provided by the navigation device, and the field of view range of the autonomous vehicle may be determined based on the field of view range of the camera provided on the autonomous vehicle and the set position. In fig. 2, the autonomous vehicle stops at the stop line position during the left turn, and the autonomous vehicle cannot continue to run because the traffic light (i.e., the target reminder) is not within the field of view of the autonomous vehicle, i.e., the autonomous vehicle cannot recognize the change of the traffic light.

For the above automatic driving scenario, the present embodiment provides a path planning method, which specifically includes the following steps:

and S110, acquiring the current position of the target object and the position of the target prompt object.

S120, if the target prompting object is not in the detection range of the target object, acquiring a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and the current position, wherein the target object is on the auxiliary path.

And S130, determining a critical point on the auxiliary path based on the target direction of the target object, wherein the target direction is the direction from the auxiliary point on the path stopping line to the target prompting object.

And S140, determining a driving path of the target object based on the auxiliary path and the critical point.

In this embodiment, the target object may be a low speed autonomous vehicle, wherein the low speed autonomous vehicle may include, but is not limited to, an autonomous automobile or an autonomous electric vehicle. The target reminder may be used for objects that remind the moving vehicle, including but not limited to traffic lights. The position of the target reminder may be provided by the navigation device, and the current position of the target object may be provided by the navigation device, or acquired by the target object or the electronic device implementing the embodiment. If the current position of the target object and the position of the target prompting object are provided by different devices, the current position of the target object and the position of the target prompting object are converted into the same coordinate system, and the current position of the target object and the position of the target prompting object are convenient to process.

The field of view range of the target object is fixed, and the detection range of the target object can be determined according to the driving direction, the current position and the field of view range of the target object. The center line of the field of view range can be determined according to the driving direction and the current position of the target object, and the detection range of the target object can be determined based on the range boundary of the field of view range.

The determination of whether the position of the target cue object is within the detection range of the target object may specifically be the determination of whether the coordinate point of the target cue object is within the detection range of the target object. If not, it indicates that the target object cannot acquire the prompt information of the target prompt object, in this embodiment, the target orientation of the target object is determined, and the driving route of the target object is planned based on the target orientation, so that the orientation of the vehicle, after the target object drives based on the driving route, meets the target orientation, where the target orientation is the orientation from an auxiliary point on a route stop line to the target prompt object, the auxiliary point on the route stop line may be a prompt position of a stop range of the vehicle, after the target object drives based on the driving route, and for example, the auxiliary point on the route stop line may be an intersection point of the target stop line and the guiding line. Referring to fig. 2, the intersection of the target stop line and the guiding line in fig. 2 is an auxiliary point whose orientation to the traffic light is the target orientation.

And setting an auxiliary path based on the state parameters in the turning state of the target object, and planning the path of the target object based on the auxiliary path to obtain a formal path meeting the target orientation and the driving stop line. In some embodiments, the state parameters of the target object may include a current rotation angle and a wheel base, wherein the current rotation angle may be acquired by a sensor provided on the target object, and the wheel base may be acquired by reading preset parameters of the target object.

In some optional embodiments, the auxiliary path is a circular auxiliary path, and the running path is determined through the circular auxiliary path, so that smoothness and feasibility of the running path are improved. Optionally, obtaining the state parameter of the target object, and determining the auxiliary path of the target object based on the state parameter and the current position includes: acquiring a current corner and wheelbase of the target object; determining a circular auxiliary path of the target object based on the current corner, wheelbase, and the current position. The current position of the target object includes a position point coordinate and a position orientation relative to the target cue object, and exemplarily, the current position of the target object is (x, y, theta), (x, y) is the position point coordinate of the target object, and theta is the position orientation of the target object relative to the target cue object, wherein the position orientation of the target object relative to the target cue object is a direction in which the front end of the target object points to the target cue object.

