A method for adjusting a path planning route of an autonomous vehicle and a terminal

Abstract

The present invention discloses a method and a terminal for adjusting a path planning route of an autonomous vehicle, which obtain an original planned route; intercept a route to be translated from the original planned route; determine a deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain a translated route; splice the translated route and the original planned route to obtain a final planned route. Without re-planning the entire route, it can perform an overall offset or partial translation of the planned route, thereby achieving local adjustment of the path planning route, improving the adjustment efficiency, and further enhancing the interactivity of the operator with the planned route during the driving process of the autonomous vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of route planning, and in particular, to a method and a terminal for adjusting a path planning route of an autonomous vehicle. Background Art

[0002] When setting a path planning route for an autonomous vehicle on a control platform, often due to various reasons, the planned route deviates from the route that needs to be traveled in the actual scenario. If not reset, driving according to the deviated route will cause accidents during the driving of the autonomous vehicle; if reset, the entire route needs to be cleared and planned from scratch, which is inefficient and cumbersome. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and a terminal for adjusting a path planning route of an autonomous vehicle, which can achieve local adjustment of the path planning route.

[0004] To solve the above technical problem, a technical solution adopted by the present invention is:

[0005] A method for adjusting a path planning route of an autonomous vehicle, comprising the steps of:

[0006] Obtain an original planned route;

[0007] Intercept a route to be translated from the original planned route;

[0008] Determine a deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain a translated route;

[0009] Splice the translated route with the original planned route to obtain a final planned route.

[0010] To solve the above technical problem, another technical solution adopted by the present invention is:

[0011] An adjustment terminal for a path planning route of an autonomous vehicle, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0012] Obtain an original planned route;

[0013] Intercept a route to be translated from the original planned route;

[0014] Determine a deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain a translated route;

[0015] Splice the translated route with the original planned route to obtain a final planned route.

[0016] The beneficial effects of the present invention are as follows: intercept the route to be translated from the original planned route, determine the deviation value based on the route to be translated, translate the route to be translated according to the deviation value, splice the translated route with the original planned route to obtain the final planned route, without re-planning the whole route, and can perform overall offset or partial translation on the planned route, so as to realize local adjustment of the traced planned route, improve the adjustment efficiency, and further enhance the interactivity of the operator with the planned route during the movement of the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flowchart of the steps of a method for adjusting a traced planned route of an unmanned vehicle according to an embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of an adjustment terminal for a traced planned route of an unmanned vehicle according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the translation route process in the method for adjusting a traced planned route of an unmanned vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the embodiments and with reference to the accompanying drawings.

[0021] Please refer to Figure 1 , an embodiment of the present invention provides a method for adjusting a traced planned route of an unmanned vehicle, including the steps of:

[0022] Obtain the original planned route;

[0023] Intercept the route to be translated from the original planned route;

[0024] Determine the deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain the translated route;

[0025] Splice the translated route with the original planned route to obtain the final planned route.

[0026] As can be seen from the above description, the beneficial effects of the present invention are as follows: intercept the route to be translated from the original planned route, determine the deviation value based on the route to be translated, translate the route to be translated according to the deviation value, splice the translated route with the original planned route to obtain the final planned route, without re-planning the whole route, and can perform overall offset or partial translation on the planned route, so as to realize local adjustment of the traced planned route, improve the adjustment efficiency, and further enhance the interactivity of the operator with the planned route during the movement of the unmanned vehicle.

[0027] Further, the intercepting the route to be translated from the original planned route includes:

[0028] Receiving the subscript of the starting point to be translated and the subscript of the ending point to be translated;

[0029] Intercepting the route to be translated from the original planned route according to the subscript of the starting point to be translated and the subscript of the ending point to be translated.

[0030] As can be seen from the above description, as long as the subscript of the starting point to be translated and the subscript of the ending point to be translated are obtained, the route to be translated can be intercepted from the original planned route according to the subscript of the starting point to be translated and the subscript of the ending point to be translated, ensuring the convenience of determining the route to be translated.

[0031] Further, the route to be translated includes a set of route points to be translated;

[0032] The determining the deviation value based on the route to be translated includes:

[0033] Obtaining the subscript of the dragged point from the set of route points to be translated;

[0034] Obtaining the original longitude and latitude information and the dragged longitude and latitude information corresponding to the dragged point according to the subscript of the dragged point;

[0035] Determining the deviation value according to the original longitude and latitude information and the dragged longitude and latitude information.

