阅读说明：本技术 基于引导线图层的路径规划方法及系统、服务器及介质 (Path planning method and system based on guideline layer, server and medium ) 是由 郑武贞 甘霖 苏航宇 韩江峰 李�浩 于 2020-11-14 设计创作，主要内容包括：本发明公开了一种基于引导线图层的路径规划方法及系统、服务器及介质,其通过将起点和终点匹配到最近的高精地图车道上,根据车辆信息在高精度地图上加载引导线图层；并根据车道线长度设置通行代价,从起点所在车道向终点所在车道方向进行拓扑网车道搜索,搜索通行代价值最小的车道；同时对搜索得到的每一条车道进行引导线关联判断,并优先选择关联有引导线的车道,获取通行代价值最小的车道,得到一条从起点到终点通行代价最小且含有路口引导线的车道级最优路线。本发明通过引入引导线图层,利用引导线的特性,基于车辆轴距和转弯半径参数生成符合车辆动力学约束的车行轨迹,解决现有高精地图规划的车道级路线无法辅助大型货车成功转向的问题。(The invention discloses a path planning method and system based on a guide line layer, a server and a medium, wherein the guide line layer is loaded on a high-precision map according to vehicle information by matching a starting point and an end point to a nearest high-precision map lane; setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value; and simultaneously, performing guide line association judgment on each lane obtained by searching, preferentially selecting the lane associated with the guide line, obtaining the lane with the minimum traffic cost value, and obtaining a lane-level optimal route which has the minimum traffic cost from the starting point to the terminal point and contains the intersection guide line. According to the invention, by introducing the guide line map layer and utilizing the characteristics of the guide lines, the driving track conforming to the vehicle dynamics constraint is generated based on the vehicle wheel base and the turning radius parameter, and the problem that the lane-level route planned by the existing high-precision map cannot assist the large truck to successfully steer is solved.)

1. A path planning method based on a guideline layer is characterized by comprising the following steps:

matching the starting point and the end point to the nearest high-precision map lane, and loading a guide line layer on the high-precision map according to the vehicle information;

setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value;

performing guide line association judgment on each lane obtained by searching, and preferentially selecting the lane associated with the guide line;

and obtaining the lane with the minimum traffic cost value to obtain a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

2. The route planning method based on the guide line layer as claimed in claim 1, wherein a topological net lane search is performed from the lane where the start point is located to the lane where the end point is located by using an a-star search algorithm.

3. The route planning method based on the guide line layer according to claim 1, wherein the guide line association judgment is performed on each lane obtained by searching; the method specifically comprises the following steps:

and comparing the ID of each lane with the ID of the associated lane in the guide line layer based on the guide line associated intersection driving-in lane ID, the intersection crossing lane ID and the intersection driving-out lane ID stored in the guide line layer, and if the same lane ID exists, judging that the corresponding lane is associated with the guide line, or vice versa.

4. The route planning method based on the guideline layer as claimed in claim 1, wherein the preferentially selecting the lane associated with the guideline specifically comprises:

and setting a guideline correlation coefficient which is less than or equal to 1/2, and multiplying the traffic cost value of the lane associated with the guideline by the guideline correlation coefficient to obtain the optimized traffic cost value of the lane.

5. The route planning method based on the guideline layer as claimed in claim 1, wherein the obtaining of the lane with the minimum traffic cost value to obtain a lane-level optimal route with the minimum traffic cost from the starting point to the ending point and containing an intersection guideline specifically comprises:

setting the passing cost values of all deviated lanes of the current lane according to the judgment result, and storing the ID of the precursor lane of each lane;

selecting a lane with the minimum traffic cost value from the deviated lanes as a current search lane, and continuously exploring a next lane until a lane where the terminal point is located is searched;

and sequentially acquiring the precursor lanes of each lane from the end lane in a reverse direction, and finally obtaining a passing area set from the starting point to the end point, namely a lane-level path planning result.

6. The guideline layer-based path planning method of claim 5 wherein the lane associated with the head node of the current lane in the topological direction is a predecessor of the current lane; and the lane associated with the tail node of the current lane along the topological direction is a deviated lane of the current lane.

