A path planning method, device, equipment and storage medium

Abstract

The present application discloses a path planning method, apparatus, device and storage medium. The method includes: if it is determined that the obstacle is the target obstacle during the vehicle driving, determining the tail position information of the vehicle and the head position information of the target obstacle; if it is determined that the head of the target obstacle exceeds the tail of the vehicle, obtaining the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle, determining the first position and the second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle, determining the first lateral position set corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position, obtaining the second kinematic information of the vehicle and the vehicle road information, and determining the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information and the vehicle road information, thereby improving the accuracy and stability of path planning.

Description

Technical Field

[0001] This application relates to the field of computer processing technologies, and particularly to a path planning method, apparatus, device, and storage medium. Background Art

[0002] With the development and progress of social economy and the automotive industry, autonomous driving has shown great potential in aspects such as driving safety and traffic congestion alleviation, and has become a research hotspot for major automotive manufacturers. Autonomous driving includes links such as positioning, perception, planning, and decision control. Planning is a plan for a series of actions of a vehicle in the future time domain and airspace. From the perspective of the involved spatio-temporal size, it is divided into global path planning and local path planning. As one of the important links in vehicle autonomous driving planning, the research on local path planning is of great significance for improving the intelligent driving level of vehicles and increasing road traffic capacity.

[0003] During the process of vehicle autonomous driving, various static obstacles and dynamic obstacles may be encountered. Static obstacles can refer to obstacles that always maintain a certain position relative to the road, and dynamic obstacles can refer to obstacles that have a certain speed relative to the road.

[0004] However, in existing local path planning methods, trajectory optimization is usually performed for static obstacles. Since the positions of dynamic obstacles change in real time, inaccurate optimized trajectories will be caused when using existing local path planning methods for trajectory optimization, and it is difficult to avoid dynamic obstacles. Summary of the Invention

[0005] Embodiments of this application provide a path planning method, apparatus, device, and storage medium, which can achieve the avoidance of dynamic obstacles during the process of vehicle autonomous driving.

[0006] On the one hand, embodiments of this application provide a path planning method, which includes:

[0007] If it is determined that an obstacle is a target obstacle during the vehicle driving process, determine the tail position information of the vehicle and the head position information of the target obstacle; the target obstacle is an obstacle in motion;

[0008] If it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the target obstacle exceeds the tail of the vehicle, obtain the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle;

[0009] Determine a first position and a second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0010] Determine a first set of lateral positions corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position based on the first position and the second position;

[0011] Obtain second kinematic information of the vehicle and vehicle road information;

[0012] Determine an obstacle avoidance trajectory of the vehicle based on the first set of lateral positions, the first kinematic information, the second kinematic information, and the vehicle road information.

[0013] Further, the method further includes:

[0014] When the obstacle is a non-target obstacle, obtain the speed of the obstacle;

[0015] If the speed of the obstacle is less than a first speed threshold, determine the obstacle as a target obstacle.

[0016] Further, the method further includes:

[0017] When the obstacle is a transitional obstacle, obtain the speed of the transitional obstacle;

[0018] If the speed of the transitional obstacle is less than or equal to a second speed threshold, determine the transitional obstacle as a target obstacle;

[0019] The second speed threshold is greater than the first speed threshold.

[0020] Further, determining the first position and the second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle includes:

[0021] Obtain the head position information of the vehicle and the tail position information of the target obstacle;

[0022] If it is determined based on the head position information of the vehicle and the tail position information of the target obstacle that the tail of the obstacle exceeds the head of the vehicle, determine a first time and a first intersection position required for the head of the vehicle to exceed the tail of the target obstacle, and a second time and a second intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0023] If the first time is less than or equal to a threshold time, determine the first intersection position as the first position and the second intersection position as the second position.

[0024] Further, determining the first position and the second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle includes: Obtain the head position information of the vehicle and the tail position information of the target obstacle;

[0025] If it is determined based on the head position information of the vehicle and the tail position information of the target obstacle that the head of the vehicle exceeds the tail of the target obstacle, determine the third time and the third intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0026] If the third time is less than or equal to the threshold time, determine the tail position information of the target obstacle as the first position and the third intersection position as the second position.

[0027] Furthermore, the method further includes:

[0028] If the third time is greater than the threshold time, determine the tail position information of the target obstacle as the first position and the head position information of the target obstacle corresponding to the threshold time as the second position.

[0029] Furthermore, determining the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information includes:

[0030] Determine the second lateral position set corresponding to the longitudinal position points of the path obtained by the vehicle at the first position and the second position according to the first lateral position set;

[0031] Determine the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information.

[0032] Furthermore, the method further includes:

[0033] Determine the following and stopping trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information;

[0034] The second lateral positions in the second lateral position set include positions in the lane where the vehicle is located and positions in the adjacent lane of the vehicle.

[0035] Furthermore, the method further includes:

[0036] Obtain the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and stopping trajectory;

[0037] When the vehicle selects the following and stopping trajectory, if the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and stopping trajectory is greater than the first length threshold, determine that the vehicle selects to drive along the obstacle avoidance trajectory;

[0038] Or;

[0039] When the vehicle selects an obstacle avoidance trajectory, if the length difference between the length of the following parking trajectory and the length of the obstacle avoidance trajectory is greater than the second length threshold, it is determined that the vehicle selects to drive along the obstacle avoidance trajectory, and the first length threshold is greater than the second length threshold.

[0040] Further, the method further includes:

[0041] When the vehicle selects a following parking trajectory, if the length difference between the length of the obstacle avoidance trajectory and the length of the following parking trajectory is less than or equal to the first length threshold, it is determined that the vehicle selects to drive along the following parking trajectory;

[0042] Or;

[0043] When the vehicle selects an obstacle avoidance trajectory, if the length difference between the length of the following parking trajectory and the length of the obstacle avoidance trajectory is less than or equal to the second length threshold, it is determined that the vehicle selects to drive along the following parking trajectory.

