Methods, devices, equipment, and storage media for planning vehicle travel routes

Abstract

This invention discloses a method, apparatus, device, and storage medium for planning vehicle travel paths, relating to the field of path planning, and solving the problem of low accuracy in existing vehicle travel path planning methods. The specific solution includes: obtaining the entire vehicle travel path, which consists of multiple discrete positioning points; obtaining the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning points; determining multiple candidate paths based on the arc length and lateral offset of the entire path; evaluating the multiple candidate paths according to multiple preset evaluation algorithms and obtaining evaluation results; and determining the target path from the multiple candidate paths based on the evaluation results and preset evaluation criteria.

Description

Technical Field

[0001] This invention relates to the field of route planning, and more particularly to a method, apparatus, device, and storage medium for planning vehicle travel routes. Background Technology

[0002] With the continuous increase in the number of cars, traffic accidents are also on the rise, and car safety has long been a focal point of concern for the entire society. Providing car owners with the optimal route in a timely manner has significant research value and enormous application value in reducing the incidence of road traffic accidents.

[0003] Existing local path planning algorithms mainly employ artificial potential field methods, graph search-based methods, sampling methods, and discrete optimization-based methods. However, the planned paths obtained using these methods are prone to getting trapped in local minima, leading to path planning failure. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for planning vehicle travel paths, which solves the problem of low accuracy in existing vehicle travel path planning methods.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, embodiments of this application provide a method for planning a vehicle driving path, the method comprising:

[0007] Obtain the entire path the vehicle travels, which consists of multiple discrete location points;

[0008] The arc length of the entire path and the lateral offset of the vehicle from the entire path are obtained based on the positioning points.

[0009] Multiple candidate paths are determined based on the arc length and lateral offset of the entire path. The multiple candidate paths are evaluated according to multiple preset evaluation algorithms, and the evaluation results are obtained.

[0010] Based on the evaluation results and the preset evaluation criteria, the target path is determined from multiple candidate paths.

[0011] In one embodiment, multiple candidate paths are determined based on the arc length and lateral offset of the entire path, including:

[0012] Establish a reference coordinate system for path planning based on the arc length and lateral offset of the entire path;

[0013] Multiple candidate paths are determined based on the reference coordinate system.

[0014] In one embodiment, obtaining the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning points includes:

[0015] The baseline for the entire path is determined based on the positioning points, and the baseline is the center line of the entire path;

[0016] The arc length between the first endpoint of the vehicle's projected line segment on the reference and the endpoint of the reference line is determined as the arc length of the entire path, and the lateral offset between the vehicle and the distance from the reference line is determined as the lateral offset of the entire path.

[0017] In one embodiment, determining multiple candidate paths based on a reference coordinate system includes:

[0018] The arc length and lateral offset of the entire path in the reference coordinate system are converted to geodetic Cartesian coordinates to obtain the standard coordinate system.

[0019] Multiple candidate paths are determined based on the standard coordinate system.

[0020] In one embodiment, determining multiple candidate paths based on a standard coordinate system includes:

[0021] Obtain the vehicle's current heading angle, and determine multiple candidate paths based on the vehicle's current heading angle, the standard coordinate system, and preset boundary conditions.

[0022] In one embodiment, the evaluation algorithm includes: a security evaluation algorithm, an offset evaluation algorithm, and a smoothness evaluation algorithm. Calculating multiple candidate paths according to a preset evaluation algorithm includes:

[0023] Obtain the evaluation weight of each evaluation algorithm, evaluate multiple candidate paths based on each evaluation algorithm and its corresponding evaluation weight, and obtain the evaluation results.

[0024] In one embodiment, the smoothness evaluation algorithm includes: a curvature change function, a continuity function, weights corresponding to the curvature change function, and weights corresponding to the continuity function.

[0025] Secondly, embodiments of this application provide a vehicle route planning device, the device comprising:

[0026] The first acquisition module is used to acquire the entire path of the vehicle's journey, which consists of multiple discrete positioning points;

[0027] The second acquisition module is used to obtain the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning point;

[0028] The first determining module is used to determine multiple candidate paths based on the arc length and lateral offset of the entire path, evaluate the multiple candidate paths according to multiple preset evaluation algorithms, and obtain the evaluation results.

[0029] The second determination module is used to determine the target path from multiple candidate paths based on the evaluation results and preset evaluation criteria.

