Method, apparatus and device for determining path information, and medium

Abstract

Embodiments of the present application provide a path information determination method and device, equipment and medium, comprising: obtaining original path information, the original path information comprising position information of a plurality of path points on a path; calculating a search direction of the path according to the position information of the plurality of path points and a preset path function; determining a target search step length traversed along the search direction based on a preset step length and a preset search step length; in the case that the target search step length satisfies a first preset condition, determining path information of the plurality of path points updated based on the target search step length as target path information. Embodiments of the present application can improve the efficiency of determining path information of a smooth path.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of path planning, and particularly relates to a path information determination method and device, equipment and a medium. BACKGROUND

[0002] With the development of science and technology, unmanned operation devices such as autonomous vehicles can be frequently seen in daily life. Since the autonomous vehicle needs to move according to the smoothed path information when driving to ensure the safety of the vehicle during driving, the path information in the high-precision map information of the vehicle needs to be smoothed, or the local path information during driving of the vehicle is smoothed to avoid the situation that the driving of the autonomous vehicle may be affected due to the insufficient smoothness of the path information, thereby ensuring the safety and comfort of the autonomous vehicle to a certain extent during driving.

[0003] However, in real life, the corresponding objective function is generally designed based on the actual situation of the original path information, and then the third-party library is called for solving to obtain the smoothed moving path information, which can make the vehicle drive according to the smoothed path information. However, since the third-party library has a high requirement for the input data, and the complexity of the objective function is high, the calculation process is time-consuming and laborious, thereby reducing the efficiency of determining the path information of the smoothed path. SUMMARY

[0004] The embodiments of the present application provide a path information determination method, device, equipment and medium, which can improve the efficiency of determining the path information of the smoothed path.

[0005] In a first aspect, the embodiments of the present application provide a path information determination method, which comprises: obtaining original path information, the original path information comprising position information of a plurality of path points on a path;

[0006] According to the position information of the plurality of path points and a preset path function, a search direction of the path is calculated;

[0007] A target search step length along the search direction is determined based on a preset step length and a preset search step length;

[0008] In the case that the target search step length satisfies a first preset condition, the path information of the position information of the plurality of path points updated based on the target search step length is determined as target path information.

[0009] In an optional implementation of the first aspect, according to the position information of the plurality of path points and the preset path function, the search direction of the path is calculated, comprising:

[0010] According to the position information of the plurality of path points and the preset path function, a gradient of the path is calculated;

[0011] According to the gradient of the path, a search direction of the path is calculated.

[0012] In an optional implementation of the first aspect, the preset path function is set based on at least two of a cost function of path curvature, a cost function of adjacent path vectors, and a cost function of road side boundary distance.

[0013] In an optional implementation of the first aspect, the target search step length along the search direction is determined based on the preset step length and the preset search step length, including:

[0014] According to the preset search step length and the preset path function, a Kth generation value is calculated;

[0015] The preset search step length is updated to a Qth search step length, and the Qth search step length is a sum of the preset search step length and the preset step length;

[0016] According to the Qth search step length and the preset path function, a (K+1)th generation value is calculated;

[0017] In a case where the Kth generation value is greater than the (K+1)th generation value, the Qth search step length is updated to a (Q+1)th search step length, and the (Q+1)th search step length is a sum of the Qth search step length and the preset step length;

[0018] According to the (Q+1)th search step length and the preset path function, a (K+2)th generation value is calculated; until in a case where a (K+1+i)th generation value is less than a (K+2+i)th generation value, the (Q+1+i)th search step length is determined as the target search step length, where K=1, Q=1, and i are all integers greater than or equal to 0.

[0019] In an optional implementation of the first aspect, the gradient includes a path adjustment distance of the path; the path information of the plurality of path points whose position information is updated based on the target search step length is determined as target path information, including:

[0020] A product of the target search step length and the path adjustment distance of the path is determined as an actual adjustment distance of the path;

[0021] According to the actual adjustment distance of the path, the position information of each of a plurality of first path points in the search direction is adjusted to obtain the target path information, where the plurality of first path points are path points other than a first path point and a last path point in the plurality of path points.

[0022] In an optional implementation of the first aspect, the method further includes:

[0023] In a case where the search direction satisfies a first preset condition, the original path information is determined as the target path information.