[0044] Further, the method further includes:

[0045] When the obstacle is a non-target obstacle, obtain the speed of the obstacle;

[0046] If the speed of the obstacle is greater than or equal to the first speed threshold, determine the obstacle as a non-target obstacle;

[0047] Or;

[0048] When the obstacle is a transitional obstacle, obtain the speed of the transitional obstacle;

[0049] If the speed of the transitional obstacle is greater than the second speed threshold, determine the transitional obstacle as a non-target obstacle.

[0050] On the other hand, a path planning device is provided, and the device includes:

[0051] A first determination module, configured to determine the tail position information of the vehicle and the head position information of the target obstacle if it is determined that the obstacle is a target obstacle during the vehicle driving process; the target obstacle is an obstacle in motion;

[0052] A first information acquisition module, configured to obtain the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle if it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the target obstacle exceeds the tail of the vehicle;

[0053] A second determination module, configured to determine a first position and a second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0054] A third determination module, configured to determine a first lateral position set corresponding to a longitudinal position point of a path obtained by a target obstacle at a first position and a second position based on the first position and the second position;

[0055] A second information acquisition module, configured to acquire second kinematic information of the vehicle and vehicle road information;

[0056] A trajectory determination module, configured to determine an obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information.

[0057] On the other hand, a path planning device is provided, which includes a processor and a memory. At least one instruction, at least one program, a code set, or an instruction set is stored in the memory. The at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the path planning method as described above.

[0058] On the other hand, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a code set, or an instruction set is stored. The at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the path planning method as described above.

[0059] The path planning method, device, equipment, and storage medium provided by the embodiments of the present application have the following technical effects:

[0060] If it is determined that the obstacle is a target obstacle during the vehicle driving, determine the tail position information of the vehicle and the head position information of the target obstacle. The target obstacle is a moving obstacle. If it is determined that the head of the obstacle exceeds the tail of the vehicle based on the tail position information of the vehicle and the head position information of the target obstacle, acquire the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle, determine the first position and the second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle, determine a first lateral position set corresponding to the longitudinal position point of the path obtained by the target obstacle at the first position and the second position based on the first position and the second position, acquire the second kinematic information of the vehicle and the vehicle road information, and determine the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information. In this way, the present application improves the accuracy and stability of path planning and realizes effective avoidance of dynamic obstacles during vehicle automatic driving. Description of the Drawings

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0062] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0063] Figure 2 is a flowchart of a path planning method provided by an embodiment of the present application;

[0064] Figure 3 is a flowchart of an obstacle determination method provided by an embodiment of the present application;

[0065] Figure 4 is a flowchart of an obstacle determination method provided by an embodiment of the present application;

[0066] Figure 5 is a flowchart of a method for determining a first position and a second position provided by an embodiment of the present application;

[0067] Figure 6 is a flowchart of a method for determining that a vehicle selects a trajectory to drive around an obstacle provided by an embodiment of the present application;

[0068] Figure 7 is a schematic structural diagram of a path planning device provided by an embodiment of the present application;

[0069] Figure 8 is a hardware structure block diagram of a server for a path planning method provided by an embodiment of the present application. Detailed implementation manners

[0070] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0071] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0072] Please refer to Figure 1 , Figure 1 which is a schematic diagram of an application environment provided by an embodiment of the present application. The schematic diagram includes a vehicle. Among them, the vehicle can be an autonomous vehicle, that is, a self-driving vehicle, or a semi-autonomous vehicle.

[0073] In an optional implementation manner, the vehicle may include a global path module, an environment perception module, a real-time positioning module, a planning module, and a decision-making and control module.

[0074] In an optional implementation manner, the global path module can plan a global path from the current position of the vehicle to the destination when the global map is known.

[0075] In an optional implementation manner, the environment perception module can sense the surrounding environment information and vehicle state information through various sensors such as cameras, lidars, millimeter-wave radars, and ultrasonic radars. The environment information may include: roads, directions, curvatures, slopes, lanes, traffic signs, traffic lights, etc.; the vehicle state information may include the forward speed, acceleration, jerk, steering angle, body position and attitude of the vehicle.

[0076] In an optional implementation manner, rich and detailed environment information can be obtained through the above-mentioned various sensor information and the information of various sensors can be fused and processed in the same way.

[0077] In an alternative embodiment, the real-time positioning module can obtain the position information and heading information of the vehicle, as well as the position information and heading information of the target obstacle, through sensors such as GPS, inertial navigation, and lidar. The position information of the vehicle can include the head position information and tail position information of the vehicle. Of course, the position information of the vehicle can also include other position information such as the two sides of the vehicle. The heading information of the vehicle can include the driving direction of the vehicle. The position information of the target obstacle can include the head position information and tail position information of the target obstacle. Of course, the position information of the target obstacle can also include other position information such as the side position information of the target obstacle. The heading information of the target obstacle can include the moving direction of the target obstacle.

[0078] In an alternative embodiment, the planning module includes a speed planning module and a path planning module, where path planning refers to local path planning.

[0079] In an alternative embodiment, local path planning can be further decoupled into lateral position planning and longitudinal position planning.

[0080] The following introduces a specific embodiment of a path planning method of the present application. Figure 2 It is a schematic flowchart of a path planning method provided by an embodiment of the present application. This specification provides method operation steps such as in the embodiment or flowchart, but based on routine or non-creative labor, it can include more or fewer operation steps. The step order listed in the embodiment is only one execution manner among the execution orders of numerous steps and does not represent the only execution order. When the actual system or server product executes, it can be executed in the method order shown in the embodiment or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing). Specifically, as Figure 2 shown, the method can include:

[0081] S201: If it is determined that the obstacle is a target obstacle during the vehicle's driving, determine the tail position information of the vehicle and the head position information of the target obstacle, where the target obstacle is a moving obstacle.