[0030] Thirdly, embodiments of this application provide a computer device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the steps of the vehicle driving path planning method as described in any of the first aspects of embodiments of this application.

[0031] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle travel path planning method as described in any of the first aspects of embodiments of this application.

[0032] The vehicle path planning method provided in this application embodiment obtains the entire vehicle path, which consists of multiple discrete positioning points. Based on these positioning points, the arc length of the entire path and the lateral offset of the vehicle from the entire path are obtained. Then, multiple candidate paths are determined based on the arc length and lateral offset of the entire path. These candidate paths are evaluated using multiple preset evaluation algorithms, and evaluation results are obtained. Finally, based on the evaluation results and preset evaluation criteria, a target path is determined from the multiple candidate paths. The vehicle path planning method provided in this application embodiment determines multiple candidate paths based on the arc length and lateral offset of the entire path, and then determines the target path from these candidate paths using evaluation algorithms, thus improving the accuracy of vehicle path planning. Attached Figure Description

[0033] Figure 1 A schematic diagram of the internal structure of a computer device provided in an embodiment of the present invention;

[0034] Figure 2 A flowchart illustrating a vehicle travel path planning method provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram illustrating the relationship between a vehicle and its driving path, provided as an embodiment of the present invention.

[0036] Figure 4 A schematic diagram of a baseline provided in an embodiment of the present invention;

[0037] Figure 5 This is a structural diagram of a vehicle travel path planning device provided in an embodiment of the present invention. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0040] In addition, the use of “based on” or “according to” implies openness and inclusivity, because processes, steps, calculations or other actions “based on” or “according to” one or more conditions or values ​​can in practice be based on additional conditions or values ​​beyond those conditions.

[0041] To address the issue of low accuracy in existing vehicle routing methods, this application provides a vehicle routing planning method, apparatus, device, and storage medium that can improve the accuracy of vehicle routing planning.

[0042] The vehicle driving path planning method provided in this application embodiment is executed by a vehicle driving path planning device, which can be a computer device.

[0043] Optionally, the computer equipment can be a terminal device, server, cloud computing platform, or other device including a device identification device. The terminal device can be a mobile phone, tablet computer, laptop computer, PDA, computer, etc.

[0044] like Figure 1 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. The computer device includes a processor and a memory connected via a system bus. The processor provides computational and control capabilities. The memory may include a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. These computer programs can be executed by the processor to implement the steps of a vehicle driving path planning method provided in the above embodiments. The internal memory provides a cached operating environment for the operating system and computer programs in the non-volatile storage medium.

[0045] Those skilled in the art will understand that Figure 1The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0046] Based on the aforementioned execution entity, this application provides a method for planning vehicle driving paths. The method for planning vehicle driving paths provided in this application will be described below with reference to the accompanying drawings.

[0047] Please refer to Figure 2 This application provides a method for planning vehicle driving paths, which includes the following steps:

[0048] Step 201: Obtain the complete path traveled by the vehicle.

[0049] The full path indicates the vehicle's current route. It consists of multiple discrete location points. Specifically, the location point data can be provided by a high-precision positioning system.

[0050] Step 202: Obtain the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning point.

[0051] like Figure 3 As shown, the arc length of the entire path is the arc length of the road the vehicle travels on, and the lateral offset of the vehicle from the entire path is the lateral distance between the vehicle and the road it travels on.

[0052] Step 203: Determine multiple candidate paths based on the arc length and lateral offset of the entire path, evaluate the multiple candidate paths according to multiple preset evaluation algorithms, and obtain the evaluation results.

[0053] Step 204: Based on the evaluation results and the preset evaluation criteria, determine the target path from multiple candidate paths.

[0054] The vehicle path planning method provided in this application embodiment obtains the entire vehicle path, which consists of multiple discrete positioning points. Based on these positioning points, the arc length of the entire path and the lateral offset of the vehicle from the entire path are obtained. Then, multiple candidate paths are determined based on the arc length and lateral offset of the entire path. These candidate paths are evaluated using multiple preset evaluation algorithms, and evaluation results are obtained. Finally, based on the evaluation results and preset evaluation criteria, a target path is determined from the multiple candidate paths. The vehicle path planning method provided in this application embodiment determines multiple candidate paths based on the arc length and lateral offset of the entire path, and then determines the target path from these candidate paths using evaluation algorithms, thus improving the accuracy of vehicle path planning.

