Vehicle Route Planning Method, Device, System, Tool, Product and Storage Medium

Abstract

The present invention discloses a vehicle path planning method, comprising the steps of: obtaining a forward reference path of the vehicle; determining the degree of difference between the forward reference path and the current planned path of the vehicle; the current planned path includes a historical segment, a control segment, and a smoothing segment that are sequentially connected from the starting point to the ending point; if the degree of difference meets a preset trigger condition, then adjust the control segment and the smoothing segment of the current planned path according to the forward reference path; if the degree of difference does not meet the trigger condition, then adjust the smoothing segment of the current planned path according to the forward reference path. In addition, the present invention also discloses a vehicle path planning device, system, tool, product, and storage medium. Based on the degree of difference between the forward reference path of the vehicle and the current planned path of the vehicle, the present invention pertinently and quickly adjusts the corresponding road segments in the current planned path, effectively preventing large fluctuations in the planned paths of adjacent frames and ensuring the accuracy and stability of vehicle path tracking.

Description

Technical Field

[0001] The present invention relates to the technical field of driverless technology, and in particular to a vehicle path planning method, a vehicle path planning device, a computer-readable storage medium, a computer program product, a chip system, a circuit system, a computer system, and a mobile tool. Background Art

[0002] At present, driverless technology has developed rapidly. For driverless vehicles, it is very necessary to have stable path following ability in high-speed scenarios. However, due to reasons such as system communication delay, unstable frequencies of each module, and frequency differences, stable path tracking of driverless vehicles has become a challenge.

[0003] In high-speed scenarios, the existing driverless vehicle path tracking method is as follows: The upper-level planner of the driverless vehicle gives the optimal or sub-optimal path, and the control layer uses preview and other methods to complete path tracking. The driverless vehicle uses the preview method to make bottom-layer responses in advance, so that the bottom-layer responses have stability; the upper-level planner of the driverless vehicle gives the path, and through path continuity and collision-free, etc., the upper-layer path requests of the control are made continuous.

[0004] The existing driverless vehicle path tracking method has the following technical defects:

[0005] 1. Path planning is carried out by the planner, and a frame-by-frame path is given according to the time period. Although the path within the same frame time can be ensured to have continuity and stability, due to factors such as coordinate transformation integrating positioning errors, node communication delays, and different frequencies of multiple modules, it is impossible to ensure that there is no jump in the path between frames, and the continuity and stability of the paths of adjacent frames before and after cannot be guaranteed.

[0006] 2. The path tracking uses the preview method, which has ambiguity and a large turning deviation; at the same time, the calculation amount of using the Mpc (Model Predictive Control) method is large, and the hardware requirements are high. Summary of the Invention

[0007] The purpose of the present invention is to provide a vehicle path planning method, a vehicle path planning device, a computer-readable storage medium, a computer program product, a chip system, a circuit system, a computer system, and a mobile tool for the technical defects existing in the prior art.

[0008] To this end, the present invention provides a vehicle path planning method, including:

[0009] Obtain the forward reference path of the vehicle;

[0010] Determine the difference degree between the forward reference path and the current planned path of the vehicle; the current planned path includes a historical segment, a control segment, and a smoothing segment that are connected in sequence from the starting point to the ending point;

[0011] If the difference degree meets the preset trigger condition, adjust the control segment and the smoothing segment of the current planned path according to the forward reference path;

[0012] If the difference degree does not meet the trigger condition, adjust the smoothing segment of the current planned path according to the forward reference path.

[0013] In addition, the present invention also provides a vehicle path planning device, including:

[0014] An acquisition unit, configured to acquire the forward reference path of the vehicle;

[0015] A determination unit, configured to determine the difference degree between the forward reference path and the current planned path of the vehicle; the current planned path includes a historical segment, a control segment, and a smoothing segment that are connected in sequence from the starting point to the ending point;

[0016] A judgment unit, configured to judge whether the difference degree meets the preset trigger condition. If so, execute the first adjustment unit; if not, execute the second adjustment unit;

[0017] The first adjustment unit is configured to adjust the control segment and the smoothing segment of the current planned path according to the forward reference path;

[0018] The second adjustment unit is configured to adjust the smoothing segment of the current planned path according to the forward reference path.

[0019] In addition, the present invention also provides a computer-readable storage medium, including a program or instruction. When the program or instruction runs on a computer, it implements the vehicle path planning method as described above.

