Automatic driving path planning method, device, electronic device and readable storage medium

Abstract

The present disclosure provides an autonomous driving path planning method, device, electronic device and readable storage medium, which relate to the field of computer technology, and in particular to the field of autonomous driving or path planning technology. The specific implementation scheme is: sending a path planning request to a server in accordance with a preset request method, receiving the path planning result returned by the server; and performing corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this scheme, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of autonomous driving or path planning technology. Specifically, the present disclosure relates to an autonomous driving path planning method, device, electronic device, and readable storage medium. Background Art

[0002] With the rapid development of Internet technology, autonomous driving vehicles have come into being. The core of autonomous driving vehicles lies in the autonomous driving system that controls the vehicle's autonomous driving.

[0003] The autonomous driving system needs to navigate based on the path planning results. How to ensure the normal and safe driving and navigation of the autonomous driving vehicle based on the path planning results has become an important technical issue in the field of autonomous driving. Summary of the invention

[0004] In order to solve at least one of the above-mentioned defects, the present disclosure provides an autonomous driving path planning method, device, electronic device and readable storage medium.

[0005] According to a first aspect of the present disclosure, there is provided an autonomous driving path planning method, the method comprising:

[0006] Send a route planning request to the server according to the preset request method, and receive the route planning result returned by the server;

[0007] Based on whether the path starting point position in the path planning result and the vehicle position meet the preset conditions, corresponding processing is performed.

[0008] According to a second aspect of the present disclosure, there is provided an automatic driving path planning device, the device comprising:

[0009] The path planning result acquisition module is used to send a path planning request to the server according to a preset request method and receive the path planning result returned by the server;

[0010] The path planning result processing module is used to perform corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions.

[0011] According to a third aspect of the present disclosure, an electronic device is provided, the electronic device comprising:

[0012] at least one processor; and

[0013] A memory in communication with the at least one processor; wherein,

[0014] The memory stores instructions that can be executed by the above-mentioned at least one processor, and the instructions are executed by the above-mentioned at least one processor so that the above-mentioned at least one processor can execute the above-mentioned autonomous driving path planning method.

[0015] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the above-mentioned autonomous driving path planning method.

[0016] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, which implements the above-mentioned autonomous driving path planning method when executed by a processor.

[0017] According to a sixth aspect of the present disclosure, an autonomous driving vehicle is provided, comprising the electronic device described in the third aspect above.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0020] Figure 1 is a flowchart of an automatic driving path planning method provided by an embodiment of the present disclosure;

[0021] Figure 2 is a flowchart of a specific implementation of the automatic driving path planning method provided by an embodiment of the present disclosure;

[0022] Figure 3 is a flowchart of another specific implementation of the automatic driving path planning method provided by the embodiment of the present disclosure;

[0023] Figure 4 is a structural schematic diagram of an automatic driving path planning device provided according to the present disclosure;

[0024] Figure 5 It is a block diagram of an electronic device used to implement the autonomous driving path planning method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0026] In an autonomous driving system, path planning is generally performed by combining a cloud server with the vehicle side. The vehicle side can request the path planning results from the cloud server so as to navigate based on the path planning results.

[0027] In actual use, when the vehicle requests the path planning results from the cloud server, there may be poor network conditions, such as network instability or network delay, which may cause the request to time out and lead to failure in obtaining the path planning results.

[0028] In the case of poor network, it may take a long time to obtain the path planning results. At this time, the vehicle may have moved a longer distance than when the request was initiated, making the path planning results invalid and affecting the normal navigation of the autonomous driving vehicle.

[0029] The autonomous driving path planning method, device, electronic device and readable storage medium provided in the embodiments of the present application are intended to solve at least one of the above technical problems in the prior art.

[0030] Figure 1 A schematic diagram of a process of an automatic driving path planning method provided by an embodiment of the present disclosure is shown, such as Figure 1 As shown in , the method can mainly include:

[0031] Step S110: sending a path planning request to the server according to a preset request method, and receiving a path planning result returned by the server;

[0032] Step S120: Perform corresponding processing based on whether the path starting point position in the path planning result and the vehicle position meet the preset conditions.