7. The guideline layer-based path planning method of claim 5 wherein there is one and only one of the predecessor lanes.

8. A path planning system based on a guideline layer is characterized by comprising the following functional modules:

the layer loading module is used for matching the starting point and the end point to the nearest high-precision map lane and loading a guide line layer on the high-precision map according to the vehicle information;

the lane searching module is used for setting the traffic cost according to the length of a lane line, searching the topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value;

the judgment optimization module is used for carrying out guide line association judgment on each lane obtained by searching and preferentially selecting the lane associated with the guide line;

and the route acquisition module is used for acquiring the lane with the minimum traffic cost value to obtain a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

9. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the guideline layer-based path planning method according to any one of claims 1 to 7.

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

Technical Field

The invention relates to the technical field of automatic driving of vehicles, in particular to a path planning method and system based on a guide line layer, a server and a medium.

Background

The high-precision map is used as an essential component of automatic driving, rich map elements are provided for the use of the automatic driving, but the requirement of the automatic driving cannot be met sometimes in the actual use process, for example, when a large truck is in the driving process, because the vehicle wheel base and the turning radius are large, the large truck can stably pass through an intersection only by winding a curve arc line with a large angle when turning at the intersection, if the angle of the curve arc line which is wound is too small, rollover can easily occur, and in a lane-level route planned based on the high-precision map, the turning radius of a dummy line in the intersection is small, and the large truck cannot be assisted to successfully turn.

Dummy line: virtual lane center line at the intersection, without regard to vehicle kinematics.

Disclosure of Invention

The invention aims to overcome the technical defects, provides a path planning method and system based on a guide line layer, a server and a medium, and solves the problem that the lane-level route planned by the existing high-precision map cannot assist a large truck to successfully steer.

In order to achieve the above technical object, a first aspect of the present invention provides a path planning method based on a guideline layer, which includes the following steps:

matching the starting point and the end point to the nearest high-precision map lane, and loading a guide line layer on the high-precision map according to the vehicle information;

setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value;

performing guide line association judgment on each lane obtained by searching, and preferentially selecting the lane associated with the guide line;

and obtaining the lane with the minimum traffic cost value to obtain a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

The second aspect of the present invention provides a path planning system based on a guideline layer, which includes the following functional modules:

the layer loading module is used for matching the starting point and the end point to the nearest high-precision map lane and loading a guide line layer on the high-precision map according to the vehicle information;

the lane searching module is used for setting the traffic cost according to the length of a lane line, searching the topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value;

the judgment optimization module is used for carrying out guide line association judgment on each lane obtained by searching and preferentially selecting the lane associated with the guide line;

and the route acquisition module is used for acquiring the lane with the minimum traffic cost value to obtain a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

A third aspect of the present invention provides a server, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the guideline layer-based path planning method when executing the computer program.

A fourth aspect of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the guideline layer-based path planning method described above.

Compared with the prior art, the method has the advantages that the starting point and the end point are matched to the nearest high-precision map lane, and the guide line layer is loaded on the high-precision map according to the vehicle information; setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value; and simultaneously, performing guide line association judgment on each lane obtained by searching, preferentially selecting the lane associated with the guide line, obtaining the lane with the minimum traffic cost value, and obtaining a lane-level optimal route which has the minimum traffic cost from the starting point to the terminal point and contains the intersection guide line. According to the invention, by introducing the guide line map layer and utilizing the characteristics of the guide lines, a vehicle driving track conforming to the vehicle dynamics constraint is generated based on the vehicle wheel base and the turning radius parameter, and the problem that the lane-level route planned by the existing high-precision map cannot assist the large truck to successfully steer is solved.