[0020] In addition, the present invention also provides a computer program product including instructions, characterized in that when the computer program product runs on a computer, it causes the computer to execute the vehicle path planning method as described above.

[0021] In addition, the present invention also provides a chip system, including a processor, the coupling of the processor and a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the vehicle path planning method as described above is implemented.

[0022] In addition, the present invention also provides a circuit system, the circuit system includes a processing circuit, and the processing circuit is configured to execute the vehicle path planning method as described above.

[0023] In addition, the present invention also provides a computer system, including a memory, and one or more processors communicatively connected to the memory;

[0024] Instructions executable by the one or more processors are stored in the memory, and when the instructions are executed by the one or more processors, the one or more processors are caused to implement the vehicle path planning method as described in any one of the foregoing.

[0025] Furthermore, the present invention also provides a mobile tool, on which a server is configured, and the server includes a memory and one or more processors communicatively connected to the memory;

[0026] Instructions executable by the one or more processors are stored in the memory, and when the instructions are executed by the one or more processors, the one or more processors are caused to implement the vehicle path planning method as described above.

[0027] As can be seen from the technical solutions provided by the present invention above, compared with the prior art, the present invention provides a vehicle path planning method, a vehicle path planning device, a computer-readable storage medium, a computer program product, a chip system, a circuit system, a computer system and a mobile tool. Based on the degree of difference between the forward reference path of the vehicle and the current planned path of the vehicle, the corresponding road segments in the current planned path are quickly adjusted in a targeted manner, effectively preventing large fluctuations in the planned paths of adjacent frames, ensuring the accuracy and stability of vehicle path tracking, and having great practical significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the basic flow of a vehicle path planning method provided by the present invention;

[0029] Figure 2 It is a schematic diagram of the current planned path of the vehicle in an embodiment of the present invention;

[0030] Figure 3a It is a first schematic diagram of the process of determining the degree of difference between the forward reference path and the current planned path of the vehicle in a vehicle path planning method provided by the present invention;

[0031] Figure 3b It is a second schematic diagram of the process of determining the degree of difference between the forward reference path and the current planned path of the vehicle in a vehicle path planning method provided by the present invention;

[0032] Figure 4a It is a schematic diagram of the implementation process of interpolating the current planned path in the first embodiment of the present invention;

[0033] Figure 4bIn the second embodiment of the present invention, it is a schematic diagram of the implementation process of interpolating the current planned path;

[0034] Figure 4c is a schematic diagram of the implementation process of interpolating the current planned path in the third embodiment of the present invention;

[0035] Figure 5 It is a schematic flowchart of a vehicle path planning method provided by the present invention in one embodiment;

[0036] Figure 6 It is a schematic diagram of the changes in the historical segment, control segment, and smoothing segment included in the current planned path after the vehicle exits the control segment of the current planned path.

[0037] Figure 7 It is a structural block diagram of a vehicle path planning device provided by the present invention. Detailed implementation manners

[0038] The terms "first" and "second" in the description and drawings of this application are used to distinguish different objects or different processes for the same object, rather than to describe a specific order of the objects. In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other unlisted steps or units, or optionally further includes other steps or units inherent to these processes, methods, products, or devices. It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. In the embodiments of this application, "A and / or B" means both A and B, and the two meanings of A or B. "A, and / or B, and / or C" means any one of A, B, and C, or means any two of A, B, and C, or means A and B and C. In the embodiments of this application, "A, B, or C" means any one of A, B, and C.

[0039] To enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the accompanying drawings and combine the embodiments to detail this application.

[0041] See Figure 1 A vehicle path planning method provided by the present invention may specifically include the following steps:

[0042] Step 101: Obtain the forward reference path of the vehicle.

[0043] Step 102: Determine the difference degree between the forward reference path and the current planned path of the vehicle; the current planned path includes a historical segment, a control segment, and a smoothing segment that are sequentially connected from the starting point to the ending point.

[0044] In the embodiments of the present invention, the head and tail of the historical segment, the control segment, and the smoothing segment are sequentially connected, that is, the ending point of the historical segment is the starting point of the control segment, and the ending point of the control segment is the starting point of the smoothing segment. As Figure 2 Shown is a schematic diagram of the current planned path of the vehicle in the embodiments of the present invention, including a historical segment (represented by AB), a control segment (represented by BC), and a smoothing segment (represented by CD).