[0082] In the embodiment of the present application, before determining that the obstacle is a target obstacle during the vehicle's driving, the present application further includes a step of obstacle determination.

[0083] In an alternative embodiment, Figure 3 A flowchart of an obstacle determination method is provided. As Figure 3 shown, the method can include:

[0084] S301: In the case where the obstacle is a non-target obstacle, obtain the speed of the obstacle.

[0085] S302: Determine whether the speed of the obstacle is less than the first speed threshold. If so, go to step S303; if not, go to step S304.

[0086] S303: Determine the obstacle as the target obstacle.

[0087] S304: Determine the obstacle as a non-target obstacle.

[0088] In the above embodiments, when the obstacle was determined as a non-target obstacle before the current moment, a re-judgment of the obstacle was performed, that is, a re-confirmation of the identity of the obstacle. Therefore, there can also be the following situation, where the obstacle was determined as a target obstacle before the current moment. To distinguish it from the case where the obstacle is finally determined as a target obstacle after judgment at the current moment, the obstacle that has been determined as a target obstacle before the current moment can be called a transitional obstacle.

[0089] In another alternative embodiment, Figure 4 a flowchart of a method for determining an obstacle is provided, as Figure 4 shown, and the method may include:

[0090] S401: When the obstacle is a transitional obstacle, obtain the speed of the transitional obstacle.

[0091] S402: Determine whether the speed of the transitional obstacle is less than or equal to the second speed threshold. If so, go to step S403; if not, go to step S404.

[0092] S403: Determine the transitional obstacle as the target obstacle.

[0093] S404: Determine the transitional obstacle as a non-target obstacle.

[0094] Among them, the second speed threshold is greater than the first speed threshold.

[0095] In the embodiments of the present application, the first speed threshold and the second speed threshold can be determined according to the speed during vehicle driving. For example, the first speed threshold can be determined as 60% of the speed during vehicle driving, and the second speed threshold can be determined as 80% of the speed during vehicle driving; the first speed threshold and the second speed threshold can also be determined according to the maximum speed limit of the current road. For example, the first speed threshold can be determined as 50% of the maximum speed limit of the current road, and the second speed threshold can be determined as 70% of the maximum speed limit of the current road; of course, the first speed threshold and the second speed threshold can also be determined in other reasonable ways.

[0096] For example, a vehicle is traveling on a road at a speed of 60 km / h. There is a dynamic obstacle in front of the vehicle. The first speed threshold is set to 60% of the vehicle's current speed, that is, 36 km / h, and the second speed threshold is set to 80% of the vehicle's current speed, that is, 48 km / h. In this case, the vehicle can determine whether to regard the dynamic obstacle as a target obstacle according to the speed of the dynamic obstacle; when the obstacle is a non-target obstacle, if the speed of the non-target obstacle is less than 36 km / h, it is regarded as a target obstacle, and if the speed of the non-target obstacle is greater than or equal to 36 km / h, it is regarded as a non-target obstacle; when the obstacle is a transitional obstacle, if the speed of the transitional obstacle is less than or equal to 48 km / h, it is regarded as a target obstacle, and if the speed of the transitional obstacle is greater than 48 km / h, it is regarded as a non-target obstacle. In this way, by setting the first speed threshold and the second speed threshold, a speed hysteresis range is formed, avoiding the variability and instability in determining the target obstacle caused by the fluctuation of the obstacle speed. It avoids determining an obstacle as a target obstacle when its speed is less than a certain set speed and determining it as a non-target obstacle otherwise. Since the speed of the obstacle is variable, if the speed of the obstacle changes above and below the set speed, it will cause variability and instability in determining the target obstacle, thus causing jitter in subsequent decisions.

[0097] S202: If it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the target obstacle exceeds the tail of the vehicle, obtain the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle.

[0098] In the embodiment of the present application, the tail position information of the vehicle can be determined by the real-time positioning module of the vehicle. Specifically, the tail position information of the vehicle can be determined by sensors such as GPS, inertial navigation, and lidar; the head position information of the target obstacle can be determined by the environment perception module of the vehicle. Specifically, the head position information of the target obstacle can be determined by various sensors such as cameras, lidar, millimeter-wave radars, and ultrasonic radars.

[0099] In the embodiment of the present application, the first kinematic information includes the current speed and the current acceleration of the vehicle.

[0100] In the embodiment of the present application, the predicted trajectory information of the target obstacle can estimate the movement trajectory of the target obstacle within a preset time period based on the speed and movement direction of the target obstacle at the current moment.

[0101] Optionally, the current speed of the target obstacle can be obtained, and the current speed can be used as the average speed within the preset time period. Based on the average speed and the preset time period, a uniform motion trajectory is determined, and this uniform motion trajectory is determined as the movement trajectory of the target obstacle within the preset time period.

[0102] Optionally, the current speed and current acceleration of the target obstacle can also be obtained, and a uniformly variable motion trajectory is determined based on the current speed, current acceleration of the target obstacle, and a preset time period, and this uniformly variable motion trajectory is determined as the motion trajectory of the target obstacle within the preset time period.

[0103] In some possible embodiments, the motion trajectory can be a uniform, uniformly variable, or non-uniformly variable motion trajectory of the target obstacle in a straight line mode, or a uniform, uniformly variable, or non-uniformly variable motion trajectory of the target obstacle in a preset curve mode.