Drawings

Fig. 1 is a block flow diagram of a path planning method based on guideline layer according to an embodiment of the invention;

FIG. 2 is a block flow diagram of step S4 of FIG. 1;

FIG. 3 is a case diagram of path planning by using the path planning method based on guideline layer according to the embodiment of the invention;

fig. 4 is a block diagram of a path planning system based on guideline layer according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, an embodiment of the present invention provides a path planning method based on guideline layer, which includes the following steps:

s1, matching the starting point and the end point to the nearest high-precision map lane, and loading a guide line layer on the high-precision map according to the vehicle information;

the guide line is a section of traffic track for guiding vehicles to pass through the intersection from the entrance to the exit, and the generation process is as follows:

selecting a point on a lane central line of an entrance intersection as a starting point, selecting a point on a lane central line of an exit intersection as an end point, and generating a vehicle track conforming to vehicle dynamics constraint through given vehicle wheelbase and turning radius parameters based on the starting point, the end point and an intersection region.

The intersection has a plurality of traffic directions, the topology of the lanes in each traffic direction generates a traffic track, and the set of the obtained guide lines is called a guide line layer. For example, the intersection turns left, goes straight, turns right, etc., and guidance lines are generated on the topology of the lanes passing through the intersection and driving away from the intersection at the corresponding driving intersection of the turning area. Considering the redundancy of data, only one traffic track is generated in each traffic direction, for example, two left-turn lanes are arranged at the intersection, and only one lane is selected to generate the guide line.

In the above guidance line map layer produced according to one type of vehicle information, the vehicle-running track generation steps of different types of vehicle information are the same, but the generated track line results are different.

Different vehicles are respectively stored corresponding to different guide line layers, so that a mapping table of the vehicles and the guide line layers can be obtained, and the corresponding guide line layers can be obtained according to vehicle information.

S2, setting the traffic cost according to the length of the lane line, searching the topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value.

Specifically, an A star search algorithm is adopted, topological network lane search is carried out from the lane where the starting point is located to the lane where the ending point is located, corresponding passage cost values are set according to the length of the lane line, the passage cost values are equal to the length of the lane line, and the lane where the lane line is the shortest, namely the shortest route, is searched and obtained through searching the lane where the passage cost values are the smallest.

And S3, performing guide line association judgment on each lane obtained by searching, and preferentially selecting the lane associated with the guide line.

And comparing the ID of each lane with the ID of the associated lane in the guide line layer based on the guide line associated intersection driving-in lane ID, the intersection crossing lane ID and the intersection driving-out lane ID stored in the guide line layer, and if the same lane ID exists, judging that the corresponding lane is associated with the guide line, or vice versa.

Meanwhile, in order to ensure that the guidance line association coefficient which is less than or equal to 1/2 is set according to the principle of guidance line priority selection during searching, the traffic cost value of the lane associated with the guidance line is multiplied by the guidance line association coefficient to obtain the optimized traffic cost value of the lane, and at the moment, the optimized traffic cost value of the lane is less than the traffic cost values of other lanes on the same path, so that the guidance associated lane with the minimum traffic cost value is preferentially selected according to the A star search algorithm.

For example: two lanes are arranged at the right turn of the intersection, the traffic length of the outermost lane (with the larger turning radius) is longer than that of the innermost lane, but the turning radius of the vehicle is large, and the innermost lane does not have guide line data meeting the current vehicle parameters, so that the outermost lane which meets the dynamic constraint needs to be selected to run, the optimized traffic cost value of the outermost lane is obtained by multiplying the original traffic cost value of the outermost lane by the correlation coefficient of the guide line, and the optimized traffic cost value of the outermost lane is smaller than that of the innermost lane.

And S4, obtaining the lane with the minimum traffic cost value, and obtaining a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

As shown in fig. 2, the step S4 includes the following sub-steps:

s41, setting the passing cost value of all the escape lanes of the current lane according to the judgment result, and storing the ID of the precursor lane of each lane;

s42, selecting the lane with the minimum traffic cost value from the deviated lanes as a current search lane, and continuously exploring the next lane until the lane where the terminal point is located is searched;

and S43, sequentially acquiring the front driving lanes of each lane from the end lane in the reverse direction, and finally obtaining a passing area set from the starting point to the end point, namely a lane-level path planning result.

The lane related to the head node of the current lane along the topological direction is a precursor lane of the current lane; the lane associated with the tail node of the current lane along the topological direction is a departure lane of the current lane, and the number of the front driving lanes is one or only one.