[0045] When the vehicle starts, the current frame forward reference path of the vehicle is used as the current planned path of the vehicle, and an initial historical segment with a preset first length value (starting from the starting point of the path as the starting point of the historical segment), an initial control segment with a preset second length value, and an initial smoothing segment with a preset third length value are sequentially intercepted initially in this path;

[0046] During the driving process of the vehicle, the historical segment of the current planned path is a section with the ending point of the original historical segment just traveled as the starting point and the ending point of the original control segment just traveled as the ending point; the control segment is a section with a preset second length value (fixed length) intercepted along the current planned path starting from the ending point of the historical segment; the smoothing segment: a section with a preset third length value intercepted along the forward reference path starting from the ending point of the control segment;

[0047] Among them, the historical segment is relative to the control segment. When the vehicle passes through a control segment, the original control segment becomes the new historical segment, realizing the change of the segment.

[0048] It should be noted that when the vehicle moves within the control segment, the historical segment does not change, the control segment changes according to preset conditions, and the smooth segment changes according to the forward reference path. Among them, when the control segment changes, examples of preset conditions are as follows: for example, if a lane change or obstacle avoidance section is near the control segment, the end points of the control segment and the smooth segment are reselected on the forward reference path; for example, if the cubic curve (or quintic curve, etc.) of the control segment has a large difference from the forward reference path, the end points of the control segment and the smooth segment are reselected on the forward reference path.

[0049] Since the historical segment does not change when the vehicle moves within the control segment, the historical segment can ensure that the control quantity for controlling the vehicle on the current planned path as a curve is smoothly continuous with the control quantity of the current control segment and will not produce large fluctuations; at the same time, the control segment can ensure that this section of the path will not change within a short time, effectively preventing the jump between frames of the planned path; since the smooth segment starts from the end point of the control segment, the smooth segment is follow-up and changes according to the change of the planned control segment.

[0050] Step 103: Determine whether the difference degree meets the preset trigger condition. If so, execute Step 104; if not, execute Step 105.

[0051] In a specific embodiment, the trigger condition can be set, for example, as: the difference degree is greater than or equal to a preset difference degree threshold.

[0052] In another specific embodiment, the trigger condition can be set, for example, as: the difference degree is within a preset value range, and this value range indicates that the path has changed greatly, such as lane change, turning, U-turn, etc.

[0053] Step 104: Adjust the control segment and the smooth segment of the current planned path according to the forward reference path.

[0054] Step 105: Adjust the smooth segment of the current planned path according to the forward reference path.

[0055] In the present invention, the planner on the vehicle periodically performs path planning on the vehicle and outputs the forward reference path of the vehicle. One frame of the forward reference path is output in each cycle.

[0056] In the present invention, when the vehicle starts, the current forward reference path of the vehicle can be used as the current planned path of the vehicle, and the current planned path is divided into a historical segment, a control segment, and a smoothing segment. For example, starting from the starting point of the current planned path, a preset first length value is intercepted along the current planned path as the historical segment; then, starting from the end point of the historical segment, a preset second length value is intercepted along the current planned path as the control segment; then, starting from the end point of the control segment, a preset third length value is intercepted along the current planned path as the smoothing segment. The values of the first length value, the second length value, and the third length value can be flexibly set by those skilled in the art according to actual needs, and the present application does not make strict limitations. For example, when the vehicle is driving in a high-speed scenario, the first length value, the second length value, and the third length value are relatively large; if the vehicle is driving in a low-speed scenario, the first length value, the second length value, and the third length value are relatively small.

[0057] In an alternative embodiment, specifically, two distances can be intercepted in the current planned path of the vehicle for the historical segment, and the length of each distance is 2*L, where L is the vehicle length, and if the length is not enough, it is intercepted according to the maximum length. The length of the control segment is (2*L + 0.1*v) distance, where v is the vehicle speed. Specifically, for the smoothing segment, in the forward reference path of the vehicle, starting from the end point of the control segment, two distances are intercepted forward, and the length of each distance is 2*L. The purpose of the design of the smoothing segment is to obtain future road segments in advance and smooth them, so that the path input is suitable for the response lag of the vehicle. Of course, the interception methods of the historical segment, the control segment, and the smoothness are not limited to the above-listed methods, and can also be adjusted accordingly according to the actual vehicle driving road conditions.

