A lane-level vehicle driving path planning method, device and equipment

Abstract

An embodiment of this specification discloses a lane-level vehicle driving path planning method, device, and equipment. The solution may include: obtaining first vehicle position information of a target vehicle; determining a path to be planned from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to the destination position information of the target vehicle; determining the path type of the path to be planned; obtaining traffic condition data at the path to be planned; and using a preset lane planning method corresponding to the path type, and determining a target passing lane when the target vehicle drives in the path to be planned according to the traffic condition data, so as to provide a lane-level driving path for the vehicle and improve the accuracy of the vehicle driving path planning result.

Description

Technical Field

[0001] This application relates to the technical field of vehicle driving path planning, and particularly to a lane-level vehicle driving path planning method, device and equipment. Background Art

[0002] Currently, when planning a path for a vehicle, the estimated travel time of each feasible path between the starting position and the destination position of the vehicle is usually determined based on the starting position information, destination position information and relevant traffic condition data of the vehicle. Then, according to the estimated travel time, the target travel path of the vehicle is determined among the feasible paths.

[0003] However, the related technology can only plan a road-level driving path for the vehicle, and the traffic states of each lane on the same road may be different. For example, when an accident occurs in a certain lane of a road, the travel time cost of this lane may be the highest compared to other lanes on this road, and the existing technology cannot remind the vehicle to avoid the road where the accident occurs, resulting in low accuracy of the vehicle driving path planning result of the existing technology. Summary of the Invention

[0004] A lane-level vehicle driving path planning method, device and equipment provided by an embodiment of this specification are used to improve the accuracy of the vehicle driving path planning result.

[0005] To solve the above technical problems, an embodiment of this specification is implemented as follows:

[0006] A lane-level vehicle driving path planning method provided by an embodiment of this specification includes:

[0007] Obtain the first vehicle position information of the target vehicle;

[0008] Determine a path to be planned from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to the destination position information of the target vehicle;

[0009] Determine the path type of the path to be planned;

[0010] Obtain the traffic condition data at the path to be planned;

[0011] Adopt a preset lane planning method corresponding to the path type, and determine the target passing lane of the target vehicle when driving in the path to be planned according to the traffic condition data.

[0012] A lane-level vehicle driving path planning device provided by an embodiment of this specification includes:

[0013] The first vehicle position information acquisition module is configured to acquire the first vehicle position information of the target vehicle;

[0014] The to-be-planned path determination module is configured to determine the to-be-planned path from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to the destination position information of the target vehicle;

[0015] The path type determination module is configured to determine the path type of the to-be-planned path;

[0016] The traffic condition data acquisition module is configured to acquire the traffic condition data at the to-be-planned path;

[0017] The first target passing lane determination module is configured to determine the target passing lane when the target vehicle travels on the to-be-planned path according to the traffic condition data by using a preset lane planning method corresponding to the path type.

[0018] A lane-level vehicle driving path planning device provided by an embodiment of the present specification includes:

[0019] At least one processor; and,

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to:

[0022] Acquire the first vehicle position information of the target vehicle;

[0023] Determine the to-be-planned path from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to the destination position information of the target vehicle;

[0024] Determine the path type of the to-be-planned path;

[0025] Acquire the traffic condition data at the to-be-planned path;

[0026] Determine the target passing lane when the target vehicle travels on the to-be-planned path according to the traffic condition data by using a preset lane planning method corresponding to the path type.

[0027] At least one embodiment provided in the present specification can achieve the following beneficial effects:

[0028] Obtain the first vehicle position information of the target vehicle; determine the path to be planned from the global path of the target vehicle according to the first vehicle position information; the global path is the vehicle driving path determined according to the destination position information of the target vehicle; determine the path type of the path to be planned; obtain the traffic condition data at the path to be planned; use the preset lane planning method corresponding to the path type, and determine the target passing lane when the target vehicle is driving in the path to be planned according to the traffic condition data, so as to provide a lane-level driving path for the vehicle, thereby improving the accuracy and precision of the vehicle driving path planning result. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 Flow chart of a lane-level vehicle driving path planning method provided by an embodiment of the present specification;

[0031] Figure 2 Schematic diagram of a path to be planned provided by an embodiment of the present specification;

[0032] Figure 3 Another schematic diagram of a path to be planned provided by an embodiment of the present specification;

[0033] Figure 4 Corresponding to Figure 2 Schematic diagram of a road segment division;

[0034] Figure 5 Schematic diagram of the construction of a frenet coordinate system provided by an embodiment of the present specification;

[0035] Figure 6 Schematic diagram of the determination process of the current target passing lane provided by an embodiment of the present specification;

[0036] Figure 7 Schematic diagram of the structure of a lane-level vehicle driving path planning device provided by an embodiment of the present specification;

[0037] Figure 8 Schematic diagram of the structure of a lane-level vehicle driving path planning device provided by an embodiment of the present specification. Detailed Description of the Embodiments

[0038] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the following will clearly and completely describe the technical solutions of one or more embodiments of this specification in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all of them. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by one or more embodiments of this specification.

