Travel path boundary determination method and device, vehicle, storage medium, terminal

Abstract

The application discloses a driving path boundary determination method and device, a vehicle, a storage medium and a terminal, relates to the technical field of automatic driving, and mainly aims to solve the problem that the existing path boundary based on a path boundary cannot meet the path planning decision accuracy requirement in large-curvature turning. The method comprises the following steps: in a first coordinate system, determining the position of an overlapping corner point where a collision is expected to occur according to the positions of the contour points corresponding to the vehicle and the obstacles in the path trajectory; determining a contour corner point overlapping line and a decision corner point reference line based on the trajectory normal of the vehicle, the position of the overlapping corner point; if the first intersection position between the contour corner point overlapping line and the decision corner point reference line is not on the contour edge, determining the collision avoidance distance of the vehicle based on the position of the overlapping corner point, the decision corner point reference line and the position of the contour corner point on the contour corner point overlapping line; and generating a driving path boundary based on the collision avoidance distance in a second coordinate system.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method and apparatus for determining driving path boundaries, a vehicle, a storage medium, and a terminal. Background Technology

[0002] With the rapid development of autonomous driving technology, the control of vehicle collision avoidance is becoming increasingly sophisticated. Specifically, during cornering collision detection, the vehicle's control decisions are determined by combining obstacle collision detection with other technologies, thereby achieving collision avoidance.

[0003] Currently, obstacle detection during turns typically utilizes a Freunrt coordinate system, constructed from distances along the road and distances off the centerline. Based on obstacle predictions and the vehicle's trajectory, it determines whether the vehicle possesses lateral avoidance space, using this space to set path boundaries for path planning decisions. However, when the turning angle is too large, setting path boundaries based on the centerlines of the vehicle and obstacles can be either too conservative or too aggressive, failing to meet the requirements for boundary collision avoidance based on the vehicle's outline. This results in significant path boundary errors, increasing the risk of collisions with obstacles at large turning angles, and consequently leading to poor accuracy in path planning decisions based on path boundaries as constraints. Summary of the Invention

[0004] In view of this, the present invention provides a method and device for determining the driving path boundary, a vehicle, a storage medium, and a terminal. The main purpose is to solve the problem that existing methods based on the path boundary cannot meet the accuracy requirements of path planning decisions in large curvature turns.

[0005] According to one aspect of the present invention, a method for determining the boundary of a driving path is provided, comprising:

[0006] In the first coordinate system, the overlapping corner points of the expected collision are determined based on the contour points of the vehicle and the obstacle in the path trajectory.

[0007] Based on the trajectory normal of the vehicle, the overlapping corner point position, the contour corner point overlap line and the decision corner point reference line are determined. The decision corner point reference line is parallel to the trajectory normal, and the contour corner point overlap line overlaps and covers the contour edge where the vehicle or the obstacle is expected to collide.

[0008] If the first intersection point between the overlapping contour corner point line and the decision corner point reference line is not located on the contour edge, the collision avoidance distance of the vehicle is determined based on the overlapping corner point position, the decision corner point reference line, and the contour corner point position located on the overlapping contour corner point line.

[0009] In the second coordinate system, a path boundary is generated based on the collision avoidance distance for path planning decisions.

[0010] Further, the overlapping corner point positions include at least one primary overlapping corner point position and two secondary overlapping corner point positions. Determining the collision avoidance distance of the vehicle based on the overlapping corner point positions, the decision corner point reference line, and the contour corner point positions located on the contour corner point overlap line includes:

[0011] If the position of the primary overlapping corner point is the same as the position of the vehicle outline corner point, then a collision avoidance translation line is constructed based on the position of the primary overlapping corner point, the position of the obstacle outline corner point, and the position of the secondary overlapping corner point. The collision avoidance distance of the vehicle is determined according to the position of the primary overlapping corner point, the position of the second intersection between the collision avoidance translation line and the decision corner point reference line. The outline corner point overlapping line overlaps and covers the outline edge of the obstacle where the collision is expected to occur and the position of the obstacle outline corner point.