[0024] In a second aspect, an embodiment of the present application provides a path information determination apparatus, which comprises:

[0025] an acquisition module, configured to acquire original path information, the original path information comprising position information of a plurality of path points on a path;

[0026] a calculation module, configured to calculate a search direction of the path according to the position information of the plurality of path points and a preset path function;

[0027] a determination module, configured to determine a target search step length traversed along the search direction based on a preset step length and a preset search step length;

[0028] The determination module is further configured to determine path information of the plurality of path points updated based on the target search step length as target path information in a case where the target search step length satisfies a first preset condition.

[0029] In an optional implementation of the second aspect, the calculation module is specifically configured to:

[0030] calculate a gradient of the path according to the position information of the plurality of path points and the preset path function;

[0031] calculate the search direction of the path according to the gradient of the path.

[0032] In a third aspect, a path information determination device is provided, which comprises a memory configured to store computer program instructions, and a processor configured to read and run the computer program instructions stored in the memory, so as to execute the path information determination method provided in any optional implementation of the first aspect and the second aspect.

[0033] In a fourth aspect, a computer storage medium is provided, and the computer storage medium stores computer program instructions, which are executed by a processor to implement the path information determination method provided in any optional implementation of the first aspect and the second aspect.

[0034] The embodiments of the present application acquire original path information, so as to calculate a search direction of a path according to position information of a plurality of path points on the path included in the original path information and a preset path function, and then determine a target search step length traversed along the search direction based on a preset step length and a preset search step length, and determine path information of the plurality of path points updated based on the target search step length as target path information in a case where the target search step length satisfies a first preset condition. In this way, the target search step length can be determined in a simple and convenient manner through traversal, and the efficiency of determining the target path information can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows, and other drawings can be obtained by those of ordinary skill in the art without any creative effort on the premise of not paying any creative effort.

[0036] Figure 1 is a flow diagram of a path information determination method provided by the embodiments of the present application;

[0037] Figure 2 is a flow diagram of another path information determination method provided by the embodiments of the present application;

[0038] Figure 3 is a structural diagram of a path information determination device provided by the embodiments of the present application;

[0039] Figure 4 is a structural diagram of a path information determination device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0040] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0041] It should be noted that, in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0042] The term "and / or", used herein merely describes an associated relationship, which means that there can be three relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone.

[0043] In real life, in order to solve the problem of low efficiency of determining path information of a smooth path in the prior art, the embodiments of the present application provide a path information determination method, device, equipment and medium, which can be applied to the scene of path planning of unmanned mobile devices such as autonomous vehicles and robots. The method obtains original path information, calculates the search direction of the path based on the position information of the plurality of path points on the path included in the original path information and a preset path function, and then determines the target search step obtained by traversing along the search direction based on a preset step length and a preset search step length, and determines the path information of the position information of the plurality of path points updated based on the target search step as target path information in the case that the target search step satisfies a first preset condition. In this way, the target search step can be determined in a simple and convenient manner by traversing, and the efficiency of determining the target path information can be improved.

[0044] The path information determination method provided by the embodiments of the present application can be executed by a path information determination device or a control module in the path information determination device for executing the path information determination method. In the embodiments of the present application, the path information determination device is taken as an example to execute the path information determination method, and the path information determination method provided by the embodiments of the present application is described in detail.

[0045] The path information determination method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Figure 1 is a flowchart of a path information determination method provided by the embodiments of the present application.

[0047] As shown in Figure 1 , the execution equipment of the path information determination method is a path information determination device, which can specifically include the following steps:

[0048] S110, obtaining original path information.

[0049] The path information determination device can obtain the original path information required by the mobile device when the autonomous vehicle or the robot and other unmanned mobile devices need to move, according to the destination, i.e. the end position information, of the movement. The original path information includes the position information of a plurality of path points on the path, and the position information of the path points can be obtained by coordinate points (x i , y i) represents, wherein i = 1, 2, 3…N, N is a positive integer, wherein N is the total number of the plurality of path points on the path.

[0050] S120, according to the position information of the plurality of path points and the preset path function, calculating the search direction of the path.

[0051] The path information determination apparatus can calculate the search direction of the path according to the position information of the plurality of path points and the preset path function after obtaining the position information of the plurality of path points on the path, wherein the preset path function is designed based on the actual requirements of the path. In this way, the target search step for determining the target path information can be searched in the search direction subsequently, and the efficiency of determining the target path information can be improved.