The radius of the circular auxiliary path is determined based on the current turning angle and the wheelbase, and may be, for example, based on the following formula radius ═ wheel _ base/(tan (stee _ angle)); wherein radius is the radius of the circular auxiliary path, wheel _ base is the wheel base, and steer _ angle is the current corner. It should be noted that the current corner needs to satisfy a preset corner range, so as to avoid the condition that the range of the formed auxiliary path is too large or too small. After the current corner of the target object is obtained, whether the current corner meets a preset corner range is determined, if yes, the step of determining the auxiliary path is continuously executed, and if not, the target object is controlled to adjust the current corner so as to meet the preset corner range. In some embodiments, a preferred rotation angle may be determined in a preset rotation angle range, and the step of determining the auxiliary path may be continuously performed after the control target object adjusts to the preferred rotation angle. Wherein the preferred rotation angle may be preset, and the preferred rotation angle may be different for different target objects. For example, the intermediate value of the preset rotation angle range may be used, but is not limited thereto.

The center of the circular auxiliary path is determined based on the direction vector perpendicular to the position orientation, the radius, and the position point coordinates. Wherein, the direction vector vertical _ unit _ vec is perpendicular to the position orientation of the target object. Optionally, if the current rotation angle is greater than zero, the determination method of the direction vector is as follows: vertical _ unit _ vec (-sin (theta), cos (theta)), if the current rotation angle is less than zero, the determination method of the direction vector is: vertical _ unit _ vec ═ (sin (theta), — cos (theta)). Correspondingly, the circle center of the circular auxiliary path is determined in the following manner: center _ point + radius _ vertical _ unit _ vec, where vehicle _ point is the position point coordinate (x, y) of the target object.

Exemplarily, referring to fig. 3, fig. 3 is a schematic diagram of an auxiliary path provided by an embodiment of the present invention, where the auxiliary path is generated in a steer _ angle >0 state. In fig. 3, a point P is an auxiliary point on the path stop line, the orientation of the point P with respect to the target prompting object is a target orientation, the target object is located on the auxiliary path, and the travel path is determined on the auxiliary path so that the orientation of the target object satisfies the target orientation, that is, the target prompting object enters a detection range of the target object, wherein the detection range of the target object changes with the position change of the target object.

In this embodiment, the critical point satisfying the target orientation is determined on the auxiliary route, and the route traveling to the critical point is determined on the auxiliary route, so that the position orientation of the target object can satisfy the target orientation. Optionally, determining a critical point on the auxiliary path based on the target orientation of the target object includes: determining two candidate points on the secondary path that are parallel to the target orientation; and determining candidate points with the same direction as the target direction as the current object according to the driving direction of the current object, wherein the candidate points are determined as critical points. Referring to fig. 3, tangent points P1 and P2 parallel to the target orientation are determined as two candidate points on the auxiliary path in fig. 3. The determination method of the two candidate points is as follows: constructing a direction vector vertical _ unit _ vec1 perpendicular to the target orientation, and respectively determining a first candidate point and a second candidate point based on the circle center and the radius of the circular auxiliary path and the direction vector perpendicular to the target orientation, specifically:

p1＝center+radius×vertical_unit_vec1；

p2＝center-radius×vertical_unit_vec1。

the directions of the two candidate points relative to the target prompting object are parallel to the target direction, and the position directions of the target object reaching the candidate points relative to the target prompting object are determined according to the driving direction of the target object, wherein the driving directions of the target object at the two candidate points are opposite, and correspondingly, the position directions relative to the target prompting object are opposite. A candidate point having a position orientation identical to the target orientation is determined as the critical point. Illustratively, in fig. 3, the position orientation at the point of reaching P2 is vertically upward, the position orientation at the point of reaching P1 is vertically downward, and the point of P2 is determined as the critical point, depending on the target object's traveling direction, and the target orientation at the auxiliary point P is vertically upward.