[0104] For example, when the target obstacle is currently moving on the road at a speed of 36 km / h, if the preset time period is 10 s, the current speed of the target obstacle can be obtained, and this current speed is used as the average speed of the target obstacle within 10 s, and then the length of the motion trajectory of the target obstacle within 10 s is obtained as 100 m; the current acceleration of the target obstacle can also be obtained. Suppose the obtained acceleration of the target obstacle is 5 m / s 2 , and then the length of the motion trajectory of the target obstacle within 10 s is obtained as 350 m; thus, the predicted trajectory of the target obstacle within 10 s is predicted, so that the first position and the second position can be determined iteratively with time through the first kinematic information of the vehicle and the predicted trajectory, so as to avoid inaccurate path planning caused by only considering the position information of the target obstacle at the current moment during trajectory optimization in path planning.

[0105] S203: Determine the first position and the second position based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle.

[0106] In the embodiments of the present application, when determining the tail position information of the vehicle and the head position information of the target obstacle, and determining the relative position information between the vehicle and the target obstacle according to the tail position information of the vehicle and the head position information of the target obstacle, the center of the target obstacle and the center of the vehicle can also be determined, and then the relative position information between the vehicle and the target obstacle is determined according to the center of the target obstacle and the center of the vehicle. Among them, the center of the target obstacle can be determined through the head position information and the tail position information of the target obstacle, and the center of the vehicle can be determined through the head position information and the tail position information of the vehicle.

[0107] In the embodiments of the present application, the first position and the second position are determined so that in subsequent steps, the first lateral position set corresponding to the longitudinal position points of the paths obtained by the target obstacle at the first position and the second position can be determined based on the first position and the second position. Moreover, the determination of the first position and the second position is strongly correlated with the relative positions of the vehicle and the obstacle. And the relative positions of the vehicle and the obstacle are diverse. For example, in the first case: the tail of the target obstacle is in front of the head of the vehicle; in the second case: the tail of the target obstacle is behind the head of the vehicle, but the head of the target obstacle is in front of the head of the vehicle; in the third case: the head of the target obstacle is in front of the tail of the vehicle and the head of the target obstacle is behind the head of the vehicle; in the fourth case: the tail of the vehicle is in front of the head of the target obstacle. The embodiments of the present application provide a specific embodiment of a method for determining the first position and the second position in the case of diverse relative positions of the vehicle and the target obstacle. Specifically, as Figure 5 shown, the method may include:

[0108] S501: Obtain the head position information of the vehicle and the tail position information of the target obstacle.

[0109] S502: Determine whether the tail of the target obstacle exceeds the head of the vehicle based on the head position information of the vehicle and the tail position information of the target obstacle. If so, go to step S503; if not, go to step S507.

[0110] S503: Determine the first time and the first intersection position required for the head of the vehicle to exceed the tail of the target obstacle, and the second time and the second intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information of the vehicle and the target obstacle.

[0111] In the embodiments of the present application, the first time is the time required from the tail of the target obstacle exceeding the head of the vehicle to the head of the vehicle exceeding the tail of the target obstacle based on the first kinematic information of the vehicle, the predicted trajectory information of the target obstacle, and the relative position information of the vehicle and the target obstacle; the second time is the time required from the tail of the target obstacle exceeding the head of the vehicle to the tail of the vehicle exceeding the head of the target obstacle based on the first kinematic information of the vehicle, the predicted trajectory information of the target obstacle, and the relative position information of the vehicle and the target obstacle.

[0112] S504: Determine whether the first time is less than or equal to the threshold time. If so, go to step S505; otherwise, go to step S506.

[0113] S505: Determine the first intersection position as the first position and the second intersection position as the second position.

[0114] S506: End the process.

[0115] S507: Determine a third time and a third intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle.

[0116] In the embodiment of the present application, the third time is the time required from when the head of the vehicle exceeds the tail of the target obstacle to when the tail of the vehicle exceeds the head of the target obstacle based on the first kinematic information of the vehicle, the predicted trajectory information of the target obstacle, and the relative position information between the vehicle and the target obstacle.

[0117] S508: Determine whether the third time is less than or equal to a threshold time. If so, go to step S509; otherwise, go to step S510.

[0118] S509: Determine the tail position information of the target obstacle as the first position and the third intersection position as the second position.

[0119] S510: Determine the tail position information of the target obstacle as the first position and the head position information of the target obstacle corresponding to the threshold time as the second position.

[0120] In an alternative embodiment, if the relative position information between the vehicle and the target obstacle is that the head of the vehicle has not exceeded the tail of the target obstacle, the first time and the first intersection position at which the head of the vehicle exceeds the tail of the target obstacle can be iteratively predicted with time based on the first kinematic information of the vehicle and the predicted trajectory of the target obstacle. Similarly, the second time and the second intersection position at which the tail of the vehicle exceeds the head of the target obstacle can be iteratively predicted with time based on the first kinematic information of the vehicle and the predicted trajectory of the target obstacle. If the first time exceeds the set threshold time, it indicates that within the set threshold time, the head of the vehicle will not exceed the tail of the target obstacle, and the presence of the target obstacle will not affect the normal driving of the vehicle. Therefore, the target obstacle can be ignored. If the first time does not exceed the set threshold time, it indicates that within the set threshold time, the head of the vehicle has exceeded the tail of the target obstacle. At this time, determine the first intersection position as the first position and the second intersection position as the second position.

[0121] In an alternative embodiment, if the head of the vehicle exceeds the tail of the target obstacle but the tail of the vehicle does not exceed the head of the target obstacle, the third time and the third intersection position at which the tail of the vehicle exceeds the head of the target obstacle can be iteratively predicted over time based on the first kinematic information of the vehicle and the predicted trajectory of the target obstacle; if the third time exceeds the set threshold time, the tail of the target obstacle at the current moment is determined as the first position, and the head position of the target obstacle corresponding to the threshold time is determined as the second position; if the third time does not exceed the set threshold time, the tail of the target obstacle at the current moment is determined as the first position, and the third intersection position is determined as the second position.