[0052] S130, determining the target search step for traversing along the search direction based on the preset step and the preset search step.

[0053] The preset step and the preset search step can be set based on actual needs or experience values, and the preset step and the preset search step can be the same or different, for example, the preset step and the preset search step are both 0.1, or the preset step is 0.01 and the preset search step is 0.1. Not limited here. The target search step is the step for determining the target path information, which can also be understood as the step for smoothing the original path information.

[0054] Specifically, the path information determination apparatus can traverse along the calculated search direction based on the preset step and the preset search step to obtain the target search step for determining the target path information. In this way, the target search step can be determined by traversal, reducing the amount of calculation, and then facilitating the subsequent determination of the target path information based on the target search step to improve the efficiency of determining the target path information.

[0055] S140, in the case that the target search step meets the first preset condition, determining the path information of the position information of the plurality of path points updated based on the target search step as the target path information.

[0056] The first preset condition can be a condition for determining the optimization degree of the original path information, which can be set based on actual needs or experience values, for example, the first preset condition can be that the target search step is within a preset value range, or the value of the target search step, which is not limited here. The target path information is the information of a smoother path compared to the original path.

[0057] Specifically, in a case where the target search step length satisfies the first preset condition, the position information of the plurality of path points can be updated based on the target search step length to obtain updated path information, and then the updated path information is determined as the target path information.

[0058] In some embodiments, in a case where the target search step length does not satisfy the first preset condition, the position information of the plurality of path points is updated based on the target search step length to obtain updated path information, and then according to the updated path information, the search direction of the updated path information is calculated, the new target search step length obtained by traversing along the new search direction based on the preset step length and the preset search step length is determined, and it is determined whether the new target search step length satisfies the first preset step length, until the new target search step length satisfies the first preset condition, the iteration is stopped, and the path information updated based on the target search step length is determined as the target path information.

[0059] In one example, assuming that the first determined target search step length A1, if the target search step length A1 satisfies the first preset condition, it is determined that the path information B1 updated based on the position information of the plurality of path points based on the target search step length A1 is the target path information. If the target search step length A1 does not satisfy the first preset condition, the position information of the plurality of path points needs to be updated according to the target search step length A1 to obtain updated path information B1, and then the target search step length A2 is determined based on the updated path information B1, and it is continued to be determined whether the target search step length A2 satisfies the first preset condition, until the target search step length satisfies the first preset condition, the above-mentioned loop process is stopped.

[0060] The embodiments of the present application are to obtain the original path information, so as to calculate the search direction of the path according to the position information of the plurality of path points on the path included in the original path information and the preset path function, and then the target search step length obtained by traversing along the search direction based on the preset step length and the preset search step length is determined, in a case where the target search step length satisfies the first preset condition, the path information updated based on the position information of the plurality of path points based on the target search step length is determined as the target path information. In this way, the target search step length can be determined in a simple and convenient manner by traversing, and then the efficiency of determining the target path information can be improved.

[0061] Therefore, in order to accurately calculate the search direction of the path and improve the efficiency of determining the target path information, in one embodiment, the S120 mentioned above can further include the following steps:

[0062] calculating the gradient of the path according to the position information of the plurality of path points and the preset path function;

[0063] calculating the search direction of the path according to the gradient of the path.

[0064] Specifically, the path information determining apparatus can obtain the gradient of the path by taking the partial derivative of the preset path function, and can calculate the search direction of the path based on the gradient after calculating the gradient of the path.

[0065] It should be noted that if the gradient can be represented as , the search direction at the first search can be represented by the following formula (1):

[0066]

[0067] When the original path information is iterated several times, the new search direction can be a linear combination of the negative gradient direction and the search direction of the last time, and the search direction of the k+1 time can be represented by the following formula (2):

[0068]

[0069] wherein k = 1, 2, 3, …, N-1, Q ∈ R n*n is a positive definite matrix.

[0070] In this embodiment, the path information determining apparatus can obtain the gradient of the path by taking the partial derivative of the preset path function and based on the position information of the plurality of path points, and then can calculate the search direction of the path based on the gradient of the path, so that the search direction of the path can be accurately calculated, which facilitates subsequent acquisition of the target search step by traversal based on the search direction of the path, and thus the efficiency of determining the target path information can be improved.