[0036] As can be seen from the above description, obtaining the subscript of the dragged point from the set of route points to be translated, obtaining the original longitude and latitude information and the dragged longitude and latitude information corresponding to the dragged point according to the subscript of the dragged point, and determining the deviation value according to the original longitude and latitude information and the dragged longitude and latitude information facilitate subsequent efficient local adjustment of the planned route using the deviation value.

[0037] Further, the translating the route to be translated according to the deviation value to obtain the translated route includes:

[0038] Traversing each route point to be translated except the dragged point in the set of route points to be translated until each route point to be translated has been traversed;

[0039] For the target route point to be translated traversed, obtaining the original longitude and latitude information corresponding to the target route point to be translated;

[0040] Translating the target route point to be translated according to the original longitude and latitude information and the deviation value to obtain the translated route point;

[0041] Obtaining the translated route according to the translated route points.

[0042] As described above, traverse each point to be translated on the set of points to be translated along the route except the dragged point until each point to be translated along the route has been traversed. For the target point to be translated along the route that is traversed, obtain its corresponding original latitude and longitude information, and translate the target point to be translated along the route according to the original latitude and longitude information and the deviation value to obtain the translated route point. According to the translated route points, obtain the translated route. Only by calculating the deviation value of one route point can the deviation value be used to translate each point in the set of points to be translated along the route, and finally obtain the translated route, thus realizing the local adjustment of the efficient trace planning route.

[0043] Further, the original planned route includes a set of original planned route points;

[0044] The step of splicing the translated route and the original planned route to obtain the final planned route includes:

[0045] Obtain the first target point corresponding to the subscript of the starting point to be translated from the set of original planned route points;

[0046] Intercept the first untranslated planned route from the original planned route based on the first target point;

[0047] Obtain the fifth target point corresponding to the subscript of the ending point to be translated from the set of original planned route points;

[0048] Intercept the second untranslated planned route from the original planned route based on the fifth target point;

[0049] Splice the first untranslated planned route, the translated route, and the second untranslated planned route in sequence to obtain the final planned route.

[0050] As described above, obtain the first target point corresponding to the subscript of the starting point to be translated from the set of original planned route points, intercept the first untranslated planned route from the original planned route based on the first target point, obtain the fifth target point corresponding to the subscript of the ending point to be translated from the set of original planned route points, intercept the second untranslated planned route from the original planned route based on the fifth target point, and splice the first untranslated planned route, the translated route, and the second untranslated planned route in sequence to obtain the final planned route, thus simply and efficiently realizing the determination of the final planned route.

[0051] Further, the step of intercepting the first untranslated planned route from the original planned route based on the first target point includes:

[0052] Determine the point before the first target point as the second target point;

[0053] Obtain a third target point corresponding to a first preset position and a fourth target point corresponding to a second preset position from the translated route;

[0054] Calculate the angle between the first target point, the second target point, and the third target point to obtain a first angle value;

[0055] Calculate the angle between the first target point, the third target point, and the fourth target point to obtain a second angle value;

[0056] Intercept a first non-translated planned route from the original planned route based on the first angle value and the second angle value.

[0057] As can be seen from the above description, if the front and back sections of the translated route are directly intercepted from the original planned route and then the three sections of the route are spliced, it will cause the route to be non-smooth and have a large curvature. Therefore, calculate the angle between the first target point, the second target point, and the third target point, calculate the angle between the first target point, the third target point, and the fourth target point, and intercept the first non-translated planned route from the original planned route based on the two calculated angle values, which can make the final planned route smoother and ensure the driving effect of the unmanned vehicle.

[0058] Further, the intercepting the first non-translated planned route from the original planned route based on the first angle value and the second angle value includes:

[0059] Judge whether the first angle value or the second angle value is greater than a first preset angle value. If so, subtract one from the subscript of the starting point to be translated to obtain the subscript of the starting point to be translated after subtraction, and return to execute the step of obtaining the first target point corresponding to the subscript of the starting point to be translated from the set of original planned route points until both the first angle value and the second angle value are not greater than the first preset angle value or the subscript of the starting point to be translated is equal to the preset value. If not, intercept the first non-translated planned route from the original planned route according to the subscript of the starting point to be translated and the first preset subscript.