[0122] In an alternative embodiment, if the tail of the vehicle exceeds the head of the target obstacle and the presence of the target obstacle does not affect the normal driving of the vehicle, the target obstacle can be ignored.

[0123] In the embodiments of the present application, the first time, the first intersection position, the second time, the second intersection position, or the third time and the third intersection position can be iteratively predicted over time according to the relative position between the target obstacle and the vehicle; assuming that the threshold time is set to 8 s, when the relative position between the vehicle and the target obstacle is that the head of the vehicle does not exceed the tail of the target obstacle, if the first time is 6 s, the first intersection position and the second intersection position are respectively determined as the first position and the second position, and if the first time is 10 s, the target obstacle is ignored; when the relative position between the vehicle and the target obstacle is that the head of the vehicle exceeds the target obstacle but the tail of the vehicle does not exceed the head of the target obstacle, if the third time is 6 s, the tail of the target obstacle at the current moment is determined as the first position, and the third intersection position is determined as the second position, and if the third time is 9 s, the tail of the target obstacle at the current moment is determined as the first position, and the head position of the target obstacle corresponding to the threshold time, that is, 8 s, is determined as the second position. In this way, the predicted trajectory of the target obstacle is obtained by predicting the movement trajectory of the target obstacle within a preset time period, and the first position and the second position are iteratively determined over time based on the first kinematic information of the vehicle and the predicted trajectory, avoiding inaccurate path planning caused by only considering the position information of the target obstacle at the current moment during trajectory optimization in path planning.

[0124] S204: Determine the first lateral position set corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position based on the first position and the second position.

[0125] In the embodiments of the present application, the vehicle can obtain the path of the target obstacle between the first position and the second position based on the first position and the second position, and sample the path to obtain a set of longitudinal position points. The set of longitudinal position points can include multiple longitudinal position points. For example, assume that the path determined by the first position and the second position is 100 meters, and sampling is performed every 5 meters, then a set of longitudinal position points including 21 longitudinal position points can be obtained.

[0126] Among them, the first set of lateral positions corresponding to each longitudinal position point can be the set of possible lateral positions of the target obstacle at a certain longitudinal position.

[0127] S205: Obtain the second kinematic information of the vehicle and the vehicle road information.

[0128] The second kinematic information includes the current jerk of the vehicle.

[0129] The vehicle road information includes the wheelbase of the vehicle, the maximum steering angle of the vehicle, the curvature of the current road, and the second set of lateral positions corresponding to the longitudinal position point where the vehicle is located at a certain moment.

[0130] In the embodiments of the present application, the current jerk of the vehicle, the wheelbase of the vehicle, the maximum steering angle of the vehicle, and the curvature of the current road can be obtained through the environmental perception module of the vehicle. Specifically, they can be obtained through various sensors such as cameras, lidar, millimeter-wave radars, and ultrasonic radars.

[0131] In the embodiments of the present application, the second set of lateral positions corresponding to a certain longitudinal position point can be determined by the first set of lateral positions corresponding to the longitudinal position point. The second set of lateral positions corresponding to the longitudinal position point can be understood as the lateral position constraint range of the vehicle corresponding to the longitudinal position point, that is, the lateral position range where the vehicle can travel at the longitudinal position point.

[0132] S206: Determine the obstacle avoidance trajectory of the vehicle according to the first set of lateral positions, the first kinematic information, the second kinematic information, and the vehicle road information.

[0133] In the embodiments of the present application, the second set of lateral positions corresponding to the longitudinal position points of the path obtained by the vehicle at the first position and the second position can be determined according to the first set of lateral positions, and then the obstacle avoidance trajectory of the vehicle can be determined according to the first set of lateral positions, the second set of lateral positions, the first kinematic information, the second kinematic information, and the vehicle road information.

[0134] In the embodiments of the present application, the following-distance and parking trajectory of the vehicle can also be determined according to the first set of lateral positions, the second set of lateral positions, the first kinematic information, the second kinematic information, and the vehicle road information.

[0135] Among them, in the embodiments of the present application, the second lateral positions in the second lateral position set may include the position in the lane where the vehicle is located and the position in the adjacent lane of the vehicle.

[0136] In an alternative embodiment, a quadratic objective function can be established according to the scenario to determine the obstacle avoidance trajectory and the following and parking trajectory of the vehicle. Specifically, the global path module obtains the global path, the environment perception module obtains the vehicle state information and the surrounding environment information, and the real-time positioning module obtains the position information and the heading information of the vehicle and the position information and the movement direction of the target obstacle, and the obtained information can be fused and processed uniformly, that is, a quadratic objective function with multiple constraint conditions is established according to the obtained vehicle state information, the surrounding environment information, the position information and the heading information of the vehicle, and the position information and the heading information of the target obstacle, and thereby the obstacle avoidance trajectory and the following and parking trajectory of the vehicle can be determined.

[0137] The formula of the above objective function can be as shown in the following formula (1):

[0138]

[0139] Among them, the above l i+1 can be as shown in the following formula (2), formula (3), and formula (4):

[0140]

[0141]

[0142]

[0143] Among them, the above formulas (1), (2), (3), and (4) satisfy the following formulas (5), (6), (7), (8), and (9):

[0144]

[0145]

[0146]

[0147]

[0148] tan(α max ) * k r * l - tan(α max ) + |k r | * L ≤ 0... Formula (9)

[0149] Among them, w l is the weight of l, is 's weight, is 's weight, is 's weight, l i 、 are respectively the lateral position, lateral speed, lateral acceleration, and lateral jerk at the i-th moment, k r is the curvature of the current road, α max is the maximum steering angle of the vehicle itself, L is the wheelbase of the vehicle, s is the longitudinal position, l B (s) is the set of second lateral positions, that is, the lateral position constraint range of the current lane line, which can be obtained by substituting the first position and the second position into l B (s), and l is the set of second lateral positions corresponding to the longitudinal position point where the vehicle is located at a certain moment.