[0039] The following will, in conjunction with the drawings, elaborate on the technical solutions provided by each embodiment of this specification.

[0040] Figure 1 It is a schematic flowchart of a lane-level vehicle driving path planning method provided by an embodiment of this specification. From a program perspective, the execution subject of this process can be a server or a target vehicle, or an application program capable of executing this process installed on the server or the target vehicle. As Figure 1 shown, this process may include:

[0041] Step 101: Obtain the first vehicle position information of the target vehicle.

[0042] In the embodiments of this specification, during the process of the target vehicle driving from the starting position to the destination position, the vehicle position information of the target vehicle can be obtained regularly, and after each time the vehicle position information of the target vehicle is obtained, the method in Figure 1 is used to determine the road where the target vehicle is located based on this vehicle position information, and among the lanes corresponding to the road where the target vehicle is located, select a target driving lane for the target vehicle. In this way, lane-level driving path planning for the target vehicle is achieved.

[0043] In practical applications, the vehicle position information of the target vehicle can be obtained according to a preset vehicle position information acquisition frequency. For example, the vehicle position information of the target vehicle can be obtained once per second or every 10 seconds, etc. There is no specific limitation on this.

[0044] Step 102: Determine the path to be planned from the global path of the target vehicle according to the first vehicle position information; the global path is the vehicle driving path determined according to the destination position information of the target vehicle.

[0045] In the embodiments of this specification, the global path is a path that supports the target vehicle to drive from the current position of the target vehicle to the destination position of the target vehicle and meets the preset conditions. Among them, the preset conditions can be set according to actual needs. For example, the preset condition can be set as the shortest driving duration, or the smoothest driving experience, etc. There is no specific limitation on this.

[0046] In practical applications, after obtaining the first vehicle position information of the target vehicle, the location of the target vehicle can be determined in the global path according to the first vehicle position information. Then, according to the location of the target vehicle and based on the preset rule for determining the path to be planned, the path to be planned for the target vehicle can be determined in the global path. The following is an example to illustrate the rule for determining the path to be planned.

[0047] As Figure 2 shown, A is the starting point of Road 1 (the position point where the target vehicle on Road 1 first enters during the process of the target vehicle driving from the starting position to the destination position), and it is also a road intersection. D is the destination position of the target vehicle. And the target vehicle does not pass through any road intersections when driving from A to B along Figure 2 Road 1, Road 2, and Road 3 in Figure 2 The roads are divided into Road 1, Road 2, and Road 3 because there are special places such as supermarkets located at the hollow circles beside the roads. Thus, the roads are divided into Road 1, Road 2, and Road 3 according to these places. In a specific example, assuming that it is determined according to the first vehicle position information of the target vehicle that the target vehicle is on Road 1, then the starting point (A) of Road 1 can be determined first, and then the path to be planned is determined as A - B.

[0048] Similarly, B is the starting point of Road 4 and is also a road intersection. Road 8 is a ramp, and E is the intersection point of Road 6, Road 7, and Road 8. Similarly, Figure 2 there are no road intersections on the road between B and E shown in

[0049] The hollow circles indicate that there are special places such as supermarkets located beside the roads. In a specific example, assuming that it is determined according to the first vehicle position information of the target vehicle that the target vehicle is on Road 4 and the target vehicle enters Road 8 after driving out of Road 6, then the path to be planned can be determined as B - E.

[0050] It can be found that Figure 2Among the three paths to be planned, all are roads that support the target vehicle to go straight and change lanes in the road. Therefore, these three paths to be planned can be defined as lane-changing straight paths. In addition, usually, the lane-changing straight path is the road between two road intersections (such as C-F), but in special cases, the lane-changing straight path can be paths such as A-D and B-E.

[0051] It should be noted that when the path to be planned is a lane-changing straight path, the prerequisite for determining the path to be planned is that the target vehicle has exited the previously planned target driving path (not the first time for vehicle driving path planning) and entered a straight path where lane-changing is possible.