[0058] Specifically, in implementation, the current planned path can be intercepted accordingly in the positioning UTM (Universal Transverse Mercator Grid System) or DR (Dead Reckoning) coordinate system and other coordinate systems to obtain the historical segment, the control segment, and the smoothing segment.

[0059] In a specific embodiment, in the foregoing step 102, to determine the difference degree between the forward reference path and the current planned path of the vehicle, it can be specifically implemented by the method flow as Figure 3a shown, and specifically may include:

[0060] Step 102a: Select a target segment corresponding to the control segment of the current planned path from the forward reference path;

[0061] Step 102b: Calculate the distance values between the target segment and the corresponding points in the control segment of the current planned path;

[0062] Step 102c: Determine the difference degree between the forward reference path and the current planned path according to the distance values.

[0063] In a specific embodiment, in the foregoing step 102a, for example, the distances between each waypoint in the forward reference path and the starting point of the control segment of the current planned path can be calculated, and the waypoint with the shortest distance is determined as the first point corresponding to the starting point of the control segment; calculate the distances between each waypoint in the forward reference path and the ending point of the control segment of the current planned path, and the waypoint with the shortest distance is determined as the second point corresponding to the ending point of the control segment; the section between the first point and the second point in the forward reference path is determined as the target section corresponding to the control segment of the current planned path.

[0064] In another specific embodiment, in the foregoing step 102a, for example, a curve is fitted to the forward reference path, the first foot point of the starting point of the control segment of the current planned path on the curve is determined, and the point on the forward reference path that coincides with the first foot point is determined as the first point (if there is no point that coincides with the first foot point, the point on the forward path closest to the first foot point is determined as the first point); the foot point of the ending point of the control segment of the current planned path on the curve is determined, and the point on the forward reference path that coincides with the foot point is determined as the second point (if there is no point that coincides with the second foot point, the point on the forward path closest to the second foot point is determined as the second point); the section between the first point and the second point in the forward reference path is determined as the target section corresponding to the control segment of the current planned path.

[0065] In the foregoing step 102b, the distance values between the corresponding points of the target section and the control segment of the current planned path are calculated. In a specific embodiment, for example, the target section sequentially includes n points (represented by {A1, A2,..., An}); the control segment sequentially includes n points (represented by {B1, B2,..., Bn}), pair Ai with Bi, calculate the distance value of each pair, for example, calculate the distance value di between Ai and Bi, and n distance values can be obtained accordingly.

[0066] In a specific embodiment, in the foregoing step 102c, the average value of the n distance values can be calculated; directly use the average value as the degree of difference; or, use the ratio of the average value to the length of the forward reference path as the difference value. Those skilled in the art can also use other methods to determine the degree of difference, and the present application does not make strict limitations. The greater the distance value, the greater the corresponding degree of difference.

[0067] In another specific embodiment, in the foregoing step 102, to determine the degree of difference between the forward reference path and the current planned path of the vehicle, it can be specifically implemented by the method flow as Figure 3b shown, specifically including:

[0068] Step 102d, select a target point corresponding to the ending point of the control segment of the current planned path from the forward reference path;

[0069] Step 102e. Determine the difference degree between the forward reference path and the currently planned path according to the distance value between the target point and the end point of the control segment.

[0070] In a specific embodiment, in the foregoing step 102d, calculate the distance values between all the dew points on the forward reference path and the end point of the control segment of the currently planned path respectively, and determine the dew point with the shortest distance value as the target point.

[0071] In another specific embodiment, in the foregoing step 102d, fit the forward reference path to obtain a curve, determine the foot point of the end point of the control segment of the currently planned path on this curve, and determine the point on the forward reference path that coincides with this foot point as the target point. If there is no point that coincides with this foot point, then determine the point on the forward path that is closest to this foot point as the target point.

[0072] In a specific embodiment, in the foregoing step 102e, the distance value between the target point and the end point of the control segment can be directly used as the difference degree; or, the ratio of the distance value between the target point and the end point of the control segment to the length of the forward reference path can be used as the difference value. Those skilled in the art can also use other methods to determine the difference degree, and the present application does not make strict limitations.

[0073] In the present invention, in a specific embodiment, in step 104, adjust the control segment and the smoothing segment of the currently planned path according to the forward reference path, which specifically includes: select the start and end points of the control segment and the smoothing segment of the currently planned path from the forward reference path; use a preset interpolation algorithm to perform interpolation processing on the historical segment of the currently planned path and the start and end points of the control segment and the smoothing segment selected from the forward reference path to obtain the control segment and the smoothing segment of the currently planned path.