[0150] Through multiple constraint conditions in the above formulas (5), (6), (7), (8), and (9), two driving trajectories of the vehicle can be determined and generated: an obstacle avoidance trajectory and a following and parking trajectory.

[0151] In an alternative embodiment, a specific embodiment of a method for determining that the vehicle selects to drive along the obstacle avoidance trajectory is also provided. Specifically, as Figure 6 shown, the method includes:

[0152] S601: Obtain the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and parking trajectory.

[0153] S602: Determine whether the vehicle selects the following and parking trajectory. If so, go to step S603; if not, go to step S605.

[0154] S603: Determine whether the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and parking trajectory is greater than the first length threshold. If so, go to step S606; if not, go to step S604.

[0155] S604: Determine that the vehicle selects to drive along the following and parking trajectory.

[0156] S605: Determine whether the length difference between the trajectory length of the following and parking trajectory and the trajectory length of the obstacle avoidance trajectory is greater than the second length threshold. If so, go to step S606; if not, go to step S604.

[0157] S606: Determine that the vehicle selects to drive along the obstacle avoidance trajectory.

[0158] For example, the first length threshold and the second length threshold can be separately determined as 20m and 10m, respectively, or a third length threshold can be set. The first length threshold is 80% of the third length threshold, and the second length threshold is 60% of the third length threshold. The vehicle can determine whether to choose to drive along the obstacle avoidance trajectory based on the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following parking trajectory. Hereinafter, taking the first length threshold of 20m and the second length threshold of 10m as an example, if the vehicle is currently driving along the following parking trajectory, if the trajectory length of the obstacle avoidance trajectory is greater than the trajectory length of the following parking trajectory by 20m, it is determined that the vehicle chooses to drive along the obstacle avoidance trajectory; otherwise, it is determined that the vehicle continues to drive along the following parking trajectory. If the vehicle is currently driving along the obstacle avoidance trajectory, if the trajectory length of the obstacle avoidance trajectory is greater than the trajectory length of the following parking trajectory by 10m, it is determined that the vehicle continues to drive along the obstacle avoidance trajectory; otherwise, it is determined that the vehicle drives along the following parking trajectory. In this way, by setting the first length threshold and the second length threshold, a length hysteresis range is formed, avoiding the instability of the vehicle when determining whether to choose the obstacle avoidance trajectory due to the change of the trajectory length of the obstacle avoidance trajectory or the trajectory length of the following parking trajectory, and improving the stability of path planning.

[0159] The embodiment of the present application further provides a path planning device. Figure 7 It is a schematic structural diagram of a path planning device provided by the embodiment of the present application, as Figure 7 shown. The device includes:

[0160] A first determination module 701, configured to determine the tail position information of the vehicle and the head position information of the target obstacle if it is determined that the obstacle is the target obstacle during the vehicle driving; the target obstacle is an obstacle in motion;

[0161] A first information acquisition module 702, configured to acquire the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle if it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the target obstacle exceeds the tail of the vehicle;

[0162] A second determination module 703, configured to determine a first position and a second position based on the first kinematic information, the predicted trajectory information, and the relative position information of the vehicle and the target obstacle;

[0163] A third determination module 704, configured to determine a first lateral position set corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position based on the first position and the second position;

[0164] A second information acquisition module 705, configured to acquire the second kinematic information of the vehicle and the vehicle road information;

[0165] A trajectory determination module 706, configured to determine an obstacle avoidance trajectory of the vehicle according to a first lateral position set, first kinematic information, second kinematic information, and vehicle road information.

[0166] In an alternative embodiment, the apparatus further includes:

[0167] An obstacle speed acquisition module, configured to acquire the speed of the obstacle when the obstacle is a non-target obstacle;

[0168] A target obstacle determination module, configured to determine the obstacle as a target obstacle if the speed of the obstacle is less than a first speed threshold.

[0169] In an alternative embodiment:

[0170] An obstacle speed acquisition module, configured to acquire the speed of the transitional obstacle when the obstacle is a transitional obstacle;

[0171] A target obstacle determination module, configured to determine the transitional obstacle as a target obstacle if the speed of the transitional obstacle is less than or equal to a second speed threshold;

[0172] The second speed threshold is greater than the first speed threshold.

[0173] In an alternative embodiment, the apparatus further includes:

[0174] A non-target obstacle determination module, configured to acquire the speed of the obstacle when the obstacle is a non-target obstacle, and determine the obstacle as a non-target obstacle if the speed of the obstacle is greater than or equal to the first speed threshold;

[0175] Or;

[0176] A non-target obstacle determination module, configured to acquire the speed of the transitional obstacle when the obstacle is a transitional obstacle, and determine the transitional obstacle as a non-target obstacle if the speed of the transitional obstacle is greater than the second speed threshold.

[0177] In an alternative embodiment, a second determination module is configured to:

[0178] Acquire the head position information of the vehicle and the tail position information of the target obstacle;

[0179] If it is determined based on the head position information of the vehicle and the tail position information of the target obstacle that the tail of the obstacle exceeds the head of the vehicle, determine a first time and a first intersection position required for the head of the vehicle to exceed the tail of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0180] Determine the second time and the second intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0181] If the first time is less than or equal to the threshold time, determine the first intersection position as the first position and the second intersection position as the second position.