[0055] In one embodiment, determining multiple candidate paths based on the arc length and lateral offset of the entire path includes: establishing a reference coordinate system for path planning based on the arc length and lateral offset of the entire path; and determining multiple candidate paths based on the reference coordinate system.

[0056] The reference coordinate system is a coordinate system about the arc length and the lateral offset, and multiple candidate paths are determined based on the reference coordinate system.

[0057] like Figure 4 As shown, the arc length of the entire path and the lateral offset of the vehicle from the entire path are obtained based on the positioning points, including: determining the baseline of the entire path based on the positioning points, where the baseline is the center line of the entire path.

[0058] The arc length between the first endpoint of the vehicle's projected line segment on the reference and the endpoint of the reference line is determined as the arc length of the entire path, and the lateral offset between the vehicle and the distance from the reference line is determined as the lateral offset of the entire path.

[0059] Multiple candidate paths are determined based on the reference coordinate system, including: converting the arc length and lateral offset of the entire path in the reference coordinate system to the geodetic Cartesian coordinate system to obtain the standard coordinate system; and determining multiple candidate paths based on the standard coordinate system.

[0060] Multiple candidate paths are determined based on the standard coordinate system, including: obtaining the vehicle's current heading angle, and determining multiple candidate paths based on the vehicle's current heading angle, the standard coordinate system, and preset boundary conditions.

[0061] The evaluation algorithms include: a security evaluation algorithm, an offset evaluation algorithm, and a smoothness evaluation algorithm. The calculation of multiple candidate paths according to the preset evaluation algorithms includes: obtaining the evaluation weight of each evaluation algorithm, evaluating multiple candidate paths according to each evaluation algorithm and the corresponding evaluation weight, and obtaining the evaluation result.

[0062] The smoothness evaluation algorithm includes: curvature change function, continuity function, weights corresponding to curvature change function and continuity function.

[0063] In practical applications, a baseline for local path planning is defined based on the discrete point sequence of the entire path. The curve of the vehicle's current position relative to the baseline is selected to fit the entire path, thereby determining the baseline line points and baseline segments.

[0064] like Figure 3 As shown, the baseline is divided into many small segments during fitting, and each path segment can be represented by the following formula. The baseline segment is determined by the following formula:

[0065]

[0066] Where: s is the arc length on the baseline where the vehicle's current position is closest to the baseline; s i Let x0 be the starting point of the i-th path segment containing the arc length s; x0 and y0 are the coordinates of the point corresponding to the arc length s on the baseline in the Cartesian coordinate system; a xi b xi c xi d xi a yi b yi c yi d yi The parameters are those of the spline curve fitted to the baseline.

[0067] The reference line points include the heading angle and curvature of points on the reference line;

[0068] The heading angle and curvature of a point on the baseline are calculated using the following formula:

[0069]

[0070]

[0071] Where: k0 and θ0 are the current curvature and heading angle of the vehicle on the baseline, respectively, and x′0, y′0 and x″0, y″0 are the first and second derivatives of x0 and y0 with respect to s, respectively.

[0072] Candidate paths are a series of paths starting from the vehicle's current position and ending at the same tangential angle to the baseline. To determine the start and end points of candidate paths, it is necessary to quickly and accurately find the closest point of the vehicle to the baseline. This is achieved using a combination of quadratic programming and Newton's method. Assuming the arc length on the baseline containing the closest point of the vehicle is 's', and the lateral offset 'ρ' between the vehicle and the baseline, the vehicle's current coordinates can be represented by the arc length 's' and the lateral offset 'ρ'. In this embodiment, the coordinate system used to describe the vehicle's position is called the SP coordinate system. In the SP coordinate system, each candidate path consists of the length ΔS along the baseline, the offset 'ρ' of the current vehicle position, and the distance 'S'. Si And the final lateral offset ρ fi Sure.

[0073] Assume the lateral offset of the candidate path also satisfies the equation of a cubic spline curve. Then the i-th candidate path can be represented as:

[0074]

[0075] In the formula: ΔS=SS start S start S is the arc length on the baseline where the nearest point of the vehicle is located; endThis is the arc length corresponding to the end of the candidate path on the baseline.

[0076] To solve for the coefficients a, b, and c in the above equation, the generation of candidate paths needs to take into account the vehicle's current heading, and at the same time, it is desirable that the end of the path is in the same direction of travel as the baseline to ensure that a feasible path is planned. This leads to the four boundary conditions in the following equation.