[0071] In some embodiments, the preset path function can be set based on at least two of the path curvature cost function, the adjacent path vector cost function, and the roadside boundary distance cost function. For example, the preset path function can be set based on the path curvature cost function and the adjacent path vector cost function, the preset path function can be set based on the adjacent path vector cost function and the roadside boundary distance cost function, and the preset path function can also be set based on the path curvature cost function, the adjacent path vector cost function, and the roadside boundary distance cost function. The specific setting mode of the preset path function is not limited here. The path curvature cost function, the adjacent path vector cost function, and the roadside boundary distance cost function involved are pre-set based on the requirement of determining a smooth path.

[0072] In one example, assuming that the preset path function is pre-set based on the path curvature cost function, the adjacent path vector cost function, and the roadside boundary distance cost function, the preset path function can be represented by the following formula (3):

[0073] J = w1J1 + w2J2 + w3J3 (3)

[0074] wherein, J1 is a cost function of path curvature, J2 is a cost function of adjacent path vector, J3 is a cost function of road side boundary distance, J1, J2, J3 are all functions including position information of multiple path points on the path, w1, w2, w3 are weights of the cost function of path curvature, the cost function of adjacent path vector and the cost function of road side boundary distance respectively, which represent the importance of the corresponding cost function, that is, the greater the weight, the more important the corresponding cost function, and vice versa, which is not limited here.

[0075] It should be noted that since the path curvature of the smoothed path point needs to be closer to zero, the value of the squared path curvature can be taken as the curvature cost of the path point, that is, for any path point i (i = 1, 2, 3…N) on the path, a cost function J1 of path curvature is designed. And since the change of the adjacent vector of the smoothed path point is smaller, the path transition is smoother, therefore, for any point i (i = 1, 2, 3…N), a cost function J2 of adjacent path vector change can be designed to calculate the modulus of the difference value of the adjacent vector, so that the smoothed path transition is smoother. In addition, in some scenarios, the obtained path is the center line of the road, then the smoothed path point should not exceed the road boundary, since the smoothed path point exceeds the boundary to obtain a larger cost value, and when it is within the boundary line, it obtains a very small cost value. In order to constrain the smoothed path point from deviating from the original path too much, so that the smoothed path point is as close to the original path as possible, a cost function J3 of road side boundary distance can be designed for any point i (i = 1, 2, 3…N) on the path.

[0076] In order to obtain the target search step length in a simple and convenient way by traversal, in an embodiment, the above-mentioned S130 can specifically include the following steps:

[0077] According to the preset search step length and the preset path function, the Kth generation cost value is calculated;

[0078] The preset search step length is updated to the Qth search step length, and the Qth search step length is the sum of the preset search step length and the preset step length;

[0079] According to the Qth search step length and the preset path function, the (K+1)th generation cost value is calculated;

[0080] In the case where the Kth generation cost value is greater than the (K+1)th generation cost value, the Qth search step length is updated to the (Q+1)th search step length, and the (Q+1)th search step length is the sum of the Qth search step length and the preset step length;

[0081] According to the Q+1th search step and the preset path function, the K+2th generation value is calculated; until the K+1+ith generation value is less than the K+2+ith generation value, the Q+1+ith search step is determined as the target search step, wherein K=1, Q=1, and i is an integer greater than or equal to 0.

[0082] Specifically, the path information determining apparatus can calculate the Kth (K=1) generation value according to the preset search step and the preset path function, and then update the Qth (Q=1) search step according to the preset search step and the preset step sum, so as to calculate the K+1th generation value according to the Qth search step and the preset path function. If the Kth generation value is less than the K+1th generation value, the Qth search step is determined as the target search step. If the Kth generation value is greater than the K+1th generation value, the Qth search step and the preset step sum are updated as the Q+1th search step, and the K+2th generation value is calculated according to the Q+1th search step and the preset path function, and it is continuously determined whether the K+1th generation value is greater than the K+2th generation value. Until the K+1+ith generation value is less than the K+2+ith generation value, the loop is stopped, and the Q+1+ith search step is determined as the target search step.