[0074] In a specific implementation, in step 104, select the start and end points of the control segment and the smoothing segment of the currently planned path from the forward reference path, and the specific implementation can be as follows: take the end point of the historical segment of the currently planned path as the starting point, and select the first anchor point and the second anchor point from the forward reference path according to a preset step size; adjust the first anchor point to the end point of the control segment of the currently planned path, and adjust the second anchor point to the end point of the smoothing segment of the currently planned path. As Figure 4a shown, the start and end points of the historical segment are A and B. Taking B as the starting point, the first anchor point and the second anchor point selected from the forward reference path are C1 and D1. Take C1 as the end point of the control segment selected from the forward reference path, and take D1 as the end point of the smoothing segment selected from the forward reference path, and then perform interpolation processing on points A, B, C1, and D1 using the interpolation algorithm.

[0075] In another specific embodiment, in step 104, adjusting the control segment and the smoothing segment of the current planned path according to the forward reference path specifically includes: selecting the start and end points of the control segment and the smoothing segment of the current planned path from the forward reference path; and starting from the start point of the control segment according to a preset step size, intercepting interpolation points along the intercepted segment in the forward reference path, where the start point of the intercepted segment is the start point of the control segment and the end point of the intercepted segment is the end point of the smoothing segment; using a preset interpolation algorithm to perform interpolation processing on the historical segment of the current planned path, the start and end points of the control segment and the smoothing segment selected from the forward reference path, and the aforementioned interpolation points to obtain the control segment and the smoothing segment of the current planned path. As Figure 4b shown, the start and end points of the historical segment are A and B, the end point of the control segment selected from the forward reference path is C2, the end point of the smoothing segment is D2, and the interpolation points are M1, M2, M3, and M4 in sequence. Then, interpolation processing is performed on points A, B, C2, M1, M2, M3, M4, and D2 using the interpolation algorithm. Of course, in addition to intercepting interpolation points on the forward reference path, at least one interpolation point can be further intercepted on the historical segment of the current planned path. As shown in Figure 4c, starting from the start point A of the historical segment, interpolation points N1 and N2 are intercepted along the historical segment. Then, interpolation processing is performed on points A, N1, N2, B, C2, M1, M2, M3, M4, and D2 using the interpolation algorithm. Those skilled in the art can flexibly select the way of selecting interpolation points according to actual needs, and this application does not make strict limitations.

[0076] In the embodiment of the present invention, the preset interpolation algorithm can adopt a B-spline interpolation algorithm, a cubic spline interpolation algorithm, a quintic spline interpolation algorithm, etc. This application does not make strict limitations on the interpolation algorithm, and those skilled in the art can select the corresponding interpolation algorithm for interpolation processing according to actual needs.

[0077] The preset step size in the embodiment of the present invention can be flexibly set by those skilled in the art according to actual needs, and this application does not make strict limitations. For example, the step size can be set relatively long in a high-speed scenario of the vehicle, and the step size can be set relatively short if the vehicle is in a low-speed scenario. In a specific example, the step size can be set according to the following formula (1):

[0078] h = k * v, formula (1);

[0079] In formula (1), h is the step size, k is a preset proportionality coefficient (for example, it can be set to 1), and v is the vehicle speed.

[0080] In a specific embodiment, on the basis of the vehicle path planning method Figure 1 shown above, steps 106 to 107 can be further included, as Figure 5 shown:

[0081] Step 106: Determine whether the vehicle has driven out of the control section of the current planned path. If so, do nothing; otherwise, execute Step 101.

[0082] Step 107: Adjust the original control section of the current planned path to a historical section, and adjust the original smooth section to a control section.

[0083] As Figure 6 shown, the historical section, control section, and smooth section of the current planned path are sections AB, BC, and CD respectively; when the vehicle drives out of section BC, delete the original historical section AB, use the original smooth section CD as the control section, and use the original control section BC as the historical section; add a new smooth section. The new smooth section is adjusted according to the obtained forward reference path. For example, determine a road point corresponding to the end point of the control section on the forward reference path, and use this road point as the starting point to intercept a section along the forward reference path according to a preset step length as the new smooth section.