[0060] As can be seen from the above description, when both the first angle value and the second angle value are not greater than the first preset angle value, it means that this part of the route is relatively smooth. When the first angle value or the second angle value is greater than the first preset angle value, it means that this part of the route is relatively tortuous. Then subtract one from the subscript of the starting point to be translated, re-obtain the target point, and calculate the angle until the selected route is relatively smooth, so as to ensure that the intercepted first non-translated planned route has a high degree of smoothness.

[0061] Further, the intercepting the second non-translated planned route from the original planned route based on the fifth target point includes:

[0062] Determine the point immediately following the fifth target point as the sixth target point;

[0063] Obtain the seventh target point corresponding to the third preset position and the eighth target point corresponding to the fourth preset position from the translated route;

[0064] Calculate the angle among the fifth target point, the sixth target point, and the seventh target point to obtain a third angle value;

[0065] Calculate the angle among the fifth target point, the seventh target point, and the eighth target point to obtain a fourth angle value;

[0066] Intercept a second non-translated planned route from the original planned route based on the third angle value and the fourth angle value.

[0067] As can be seen from the above description, calculating the angle among the fifth target point, the sixth target point, and the seventh target point, calculating the angle among the fifth target point, the seventh target point, and the eighth target point, and intercepting a second non-translated planned route from the original planned route based on the third angle value and the fourth angle value simply and effectively smooths the non-translated route at the rear section of the translated route.

[0068] Further, the intercepting a second non-translated planned route from the original planned route based on the third angle value and the fourth angle value includes:

[0069] Judge whether the third angle value or the fourth angle value is greater than a second preset angle value. If so, increment the subscript of the end point to be translated by one to obtain the incremented subscript of the end point to be translated, and return to execute the step of obtaining the fifth target point corresponding to the subscript of the end point to be translated from the set of points of the original planned route until both the third angle value and the fourth angle value are not greater than the second preset angle value or the fifth target point is the last point in the original planned route. If not, intercept a second non-translated planned route from the original planned route according to the subscript of the end point to be translated and the second preset subscript.

[0070] As can be seen from the above description, when both the third angle value and the fourth angle value are not greater than the second preset angle value, it indicates that this part of the route is relatively smooth. When the third angle value or the fourth angle value is greater than the second preset angle value, it indicates that this part of the route is relatively tortuous. Then increment the subscript of the end point to be translated by one, re-obtain the target point, and calculate the angle until the selected route is relatively smooth, thereby ensuring that the intercepted second non-translated planned route has a high degree of smoothness.

[0071] Please refer to Figure 2, Another embodiment of the present invention provides an adjustment terminal for the path tracing and planning route of an autonomous vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, each step in the above method for adjusting the path tracing and planning route of the autonomous vehicle is implemented.

[0072] The above method and terminal for adjusting the path tracing and planning route of an autonomous vehicle according to the present invention can be applied to scenarios where the path tracing and planning route of an autonomous vehicle needs to be adjusted, which will be described in detail through specific embodiments as follows:

[0073] Embodiment 1

[0074] Please refer to Figure 1 and Figure 3 , A method for adjusting the path tracing and planning route of an autonomous vehicle in this embodiment includes the steps:

[0075] S1. Obtain the original planned route;

[0076] Among them, the original planned route includes a set of original planned route points (originPath);

[0077] S2. Intercept the route to be translated from the original planned route, specifically including:

[0078] S21. Receive the subscript of the starting point to be translated and the subscript of the ending point to be translated;

[0079] Specifically, as Figure 3 shown, the operating user sets the parameters of the subscript of the starting point to be translated (tranBeginIndex) and the subscript of the ending point to be translated (tranEndIndex) of the route to be translated on the interface of the command and control platform, and the command and control platform receives tranBeginIndex and tranEndIndex;

[0080] S22. Intercept the route to be translated from the original planned route according to the subscript of the starting point to be translated and the subscript of the ending point to be translated;

[0081] Among them, the route to be translated includes a set of route points to be translated (pathPoints);

[0082] The intercepted route to be translated is displayed on the interface of the command and control platform through the internal Draw component of the system. The Draw component is an interface display control that can display and edit the incoming set of longitude and latitude. The operating user can arbitrarily drag any point in the incoming set of longitude and latitude through this component and trigger an event;

[0083] S3. Determine the deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain the translated route, asFigure 3 As shown in the figure, specifically including:

[0084] S31. Obtain the subscript of the dragged point from the set of points on the route to be translated;