[0083] The generation value is an evaluation value of the current path information obtained according to the preset path function, and can be used to evaluate the smoothness of the current path information. In addition, it should be noted that, since the generation value is a value for evaluating the current path information, in the process of calculating the generation value, the influence of the position information of each path point in the plurality of path points included in the current path information on the calculation of the generation value, or the influence of the position information of each path point except the start point and the end point in the plurality of path points included in the current path information on the calculation of the generation value should be considered.

[0084] In order to more clearly describe the above content, in one example, as shown in Figure 2As shown, the path information determination apparatus can first calculate a first generation value according to a preset search step and a preset path function, and update the preset search step to a first search step, and then calculate a second generation value according to the first search step and the preset path function. After calculating the first generation value and the second generation value, i is assigned 0, and it is determined whether the first+i generation value is greater than the second+i generation value, i.e., whether the first generation value is greater than the second generation value. If yes, S205 is continued to update the first+i search step to the second+i search step, i.e., to update the first search step to the second search step, and then i is set to i+1, and the second+i generation value is calculated according to the first+i search step and the preset path function, i.e., the third generation value is calculated according to the second search step and the preset path function. Then, S204 is returned to continue the determination until the first+i generation value is less than the second+i generation value, the loop is stopped, and the first+i search step is determined as the target search step.

[0085] In this embodiment, the Kth generation value can be calculated according to the preset search step and the preset path function, and then the Qth search step is updated according to the preset search step and the sum of preset steps, so as to calculate the K+1th generation value according to the Qth search step and the preset path function. Then, in the case that the Kth generation value is greater than the K+1th generation value, the Qth search step and the sum of preset steps are updated to the Q+1th search step, and the K+2th generation value is calculated according to the Q+1th search step and the preset path function. Until the K+1+i generation value is less than the K+2+i generation value, the loop is stopped, and the Q+1+i search step is determined as the target search step. In this way, the target search step can be obtained in a simple traversal manner, and the efficiency of determining the target path information can be improved subsequently.

[0086] In order to obtain the target path information simply, in one embodiment, the gradient includes a path adjustment distance of the path; S140 mentioned above can specifically include the following steps:

[0087] The product of the target search step and the path adjustment distance of the path is determined as an actual adjustment distance of the path;

[0088] According to the actual adjustment distance of the path, the position information of each first path point in the plurality of first path points is adjusted along the search direction of the path to obtain the target path information, wherein the plurality of first path points are path points other than the first path point and the last path point in the plurality of path points.

[0089] The actual adjustment distance of the path is the distance of actually adjusting the plurality of path points.

[0090] In this embodiment, after the gradient of the path is calculated, since the gradient of the path includes the path adjustment distance, the path information determining apparatus can determine the product of the target search step and the path adjustment distance of the path as the actual adjustment distance of the path, and then can adjust each of the position information of the plurality of first path points in the position information of the plurality of first path points along the search direction according to the actual adjustment distance of the path, wherein the plurality of first path points are the path points other than the first path point and the last path point in the plurality of path points, i.e., the position information of the plurality of path points other than the start point and the end point is adjusted along the search direction according to the actual adjustment distance of the path, and then the target path information can be obtained. In this way, the position information of the plurality of first path points can be adjusted by the path adjustment distance, so as to quickly obtain the target path information.

[0091] In addition, in order to more completely describe the path information determining method provided by the embodiments of the present application, in one embodiment, the path information determining method mentioned above further includes:

[0092] In the case that the search direction satisfies the first preset condition, the original path information is determined as the target path information.

[0093] In this embodiment, the original path information can be the original path information obtained. In addition, since in the case that the target search step does not satisfy the first preset condition, a new target search step needs to be determined based on the updated path information, and then the target path information is determined, it can also be understood that the updated path information is the original path information compared with the target path information. That is, the original path information can also be the path information updated based on the target search step in the case that the target search step does not satisfy the first preset condition. Therefore, in the case that the search direction satisfies the first preset condition, i.e., when the path corresponding to the original path information is smooth enough, the original path information can be directly determined as the target path information. In this way, the target path information can be quickly determined by judging whether the search direction satisfies the first preset condition, and the efficiency of determining the target path information is improved.

[0094] Based on the same inventive concept, the embodiments of the present application also provide a path information determining apparatus. Specifically, the path information determining apparatus is described in combination with Figure 3 The path information determining apparatus provided by the embodiments of the present application is described in detail.

[0095] Figure 3 FIG. 1 is a structural schematic diagram of a path information determining apparatus provided by an embodiment of the present application.