[0012] If the position of the primary overlapping corner point is the same as the position of the obstacle outline corner point of the obstacle, then a collision avoidance translation line is constructed based on the position of the primary overlapping corner point, the position of the vehicle outline corner point, and the position of the secondary overlapping corner point. The collision avoidance distance of the vehicle is determined according to the position of the primary overlapping corner point, the position of the second intersection between the collision avoidance translation line and the decision corner point reference line. The outline corner point overlapping line overlaps and covers the outline edge of the vehicle where the collision is expected to occur and the position of the vehicle outline corner point.

[0013] Further, the step of constructing a collision avoidance translation line based on the primary overlapping corner point position, the vehicle outline corner point position or the obstacle outline corner point position, and the secondary overlapping corner point position, and determining the vehicle's collision avoidance distance based on the primary overlapping corner point position, the second intersection point position between the collision avoidance translation line and the decision corner point reference line, includes:

[0014] Based on the vector directions of the secondary overlapping corner point position and the primary overlapping corner point position relative to the trajectory normal, the target secondary overlapping corner point position is selected.

[0015] A reference translation line is constructed based on the target secondary overlapping corner point position and the main overlapping corner point position, and a collision avoidance translation line is constructed based on the slope of the reference translation line and the vehicle outline corner point position or the obstacle outline corner point position.

[0016] Determine the position of the second intersection point between the collision avoidance translation line and the decision corner reference line, and determine the distance between the second intersection point and the main overlapping corner point as the collision avoidance distance.

[0017] Further, constructing a collision avoidance translation line based on the slope of the reference translation line and the position of the vehicle contour corner point or the position of the obstacle contour corner point includes:

[0018] Based on the vector direction of the vehicle outline corner position or the obstacle outline corner position and the main overlapping corner position relative to the trajectory normal, the target vehicle outline corner position or the target obstacle outline corner position is selected, and a collision avoidance translation line is constructed according to the slope of the reference translation line and the target vehicle outline corner position or the target obstacle outline corner position.

[0019] Furthermore, the determination of the contour corner overlap line based on the vehicle's trajectory normal, the overlapping corner point position, and the decision corner point reference line includes:

[0020] Contour corner overlap lines are constructed based on the positions of two secondary overlapping corner points among the overlapping corner point positions, and decision corner reference lines are constructed based on the slope of the trajectory normal line according to the position of the primary overlapping corner point among the overlapping corner point positions.

[0021] Furthermore, after determining the contour corner overlap line and the decision corner reference line based on the vehicle's trajectory normal, the overlapping corner point position, the method further includes:

[0022] If the first intersection point between the overlapping line of the contour corner points and the reference line of the decision corner points is located on the edge of the contour, then the distance between the first intersection point and the main overlapping corner point among the overlapping corner point positions is determined as the collision avoidance distance.

[0023] Furthermore, in the second coordinate system, generating the path boundary for path planning decisions based on the collision avoidance distance includes:

[0024] Convert the collision avoidance distance to the collision avoidance length in the second coordinate system;

[0025] Based on the lateral distance between the target trajectory point in the path trajectory under the second coordinate system and the vehicle, the collision avoidance length and the decision length are coupled to obtain the path boundary used for path planning decision.

[0026] Furthermore, before determining the expected overlapping corner point position of the collision based on the contour point positions corresponding to the vehicle and the obstacle in the path trajectory in the first coordinate system, the method further includes:

[0027] In the second coordinate system, the path trajectory of the vehicle in the predicted trajectory frame is obtained, and the path trajectory is transformed to the first coordinate system;

[0028] In the first coordinate system, based on the vehicle outline of the vehicle, the position of the vehicle outline point of the vehicle at the target trajectory point in the path trajectory is determined;

[0029] In the first coordinate system, based on the perception system and / or path map, the obstacle outline point position of at least one obstacle that matches the target trajectory point in the path trajectory is obtained.

[0030] Further, determining the position of the vehicle contour point at the target trajectory point in the path trajectory based on the vehicle contour of the vehicle includes:

[0031] Calculate the heading angle of the target trajectory point in the path trajectory, and determine the vehicle contour point position of the vehicle based on the heading angle and the vehicle contour. The contour point position includes the positions of the four corner points of the vehicle.

[0032] Furthermore, before determining the contour corner overlap line and the decision corner reference line based on the vehicle's trajectory normal, the overlapping corner point position, the method further includes:

[0033] Obtain the center point position of the vehicle and determine the vertical direction of the path trajectory;

[0034] The trajectory normal of the vehicle is constructed based on the vertical direction and the position of the center point.