[0085] Specifically, the operating user drags any point in the set of points on the route to be translated on the control platform interface, triggering an event of the Draw component. Through this event, the subscript (index) of the dragged point can be obtained;

[0086] S32. Obtain the original longitude and latitude information and the longitude and latitude information after dragging corresponding to the dragged point according to the subscript of the dragged point;

[0087] Specifically, obtain the original longitude and latitude information (orignPoint) and the longitude and latitude information after dragging (movePoint) corresponding to the dragged point according to index;

[0088] S33. Determine the deviation value according to the original longitude and latitude information and the longitude and latitude information after dragging;

[0089] Specifically, movePoint and orignPoint respectively contain longitude (lng) and latitude (lat) attributes. Therefore, the deviation value (offsetX, offsetY) is:

[0090] offsetX = movePoint.lng - orignPoint.lng;

[0091] offsetY = movePoint.lat - orignPoint.lat;

[0092] S34. Traverse each point on the route to be translated except the dragged point in the set of points on the route to be translated until each point on the route to be translated has been traversed; for the target point on the route to be translated traversed, obtain the original longitude and latitude information corresponding to the target point on the route to be translated; translate the target point on the route to be translated according to the original longitude and latitude information and the deviation value to obtain the translated point on the route;

[0093] Specifically, record the point on the route to be translated traversed as the target point on the route to be translated, and add the deviation value to the original longitude and latitude information of the target point on the route to be translated to obtain the translated point on the route;

[0094] S35. Obtain the translated route according to the translated points on the route;

[0095] Specifically, re - input the translated points on the route (pathPoints) into the Draw component, and then the translated route can be displayed on the interface;

[0096] S4. Splice the translated route with the original planned route to obtain the final planned route, specifically including:

[0097] S41. Obtain the first target point corresponding to the subscript of the starting point to be translated from the set of original planned route points;

[0098] Specifically, obtain the first target point (p) corresponding to tranBeginIndex from originPath;

[0099] S42. Intercept the first untranslated planned route from the original planned route based on the first target point, specifically including:

[0100] S421. Determine the previous point of the first target point as the second target point;

[0101] Specifically, determine the previous point of p as the second target point (grandp);

[0102] S422. Obtain the third target point corresponding to the first preset position and the fourth target point corresponding to the second preset position from the translated route;

[0103] Wherein, the first preset position is the first position, and the second preset position is the second position;

[0104] Specifically, obtain the third target point (p1) corresponding to the first position and the fourth target point (p2) corresponding to the second preset position from pathPoints, that is, the first point p1 and the second point p2 in pathPoints after translation;

[0105] S423. Calculate the angle between the first target point, the second target point and the third target point to obtain the first angle value;

[0106] Specifically, calculate the angle between p, grandp and p1 to obtain the first angle value (d1);

[0107] S424. Calculate the angle between the first target point, the third target point and the fourth target point to obtain the second angle value;

[0108] Specifically, calculate the angle between p, p1 and p2 to obtain the second angle value (d2);

[0109] S425. Intercept the first untranslated planned route from the original planned route based on the first angle value and the second angle value, specifically including:

[0110] S4251. Determine whether the first angle value or the second angle value is greater than a first preset angle value. If so, execute S4252; if not, execute S4253;

[0111] wherein, the first preset angle value is 30°;

[0112] Specifically, determine whether d1 or d2 is greater than 30°. If so, execute S4252; if not, execute S4253;

[0113] S4252. Subtract one from the subscript of the starting point to be translated to obtain the subscript of the starting point to be translated after subtraction, and return to execute S41 until both the first angle value and the second angle value are not greater than the first preset angle value or the subscript of the starting point to be translated is equal to a preset value;

[0114] wherein, the preset value is 0;

[0115] Specifically, subtract one from tranBeginIndex to obtain the tranBeginIndex after subtraction, and return to execute S41 until both d1 and d2 are not greater than 30° or tranBeginIndex is equal to 0;

[0116] S4253. Intercept a first untranslated planned route from the original planned route according to the subscript of the starting point to be translated and a first preset subscript;

[0117] wherein, the first preset subscript is 0;

[0118] Specifically, starting from 0 and ending with tranBeginIndex, intercept a first untranslated planned route r1 from the original planned route, that is, the untranslated route of the front section of the translated route;

[0119] S43. Obtain a fifth target point corresponding to the subscript of the ending point to be translated from the set of original planned route points;

