Path planning method and system, server and medium based on guide line layer
A path planning and guiding line technology, applied in navigation, instrumentation, surveying and navigation, etc., can solve problems such as the inability to assist large trucks to successfully turn
Active Publication Date: 2022-03-25
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology
[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, propose a route planning method and system, server and medium based on the guide line layer, and solve the problem that the lane-level route planned by the existing high-precision map cannot assist the successful steering of large trucks
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[0022] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0023] like figure 1 As shown, the embodiment of the present invention provides a kind of path planning method based on guide line layer, and it comprises the following steps:
[0024] S1. Match the start point and end point to the nearest high-precision map lane, and load the guide line layer on the high-precision map according to the vehicle information;
[0025] Among them, the guide line is a passage that guides the vehicle from entering the intersection, crossing the intersection to leaving the intersection, and its generation process is as follows:
[0026] Select a point on the ce...
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The invention discloses a path planning method, system, server and medium based on a guide line layer, which loads a guide line map on a high-precision map according to vehicle information by matching the start point and end point to the nearest high-precision map lane layer; and set the traffic cost according to the length of the lane line, search the topological network lane from the lane where the starting point is located to the lane where the end point is located, and search for the lane with the smallest traffic cost value; at the same time, conduct a guide line association judgment for each lane obtained from the search, and give priority Select the lane associated with the guide line, obtain the lane with the minimum traffic cost, and obtain a lane-level optimal route with the minimum traffic cost from the starting point to the end point and containing the intersection guide line. The present invention introduces the guide line layer, utilizes the characteristics of the guide line, and generates a vehicle trajectory that conforms to the vehicle dynamics constraints based on the vehicle wheelbase and turning radius parameters, solving the problem that the lane-level route planned by the existing high-precision map cannot assist large trucks to succeed steering problem.
Description
technical field [0001] The present invention relates to the technical field of vehicle automatic driving, in particular to a route planning method and system based on a guide line layer, a server and a medium. Background technique [0002] As an essential component of autonomous driving, high-precision maps provide a wealth of map elements for the use of autonomous driving, but sometimes they cannot meet the needs of autonomous driving in actual use. For example, when a large truck is driving, due to its vehicle The wheelbase and turning radius are relatively large, so large vehicles need to turn around a large-angle curve arc to pass the intersection smoothly. If the angle of the curve around the intersection is too small, sideways However, in the lane-level route planned based on the high-precision map, the turning radius of the dummy line in the intersection is small, which cannot assist large trucks to turn successfully. [0003] Dummy line: The virtual centerline of th...
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IPC IPC(8): G01C21/30G01C21/34
CPCG01C21/30G01C21/3453
Inventor 郑武贞甘霖苏航宇韩江峰李浩
Owner WUHAN ZHONGHAITING DATA TECH CO LTD