[0033] The path planning request may carry relevant information such as the path starting point position, the path ending point position, etc. The path starting point position may be the position of the vehicle when the path planning request is initiated.

[0034] The vehicle computer can send a path planning request to the server according to a preset request method. After receiving the path planning request, the server can generate a path planning result and return the path planning result to the vehicle computer.

[0035] The path planning result may include vehicle driving route data from the path starting point to the path ending point.

[0036] In the disclosed embodiment, after receiving the path planning result, the vehicle computer can determine whether the path starting position in the path planning result and the vehicle position meet the preset conditions. The path starting position is the position of the vehicle when the path planning request is initiated. By determining whether it and the current vehicle position meet the preset conditions, it is possible to verify whether the path planning result is valid, so as to perform corresponding processing according to the verification result.

[0037] The method provided by the embodiment of the present disclosure sends a path planning request to a server according to a preset request method, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0038] In an optional manner of the present disclosure, initiating a path planning request to a server according to a preset request method, and receiving a path planning result returned by the server, includes:

[0039] Repeatedly send a path planning request to the server at a preset first time interval until a path planning result returned by the server is received.

[0040] In the disclosed embodiment, in order to avoid request timeouts caused by poor network conditions, resulting in failure to obtain path planning results, a path planning request can be initiated to the server based on a preset request method to ensure that the vehicle computer can receive the path planning results returned by the server.

[0041] Specifically, the route planning request may be repeatedly sent to the server based on a preset first time interval until a route planning result returned by the server is received. The first time interval may be set according to actual needs, such as being set to 2 seconds.

[0042] In an optional manner of the present disclosure, the preset conditions include:

[0043] The distance between the path starting point and the vehicle's location is not greater than a preset value.

[0044] In the disclosed embodiment, the path starting point position is the position of the vehicle when the path planning request is initiated, and the distance between the path starting point position and the current position of the vehicle is calculated. When the distance is not greater than a preset value, it can be considered that the vehicle has not moved a long distance during the time between initiating the path planning request and obtaining the path planning result, that is, the path starting point position is close to the current position of the vehicle, and the path planning result is still valid and can be used for subsequent navigation.

[0045] When the distance between the starting point of the path and the vehicle's position is greater than a preset value, it can be considered that the vehicle has moved a long distance between the time when the path planning request is initiated and the time when the path planning result is obtained, so that the starting point of the path is far away from the current position of the vehicle. If navigation is performed using the path planning result, it will have an adverse effect on navigation and the path planning result will be invalid.

[0046] In an optional manner of the present disclosure, corresponding processing is performed based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions, including:

[0047] If the path starting point position and the vehicle position in the path planning result do not meet the preset conditions, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions;

[0048] If the path starting point position and the vehicle position in the path planning result meet the preset conditions, the path planning result will be cached.

[0049] In the embodiment of the present disclosure, when the path starting point position and the vehicle position in the path planning result do not meet the preset conditions, that is, the path planning result has become invalid, the steps of sending a path planning request to the server in accordance with a preset request method and receiving the path planning result returned by the server can be repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions.

[0050] When the path starting point position and the vehicle position in the path planning result meet the preset conditions, that is, when the path planning result is confirmed to be valid, the path planning result can be cached for subsequent navigation use.

[0051] In an optional manner of the present disclosure, after caching the path planning result, the method further includes:

[0052] Repeating the determination at a preset second time interval whether the path starting point position and the vehicle position in the cached path planning result meet a preset condition;

[0053] If not, repeat the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions.

[0054] In the disclosed embodiment, when the path planning result is cached, it is possible to repeatedly determine whether the path starting point position and the vehicle position in the cached path planning result meet the preset conditions according to the second time interval, that is, to repeatedly verify the validity of the path planning result according to the second time interval. If the path planning result is confirmed to be valid, it can be temporarily not processed and used for navigation during automatic driving. If it is confirmed that the path planning result has expired, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server can be repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions, that is, a valid path planning result is re-requested.

[0055] After the path planning results are cached, the validity of the cached path planning results can be checked regularly, and the invalid path planning results can be updated in time to ensure the validity of the path planning results in the cache, which is convenient for subsequent navigation.