As shown in fig. 3, the starting point of the vehicle is Lane2, the end point is Lane4, and Lane2- > Lane3- > Lane4 are the results of the high-precision map planning, but Lane3 has a small turning radius, and the vehicle cannot trace through the center line. The method for path planning based on the guide line layer can obtain a driving track of a guide line Lane5 according with vehicle dynamics constraint, and the path planning result of the method for path planning based on the guide line layer is Lane2- > Lane5- > Lane4, and then the path planning result is converted into a form point track, namely a solid line track line in the following figure, and the method can be provided for vehicle tracking driving.

The path planning system based on the guide line layer loads the guide line layer on a high-precision map according to vehicle information by matching a starting point and an end point to a nearest high-precision map lane; setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value; and simultaneously, performing guide line association judgment on each lane obtained by searching, preferentially selecting the lane associated with the guide line, obtaining the lane with the minimum traffic cost value, and obtaining a lane-level optimal route which has the minimum traffic cost from the starting point to the terminal point and contains the intersection guide line. According to the invention, by introducing the guide line map layer and utilizing the characteristics of the guide lines, a vehicle driving track conforming to the vehicle dynamics constraint is generated based on the vehicle wheel base and the turning radius parameter, and the problem that the lane-level route planned by the existing high-precision map cannot assist the large truck to successfully steer is solved.

As shown in fig. 4, an embodiment of the present invention further discloses a path planning system based on a guideline layer, which includes the following functional modules:

the layer loading module 10 is used for matching the starting point and the end point to the nearest high-precision map lane and loading a guide line layer on the high-precision map according to the vehicle information;

the lane searching module 20 is configured to set a traffic cost according to a length of a lane line, perform topology network lane searching from a lane where a starting point is located to a lane where a finishing point is located, and search for a lane where a traffic cost value is minimum;

a judgment optimization module 30, configured to perform guide line association judgment on each lane obtained by search, and preferentially select a lane associated with a guide line;

and the route obtaining module 40 is configured to obtain a lane with the minimum traffic cost value, and obtain a lane-level optimal route with the minimum traffic cost from the starting point to the ending point and including an intersection guide line.

The implementation of the path planning system based on the guideline layer in this embodiment is substantially the same as the above-mentioned path planning method based on the guideline layer, and therefore, detailed descriptions thereof are omitted.

The server in this embodiment is a device for providing computing services, and generally refers to a computer with high computing power, which is provided to a plurality of consumers via a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment does not constitute a limitation of the terminal device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.

The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

An executable program of the guideline layer-based path planning method is contained in a memory, and the executable program can be divided into one or more modules/units, the one or more modules/units are stored in the memory and executed by a processor to complete the information acquisition and implementation process, and the one or more modules/units can be a series of instruction segments of a computer program capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the server. For example, the computer program may be divided into a mesh tree construction module, a road matching module, a fusion extension module, and a data transmission module.

The processor is a control center of the server, connects various parts of the whole terminal equipment by various interfaces and lines, and executes various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. Alternatively, the processor may include one or more processing units; preferably, the processor may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.

The system bus is used to connect functional units in the computer, and can transmit data information, address information and control information, and the types of the functional units can be PCI bus, ISA bus, VESA bus, etc. The system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices such as network interfaces, display devices, etc.

The server at least includes a CPU, a chipset, a memory, a disk system, and the like, and other components are not described herein again.

In the embodiment of the present invention, the executable program executed by the processor included in the terminal specifically includes: a path planning method based on a guideline layer comprises the following steps:

matching the starting point and the end point to the nearest high-precision map lane, and loading a guide line layer on the high-precision map according to the vehicle information;

setting a traffic cost according to the length of a lane line, searching a topological network lane from the lane where the starting point is located to the lane where the ending point is located, and searching the lane with the minimum traffic cost value;

performing guide line association judgment on each lane obtained by searching, and preferentially selecting the lane associated with the guide line;

and obtaining the lane with the minimum traffic cost value to obtain a lane-level optimal route which has the minimum traffic cost from the starting point to the end point and contains an intersection guide line.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.