[0052] In addition, it may also be determined according to the first vehicle position information of the target vehicle that the target vehicle is at a preset distance (for example, 5 meters, 1 meter) from the starting point of a certain intersection. At this time, the best lane for the target vehicle to pass through this intersection needs to be determined. As Figure 3 shown, the target vehicle can pass through the intersection in the figure through lane 1 or lane 2. Since lane-changing is not allowed in lane 1 and lane 2, when the target vehicle travels to a preset distance from the starting point of the intersection, the driving lane of the vehicle within this intersection is planned to facilitate the target vehicle to pass through this intersection.

[0053] In practical applications, the intersection exit of the target vehicle is determined according to the driving direction of the target vehicle (the position point where the target vehicle finally passes through at this intersection during the process of the target vehicle driving from the starting position to the destination position). Then, the road between the current position of the target vehicle and the intersection exit of the target vehicle can be determined as the path to be planned. It can be found that this path to be planned is the path within the intersection. Therefore, this path to be planned can be defined as the intersection path.

[0054] Step 103: Determine the path type of the path to be planned.

[0055] In the embodiments of this specification, according to the above analysis, the path types of the path to be planned can include lane-changing straight paths and intersection paths.

[0056] Step 104: Obtain the traffic condition data at the path to be planned.

[0057] In the embodiments of this specification, the traffic condition data can include whether there are vehicles driving on each lane, the driving data of each vehicle, and the lane passing status (for example, when a car accident occurs on a certain lane, it can be determined that the passing status of this lane is impassable).

[0058] Step 105: Adopt a preset lane planning method corresponding to the path type, and determine the target passing lane of the target vehicle when driving on the path to be planned according to the traffic condition data.

[0059] In the embodiments of this specification, the above technical solution is adopted to obtain the first vehicle position information of the target vehicle; according to the first vehicle position information, a path to be planned is determined from the global path of the target vehicle; the global path is a vehicle driving path determined according to the destination position information of the target vehicle; the path type of the path to be planned is determined; traffic condition data at the path to be planned is obtained; and a preset lane planning method corresponding to the path type is used to determine the target passing lane of the target vehicle when driving in the path to be planned according to the traffic condition data. Based on this, the embodiments of this specification can provide a lane-level driving path for the vehicle, improving the accuracy of the vehicle driving path planning result.

[0060] Preferably, in step 105, when the path type is the lane-changing straight path, the step of using a preset lane planning method corresponding to the path type to determine the target passing lane of the target vehicle when driving in the path to be planned according to the traffic condition data may specifically include:

[0061] Step 1: Divide the path to be planned to obtain a set of road segments.

[0062] Step 2: For the first road segment where the target vehicle is currently located in the set of road segments, determine one of the lane where the target vehicle is currently located and the lane adjacent to the lane where the target vehicle is currently located as the first target passing lane.

[0063] Step 3: For the second road segment used to make the target vehicle leave the path to be planned in the set of road segments, determine the second target passing lane from each lane of the second road segment according to the driving direction when the target vehicle leaves the path to be planned.

[0064] Step 4: For the third road segment other than the first road segment and the second road segment in the set of road segments, determine the lane with the shortest estimated passing time among each lane of the third road segment as the third target passing lane; the estimated passing time is determined according to the traffic condition data.

[0065] In the embodiments of this specification, for the first road segment where the target vehicle is currently located, for example Figure 4The road segments 11, 21, and 31. First, in each lane of this first road segment, determine the lane in which the target vehicle is currently located and the lanes adjacent to the lane in which the target vehicle is currently located. Then, any one of the determined multiple lanes can be determined as the first target passing lane, or according to the traffic condition data, the lane with the shortest estimated passing time among the determined multiple lanes can be determined, and the lane with the shortest estimated passing time is determined as the first target passing lane.

[0066] For the second road segment used to make the target vehicle leave the path to be planned, for example Figure 4 the road segment 14. If destination B is on the right side of the target vehicle, that is, after the target vehicle exits the road segment 14, it needs to turn right to reach the destination, then determine the right-turn lane on the road segment 14. If the number of right-turn lanes on the road segment 14 is one, then determine the right-turn lane on the road segment 14 as the second target passing lane; if the number of right-turn lanes on the road segment 14 is multiple, then the right-turn lane with the shortest estimated passing time on the road segment 14 can be determined according to the traffic condition data, and the right-turn lane with the shortest estimated passing time on the road segment 14 is determined as the second target passing lane.

[0067] For another example Figure 4 the road segment 24. After the target vehicle exits the road segment 24, it needs to enter Road 8, and Road 8 is a ramp. The target vehicle needs to turn right after entering the rightmost lane on the road segment 24 and then enter Road 8. Therefore, the rightmost lane on the road segment 24 can be determined as the second target passing lane.