[0056] The second time interval can be set according to actual needs, such as being set to 30 seconds.

[0057] In an optional manner of the present disclosure, after caching the path planning result, the method further includes:

[0058] When the vehicle starts automatic driving, corresponding processing is performed based on whether the path starting point position in the cached path planning results and the vehicle's position meet the preset conditions.

[0059] In the disclosed embodiment, when the vehicle starts automatic driving, it needs to use the path planning results for navigation. At this time, it can be determined whether the path starting point position in the cached path planning results and the vehicle's position meet the preset conditions, that is, the cached path planning results are checked for validity to ensure the validity of the path planning results and ensure normal navigation of the automatic driving vehicle.

[0060] In an optional manner of the present disclosure, corresponding processing is performed based on whether the path starting point position and the vehicle position in the cached path planning result meet the preset conditions, including:

[0061] If the path starting point position in the cached path planning result and the vehicle position meet the preset conditions, navigation is performed based on the cached path planning result;

[0062] If the path starting point position and the vehicle position in the cached path planning result do not meet the preset conditions, the steps of sending a path planning request to the server according to the preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions.

[0063] In the disclosed embodiment, if the path starting point position and the vehicle position in the cached path planning result meet the preset conditions, that is, the cached path planning result is confirmed to be valid, navigation can be performed based on the path planning result.

[0064] If the path starting point position and the vehicle position in the cached path planning result do not meet the preset conditions, that is, it is determined that the cached path planning result has expired, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server can be repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions, that is, a valid path planning result is re-requested.

[0065] In an optional manner of the present disclosure, the method further includes:

[0066] If the number of times the path planning request is sent to the server within the preset time exceeds the preset value, the path planning request is stopped from being sent to the server.

[0067] In the disclosed embodiment, since multiple path planning requests may be initiated to the server, in order to avoid excessive processing pressure on the server, the number of path planning requests sent to the server within a preset time period can be counted. When the number exceeds the preset value, the sending of path planning requests to the server can be stopped to avoid further increasing the processing pressure on the server.

[0068] As an example, Figure 2 A flow chart of a specific implementation of the autonomous driving path planning method provided by an embodiment of the present disclosure is shown in FIG.

[0069] Among them, in manual mode and with an order, that is, in manual driving mode, a path planning request is initiated. Polling request for cloud routing (routing), that is, repeatedly sending path planning requests to the server according to the preset first time interval until the path planning result is received. Check whether the cloud routing result is legal. If it is legal, cache it, that is, perform validity verification on the path planning result. If the verification passes, cache the path planning result; if the verification fails, request the path planning result from the server again. Pause polling. If it is illegal at some point in the future, re-pollating, that is, after caching the path planning result, repeat the validity verification of the cached path planning result according to the preset second time interval. If the verification fails, request the path planning result from the server again.

[0070] As an example, Figure 3 A flow chart of another specific implementation of the autonomous driving path planning method provided in an embodiment of the present disclosure is shown in FIG.

[0071] Among them, pressing the start button and requesting to enter the automatic driving mode means that the user starts the automatic driving mode. Check whether the cached routing is legal, that is, perform validity check on the cached path planning result. If the check passes, the cached path planning result is used to plan the path; if the check fails, the path planning result is requested from the server again.

[0072] Based on Figure 1 The same principle as shown in the method, Figure 4 A schematic diagram of the structure of an automatic driving path planning device provided by an embodiment of the present disclosure is shown. Figure 4 As shown, the automatic driving path planning device 40 may include:

[0073] The path planning result acquisition module 410 is used to send a path planning request to the server according to a preset request method and receive the path planning result returned by the server;

[0074] The path planning result processing module 420 is used to perform corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet preset conditions.

[0075] The device provided by the embodiment of the present disclosure sends a path planning request to a server according to a preset request method, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0076] Optionally, the path planning result acquisition module is specifically used for:

[0077] Repeatedly send a path planning request to the server at a preset first time interval until a path planning result returned by the server is received.

[0078] Optionally, the preset conditions include:

[0079] The distance between the path starting point and the vehicle's location is not greater than a preset value.