Correspondingly, determining the driving path of the target object based on the auxiliary path and the critical point comprises: determining an auxiliary path segment between the current position of the target object and the critical point on the auxiliary path as a first travel path of the target object based on the travel direction of the target object. And determining a path segment pointed by the traveling direction of the target object as a first traveling path so that the target object travels to the critical point position based on the first traveling path. For example, in fig. 3, a short path segment and a long path segment exist between the current position of the target object and the critical point, wherein the traveling direction of the target object points to the short path segment, and the short path segment is determined as the first traveling path. And determining a first driving path based on the driving direction, meeting the driving state of the target object, ensuring the correctness of the first driving path and conforming to the driving rule.

Optionally, the first driving path may be displayed, for example, by an electronic device, or sent to a navigation device, so that the navigation device displays the first driving path, where the navigation device may be a terminal with a navigation function, such as a mobile phone, or may also be a vehicle-mounted navigation device.

According to the technical scheme provided by the embodiment, in the turning driving process of the target object, if the target prompting object is not in the detection range of the target object, the auxiliary path is set, the critical point meeting the target orientation is determined on the auxiliary path, the path section between the current position and the driving direction of the target object is determined as the first driving path, and the target object is controlled to drive on the basis of the first driving path, so that the target prompting object enters the detection range of the target object when reaching the position corresponding to the critical point, the prompting information of the target prompting object can be identified, the problem that the target object stops driving due to the fact that the prompting information cannot be obtained in the turning process is avoided, and the automatic driving performance is improved.

On the basis of the above embodiments, in order to ensure that the driving process of the target object meets the driving rule, after the first driving path is determined, it is determined whether the critical point meets the stopping condition of the route stop line, if so, the first driving path is determined as the target driving path, and if not, the stopping position of the target object needs to be adjusted by setting the second driving path until the stopping condition of the route stop line is met. Wherein the stop condition of the path-stop line may be that the target object is located within a preset distance behind the path-stop line, wherein the formal direction behind the path-stop line with respect to the target object is determined.

Optionally, after determining an auxiliary path segment between the current position of the target object on the auxiliary path and the critical point as the first travel path of the target object, the method further includes: determining the position relation of a current object positioned at a critical point relative to the path stop line; and determining a second driving path of the target object based on the position relation, wherein the second driving path is a straight path and is used for assisting the target object to drive to a regular position relative to the path stop line. In this embodiment, the position relationship with respect to the path stop line may be determined based on a bounding box of the target object, where the position relationship with respect to the path stop line may be that the target object overlaps the path stop line, and the target object is located in front of or behind the path stop line (in the traveling direction with respect to the target object). And setting different second traveling paths according to different position relations. For example, if the bounding box of the target object overlaps the stopline, the second form of the path is a straight path traveling in the rearward direction, and the length of the second form of the path is the distance between the stopline and the front end of the bounding box of the target object; if the bounding box of the target object is positioned in front of the path stop line, the second form path is a straight path for backward driving, and the length of the second form path is the distance between the path stop line and the front end of the bounding box of the target object, namely the sum of the difference value of the path stop line and the position point coordinates of the target object and the length of the target object; if the bounding box of the target object is located behind the path stop line, the second form of the path is a straight-line path traveling in the forward direction, and the length of the second form of the path is the distance between the path stop line and the front end of the bounding box of the target object, i.e., the difference between the coordinates of the position point of the path stop line and the target object minus the length of the target object.

And combining the first driving path and the second driving path to obtain a target driving path. The control target object runs based on the target running path, and the control target object can be controlled to run to a position which meets the path stop line and is within the detection range of the target prompting object. At the position, the prompt information of the target prompt object is acquired, and the target object is controlled to continue to run according to the prompt information. For example, the prompt message is red light or green light, and accordingly, the control target object is kept in a stop state or travels forward.