[0035] According to one aspect of the present invention, a trajectory planning method is provided, comprising:

[0036] The vehicle's driving path boundary is determined according to the above method for determining driving path boundaries.

[0037] The vehicle's trajectory is determined based on the boundaries of the driving path.

[0038] According to one aspect of the present invention, a driving path boundary determination device is provided, comprising:

[0039] The first determining module is used to determine the position of the overlapping corner point of the expected collision based on the position of the contour points corresponding to the vehicle and the obstacle in the path trajectory in the first coordinate system.

[0040] The second determining module is used to determine the contour corner overlap line and the decision corner reference line based on the trajectory normal of the vehicle and the position of the overlap corner point. The decision corner reference line is parallel to the trajectory normal, and the contour corner overlap line overlaps and covers the contour edge where the vehicle or the obstacle is expected to collide.

[0041] The third determining module is used to determine the collision avoidance distance of the vehicle based on the overlapping corner position, the decision corner reference line, and the contour corner position on the overlapping corner line if the first intersection point between the overlapping contour corner line and the decision corner reference line is not on the contour edge.

[0042] The generation module is used to generate a path boundary for path planning decisions based on the collision avoidance distance in the second coordinate system.

[0043] Furthermore, the overlapping corner positions include at least one primary overlapping corner position and two secondary overlapping corner positions.

[0044] The third determining module is specifically used to construct a collision avoidance translation line based on the main overlapping corner point position, the obstacle contour corner point position, and the auxiliary overlapping corner point position if the main overlapping corner point position is the same as the vehicle contour corner point position of the vehicle. The module also determines the collision avoidance distance of the vehicle based on the second intersection point position between the main overlapping corner point position, the collision avoidance translation line, and the decision corner point reference line. The contour corner point overlapping line overlaps and covers the contour edge of the obstacle where the collision is expected to occur and the contour corner point position of the obstacle.

[0045] The third determining module is further configured to, if the position of the main overlapping corner point is the same as the position of the obstacle outline corner point of the obstacle, construct a collision avoidance translation line based on the position of the main overlapping corner point, the position of the vehicle outline corner point, and the position of the secondary overlapping corner point, and determine the collision avoidance distance of the vehicle based on the position of the main overlapping corner point, the position of the second intersection between the position of the main overlapping corner point, the position of the collision avoidance translation line and the position of the decision corner point reference line, wherein the outline corner point overlapping line overlaps and covers the outline edge of the vehicle where the collision is expected to occur and the position of the vehicle outline corner point.

[0046] Furthermore, the third determining module includes:

[0047] The selection unit is used to select the target secondary overlapping corner point position based on the vector direction of the secondary overlapping corner point position and the primary overlapping corner point position relative to the trajectory normal.

[0048] The construction unit is used to construct a reference translation line based on the target secondary overlapping corner point position and the main overlapping corner point position, and to construct a collision avoidance translation line based on the slope of the reference translation line and the vehicle outline corner point position or the obstacle outline corner point position.

[0049] The determining unit is used to determine the position of the second intersection point between the collision avoidance translation line and the decision corner reference line, and to determine the distance between the second intersection point position and the main overlapping corner point position as the collision avoidance distance.

[0050] Furthermore, the construction unit is specifically used to select the target vehicle outline corner position or the target obstacle outline corner position based on the vector direction of the vehicle outline corner position or the obstacle outline corner position and the main overlapping corner position relative to the trajectory normal, and to construct a collision avoidance translation line according to the slope of the reference translation line and the target vehicle outline corner position or the target obstacle outline corner position.

[0051] Furthermore, the second determining module is specifically used to construct an outline corner point overlap line according to the positions of two secondary overlapping corner points among the overlapping corner point positions, and to construct a decision corner point reference line according to the slope of the trajectory normal based on the position of the primary overlapping corner point among the overlapping corner point positions.

[0052] Furthermore, the device also includes:

[0053] The fourth determining module is used to determine the collision avoidance distance as the distance between the first intersection point and the main overlapping corner point position among the overlapping corner point positions if the first intersection point position between the overlapping line of the contour corner point and the decision corner point reference line is on the contour edge.