[0068] For another example Figure 4 the road segment 34. If the target vehicle continues to go straight after exiting the road segment 34, then determine the straight-through lane on the road segment 34. If the number of straight-through lanes on the road segment 34 is one, then the straight-through lane can be determined as the second target passing lane; if the number of straight-through lanes on the road segment 34 is multiple, then any one of the straight-through lanes on the road segment 34 can be determined as the second target passing lane, or the straight-through lane with the shortest estimated passing time on the road segment 34 can be determined according to the traffic condition data, and the straight-through lane with the shortest estimated passing time is determined as the second target passing lane.

[0069] Similarly, if the target vehicle needs to turn left and enter Road 12 after exiting Road Segment 34, determine the left-turn lane on Road Segment 34. If the number of left-turn lanes on Road Segment 34 is one, determine this left-turn lane as the second target passing lane. If the number of left-turn lanes on Road Segment 34 is multiple, any one of the left-turn lanes on Road Segment 34 can be determined as the second target passing lane, or the left-turn lane with the shortest estimated passing duration on Road Segment 34 can be determined according to the traffic condition data, and this left-turn lane with the shortest estimated passing duration is determined as the second target passing lane.

[0070] For the third road segment in the road segment set other than the first road segment and the second road segment, such as Figure 4 Road Segments 12, 13, 22, 23, 32, 33, etc. in. The estimated passing duration of each lane of the third road segment can be determined according to the traffic condition data. Then, the lane with the shortest estimated passing duration of the third road segment is determined as the third target passing lane.

[0071] In a specific example, when the path type of the path to be planned is a lane-changing straight path, the path to be planned can be divided by establishing a frenet coordinate system to obtain a road segment set. Specifically, after determining the path to be planned, taking the road center line of the path to be planned as the S axis and the starting point of the path to be planned as the coordinate origin to construct a frenet coordinate system. In this case, the output result of the target passing lane selection can be the target passing lane sequence and the corresponding s coordinate. As Figure 5 shown, the target lane sequence is the array trace, and the corresponding s coordinate is the array S_start. For example, the target passing lane of the first road segment is trace[0], and the corresponding array S_start is S_start[0] and S_start[1]. That is to say, within the range from S_start[0] to S_start[1], the target passing lane of the connected vehicle is trace[0]. After determining the array trace and the array S_start, the determined array trace and array S_start are stored in a preset database for subsequent use.

[0072] Preferably, based on Step 105, after determining the target passing lane when the target vehicle travels on the path to be planned, the method of the embodiment of this specification may further include:

[0073] Step 1. Obtain the second vehicle position information of the target vehicle.

[0074] Step 2. Determine the target road segment where the target vehicle is located on the path to be planned according to the second vehicle position information; the target road segment is a road segment in the road segment set.

[0075] Step 3. Determine the target passing lane corresponding to the target road segment.

[0076] Step 4. Send the information of the target passing lane corresponding to the target road segment to the target vehicle.

[0077] In the embodiments of the present specification, according to the above analysis, when the path type of the path to be planned is a lane-changing straight path, when determining the target passing lane for the path to be planned, the determination result is a target passing lane sequence. When the target vehicle is traveling on the path to be planned, the target passing lane corresponding to the road segment where it is located can be sent to the target vehicle at regular intervals to guide the target vehicle to drive into the target passing lane.

[0078] Based on this, when the target vehicle is traveling on the path to be planned, the second vehicle position information of the target vehicle can be obtained at a preset second vehicle position information acquisition frequency. For example, the vehicle position information of the target vehicle is obtained once every minute. After each time the second vehicle position information of the target vehicle is obtained, according to the second vehicle position information, determine the target road segment where the target vehicle is located in the path to be planned, determine the target passing lane corresponding to the target road segment, and send the information of the target passing lane corresponding to the target road segment to the target vehicle.

[0079] To illustrate the above method more clearly, the following is a specific description.

[0080] Based on Figure 5 In the shown embodiment, after constructing the frenet coordinate system, the output result of the target passing lane selection can be a target passing lane sequence and the corresponding s coordinate. As Figure 5 shown, the target lane sequence is the array trace, and the corresponding s coordinate is the array S_start. Based on this embodiment, after the system outputs the target passing lane sequence and the corresponding s coordinate, the target passing lane of the current lane where the target vehicle is located can be determined through the following algorithm.

[0081] Figure 6 This is a schematic diagram of the determination process of the current target passing lane provided by the embodiments of the present specification. As Figure 6 shown, the current target passing lane determination process may include:

[0082] Step 601. Determine that the target passing lane is the current lane where the target vehicle is located.

[0083] Step 602. Determine the length of the array trace, and use this length minus 1 to obtain the parameter i.