[0120] Specifically, obtain the fifth target point (p′) corresponding to tranEndIndex from originPath;

[0121] S44. Intercept a second untranslated planned route from the original planned route based on the fifth target point, specifically including:

[0122] S441. Determine the point after the fifth target point as the sixth target point;

[0123] Specifically, determine the point after p′ as the sixth target point (nextp);

[0124] S442. Obtain the seventh target point corresponding to the third preset position and the eighth target point corresponding to the fourth preset position from the translated route;

[0125] Among them, the third preset position is the last position, and the fourth preset position is the penultimate position;

[0126] Specifically, obtain the seventh target point (p3) corresponding to the last position and the eighth target point (p4) corresponding to the penultimate position from pathPoints, that is, the last point p3 and the second-to-last point p4;

[0127] S443. Calculate the angle between the fifth target point, the sixth target point and the seventh target point to obtain a third angle value;

[0128] Specifically, calculate the angle between p′, nextp and p3 to obtain a third angle value (d3);

[0129] S444. Calculate the angle between the fifth target point, the seventh target point and the eighth target point to obtain a fourth angle value;

[0130] Specifically, calculate the angle between p′, p3 and p4 to obtain a fourth angle value (d4);

[0131] S445. Intercept the second untranslated planned route from the original planned route based on the third angle value and the fourth angle value, specifically including:

[0132] S4451. Judge whether the third angle value or the fourth angle value is greater than a second preset angle value. If so, execute S4452; if not, execute S4453;

[0133] Among them, the second preset angle value is 30°;

[0134] Specifically, judge whether d3 or d4 is greater than 30°. If so, execute S4452; if not, execute S4453;

[0135] S4452. Increment the subscript of the translation destination by one to obtain the incremented subscript of the translation destination, and return to execute S43 until both the third angle value and the fourth angle value are not greater than the second preset angle value or the fifth target point is the last point in the original planned route;

[0136] Specifically, increment tranEndIndex by one to obtain the incremented tranEndIndex, and return to execute S43 until both d3 and d4 are not greater than 30° or p′ is the last point in originPath;

[0137] S4453. Intercept a second unshifted planned route from the original planned route according to the subscript of the end point to be shifted and the second preset subscript;

[0138] Among them, the second preset subscript is the subscript of the end point of the original planned route;

[0139] Specifically, starting from tranEndIndex and ending with the subscript of the end point of the original planned route, intercept the second unshifted planned route (r3) from originPath, that is, the unshifted route of the latter section of the shifted route;

[0140] S45. Splice the first unshifted planned route, the shifted route, and the second unshifted planned route in sequence to obtain the final planned route, as Figure 3 shown;

[0141] Specifically, splice r1, pathPoints, and r3 in sequence to obtain the final planned route.

[0142] Embodiment 2

[0143] Please refer to Figure 2 , an adjustment terminal for the path tracing and planning route of an autonomous vehicle in this embodiment includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements each step in the adjustment method of the path tracing and planning route of the autonomous vehicle in Embodiment 1.

[0144] In summary, an adjustment method and terminal for the path tracing and planning route of an autonomous vehicle provided by the present invention obtain the original planned route; intercept the route to be shifted from the original planned route; determine the deviation value based on the route to be shifted, and shift the route to be shifted according to the deviation value to obtain the shifted route. There is no need to re-plan the entire route, and the planned route can be globally offset or partially shifted, so as to realize the local adjustment of the path tracing and planning route, improve the adjustment efficiency, and further enhance the interactivity of the operator with the planned route during the driving process of the autonomous vehicle; in addition, intercept the first unshifted planned route from the original planned route based on the first angle value of the first target point, the second target point, and the third target point and the second angle value of the first target point, the third target point, and the fourth target point, and intercept the second unshifted planned route from the original planned route based on the third angle value of the fifth target point, the sixth target point, and the seventh target point and the fourth angle value of the fifth target point, the seventh target point, and the eighth target point, and splice the first unshifted planned route, the shifted route, and the second unshifted planned route in sequence to obtain the final planned route, which can make the final planned route smoother and ensure the driving effect of the autonomous vehicle.