On the basis of the above embodiment, the method further includes: and if the target prompting object is in the detection range of the target object and indicates that the position orientation of the target object meets the target orientation, determining a linear driving path of the target object according to a path stop line and the current position of the target object, namely controlling the target object to drive linearly forwards or linearly backwards. Accordingly, the distance of the straight-line travel path is the distance between the path stop line and the front end of the target object bounding box. Specifically, if the bounding box of the target object overlaps with the path stop line, the path in the second form is a straight path for backward traveling; if the bounding box of the target object is located in front of the path stop line, the second form path is a straight path of backward travel; if the bounding box of the target object is located behind the path stop line, the second form of the path is a straight path of forward travel.

On the basis of the above embodiment, there is also provided a preferred embodiment, and the method specifically includes: the intersection (i.e., auxiliary point) p (x, y) of the line of path stops and the line of guide is calculated, and the orientation theta from point p to the traffic light (i.e., target cue) is calculated as the theta (i.e., target orientation) for point p. The relative position of the host vehicle (i.e., the target object) in the point p (x, y, theta) coordinate system, the leaving _ x, leaving _ y, and leaving _ theta, is determined, and whether the leaving _ theta is within the field of view of the host vehicle sensor (i.e., the detection range of the target object) is determined. If the target running path is the path, the first path planning rule is utilized to plan the path, the target running path is obtained, and the safety of the path is judged. Wherein the first path planning rule comprises: obtaining the host vehicle coordinate vehicle _ point (x, y, theta vehicle center point), the host vehicle length, the host vehicle width and the stop line (stop _ line), and constructing a bounding box vehicle _ box according to the host vehicle coordinate, the host vehicle length and the host vehicle width, namely the circumscribed rectangle of the host vehicle. If the bounding box overlaps the path stop line, the path of the second form is a straight path for backward travel; if the bounding box is located in front of the path stop line, the second form of the path is a straight path for backward travel; if the bounding box is located behind the path stop line, the second form of the path is a straight path of forward travel.

If the traffic light is not in the field of view of the main vehicle sensor, sampling the turning angle range of the main vehicle steering wheel, sequentially planning the path by using a second path planning rule to obtain a path planning set path _ set, sequentially calculating the safety of the path in the path _ set, and taking the safe path as a target driving path. The second routing rule includes: the steering wheel angle, target orientation, host coordinate, vehicle point (x, y, theta), wheel base, stop line (stop line) are obtained. Calculating the circular path (center (x, y) of the center, radius) of the main vehicle with steer _ angle as a corner: radius ═ reel _ base/(tan (steer _ angle)); constructing a unit vector vertical _ unit _ vec perpendicular to the host heading theta if wheel _ angle >0: vertical _ unit _ vec ═ sin (theta), cos (theta); otherwise vertical _ unit _ vec ═ (sin (theta), — cos (theta)); accordingly, center _ point + radius × vertical _ unit _ vec.

Obtaining a critical point: a unit vector vertical _ unit _ vec1(-sin (target _ theta), cos (target _ theta)) perpendicular to the target orientation target _ theta is constructed, and accordingly, the first candidate point p1 is center + radius × vertical _ unit _ vec1, the second candidate point p2 is center-radius × vertical _ unit _ vec1, and the tangent point, tangent _ point, is determined from p1, p2 according to the step _ angle.

Calculating the short arc length from the host vehicle _ point to the distance _ point as a first driving path sub _ path 1; the bounding box vessel _ box is constructed by a critical point, distance _ point, target orientation, main vehicle length, and main vehicle width. a) If the vehicle _ box and the path stop line are overlapped, the second driving path sub _ path2 is calculated by using the first path planning rule, and the first driving path sub _ path1 and the second driving path sub _ path2 constitute a target driving path. If the vehicle _ box and the path stop line are not overlapped, judging the position of the critical point relative to the path stop line: if the critical point is in front of the path stop line, the distance from the vehicle _ point to the stop _ line + length of the second driving path sub _ path2_ length is equal to + length, and the vehicle backing sign is equal to-1, namely, the vehicle runs backwards; if the critical point is behind the path stop line, the second travel path sub _ path2_ length is the distance from vehicle _ point to stop _ line-length, and the forward travel sign is 1. The first travel path sub _ path1 and the second travel path sub _ path2 constitute a target travel path.