[0080] Optionally, the path planning result processing module is specifically used for:

[0081] If the path starting point position and the vehicle position in the path planning result do not meet the preset conditions, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions;

[0082] If the path starting point position and the vehicle position in the path planning result meet the preset conditions, the path planning result will be cached.

[0083] Optionally, the path planning result processing module is further used for:

[0084] After the path planning result is cached, repeatedly determining whether the path starting point position and the vehicle position in the cached path planning result meet a preset condition according to a preset second time interval;

[0085] If not, repeat the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions.

[0086] Optionally, the path planning result processing module is further used to:

[0087] After the path planning results are cached, when the vehicle starts automatic driving, corresponding processing is performed based on whether the path starting point position in the cached path planning results and the vehicle's position meet preset conditions.

[0088] Optionally, when the path planning result processing module performs corresponding processing based on whether the path starting point position and the vehicle position in the cached path planning result meet preset conditions, it is specifically used to:

[0089] If the path starting point position in the cached path planning result and the vehicle position meet the preset conditions, navigation is performed based on the cached path planning result;

[0090] If the path starting point position and the vehicle position in the cached path planning result do not meet the preset conditions, the steps of sending a path planning request to the server according to the preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the path starting point position and the vehicle position meet the preset conditions.

[0091] Optionally, the above device further includes:

[0092] The request termination module is used to stop sending path planning requests to the server when the number of times the path planning request is sent to the server within a preset time period exceeds a preset value.

[0093] It can be understood that the above modules of the automatic driving path planning device in the embodiment of the present disclosure have the function of realizing Figure 1The functions of the corresponding steps of the automatic driving path planning method in the embodiment shown in . This function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. The above modules can be software and / or hardware, and the above modules can be implemented separately or integrated with multiple modules. For the functional description of each module of the above automatic driving path planning device, please refer to Figure 1 The corresponding description of the automatic driving path planning method in the embodiment shown in will not be repeated here.

[0094] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0095] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product and an autonomous driving vehicle.

[0096] The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the autonomous driving path planning method provided in the embodiment of the present disclosure.

[0097] Compared with the prior art, the electronic device sends a path planning request to the server in a preset request mode, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0098] The readable storage medium is a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute an autonomous driving path planning method as provided in an embodiment of the present disclosure.

[0099] Compared with the prior art, this readable storage medium sends a path planning request to the server in a preset request mode, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0100] The computer program product includes a computer program, which, when executed by a processor, implements the autonomous driving path planning method provided in the embodiment of the present disclosure.

[0101] Compared with the prior art, this computer program product sends a path planning request to a server in a preset request mode, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0102] The autonomous driving vehicle includes the above-mentioned electronic device.

[0103] Compared with the prior art, this autonomous driving vehicle sends a path planning request to the server in a preset request mode, receives the path planning result returned by the server, and performs corresponding processing based on whether the path starting point position and the vehicle position in the path planning result meet the preset conditions. Based on this solution, the validity of the path planning result can be verified to ensure the normal navigation of the autonomous driving vehicle.

[0104] Figure 5 A schematic block diagram of an example electronic device 2000 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0105] like Figure 5 As shown, the device 2000 includes a computing unit 2010, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 2020 or a computer program loaded from a storage unit 2080 into a random access memory (RAM) 2030. In the RAM 2030, various programs and data required for the operation of the device 2000 can also be stored. The computing unit 2010, the ROM 2020, and the RAM 2030 are connected to each other via a bus 2040. An input / output (I / O) interface 2050 is also connected to the bus 2040.

[0106] A number of components in the device 2000 are connected to the I / O interface 2050, including: an input unit 2060, such as a keyboard, a mouse, etc.; an output unit 2070, such as various types of displays, speakers, etc.; a storage unit 2080, such as a disk, an optical disk, etc.; and a communication unit 2090, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 2090 allows the device 2000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0107] The computing unit 2010 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 2010 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 2010 executes the automatic driving path planning method provided in the embodiments of the present disclosure. For example, in some embodiments, the automatic driving path planning method provided in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 2080. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 2000 via the ROM 2020 and / or the communication unit 2090. When the computer program is loaded into the RAM 2030 and executed by the computing unit 2010, one or more steps of the automatic driving path planning method provided in the embodiments of the present disclosure may be executed. Alternatively, in other embodiments, the computing unit 2010 may be configured in any other appropriate manner (e.g., by means of firmware) to execute the autonomous driving path planning method provided in the embodiments of the present disclosure.