[0182] In an alternative implementation, the second determination module is configured to:

[0183] Obtain the head position information of the vehicle and the tail position information of the target obstacle;

[0184] If it is determined that the head of the vehicle exceeds the tail of the target obstacle based on the head position information of the vehicle and the tail position information of the target obstacle, determine the third time and the third intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle;

[0185] If the third time is less than or equal to the threshold time, determine the tail position information of the target obstacle as the first position and the third intersection position as the second position.

[0186] In an alternative implementation, the second determination module is configured to:

[0187] If the third time is greater than the threshold time, determine the tail position information of the target obstacle as the first position and the head position information of the target obstacle corresponding to the threshold time as the second position.

[0188] In an alternative implementation, the trajectory determination module is configured to:

[0189] Determine the second lateral position set corresponding to the longitudinal position points of the path obtained by the vehicle at the first position and the second position according to the first lateral position set;

[0190] Determine the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information.

[0191] In an alternative implementation, the trajectory determination module is configured to:

[0192] Determine the following-stop trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information;

[0193] The second lateral positions in the second lateral position set include positions in the lane where the vehicle is located and positions in the adjacent lane of the vehicle.

[0194] In an alternative embodiment, the device further includes:

[0195] A trajectory length acquisition module, configured to acquire the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following parking trajectory;

[0196] An obstacle avoidance trajectory selection module, configured to, when the vehicle selects the following parking trajectory, if the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following parking trajectory is greater than a first length threshold, determine that the vehicle selects to travel along the obstacle avoidance trajectory;

[0197] Or;

[0198] An obstacle avoidance trajectory selection module, configured to, when the vehicle selects the obstacle avoidance trajectory, if the length difference between the trajectory length of the following parking trajectory and the trajectory length of the obstacle avoidance trajectory is greater than a second length threshold, determine that the vehicle selects to travel along the obstacle avoidance trajectory;

[0199] The first length is greater than the second length threshold.

[0200] In an alternative embodiment, the device further includes:

[0201] A following parking trajectory selection module, configured to, when the vehicle selects the following parking trajectory, if the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following parking trajectory is less than or equal to the first length threshold, determine that the vehicle selects to travel along the following parking trajectory;

[0202] Or;

[0203] A following parking trajectory selection module, configured to, when the vehicle selects the obstacle avoidance trajectory, if the length difference between the trajectory length of the following parking trajectory and the trajectory length of the obstacle avoidance trajectory is less than or equal to the second length threshold, determine that the vehicle selects to travel along the following parking trajectory.

[0204] The device in the embodiments of the present application and the method embodiments are based on the same application concept.

[0205] The method embodiments provided by the embodiments of the present application can be executed on a computer terminal, a server, or a similar computing device. Taking running on a server as an example, Figure 8 is a hardware structure block diagram of a server for a path planning method provided by the embodiments of the present application. As Figure 8As shown, the server 800 can vary significantly due to different configurations or performances. It can include one or more Central Processing Units (CPUs) 810 (the processor 810 can include, but is not limited to, processing devices such as a microprocessor MCU or a Field Programmable Gate Array FPGA), a memory 830 for storing data, and one or more storage media 820 for storing application programs 823 or data 822 (such as one or more mass storage devices). Among them, the memory 830 and the storage media 820 can be transient storage or persistent storage. The programs stored in the storage media 820 can include one or more modules, and each module can include a series of instruction operations on the server. Further, the central processor 810 can be configured to communicate with the storage media 820 and execute a series of instruction operations in the storage media 820 on the server 800. The server 800 can also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input / output interfaces 840, and / or one or more operating systems 821, such as Windows Server TM , Mac OS X TM , Unix TM , Linux, FreeBSD, and so on.

[0206] The input / output interface 840 can be used to receive or send data via a network. Specific examples of the above network can include a wireless network provided by the communication provider of the server 800. In one example, the input / output interface 840 includes a Network Interface Controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one example, the input / output interface 840 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0207] Those of ordinary skill in the art can understand that Figure 8 the structure shown is only schematic and does not limit the structure of the above electronic device. For example, the server 800 can also include more or fewer components than those shown Figure 8 in the figure, or have a different configuration from that shown Figure 8 in the figure.

[0208] An embodiment of the present application further provides a storage medium, which can be disposed in a server to store at least one instruction, at least one program, a code set or an instruction set related to a vehicle obstacle avoidance method in a method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above path planning method.

[0209] Optionally, in this embodiment, the above storage medium may be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0210] It can be seen from the embodiments of the vehicle obstacle avoidance method, device or storage medium provided by the present application that in the present application, if it is determined that the obstacle is a target obstacle during the vehicle driving process, the tail position information of the vehicle and the head position information of the target obstacle are determined. The target obstacle is a moving obstacle. If it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the obstacle exceeds the tail of the vehicle, the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle are obtained. Based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle, the first position and the second position are determined. Based on the first position and the second position, the first lateral position set corresponding to the longitudinal position point of the path obtained by the target obstacle at the first position and the second position is determined. The second kinematic information of the vehicle and the vehicle road information are obtained. The obstacle avoidance trajectory of the vehicle is determined according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information. In this way, the accuracy and stability of path planning in the present application are improved.

[0211] It should be noted that: the above sequence of embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments. And the above specific embodiments of this specification have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0212] Each embodiment in this specification is described in a progressive manner. For the identical or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the description of the method embodiments.