Example two

Fig. 4 is a schematic structural diagram of a path planning apparatus according to a second embodiment of the present invention, where the apparatus includes:

a position obtaining module 210, configured to obtain a current position of the target object and a position of the target prompt object;

an auxiliary path determining module 220, configured to, if the target cue object is not within the detection range of the target object, obtain a state parameter of the target object, and determine an auxiliary path of the target object based on the state parameter and a current position, where the target object is on the auxiliary path;

a critical point determining module 230, configured to determine a critical point on the auxiliary path based on a target orientation of the target object, wherein the target orientation is an orientation from the auxiliary point on the path stopping line to the target cue object;

a first travel path determining module 240 for determining a travel path of the target object based on the auxiliary path and the critical point.

On the basis of the above embodiment, the auxiliary path determining module 220 is configured to:

acquiring a current corner and wheelbase of the target object;

determining a circular auxiliary path of the target object based on the current corner, wheelbase, and the current position.

On the basis of the embodiment, the current position of the target object comprises position point coordinates and a position orientation relative to the target prompting object;

the radius of the circular auxiliary path is determined based on the current corner and wheelbase;

the center of the circular auxiliary path is determined based on the direction vector perpendicular to the position orientation, the radius, and the position point coordinates.

On the basis of the above embodiment, the critical point determining module 230 is configured to:

determining two candidate points on the secondary path that are parallel to the target orientation;

and determining candidate points with the same direction as the target direction as the current object according to the driving direction of the current object, wherein the candidate points are determined as critical points.

On the basis of the above embodiment, the first travel path determining module 240 is configured to: determining an auxiliary path segment between the current position of the target object and the critical point on the auxiliary path as a first travel path of the target object based on the travel direction of the target object.

On the basis of the above embodiment, the first travel path determining module 240 is further configured to:

determining a position relation of a current object located at a critical point with respect to the path stop line after the determining of the auxiliary path segment between the current position of the target object and the critical point on the auxiliary path as the first travel path of the target object;

and determining a second driving path of the target object based on the position relation, wherein the second driving path is a straight path and is used for assisting the target object to drive to a regular position relative to the path stop line.

On the basis of the above embodiment, the apparatus further includes:

and the second driving path determining module is used for determining a straight driving path of the target object according to the path stop line and the current position of the target object if the target prompt object is in the detection range of the target object.

The path planning device provided by the embodiment of the invention can execute the path planning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE III

Fig. 5 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. FIG. 5 illustrates a block diagram of an electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 5 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention. The device 12 is typically an electronic device that undertakes image classification functions.

As shown in FIG. 5, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors 16, a memory device 28, and a bus 18 that connects the various system components (including the memory device 28 and the processors 16).

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Storage 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Storage 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program 36 having a set (at least one) of program modules 26 may be stored, for example, in storage 28, such program modules 26 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a gateway environment. Program modules 26 generally perform the functions and/or methodologies of the described embodiments of the invention.

Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, camera, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, electronic device 12 may communicate with one or more gateways (e.g., Local Area Network (LAN), Wide Area Network (WAN), etc.) and/or a public gateway, such as the internet, via gateway adapter 20. As shown, the gateway adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.

The processor 16 executes various functional applications and data processing by running programs stored in the storage device 28, for example, to implement the path planning method provided by the above-described embodiment of the present invention.

Example four

A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the path planning method provided in the embodiment of the present invention.

Of course, the computer program stored on the computer-readable storage medium provided in the embodiments of the present invention is not limited to the method operations described above, and may also execute the path planning method provided in any embodiment of the present invention.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable source code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Source code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer source code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The source code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of gateway, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.