[0108] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0110] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0112] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0113] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0114] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0115] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An automatic driving path planning method, comprising: Sending a route planning request to a server according to a preset request method, and receiving a route planning result returned by the server; If the distance between the path starting point in the path planning result and the vehicle position is not greater than a preset value, the path planning result is cached, and the path starting point is the position of the vehicle when the path planning request is initiated; Repeating, at a preset second time interval, determining whether the path starting point position and the vehicle position in the cached path planning result satisfy that the distance between the path starting point and the vehicle position in the path planning result is not greater than a preset value; If not satisfied, repeat the steps of sending a path planning request to the server in a preset request mode and receiving a path planning result returned by the server until a path planning result is received in which the path starting point position and the vehicle position satisfy the path planning result in which the distance between the path starting point position and the vehicle position is not greater than a preset value; When the vehicle starts automatic driving, if the distance between the path starting point position in the cached path planning result and the vehicle's position is not greater than a preset value, navigation is performed based on the cached path planning result.

2. The method according to claim 1, wherein: The initiating a path planning request to the server according to a preset request method and receiving the path planning result returned by the server includes: Repeatedly sending a path planning request to the server at a preset first time interval until a path planning result returned by the server is received.

3. The method according to claim 1 or 2, wherein: The method further comprises: If the distance between the path starting point and the vehicle position in the path planning result is greater than a preset value, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the distance between the path starting point and the vehicle position is not greater than the preset value.

4. The method according to claim 1, wherein: The method further comprises: If the distance between the path starting point and the vehicle position in the cached path planning result is greater than a preset value, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until the path planning result is received in which the distance between the path starting point and the vehicle position is not greater than the preset value.

5. The method according to claim 1 or 2, further comprising: If the number of times the path planning request is sent to the server within a preset time period exceeds a preset value, the path planning request is stopped from being sent to the server.

6. An automatic driving path planning device, comprising: A path planning result acquisition module is used to send a path planning request to the server according to a preset request method and receive the path planning result returned by the server; A path planning result processing module, configured to cache the path planning result if the distance between the path starting point in the path planning result and the vehicle position is not greater than a preset value, wherein the path starting point is the position of the vehicle when the path planning request is initiated; Repeating, at a preset second time interval, determining whether the path starting point position and the vehicle position in the cached path planning result satisfy that the distance between the path starting point and the vehicle position in the path planning result is not greater than a preset value; If not satisfied, the steps of sending a path planning request to the server in accordance with a preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the path starting point position and the vehicle position satisfy the path planning result in which the distance between the path starting point position and the vehicle position is not greater than a preset value; when the vehicle starts automatic driving, if the distance between the path starting point position and the vehicle position in the cached path planning result is not greater than a preset value, navigation is performed based on the cached path planning result.

7. The device according to claim 6, wherein: The path planning result acquisition module is specifically used for: Repeatedly sending a path planning request to the server at a preset first time interval until a path planning result returned by the server is received.

8. The device according to claim 6 or 7, wherein: The path planning result processing module is also used to: If the distance between the path starting point and the vehicle position in the path planning result is greater than a preset value, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until a path planning result is received in which the distance between the path starting point and the vehicle position is not greater than the preset value.

9. The device according to claim 6, wherein: The path planning result processing module is also used for: If the distance between the path starting point and the vehicle position in the cached path planning result is greater than a preset value, the steps of sending a path planning request to the server in a preset request method and receiving the path planning result returned by the server are repeated until the path planning result is received in which the distance between the path starting point and the vehicle position is not greater than the preset value.

10. The device according to claim 6 or 7, further comprising: The request termination module is used to stop sending the path planning request to the server when the number of times the path planning request is sent to the server within a preset time period exceeds a preset value.

11. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-5.

13. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

14. An autonomous driving vehicle comprising the electronic device as claimed in claim 11.

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