[0213] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0214] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A path planning method, characterized in that, Including: If it is determined that the obstacle is a target obstacle during the vehicle's driving, determine the tail position information of the vehicle and the head position information of the target obstacle; The target obstacle is an obstacle in motion; If it is determined based on the tail position information of the vehicle and the head position information of the target obstacle that the head of the target obstacle exceeds the tail of the vehicle, obtain the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle; If it is determined based on the head position information of the vehicle and the tail position information of the target obstacle that the tail of the obstacle exceeds the head of the vehicle, determine the first time and the first intersection position required for the head of the vehicle to exceed the tail of the target obstacle, and the second time and the second intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle; If the first time is less than or equal to the threshold time, determine the first intersection position as the first position and the second intersection position as the second position; the first position and the second position are iteratively determined by time based on the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle; Based on the first position and the second position, determine the first lateral position set corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position; Obtain the second kinematic information of the vehicle and the vehicle road information; Determine the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information.

2. The path planning method according to claim 1, wherein The method further includes: In the case where the obstacle is a non-target obstacle, obtain the speed of the obstacle; If the speed of the obstacle is less than the first speed threshold, determine the obstacle as the target obstacle.

3. The path planning method according to claim 2, wherein The method further includes: In the case where the obstacle is a transition obstacle, obtain the speed of the transition obstacle; the transition obstacle is an obstacle that has been determined as a target obstacle before the current moment; If the speed of the transition obstacle is less than or equal to the second speed threshold, determine the transition obstacle as the target obstacle; The second speed threshold is greater than the first speed threshold.

4. The path planning method according to claim 1, characterized in that The method further includes: Obtain the head position information of the vehicle and the tail position information of the target obstacle; If it is determined based on the head position information of the vehicle and the tail position information of the target obstacle that the head of the vehicle exceeds the tail of the target obstacle, determine the third time and the third intersection position required for the tail of the vehicle to exceed the head of the target obstacle based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle; If the third time is less than or equal to the threshold time, determine the tail position information of the target obstacle as the first position and the third intersection position as the second position.

5. The path planning method according to claim 4, wherein The method further includes: If the third time is greater than the threshold time, determine the tail position information of the target obstacle as the first position, and determine the head position information of the target obstacle corresponding to the threshold time as the second position.

6. The path planning method according to claim 1, wherein The determining the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information includes: Determine a second lateral position set corresponding to the longitudinal position points of the path obtained by the vehicle at the first position and the second position according to the first lateral position set; Determine the obstacle avoidance trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information.

7. The path planning method according to claim 6, wherein The method further includes: Determine the following and stopping trajectory of the vehicle according to the first lateral position set, the second lateral position set, the first kinematic information, the second kinematic information, and the vehicle road information; The second lateral positions in the second lateral position set include positions in the lane where the vehicle is located and positions in the adjacent lane of the vehicle.

8. The path planning method according to claim 7, wherein The method further includes: Obtain the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and stopping trajectory; In the case where the vehicle selects the following and stopping trajectory, if the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and stopping trajectory is greater than the first length threshold, determine that the vehicle selects to drive along the obstacle avoidance trajectory; Or; In the case where the vehicle selects the obstacle avoidance trajectory, if the length difference between the trajectory length of the following and stopping trajectory and the trajectory length of the obstacle avoidance trajectory is greater than the second length threshold, determine that the vehicle selects to drive along the obstacle avoidance trajectory, and the first length threshold is greater than the second length threshold.

9. The path planning method according to claim 8, wherein The method further includes: In the case where the vehicle selects the following and stopping trajectory, if the length difference between the trajectory length of the obstacle avoidance trajectory and the trajectory length of the following and stopping trajectory is less than or equal to the first length threshold, determine that the vehicle selects to drive along the following and stopping trajectory; Or; In the case where the vehicle selects the obstacle avoidance trajectory, if the length difference between the trajectory length of the following and stopping trajectory and the trajectory length of the obstacle avoidance trajectory is less than or equal to the second length threshold, determine that the vehicle selects to drive along the following and stopping trajectory.

10. The path planning method according to claim 3, wherein The method further includes: In the case where the obstacle is a non-target obstacle, obtain the speed of the obstacle; If the speed of the obstacle is greater than or equal to the first speed threshold, determine the obstacle as the non-target obstacle; Or; In the case where the obstacle is a transition obstacle, obtain the speed of the transition obstacle; If the speed of the transition obstacle is greater than the second speed threshold, determine the transition obstacle as the non-target obstacle.

11. A path planning device, characterized in that, Includes: A first determination module, configured to, if it is determined that an obstacle is a target obstacle during the vehicle driving, Determine the tail position information of the vehicle and the head position information of the target obstacle; the target obstacle is an obstacle in motion; A first information acquisition module, configured to, if it is determined that the head of the target obstacle exceeds the tail of the vehicle based on the tail position information of the vehicle and the head position information of the target obstacle, acquire the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle; A second determination module, configured to, if it is determined that the tail of the obstacle exceeds the head of the vehicle based on the head position information of the vehicle and the tail position information of the target obstacle, determine a first time and a first intersection position required for the head of the vehicle to exceed the tail of the target obstacle, and a second time and a second intersection position required for the tail of the vehicle to exceed the head of the target obstacle, based on the first kinematic information, the predicted trajectory information, and the relative position information between the vehicle and the target obstacle; if the first time is less than or equal to a threshold time, determine the first intersection position as a first position and the second intersection position as a second position; the first position and the second position are iteratively determined by time based on the first kinematic information of the vehicle and the predicted trajectory information of the target obstacle; A third determination module, configured to determine a first set of lateral positions corresponding to the longitudinal position points of the path obtained by the target obstacle at the first position and the second position based on the first position and the second position; A second information acquisition module, configured to acquire the second kinematic information of the vehicle and the vehicle road information; A trajectory determination module, configured to determine an obstacle avoidance trajectory of the vehicle according to the first set of lateral positions, the first kinematic information, the second kinematic information, and the vehicle road information; 12. A path planning device, characterized in that, The device includes a processor and a memory, and at least one instruction, at least one program, a code set, or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the path planning method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, At least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the path planning method according to any one of claims 1 to 10.

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