[0084] In the embodiments of this specification, if the array trace represents that the number of target passing lanes is 3, then the length of the array trace is defined as 3. Similarly, if the array trace represents that the number of target passing lanes is 4, then the length of the array trace is defined as 4.

[0085] Step 603: Determine whether i is greater than or equal to 0. If so, execute Step 604.

[0086] Step 604: Determine the S coordinate of the target vehicle according to the second vehicle position information.

[0087] Step 605: Determine whether the S coordinate of the target vehicle is greater than S_start[i]. If so, execute Step 606; otherwise, execute Step 607.

[0088] Step 606: Determine that the target passing lane is trace[i].

[0089] Step 607: Let i = i - 1 and execute Step 603.

[0090] Preferably, the path type includes: intersection path. At this time, in Step 105, the preset lane planning method corresponding to the path type is adopted, and according to the traffic condition data, the target passing lane when the target vehicle travels on the to-be-planned path is determined. Specifically, it may include:

[0091] According to the traffic condition data, among the lanes of the to-be-planned path, determine the lane with the shortest estimated passing time.

[0092] Determine the lane with the shortest estimated passing time as the target passing lane.

[0093] In a specific example, according to the traffic condition data, the positions and vehicle speeds of the vehicles traveling in each lane of the to-be-planned path can be determined. In this case, the step of determining the lane with the shortest estimated passing time among the lanes of the to-be-planned path according to the traffic condition data may specifically include:

[0094] Step 1: For each lane of the to-be-planned path, according to the traffic condition data, determine the vehicle closest to the target vehicle in front of the target vehicle (i.e., the leading vehicle of the target vehicle). Then, according to the traffic condition data, determine the speeds of the target vehicle and the leading vehicle of the target vehicle, and the distance between the target vehicle and the leading vehicle of the target vehicle. Thus, according to the speeds of the target vehicle and the leading vehicle of the target vehicle, and the distance between the target vehicle and the leading vehicle of the target vehicle, calculate the following vehicle-following acceleration of the target vehicle with respect to the leading vehicle of the target vehicle. The specific calculation formula for the vehicle-following acceleration is as follows:

[0095]

[0096] where a acc is the following - vehicle acceleration, with the unit of m / s 2 ; v rel is the difference obtained by subtracting the speed of the target vehicle from the speed of the vehicle in front of the target vehicle, with the unit of m / s; d is the distance between the vehicle in front of the target vehicle and the target vehicle, with the unit of m; v is the speed of the target vehicle, with the unit of m / s; t re is the driver reaction time constant, which can be set to 2 s, etc.; τ v is the first following - vehicle acceleration calculation constant, which can be set to 2 s; τ d is the second following - vehicle acceleration calculation constant, which can be set to 5 s.

[0097] Step 2: Compare the following - vehicle accelerations of each lane, and determine the lane corresponding to the maximum value of the following - vehicle acceleration as the lane with the shortest estimated passing time.

[0098] In another specific example, if it is determined according to the traffic condition data that there are no vehicles driving in each lane of the path to be planned, in this case, determining the lane with the shortest estimated passing time in each lane of the path to be planned according to the traffic condition data may specifically include:

[0099] In each lane of the path to be planned, determine the lane with the shortest length, and determine this lane with the shortest length as the lane with the shortest estimated passing time.

[0100] In another specific example, if it is determined according to the traffic condition data that only some lanes of the path to be planned have vehicles driving in them, in this case, determining the lane with the shortest estimated passing time in each lane of the path to be planned according to the traffic condition data may specifically include:

[0101] In each lane of the path to be planned, determine the lanes where there are no vehicles driving.

[0102] If the number of lanes where there are no vehicles driving is one, then determine this lane where there are no vehicles driving as the lane with the shortest estimated passing time.

[0103] If the number of lanes where there are no vehicles driving is more than one, then among the lanes where there are no vehicles driving, determine the lane with the shortest length, and determine this lane with the shortest length as the lane with the shortest estimated passing time.

[0104] In the embodiments of this specification, when planning a global path for a target vehicle for the first time, a global path can be planned for the target vehicle based on the starting position information and the destination position information of the target vehicle. Subsequently, in order to ensure that the global path can support the target vehicle to travel from its current position to the destination position, in some special cases (such as the target vehicle deviating from the global path), it is necessary to re-plan the global path for the target vehicle. Therefore, the global path of the target vehicle may change, causing the embodiments of this specification to need to obtain the latest global path of the target vehicle.

[0105] Based on this, before step 102, that is, before determining the path to be planned from the global path of the target vehicle according to the first vehicle position information, the method of the embodiments of this specification may further include:

[0106] Step 1: Obtain the latest global path of the target vehicle.