[0077]

[0078] In the formula, θ is the tangential angle θ of the nearest point on the baseline. start The difference between the current heading and the vehicle's current heading θ0.

[0079] like Figure 3 As shown, each candidate path is composed of a different end lateral offset ρ. fi ∈[ρ f1 …ρ fn [Determine, set an appropriate change in lateral offset Δρ, based on different end lateral offset ρ] fi The value of can be used to calculate multiple sets of different coefficients a, b, and c, thereby obtaining the equation for the i-th candidate path mentioned above, and thus generating multiple candidate paths.

[0080] The discrete points of the i-th candidate path are calculated using the following formula:

[0081]

[0082] In the formula: x i y i Let be the coordinates of the i-th candidate path in the Cartesian coordinate system; x0, y0 are the coordinates of the point corresponding to the arc length s on the baseline in the Cartesian coordinate system; ρ i (s) is the lateral offset, θ n This indicates the vehicle's current heading.

[0083] The optimal path cost function is selected by choosing the path with the minimum cost function, i.e., the objective function is selected:

[0084] f(i) = w s f s (i)+w0f0(i)+w sm f sm (i)

[0085] select = min f(i)

[0086] Where: path safety cost function f s Path offset cost function f0 and path smoothness cost function f sm f(i) is the total cost function of the path; i is the sequence number of the candidate path; ws w0 and w sm These are the weight coefficients for each cost function; select represents the selected path.

[0087] In this embodiment, the selection of the optimal path prioritizes safety. Therefore, a function is designed to assign weights to each cost function based on a safety cost function threshold. When the safety cost function value is above the threshold, it indicates low safety, so a larger weight is assigned to the safety cost function to reduce the probability of selecting such a path; conversely, a smaller weight is assigned to the safety cost function to increase the probability of selecting such a path. Based on extensive simulation experiments, this study... s w o and w sm The three weighting coefficients are chosen as follows:

[0088]

[0089] The vehicle path planning method provided in this application embodiment obtains the entire vehicle path, which consists of multiple discrete positioning points. Based on these positioning points, the arc length of the entire path and the lateral offset of the vehicle from the entire path are obtained. Then, multiple candidate paths are determined based on the arc length and lateral offset of the entire path. These candidate paths are evaluated using multiple preset evaluation algorithms, and evaluation results are obtained. Finally, based on the evaluation results and preset evaluation criteria, a target path is determined from the multiple candidate paths. The vehicle path planning method provided in this application embodiment determines multiple candidate paths based on the arc length and lateral offset of the entire path, and then determines the target path from these candidate paths using evaluation algorithms, thus improving the accuracy of vehicle path planning.

[0090] like Figure 5 As shown in the figure, this application embodiment provides a vehicle driving path planning device, which includes: a first acquisition module 11, a first acquisition module 12, a first determination module 13, and a second determination module 14.

[0091] The first acquisition module 11 is used to acquire the entire path of the vehicle's journey, which consists of multiple discrete positioning points.

[0092] The second acquisition module 12 is used to acquire the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning point.

[0093] The first determining module 13 is used to determine multiple candidate paths based on the arc length and lateral offset of the entire path, evaluate the multiple candidate paths according to multiple preset evaluation algorithms, and obtain the evaluation results.

[0094] The second determining module 14 is used to determine the target path from multiple candidate paths based on the evaluation results and preset evaluation criteria.

[0095] In one embodiment, the first determining module 13 is specifically used to: establish a reference coordinate system for path planning based on the arc length and lateral offset of the entire path; and determine multiple candidate paths based on the reference coordinate system.

[0096] In one embodiment, the second acquisition module 12 is specifically used to: determine the baseline of the entire path based on the positioning point, wherein the baseline is the center line of the entire path; determine the arc length between the first endpoint of the projection line segment of the vehicle on the baseline and the end point of the baseline as the arc length of the entire path; and determine the lateral offset between the vehicle and the distance to the baseline as the lateral offset of the entire path.

[0097] In one embodiment, the first determining module 13 is specifically used to: convert the arc length and lateral offset of the entire path in the reference coordinate system to the geodetic Cartesian coordinate system to obtain the standard coordinate system; and determine multiple candidate paths based on the standard coordinate system.

[0098] In one embodiment, the second determining module 14 is specifically used to: obtain the current heading angle of the vehicle, and determine multiple candidate paths based on the current heading angle of the vehicle, the standard coordinate system, and preset boundary conditions.