[0084] To further improve the accuracy of vehicle control, in the embodiment of the present invention, in the method flow Figure 1 or Figure 5 shown above, it further includes: during the process of controlling the vehicle to drive according to the current planned path, correct the lateral deviation, longitudinal deviation, and heading angle deviation of the vehicle according to the preset expected vehicle heading angle, and the start and end coordinates of the historical section, control section, and smooth section of the current planned path.

[0085] In a specific example, the path tracking algorithm of the vehicle can use the existing Stanley method. In view of the fact that in a high-speed scenario, when the vehicle is tracking a straight line, there will be a stable deviation. Therefore, the present invention adds the integral of the lateral deviation on the basis of the original algorithm (i.e., the Stanley algorithm) to eliminate the steady-state deviation of the high-speed vehicle, and then completes the improvement of the algorithm. Specifically, the preset expected vehicle heading angle can be set according to formula (2):

[0086]

[0087] In formula (2), δ is the preset expected vehicle heading angle; kp, ki, and k_heading are adjustable parameters, kp is the deviation proportional term parameter, ki is the integral term parameter value, and k_heading is the heading deviation proportional term parameter value; lat_err is the lateral deviation, and heading_err is the heading deviation.

[0088] Among them, the lateral deviation lat_err can be obtained through formula (3):

[0089] lat_err = dy * cosθ des -dx * sinθ des , formula (3);

[0090] In formula (3), lat_err is the lateral deviation, dy and dx are the coordinate deviations in the transverse and longitudinal directions in the vehicle coordinate system, and sinθ des is the desired vehicle heading angle.

[0091] Among them, the heading deviation heading_err can be obtained through formula (4):

[0092] heading_err = θ - θ des , formula (4);

[0093] In formula (4), heading_err is the heading deviation, θ is the actual vehicle heading angle, and θ des is the desired vehicle heading angle.

[0094] Preferably, after obtaining the historical segment, the control segment, and the smoothing segment in the embodiments of the present invention, the current planned path can be further smoothed by a path smoothing algorithm. The path smoothing algorithm can, for example, adopt the Floyd path smoothing algorithm, the Bezier curve method, etc.

[0095] In addition, based on a vehicle path planning method provided by the present invention above, the present invention also provides a vehicle path planning device, as Figure 7 shown, including:

[0096] An acquisition unit for acquiring the forward reference path of the vehicle;

[0097] A determination unit, connected to the acquisition unit, for determining the difference degree between the forward reference path and the current planned path of the vehicle; the current planned path includes a historical segment, a control segment, and a smoothing segment that are connected in sequence from the starting point to the ending point;

[0098] A judgment unit, connected to the determination unit, for judging whether the difference degree meets a preset trigger condition. If so, execute the first adjustment unit; if not, execute the second adjustment unit;

[0099] The first adjustment unit, connected to the judgment unit, for adjusting the control segment and the smoothing segment of the current planned path according to the forward reference path;

[0100] The second adjustment unit, connected to the judgment unit, for adjusting the smoothing segment of the current planned path according to the forward reference path.

[0101] For the present invention, the first adjustment unit adjusts the control segment and the smoothing segment of the current planned path according to the forward reference path, specifically including:

[0102] Selecting the starting and ending points of the control segment and the smoothing segment of the current planned path from the forward reference path;

[0103] Using a preset interpolation algorithm, perform interpolation processing on the starting and ending points of the historical segment of the current planned path, the control segment and the smoothing segment selected from the forward reference path, to obtain the control segment and the smoothing segment of the current planned path.

[0104] For the present invention, the determination unit determines the degree of difference between the forward reference path and the current planned path of the vehicle, specifically including:

[0105] Select a target point corresponding to the end point of the control segment of the current planned path from the forward reference path;

[0106] Determine the degree of difference between the forward reference path and the current planned path according to the distance value between the target point and the end point of the control segment.

[0107] In terms of specific implementation, for the present invention, the vehicle path planning device provided by the present invention further includes:

[0108] A third adjustment unit, configured to, when the vehicle drives out of the control segment of the current planned path, adjust the original control segment of the current planned path to a historical segment, and adjust the original smoothing segment to a control segment.

[0109] In terms of specific implementation, for the present invention, the vehicle path planning device provided by the present invention further includes:

[0110] A correction unit, configured to correct the lateral deviation, longitudinal deviation and heading angle deviation of the vehicle according to a preset expected vehicle heading angle, the starting and ending point coordinates of the historical segment, control segment and smoothing segment of the current planned path during the process of controlling the vehicle to travel according to the current planned path.