[0107] Step 2: According to the first vehicle position information and the latest global path, determine whether it is necessary to re-determine the global path of the target vehicle to obtain a target judgment result.

[0108] Step 3: If the target judgment result indicates that it is necessary to re-determine the global path of the target vehicle, then determine the current global path of the target vehicle according to the first vehicle position information and the destination position information.

[0109] Step 4: The specific process of determining the path to be planned from the global path of the target vehicle includes: determining the path to be planned from the current global path of the target vehicle.

[0110] Step 5: If the target judgment result indicates that it is not necessary to re-determine the global path of the target vehicle, then the specific process of determining the path to be planned from the global path of the target vehicle includes: determining the path to be planned from the latest global path of the target vehicle.

[0111] In the embodiments of this specification, after obtaining the latest global path (the previously planned global path) of the target vehicle, according to the first vehicle position information, it is determined whether the target vehicle is located in the latest global path, and a first determination result is obtained. If the first determination result indicates that the target vehicle is not located in the latest global path, a target determination result indicating that it is necessary to re-determine the global path of the target vehicle is generated. If the first determination result indicates that the target vehicle is located in the latest global path, according to the first vehicle position information, a target path that the target vehicle is allowed to drive into in the lane where the target vehicle is located is determined. It is determined whether the target path is located in the latest global path, and a second determination result is obtained. If the second determination result indicates that the target path is not located in the latest global path, a target determination result indicating that it is necessary to re-determine the global path of the target vehicle is generated.

[0112] In practical applications, if it is determined that the target vehicle is not located in the latest global path, a new global path is planned for the target vehicle according to the first vehicle position information of the target vehicle and the destination position information of the target vehicle. If it is determined that the target vehicle is located in the latest global path, but the target path of the target vehicle is not located in the latest global path, a new global path is planned for the target vehicle according to the first vehicle position information of the target vehicle and the destination position information of the target vehicle, and the new global path includes the target path of the target vehicle.

[0113] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 7 It is a schematic structural diagram of a lane-level vehicle driving path planning device provided by the embodiments of this specification. As Figure 7 shown, the device may include:

[0114] A first vehicle position information acquisition module 701, configured to acquire the first vehicle position information of the target vehicle.

[0115] A to-be-planned path determination module 702, configured to determine a to-be-planned path from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to the destination position information of the target vehicle.

[0116] A path type determination module 703, configured to determine the path type of the to-be-planned path.

[0117] A traffic condition data acquisition module 704, configured to acquire traffic condition data at the to-be-planned path;

[0118] The target passing lane determination module 705 is configured to determine the target passing lane of the target vehicle when driving on the to-be-planned path according to the traffic condition data by using a preset lane planning method corresponding to the path type.

[0119] Based on Figure 7 For the device of, embodiments of the present specification further provide some specific implementation manners of the device, which are described below.

[0120] Preferably, the path type includes a lane-changing straight path; when the path type is the lane-changing straight path, the target passing lane determination module 705 may specifically be configured to:

[0121] Divide the to-be-planned path to obtain a road segment set. The lengths of the road segments in the road segment set may be the same.

[0122] For the first road segment where the target vehicle is currently located in the road segment set, determine the lane where the target vehicle is currently located and one of the lanes adjacent to the lane where the target vehicle is currently located as the first target passing lane.

[0123] For the second road segment used to make the target vehicle leave the to-be-planned path in the road segment set, determine the second target passing lane from each lane of the second road segment according to the driving direction when the target vehicle leaves the to-be-planned path.

[0124] For the third road segment other than the first road segment and the second road segment in the road segment set, determine the lane with the shortest estimated passing time among each lane of the third road segment as the third target passing lane; the estimated passing time is determined according to the traffic condition data.

[0125] Preferably, the device according to the embodiments of the present specification may further include:

[0126] The second vehicle position information acquisition module is configured to acquire the second vehicle position information of the target vehicle.

[0127] The target road segment determination module is configured to determine the target road segment where the target vehicle is located in the to-be-planned path according to the second vehicle position information; the target road segment is a road segment in the road segment set.

[0128] The target passing lane determination module corresponding to the target road segment is configured to determine the target passing lane corresponding to the target road segment.

[0129] The target passing lane sending module is configured to send the information including the target passing lane corresponding to the target road segment to the target vehicle.

[0130] Preferably, the path type includes: intersection path; The target passing lane determination module 705 can specifically be used for:

[0131] The first determination module is used to determine the lane with the shortest estimated passing time among the lanes of the to-be-planned path according to the traffic condition data.

[0132] The second determination module is used to determine the lane with the shortest estimated passing time as the target passing lane.