[0099] The evaluation algorithms include: a security evaluation algorithm, an offset evaluation algorithm, and a smoothness evaluation algorithm. The second determining module 14 is specifically used for:

[0100] Obtain the evaluation weight of each evaluation algorithm, evaluate multiple candidate paths based on each evaluation algorithm and its corresponding evaluation weight, and obtain the evaluation results.

[0101] In one embodiment, the smoothness evaluation algorithm includes: a curvature change function, a continuity function, weights corresponding to the curvature change function, and weights corresponding to the continuity function.

[0102] The vehicle travel path planning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0103] Specific limitations regarding the vehicle path planning device can be found in the limitations of the vehicle path planning method described above, and will not be repeated here. Each module in the aforementioned vehicle path planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the server's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0104] In one embodiment of this application, a computer device is provided, comprising a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: obtaining the entire path of a vehicle's journey, the entire path consisting of multiple discrete positioning points; obtaining the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning points; determining multiple candidate paths based on the arc length and the lateral offset of the entire path; evaluating the multiple candidate paths according to multiple preset evaluation algorithms and obtaining evaluation results; and determining a target path from the multiple candidate paths based on the evaluation results and preset evaluation criteria.

[0105] In one embodiment, when the processor executes a computer program, it performs the following steps: establishing a reference coordinate system for path planning based on the arc length and lateral offset of the entire path;

[0106] Multiple candidate paths are determined based on the reference coordinate system.

[0107] In one embodiment, when the processor executes a computer program, it performs the following steps: determining a baseline for the entire path based on the positioning points, wherein the baseline is the centerline of the entire path;

[0108] The arc length between the first endpoint of the vehicle's projected line segment on the reference and the endpoint of the reference line is determined as the arc length of the entire path, and the lateral offset between the vehicle and the distance from the reference line is determined as the lateral offset of the entire path.

[0109] In one embodiment, when the processor executes a computer program, it performs the following steps: converting the arc length and lateral offset of the entire path in the reference coordinate system to geodetic Cartesian coordinates to obtain a standard coordinate system;

[0110] Multiple candidate paths are determined based on the standard coordinate system.

[0111] In one embodiment, the processor executes the following steps when running a computer program: obtaining the vehicle's current heading angle, and determining multiple candidate paths based on the vehicle's current heading angle, a standard coordinate system, and preset boundary conditions.

[0112] In one embodiment, when the processor executes a computer program, it performs the following steps: obtaining the evaluation weight of each evaluation algorithm, evaluating multiple candidate paths according to each evaluation algorithm and the evaluation weight corresponding to each evaluation algorithm, and obtaining the evaluation result.

[0113] In one embodiment, when the processor executes a computer program, it implements the following steps: a curvature change function, a continuity function, weights corresponding to the curvature change function, and weights corresponding to the continuity function.

[0114] In one embodiment of this application, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: obtaining the entire path of a vehicle's journey, the entire path consisting of multiple discrete positioning points; obtaining the arc length of the entire path and the lateral offset of the vehicle from the entire path based on the positioning points; determining multiple candidate paths based on the arc length and the lateral offset of the entire path; evaluating the multiple candidate paths according to multiple preset evaluation algorithms and obtaining evaluation results; and determining the target path from the multiple candidate paths based on the evaluation results and preset evaluation criteria.

[0115] In one embodiment, when the computer program is executed by a processor, it performs the following steps: establishing a reference coordinate system for path planning based on the arc length and lateral offset of the entire path;

[0116] Multiple candidate paths are determined based on the reference coordinate system.

[0117] In one embodiment, when the computer program is executed by a processor, it performs the following steps: determining the baseline of the entire path based on the positioning points, wherein the baseline is the centerline of the entire path;

[0118] The arc length between the first endpoint of the vehicle's projected line segment on the reference and the endpoint of the reference line is determined as the arc length of the entire path, and the lateral offset between the vehicle and the distance from the reference line is determined as the lateral offset of the entire path.

[0119] In one embodiment, when the computer program is executed by the processor, it performs the following steps: converting the arc length and lateral offset of the entire path in the reference coordinate system to geodetic Cartesian coordinates to obtain the standard coordinate system;

[0120] Multiple candidate paths are determined based on the standard coordinate system.

[0121] In one embodiment, when the computer program is executed by the processor, it performs the following steps: obtaining the vehicle's current heading angle, and determining multiple candidate paths based on the vehicle's current heading angle, the standard coordinate system, and preset boundary conditions.