[0096] As shown in Figure 3 the path information determining apparatus 300 can include an obtaining module 310, a calculating module 320 and a determining module 330.

[0097] The acquisition module 310 is configured to acquire original path information, the original path information including position information of a plurality of path points on a path.

[0098] The calculation module 320 is configured to calculate a search direction of the path according to the position information of the plurality of path points and a preset path function, the preset path function including the position information of the plurality of path points.

[0099] The determination module 330 is configured to determine a target search step length for traversal along the search direction based on a preset step length and a preset search step length.

[0100] The determination module 340 is further configured to determine, in a case where the target search step length satisfies a first preset condition, path information of the plurality of path points whose position information is updated based on the target search step length as target path information.

[0101] In one embodiment, the calculation module is specifically configured to:

[0102] calculate a gradient of the path according to the position information of the plurality of path points and the preset path function;

[0103] calculate the search direction of the path according to the gradient of the path.

[0104] In one embodiment, the preset path function is set based on at least two of a cost function of path curvature, a cost function of adjacent path vectors, and a cost function of roadside boundary distance.

[0105] In one embodiment, the determination module is specifically configured to:

[0106] calculate a Kth generation value according to the preset search step length and the preset path function.

[0107] update the preset search step length to a Qth search step length, the Qth search step length being a sum of the preset search step length and the preset step length.

[0108] calculate a (K+1)th generation value according to the Qth search step length and the preset path function.

[0109] in a case where the Kth generation value is greater than the (K+1)th generation value, update the Qth search step length to a (Q+1)th search step length, the (Q+1)th search step length being a sum of the Qth search step length and the preset step length.

[0110] calculate a (K+2)th generation value according to the (Q+1)th search step length and the preset path function; and until in a case where a (K+1+i)th generation value is less than a (K+2+i)th generation value, determine the (Q+1+i)th search step length as the target search step length, where K=1, Q=1, and i are all integers greater than or equal to 0.

[0111] In one embodiment, the determining module is specifically configured to:

[0112] The product of the target search step and the path adjustment distance of the path is determined as the actual adjustment distance of the path.

[0113] According to the actual adjustment distance of the path, the position information of each first path point in the plurality of first path points is adjusted in the search direction of the path to obtain target path information, and the plurality of first path points are path points other than the first path point and the last path point in the plurality of path points.

[0114] In one embodiment, the determining module is further configured to, in a case where the search direction satisfies a first preset condition, determine the original path information as the target path information.

[0115] Embodiments of the present application are to obtain original path information, so as to calculate the search direction of the path according to the position information of a plurality of path points on the path included in the original path information and a preset path function, and then determine the target search step obtained by traversing along the search direction based on a preset step and a preset search step, and in a case where the target search step satisfies a first preset condition, determine the path information of the position information of the plurality of path points updated based on the target search step as the target path information. In this way, the target search step can be determined in a simple and convenient manner by traversing, and the efficiency of determining the target path information can be improved.

[0116] The various modules in the path information determination apparatus provided by the embodiments of the present application can implement the method steps of the embodiments shown in Figure 1 and Figure 2 and achieve corresponding technical effects. For brevity, they will not be described here.

[0117] Figure 4 is a structural schematic diagram of a path information determination apparatus provided by an embodiment of the present application.

[0118] As shown in Figure 4 , the path information determination apparatus 400 in the embodiment includes an input device 401, an input interface 402, a central processing unit 403, a memory 404, an output interface 405, and an output device 406. The input interface 402, the central processing unit 403, the memory 404, and the output interface 405 are connected to each other through a bus 410, and the input device 401 and the output device 406 are connected to the bus 410 through the input interface 402 and the output interface 405, respectively, and then connected to other components of the path information determination apparatus 400.

[0119] Specifically, the input device 401 receives input information from outside, and transmits the input information to the central processor 403 through the input interface 402; the central processor 403 processes the input information based on computer executable instructions stored in the memory 404 to generate output information, temporarily or permanently stores the output information in the memory 404, and then transmits the output information to the output device 406 through the output interface 405; the output device 406 outputs the output information to outside of the path information determination device 400 for use by a user.