[0111] In addition, the present invention further provides a computer-readable storage medium, including a program or instruction, when the program or instruction runs on a computer, implementing the vehicle path planning method as described above.

[0112] In terms of specific implementation, the present invention further provides a computer program product containing instructions, when the computer program product runs on a computer, causing the computer to execute the vehicle path planning method as described above.

[0113] In terms of specific implementation, the present invention further provides a chip system, characterized by including a processor, the coupling of the processor with a memory, the memory storing program instructions, when the program instructions stored in the memory are executed by the processor, implementing the vehicle path planning method as described above.

[0114] In terms of specific implementation, the present invention further provides a circuit system, the circuit system including a processing circuit, the processing circuit configured to execute the vehicle path planning method as described above.

[0115] In terms of specific implementation, the present invention further provides a computer system, including a memory, and one or more processors communicatively connected to the memory;

[0116] Instructions executable by the one or more processors are stored in the memory, and when the instructions are executed by the one or more processors, the one or more processors are caused to implement the vehicle path planning method as described above.

[0117] In terms of specific implementation, the present invention further provides a mobile tool, on which a server is configured, and the server includes a memory and one or more processors communicatively connected to the memory;

[0118] Instructions executable by the one or more processors are stored in the memory, and when the instructions are executed by the one or more processors, the one or more processors are caused to implement the vehicle path planning method as described above.

[0119] It should be noted that for the present invention, the mobile tool can be any movable tool, such as a vehicle (such as a passenger car, a bus, a coach, a van, a truck, a heavy truck, a trailer, a semi-trailer, a crane, an excavator, a bulldozer, a road train, a road sweeper, a watering truck, a garbage truck, an engineering vehicle, a rescue vehicle, a logistics cart, an AGV (Automated Guided Vehicle), etc.), a motorcycle, a bicycle, a tricycle, a handcart, a tyre crane, a gantry crane, a quay crane, a robot, a floor sweeper, a segway, an aircraft, a ship, a submarine, a train, etc. The present application does not strictly limit the type of the mobile tool, and will not list them all here.

[0120] In summary, compared with the prior art, the vehicle path planning method, device, system, tool, product and storage medium provided by the present invention are scientifically designed. Based on the difference degree between the forward reference path of the vehicle and the current planned path of the vehicle, the corresponding sections in the current planned path are quickly adjusted in a targeted manner, effectively preventing large fluctuations in the planned paths of adjacent frames, ensuring the accuracy and stability of vehicle path tracking, and having great practical significance.

[0121] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A vehicle path planning method, characterized in that, Including: Obtain the forward reference path of the vehicle; Determine the difference degree between the forward reference path and the current planned path of the vehicle; The current planned path includes a historical segment, a control segment, and a smoothing segment whose start and end points are connected in sequence; If the difference degree meets the preset trigger condition, adjust the control segment and the smoothing segment of the current planned path according to the forward reference path; If the difference degree does not meet the trigger condition, adjust the smoothing segment of the current planned path according to the forward reference path; Adjust the control segment and the smoothing segment of the current planned path according to the forward reference path, specifically including: Select the start and end points of the control segment and the smoothing segment of the current planned path from the forward reference path; Use a preset interpolation algorithm to perform interpolation processing on the historical segment of the current planned path and the start and end points of the control segment and the smoothing segment selected from the forward reference path to obtain the control segment and the smoothing segment of the current planned path; Select the start and end points of the control segment and the smoothing segment of the current planned path from the forward reference path, specifically including: Taking the end point of the historical segment of the current planned path as the starting point, select the first anchor point and the second anchor point from the forward reference path according to a preset step size; Adjust the first anchor point to the end point of the control segment of the current planned path, and adjust the second anchor point to the end point of the smoothing segment of the current planned path; Determine the difference degree between the forward reference path and the current planned path of the vehicle, specifically including: Select the target segment corresponding to the control segment of the current planned path from the forward reference path; Calculate the distance values between the target segment and the corresponding points in the control segment of the current planned path; Determine the difference degree between the forward reference path and the current planned path according to the distance values; or, determine the difference degree between the forward reference path and the current planned path of the vehicle, specifically including: Select the target point corresponding to the end point of the control segment of the current planned path from the forward reference path; Determine the difference degree between the forward reference path and the current planned path according to the distance value between the target point and the end point of the control segment.