[0133] Preferably, the first determination module can specifically be used for each lane of the to-be-planned path, calculate the following vehicle acceleration of the target vehicle with respect to the vehicle in front of the target vehicle according to the traffic condition data; determine the lane corresponding to the maximum value of the following vehicle acceleration as the lane with the shortest estimated passing time.

[0134] Preferably, the device according to the embodiment of the present specification may further include:

[0135] The latest global path acquisition module is used to acquire the latest global path of the target vehicle.

[0136] The judgment module is used to judge whether it is necessary to re-determine the global path of the target vehicle according to the first vehicle position information and the latest global path, and obtain a target judgment result.

[0137] The current global path determination module is used to, if the target judgment result indicates that it is necessary to re-determine the global path of the target vehicle, determine the current global path of the target vehicle according to the first vehicle position information and the destination position information.

[0138] The to-be-planned path determination module 702 can specifically be used to determine the to-be-planned path from the current global path of the target vehicle.

[0139] Preferably, the judgment module can specifically be used for:

[0140] Judge whether the target vehicle is located in the latest global path according to the first vehicle position information, and obtain a first judgment result.

[0141] If the first judgment result indicates that the target vehicle is not located in the latest global path, generate a target judgment result indicating that it is necessary to re-determine the global path of the target vehicle.

[0142] If the first judgment result indicates that the target vehicle is located in the latest global path, determine the target path allowed for the target vehicle to enter according to the first vehicle position information.

[0143] Determine whether the target path is located in the latest global path to obtain a second determination result.

[0144] If the second determination result indicates that the target path is not located in the latest global path, then generate a target determination result indicating that it is necessary to re-determine the global path of the target vehicle.

[0145] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0146] Figure 8 It is a schematic structural diagram of a lane-level vehicle driving path planning device provided by an embodiment of this specification. As Figure 8 shown, the device 800 may include:

[0147] At least one processor 810; and, a memory 830 communicatively connected to the at least one processor; wherein, the memory 830 stores instructions 820 executable by the at least one processor 810, and the instructions are executed by the at least one processor 810 to enable the at least one processor 810 to:

[0148] Obtain the first vehicle position information of the target vehicle.

[0149] According to the first vehicle position information, determine a path to be planned from the global path of the target vehicle; the global path is a vehicle driving path determined according to the destination position information of the target vehicle.

[0150] Determine the path type of the path to be planned.

[0151] Obtain traffic condition data at the path to be planned.

[0152] Adopt a preset lane planning method corresponding to the path type, and according to the traffic condition data, determine the target passing lane when the target vehicle travels in the path to be planned.

[0153] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for Figure 8 the device shown, since it is basically similar to the method embodiment, the description is relatively simple, and for the related parts, reference can be made to the partial description of the method embodiment.

[0154] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program themselves to "integrate" a digital character system onto a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL). There is not just one type of HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0155] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that, in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same functions. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or the structures within the hardware component.

[0156] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0157] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0158] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0159] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processors of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing device create means for implementing the functions specified in the flowchart Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0160] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in the flowchart Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0161] These computer program instructions may also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flowchart Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0162] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0163] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory. The memory is an example of computer-readable media.

[0164] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0165] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0166] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0167] The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0168] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A lane-level vehicle driving path planning method, characterized in that Including: Obtain the first vehicle position information of the target vehicle; Determine the path to be planned from the global path of the target vehicle according to the first vehicle position information; The global path is a vehicle driving path determined according to the destination position information of the target vehicle; Determine the path type of the path to be planned; Obtain the traffic condition data at the path to be planned; Adopt a preset lane planning method corresponding to the path type, and determine the target passing lane when the target vehicle drives in the path to be planned according to the traffic condition data; wherein, the path type includes: intersection path; The adopting a preset lane planning method corresponding to the path type and determining the target passing lane when the target vehicle drives in the path to be planned according to the traffic condition data specifically includes: For each lane of the path to be planned, calculate the following - vehicle following acceleration of the target vehicle with respect to the vehicle in front of the target vehicle according to the traffic condition data; Determine the lane corresponding to the maximum value of the following - vehicle following acceleration as the lane with the shortest estimated passing time; Determine the lane with the shortest estimated passing time as the target passing lane.