[0145] The above are only embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for adjusting the traced planned route of an autonomous vehicle, characterized in that, Including the steps: Obtain the original planned route; Intercept the route to be translated from the original planned route; Determine the deviation value based on the route to be translated, and translate the route to be translated according to the deviation value to obtain the translated route; Stitch the translated route and the original planned route to obtain the final planned route; The intercepting the route to be translated from the original planned route includes: Receive the starting subscript and ending subscript of the route to be translated; Intercept the route to be translated from the original planned route according to the starting subscript and ending subscript of the route to be translated; The original planned route includes a set of original planned route points; The stitching the translated route and the original planned route to obtain the final planned route includes: Obtain the first target point corresponding to the starting subscript of the route to be translated from the set of original planned route points; Intercept the first untranslated planned route from the original planned route based on the first target point; Obtain the fifth target point corresponding to the ending subscript of the route to be translated from the set of original planned route points; Intercept the second untranslated planned route from the original planned route based on the fifth target point; Stitch the first untranslated planned route, the translated route, and the second untranslated planned route in sequence to obtain the final planned route; The intercepting the first untranslated planned route from the original planned route based on the first target point includes: Determine the point before the first target point as the second target point; Obtain the third target point corresponding to the first preset position and the fourth target point corresponding to the second preset position from the translated route; Calculate the angle between the first target point, the second target point, and the third target point to obtain the first angle value; Calculate the angle between the first target point, the third target point, and the fourth target point to obtain the second angle value; Intercept the first untranslated planned route from the original planned route based on the first angle value and the second angle value; The intercepting the first untranslated planned route from the original planned route based on the first angle value and the second angle value includes: Judge whether the first angle value or the second angle value is greater than the first preset angle value. If so, subtract 1 from the starting subscript of the route to be translated to obtain the subtracted starting subscript of the route to be translated, and return to execute the step of obtaining the first target point corresponding to the starting subscript of the route to be translated from the set of original planned route points until both the first angle value and the second angle value are not greater than the first preset angle value or the starting subscript of the route to be translated is equal to the preset value. If not, intercept the first untranslated planned route from the original planned route according to the starting subscript of the route to be translated and the first preset subscript.

2. The adjustment method for the path planning of a driverless vehicle according to claim 1, wherein The route to be translated includes a set of route points to be translated; The determining the deviation value based on the route to be translated includes: Obtain the dragged point subscript from the set of route points to be translated; Obtain the original longitude and latitude information and the dragged longitude and latitude information corresponding to the dragged point according to the dragged point subscript; Determine the deviation value according to the original longitude and latitude information and the dragged longitude and latitude information.

3. The adjustment method for the path planning of a driverless vehicle according to claim 2, characterized in that, Performing translation on the to-be-translated route according to the deviation value to obtain the translated route includes: Traversing each to-be-translated route point in the to-be-translated route point set except the dragged point until each to-be-translated route point has been traversed; For the target to-be-translated route point traversed, obtaining the original longitude and latitude information corresponding to the target to-be-translated route point; Performing translation on the target to-be-translated route point according to the original longitude and latitude information and the deviation value to obtain the translated route point; Obtaining the translated route according to the translated route points.

4. A method for adjusting the traced planned route of an autonomous vehicle according to claim 1, characterized in that, The intercepting the second untranslated planned route from the original planned route based on the fifth target point includes: Determining the point after the fifth target point as the sixth target point; Obtaining the seventh target point corresponding to the third preset position and the eighth target point corresponding to the fourth preset position from the translated route; Calculating the angle between the fifth target point, the sixth target point, and the seventh target point to obtain the third angle value; Calculating the angle between the fifth target point, the seventh target point, and the eighth target point to obtain the fourth angle value; Intercepting the second untranslated planned route from the original planned route based on the third angle value and the fourth angle value.

5. A method for adjusting the path planning of a driverless vehicle according to claim 4, characterized in that, The intercepting the second untranslated planned route from the original planned route based on the third angle value and the fourth angle value includes: Judging whether the third angle value or the fourth angle value is greater than the second preset angle value. If so, adding 1 to the to-be-translated end point subscript to obtain the incremented to-be-translated end point subscript, and returning to execute the step of obtaining the fifth target point corresponding to the to-be-translated end point subscript from the original planned route point set until both the third angle value and the fourth angle value are not greater than the second preset angle value or the fifth target point is the last point in the original planned route. If not, intercepting the second untranslated planned route from the original planned route according to the to-be-translated end point subscript and the second preset subscript.

6. An adjustment terminal for the path planning of a driverless vehicle, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements each step in the method for adjusting the path planning of an autonomous vehicle according to any one of claims 1 to 5.

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