[0122] In one embodiment, when the computer program is executed by a processor, it performs the following steps: obtaining the evaluation weight of each evaluation algorithm, evaluating multiple candidate paths according to each evaluation algorithm and the evaluation weight corresponding to each evaluation algorithm, and obtaining the evaluation result.

[0123] In one embodiment, when the computer program is executed by a processor, it implements the following steps: a curvature change function, a continuity function, weights corresponding to the curvature change function, and weights corresponding to the continuity function.

[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in M ​​forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SyMchliMk), DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0125] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0126] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method of planning a travel path of a vehicle, characterized by, The method comprises: acquiring a full path of vehicle travel, the full path being composed of a plurality of discrete positioning points; acquiring an arc length of the full path and a lateral offset of the vehicle from the full path according to the positioning points; determining a plurality of candidate paths according to the arc length of the full path and the lateral offset of the full path, evaluating the plurality of candidate paths according to a plurality of preset evaluation algorithms, and obtaining evaluation results, the evaluation algorithms including a safety evaluation algorithm, an offset evaluation algorithm, and a smoothness evaluation algorithm, wherein the smoothness evaluation algorithm includes a curvature variation function, a continuity function, a weight corresponding to the curvature variation function, and a weight corresponding to the continuity function; determining a target path from the plurality of candidate paths according to the evaluation results and a preset evaluation standard; the determining of the plurality of candidate paths according to the arc length of the full path and the lateral offset of the full path comprises: establishing a reference coordinate system for path planning according to the arc length of the full path and the lateral offset of the full path; converting the arc length of the full path and the lateral offset of the full path in the reference coordinate system to a standard coordinate system; acquiring a current heading angle of the vehicle, and determining a plurality of candidate paths according to the current heading angle of the vehicle, the standard coordinate system, and a preset boundary condition; the acquiring of the arc length of the full path and the lateral offset of the vehicle from the full path according to the positioning points comprises: determining a reference line of the full path according to the positioning points, the reference line being a center line of the full path; determining an arc length between a first end point of a projection line segment of the vehicle on the reference line and an end point of the reference line as the arc length of the full path, and determining a lateral offset between the vehicle and the reference line as the lateral offset of the full path.

2. The method of claim 1, wherein, The evaluation algorithms are a plurality of, and the evaluating of the plurality of candidate paths according to the preset evaluation algorithms comprises: acquiring an evaluation weight of each evaluation algorithm, and evaluating the plurality of candidate paths according to each evaluation algorithm and the evaluation weight corresponding to each evaluation algorithm to obtain the evaluation results.

3. A vehicle route planning device characterized by comprising: The device comprises: a first acquiring module configured to acquire a full path of vehicle travel, the full path being composed of a plurality of discrete positioning points; a second acquiring module configured to acquire an arc length of the full path and a lateral offset of the vehicle from the full path according to the positioning points; a first determining module configured to determine a plurality of candidate paths according to the arc length of the full path and the lateral offset of the full path, evaluate the plurality of candidate paths according to a plurality of preset evaluation algorithms, and obtain evaluation results, the evaluation algorithms including a safety evaluation algorithm, an offset evaluation algorithm, and a smoothness evaluation algorithm, wherein the smoothness evaluation algorithm includes a curvature variation function, a continuity function, a weight corresponding to the curvature variation function, and a weight corresponding to the continuity function; a second determining module configured to determine a target path from the plurality of candidate paths according to the evaluation results and a preset evaluation standard. The first determining module is specifically configured to: establish a reference coordinate system of path planning according to the arc length of the full path and the lateral offset of the full path; convert the arc length of the full path and the lateral offset of the full path in the reference coordinate system to a geodesic Cartesian coordinate to obtain a standard coordinate system; obtain a current heading angle of the vehicle, and determine a plurality of candidate paths according to the current heading angle of the vehicle, the standard coordinate system and a preset boundary condition. The second obtaining module is specifically configured to: determine a reference line of the full path according to the positioning point, the reference line being a center line of the full path; determine the arc length between a first end point of a projection line segment of the vehicle on the reference line and an end point of the reference line as the arc length of the full path, and determine a lateral offset between the vehicle and the reference line as the lateral offset of the full path.

4. A computer device, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the vehicle driving path planning method in claim 1 or 2.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the vehicle driving path planning method in claim 1 or 2.

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