2. The method according to claim 1, wherein The path type includes a lane - changing and straight - driving path; The adopting a preset lane planning method corresponding to the path type and determining the target passing lane when the target vehicle drives in the path to be planned according to the traffic condition data specifically includes: Divide the path to be planned to obtain a set of road segments; For the first road segment where the target vehicle is currently located in the set of road segments, determine the lane where the target vehicle is currently located and one of the lanes adjacent to the lane where the target vehicle is currently located as the first target passing lane; For the second road segment used for the target vehicle to leave the path to be planned in the set of road segments, determine the second target passing lane from each lane of the second road segment according to the driving direction when the target vehicle leaves the path to be planned; For the third road segment other than the first road segment and the second road segment in the set of road segments, determine the lane with the shortest estimated passing time among each lane of the third road segment as the third target passing lane; the estimated passing time is determined according to the traffic condition data.

3. The method according to claim 2, wherein The dividing the path to be planned to obtain a set of road segments specifically includes: Equally divide the path to be planned into multiple road segments.

4. The method according to claim 2, wherein After determining the target passing lane when the target vehicle drives in the path to be planned, it further includes: Obtain the second vehicle position information of the target vehicle; Determine the target road segment where the target vehicle is located in the path to be planned according to the second vehicle position information; the target road segment is a road segment in the set of road segments; Determine the target passing lane corresponding to the target road segment; Send the information including the target passing lane corresponding to the target road segment to the target vehicle.

5. The method according to claim 1, wherein Before determining the path to be planned from the global path of the target vehicle according to the first vehicle position information, the following steps are further included: Obtain the latest global path of the target vehicle; According to the first vehicle position information and the latest global path, determine whether it is necessary to re-determine the global path of the target vehicle to obtain a target judgment result; If the target judgment result indicates that it is necessary to re-determine the global path of the target vehicle, then determine the current global path of the target vehicle according to the first vehicle position information and the destination position information; The step of determining the path to be planned from the global path of the target vehicle specifically includes: Determine the path to be planned from the current global path of the target vehicle.

6. The method according to claim 5, wherein The step of determining whether it is necessary to re-determine the global path of the target vehicle according to the first vehicle position information and the latest global path to obtain a target judgment result specifically includes: According to the first vehicle position information, determine whether the target vehicle is located in the latest global path to obtain a first judgment result; If the first judgment result indicates that the target vehicle is not located in the latest global path, then generate a target judgment result indicating that it is necessary to re-determine the global path of the target vehicle; If the first judgment result indicates that the target vehicle is located in the latest global path, then according to the first vehicle position information, determine the target path that the lane where the target vehicle is located allows the target vehicle to drive into; Determine whether the target path is located in the latest global path to obtain a second judgment result; If the second judgment result indicates that the target path is not located in the latest global path, then generate a target judgment result indicating that it is necessary to re-determine the global path of the target vehicle.

7. A lane-level vehicle driving path planning device, characterized in that, It includes: A first vehicle position information acquisition module, configured to acquire the first vehicle position information of the target vehicle; A path to be planned determination module, configured to determine the path to be planned from the global path of the target vehicle according to the first vehicle position information; The global path is a vehicle driving path determined according to the destination position information of the target vehicle; A path type determination module, configured to determine the path type of the path to be planned; A traffic condition data acquisition module, configured to acquire the traffic condition data at the path to be planned; A first target passing lane determination module, configured to adopt a preset lane planning method corresponding to the path type, and according to the traffic condition data, determine the target passing lane when the target vehicle drives in the path to be planned; wherein, the path type includes: intersection path; The step of adopting a preset lane planning method corresponding to the path type and according to the traffic condition data to determine the target passing lane when the target vehicle drives in the path to be planned specifically includes: For each lane of the path to be planned, calculate the following vehicle acceleration of the target vehicle with respect to the vehicle in front of the target vehicle according to the traffic condition data; Determine the lane corresponding to the maximum value of the following vehicle acceleration as the lane with the shortest estimated passing time; Determine the lane with the shortest estimated passing time as the target passing lane.

8. A lane-level vehicle driving path planning device, characterized in that, Comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: Obtain first vehicle position information of a target vehicle; Determine a path to be planned from the global path of the target vehicle according to the first vehicle position information; the global path is a vehicle driving path determined according to destination position information of the target vehicle; Determine the path type of the path to be planned; Obtain traffic condition data at the path to be planned; Adopt a preset lane planning method corresponding to the path type, and determine a target passing lane for the target vehicle when driving in the path to be planned according to the traffic condition data; wherein, the path type includes: intersection path; The adopting a preset lane planning method corresponding to the path type and determining a target passing lane for the target vehicle when driving in the path to be planned according to the traffic condition data specifically includes: For each lane of the path to be planned, calculate a following acceleration of the target vehicle with respect to the vehicle in front of the target vehicle according to the traffic condition data; Determine the lane corresponding to the maximum value of the following acceleration as the lane with the shortest estimated passing duration; Determine the lane with the shortest estimated passing duration as the target passing lane.

Images