[0120] In one embodiment, Figure 4 The path information determination device 400 shown includes a memory 404 for storing programs, and a processor 403 for running the programs stored in the memory to perform the path information determination method provided by the embodiments of the present application. Figure 1 Or Figure 2 The path information determination method shown.

[0121] The embodiments of the present application also provide a computer readable storage medium, which has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement the path information determination method provided by the embodiments of the present application. Figure 1 Or Figure 2 The path information determination method shown.

[0122] It should be noted that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, a number of specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order of the steps, after understanding the spirit of the present application.

[0123] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranet, and the like.

[0124] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from that in the embodiments, or several steps can be performed simultaneously.

[0125] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, modules and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method of determining path information, characterized by, The method comprises: obtaining original path information, the original path information comprising position information of a plurality of path points on a path; calculating a search direction of the path according to the position information of the plurality of path points and a preset path function; determining a target search step length along the search direction based on a preset step length and a preset search step length; in a case where the target search step length satisfies a first preset condition, determining path information of the plurality of path points whose position information is updated based on the target search step length as target path information; determining a target search step length along the search direction based on a preset step length and a preset search step length, comprising: calculating a Kth generation value according to the preset search step length and the preset path function; updating the preset search step length to a Qth search step length, the Qth search step length being a sum of the preset search step length and the preset step length; calculating a (K+1)th generation value according to the Qth search step length and the preset path function; in a case where the Kth generation value is greater than the (K+1)th generation value, updating the Qth search step length to a (Q+1)th search step length, the (Q+1)th search step length being a sum of the Qth search step length and the preset step length; calculating a (K+2)th generation value according to the (Q+1)th search step length and the preset path function; until in a case where a (K+1+i)th generation value is less than a (K+2+i)th generation value, determining the (Q+1+i)th search step length as the target search step length, wherein K=1, Q=1, and i is an integer greater than or equal to 0.

2. The method of claim 1, wherein, The calculation of the search direction of the path according to the position information of the plurality of path points and the preset path function comprises: calculating a gradient of the path according to the position information of the plurality of path points and the preset path function; calculating the search direction of the path according to the gradient of the path.

3. The method of claim 1, wherein, The preset path function is set based on at least two of a path curvature cost function, a neighboring path vector cost function and a roadside boundary distance cost function.

4. The method of claim 2, wherein, The gradient comprises a path adjustment distance of the path; and the determination of the path information of the plurality of path points whose position information is updated based on the target search step length as the target path information comprises: determining a product of the target search step length and the path adjustment distance of the path as an actual adjustment distance of the path; adjusting position information of each of a plurality of first path points in the search direction according to the actual adjustment distance of the path to obtain the target path information, wherein the plurality of first path points are path points other than a first path point and a last path point in the plurality of path points.

5. The method of claim 1, wherein, The method further comprises: in a case where the search direction satisfies a first preset condition, determining the original path information as the target path information.

6. A path information determining apparatus characterized by comprising: The device comprises: an obtaining module configured to obtain original path information, the original path information comprising position information of a plurality of path points on a path; a calculating module configured to calculate a search direction of the path according to the position information of the plurality of path points and a preset path function; a determining module configured to determine a target search step length along the search direction based on a preset step length and a preset search step length; The determining module is further configured to determine path information based on position information of the plurality of path points updated according to the target search step as target path information when the target search step satisfies a first preset condition. The determining module is specifically configured to: calculate a Kth generation value according to a preset search step and a preset path function; update the preset search step as a Qth search step, the Qth search step being a sum of the preset search step and the preset step; calculate a (K+1)th generation value according to the Qth search step and the preset path function; update the Qth search step as a (Q+1)th search step when the Kth generation value is greater than the (K+1)th generation value, the (Q+1)th search step being a sum of the Qth search step and the preset step; calculate a (K+2)th generation value according to the (Q+1)th search step and the preset path function; and determine the (Q+1+i)th search step as a target search step when an (K+1+i)th generation value is less than a (K+2+i)th generation value, wherein K=1, Q=1, and i is an integer greater than or equal to 0.

7. The apparatus of claim 6, wherein, The calculating module is specifically configured to: calculate a gradient of the path according to the position information of the plurality of path points and a preset path function; calculate a search direction of the path according to the gradient of the path.

8. A path information determining device, characterized by comprising: The device comprises a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the path information determining method according to any one of claims 1-5.

9. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the path information determining method according to any one of claims 1-5.

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