[0054] Furthermore, the generation module is specifically used to convert the collision avoidance distance into a collision avoidance length in the second coordinate system; based on the lateral distance between the target trajectory point in the path trajectory in the second coordinate system and the vehicle, the collision avoidance length and the decision length are coupled to obtain the path boundary for path planning decision.

[0055] Furthermore, the device also includes:

[0056] The conversion module is used to obtain the path trajectory of the vehicle in the predicted trajectory frame in the second coordinate system and convert the path trajectory to the first coordinate system.

[0057] The fifth determining module is used to determine the position of the vehicle contour point of the vehicle at the target trajectory point in the path trajectory based on the vehicle contour of the vehicle in the first coordinate system.

[0058] The first acquisition module is used to acquire, in the first coordinate system, the position of the obstacle outline point of at least one obstacle that matches the target trajectory point in the path trajectory, based on the perception system and / or the path map.

[0059] Furthermore, the fifth determining module is specifically used to calculate the heading angle of the target trajectory point in the path trajectory, and determine the vehicle outline point position of the vehicle based on the heading angle and the vehicle outline, wherein the outline point position includes the positions of the four corner points of the vehicle.

[0060] Furthermore, the device also includes:

[0061] The second acquisition module is used to acquire the center point position of the vehicle and determine the vertical direction of the path trajectory;

[0062] A construction module is used to construct the trajectory normal of the vehicle based on the vertical direction and the position of the center point.

[0063] According to one aspect of the present invention, a trajectory planning device is provided, comprising:

[0064] The aforementioned driving path boundary determination device is used to determine the driving path boundary of the vehicle; and

[0065] The driving path determination module is used to determine the driving trajectory of the vehicle based on the driving path boundary information obtained by the driving path boundary determination device.

[0066] According to one aspect of the present invention, a vehicle is provided, including the above-described driving path boundary determination device.

[0067] According to one aspect of the present invention, a vehicle is provided, including the above-described trajectory planning device.

[0068] According to another aspect of the present invention, a storage medium is provided, wherein at least one executable instruction is stored therein, the executable instruction causing a processor to perform operations corresponding to the path boundary determination method for path planning decision described above.

[0069] According to another aspect of the present invention, a terminal is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus;

[0070] The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the path boundary determination method for path planning decision-making described above.

[0071] By employing the above-described technical solutions, the technical solutions provided by the embodiments of the present invention have at least the following advantages:

[0072] This invention provides a method and apparatus for determining the boundary of a driving path, a vehicle, a storage medium, and a terminal. Compared with the prior art, the embodiments of this invention determine the overlapping corner point position of the expected collision by determining the corresponding contour point positions of the vehicle and the obstacle in a first coordinate system; based on the trajectory normal of the vehicle and the overlapping corner point positions, a contour corner point overlap line and a decision corner point reference line are determined, wherein the decision corner point reference line is parallel to the trajectory normal, and the contour corner point overlap line overlaps and covers the contour edge of the vehicle or the obstacle where the expected collision is expected; if the contour corner point overlap line and the obstacle overlap line overlaps and covers the boundary edge of the vehicle or the obstacle where the expected collision is expected; If the first intersection point between the decision corner reference lines is not on the contour edge, then the collision avoidance distance of the vehicle is determined based on the overlapping corner point position, the decision corner reference line, and the contour corner point position on the overlapping contour corner point line. In the second coordinate system, a path boundary for path planning decision is generated based on the collision avoidance distance, realizing the purpose of optimizing the planning decision using the path boundary as a constraint bar. This greatly reduces the planning error of the path boundary and lowers the risk of collision with obstacles when the turning curvature is too large, thereby improving the accuracy of path planning decision based on the path boundary as a constraint condition.

[0073] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0074] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0075] Figure 1 A flowchart of a method for determining the boundary of a driving path provided by an embodiment of the present invention is shown;

[0076] Figure 2 This diagram illustrates a collision overlap coverage area provided by an embodiment of the present invention.

[0077] Figure 3 This diagram illustrates a contour edge of an obstacle covered by an overlapping line at the corner points, according to an embodiment of the present invention.

[0078] Figure 4 This diagram illustrates an embodiment of the present invention where overlapping lines at the corner points of a vehicle cover the vehicle's outline.