2. The method according to claim 1, wherein Further include: If the vehicle drives out of the control segment of the current planned path, adjust the original control segment of the current planned path to the historical segment, and adjust the original smoothing segment to the control segment.

3. The method according to claim 1, wherein Further include: During the process of controlling the vehicle to drive according to the current planned path, correct the lateral deviation, longitudinal deviation, and heading angle deviation of the vehicle according to the preset expected vehicle heading angle, the start and end point coordinates of the historical segment, control segment, and smoothing segment of the current planned path.

4. A vehicle path planning device, characterized in that, Including: An acquisition unit for acquiring the forward reference path of the vehicle; A determination unit for determining the difference degree between the forward reference path and the current planned path of the vehicle; The current planned path includes a historical segment, a control segment, and a smoothing segment whose start and end points are connected in sequence; A judgment unit for judging whether the difference degree meets the preset trigger condition. If so, execute the first adjustment unit; if not, execute the second adjustment unit; A first adjustment unit for adjusting the control segment and the smoothing segment of the current planned path according to the forward reference path; A second adjustment unit for adjusting the smoothing segment of the current planned path according to the forward reference path; The first adjustment unit adjusts the control section and the smoothing section of the current planned path according to the forward reference path, specifically including: Selecting the starting and ending points of the control section and the smoothing section of the current planned path from the forward reference path; Using a preset interpolation algorithm to perform interpolation processing on the historical section of the current planned path and the starting and ending points of the control section and the smoothing section selected from the forward reference path to obtain the control section and the smoothing section of the current planned path; Selecting the starting and ending points of the control section and the smoothing section of the current planned path from the forward reference path, specifically including: Taking the ending point of the historical section of the current planned path as the starting point, and selecting a first anchor point and a second anchor point from the forward reference path according to a preset step size; Adjusting the first anchor point to the ending point of the control section of the current planned path, and adjusting the second anchor point to the ending point of the smoothing section of the current planned path; The determination unit determines the degree of difference between the forward reference path and the current planned path of the vehicle, specifically including: Selecting a target point corresponding to the ending point of the control section of the current planned path from the forward reference path; Determining the degree of difference between the forward reference path and the current planned path according to the distance value between the target point and the ending point of the control section; Alternatively, the determination unit determines the degree of difference between the forward reference path and the current planned path of the vehicle, specifically including: Selecting a target section corresponding to the control section of the current planned path from the forward reference path; Calculating the distance values between the target section and the corresponding points in the control section of the current planned path; Determining the degree of difference between the forward reference path and the current planned path according to the distance values.

5. The device according to claim 4, characterized in that, The device further includes: A third adjustment unit, configured to, when the vehicle drives out of the control section of the current planned path, adjust the original control section of the current planned path to a historical section, and adjust the original smoothing section to a control section.

6. The device according to claim 4, characterized in that, The device further includes: A correction unit, configured to correct the lateral deviation, longitudinal deviation, and heading angle deviation of the vehicle according to a preset expected vehicle heading angle, the historical section of the current planned path, and the starting and ending point coordinates of the control section and the smoothing section during the process of controlling the vehicle to travel according to the current planned path.

7. A computer-readable storage medium, characterized in that, Including a program or instruction, when the program or instruction runs on a computer, implementing the vehicle path planning method according to any one of claims 1 to 3.

8. A computer program product comprising instructions, characterized in that, When the computer program product runs on a computer, causing the computer to execute the vehicle path planning method according to any one of claims 1 to 3.

9. A chip system, characterized in that, Including a processor, the processor is coupled with a memory, and the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the vehicle path planning method according to any one of claims 1 to 3 is implemented.

10. A circuit system, characterized in that, The circuit system includes a processing circuit, and the processing circuit is configured to execute the vehicle path planning method according to any one of claims 1 to 3.

11. A computer system, characterized in that, Including a memory, and one or more processors communicatively connected to the memory; Instructions executable by the one or more processors are stored in the memory, and the instructions are executed by the one or more processors to cause the one or more processors to implement the vehicle path planning method according to any one of claims 1 to 3.

12. A mobile tool, characterized in that, A server is configured thereon, and the server includes a memory and one or more processors communicatively connected to the memory; Instructions executable by the one or more processors are stored in the memory, and the instructions are executed by the one or more processors to cause the one or more processors to implement the vehicle path planning method according to any one of claims 1 to 3.

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