[0079] Figure 5This diagram illustrates the location of the auxiliary overlapping corner point and the location of the contour corner point according to an embodiment of the present invention.

[0080] Figure 6 This diagram illustrates a method for determining collision avoidance distance according to an embodiment of the present invention.

[0081] Figure 7 A flowchart of another method for determining the boundary of a driving path provided by an embodiment of the present invention is shown;

[0082] Figure 8 This diagram illustrates another method for determining collision avoidance distance according to an embodiment of the present invention.

[0083] Figure 9 This invention provides a flowchart of another method for determining the boundary of a driving path.

[0084] Figure 10 This diagram illustrates a block diagram of a driving path boundary determination device provided in an embodiment of the present invention.

[0085] Figure 11 A schematic diagram of the structure of a terminal provided in an embodiment of the present invention is shown. Detailed Implementation

[0086] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0087] When the turning radius is too large, setting the path boundary based on the centerline of the vehicle and obstacles may be either too conservative or too aggressive, failing to meet the boundary collision avoidance requirements based on the vehicle's outline. This results in significant path boundary errors, leading to a greater risk of collision with obstacles when the turning radius is too large, thus causing poor accuracy in path planning decisions based on the path boundary. This invention provides a method for determining the driving path boundary, such as... Figure 1 As shown, the method includes:

[0088] 101. In the first coordinate system, determine the position of the overlapping corner point where the collision is expected to occur based on the positions of the contour points corresponding to the vehicle and the obstacle in the path trajectory.

[0089] In this embodiment of the invention, the path trajectory is the expected trajectory of the vehicle's autonomous driving in a first coordinate system. The first coordinate system is a coordinate system used to characterize the vehicle's horizontal and vertical coordinate positions, preferably a Cartesian coordinate system. The path trajectory can be determined based on pre-configured path planning content, and this embodiment of the invention does not impose specific limitations. Since the path trajectory in the path planning is pre-configured—for example, in an underground parking garage scenario, the path trajectory is the driving route within the underground garage—when the vehicle performs autonomous driving on this path trajectory, obstacles on the path trajectory can be simultaneously identified. Therefore, based on the contour point positions corresponding to the vehicle and obstacles in the path trajectory, the overlapping corner point position where the vehicle and obstacle are expected to collide can be determined. Specifically, the contour point position of the vehicle is the position coordinate of the point corresponding to the vehicle's contour in the first coordinate system, and the contour point position of the obstacle is the position coordinate of the point corresponding to the obstacle's contour in the first coordinate system. Collision detection is then performed to determine the overlapping corner point position where the expected collision occurs. Specifically, since collision detection is based on coordinate positions, when a collision is expected, the overlapping corner points are the coordinates of each corner point in the overlapping portion of the vehicle's and obstacle's outlines in the first coordinate system. That is, the collision between the vehicle and the obstacle is characterized by the overlap of the outlines. Figure 2 As shown, the overlapping corner positions include at least one primary overlapping corner position Ph and two secondary overlapping corner positions Po1 and Po2. At this point, the overlapping range, i.e., the region composed of Ph-Po1-Po2, can be divided by traversing the contour point positions corresponding to the vehicle and the obstacle respectively. Based on the range of the overlapping part, the overlapping shape is determined, thereby determining the corner positions of this overlapping shape. The embodiments of this invention do not specifically limit the overlapping corner positions.

[0090] It should be noted that the vehicles in the autonomous driving scenario are those equipped with automatic control systems, including passenger cars and commercial vehicles. Common passenger car models include, but are not limited to, sedans, SUVs, and multi-person commercial vehicles. Common commercial vehicle models include, but are not limited to, pickup trucks, minivans, dump trucks, cargo trucks, tractor units, trailers, and mining vehicles. In this case, the vehicles can achieve autonomous driving based on the automatic control system.

[0091] 102. Based on the trajectory normal of the vehicle and the position of the overlapping corner points, determine the contour corner point overlap line and the decision corner point reference line.

[0092] In this embodiment of the invention, since the vehicle travels automatically along a path trajectory, the trajectory normal of the vehicle on the path trajectory can be determined, i.e., a straight line perpendicular to the tangent direction of the path trajectory. This, combined with the overlapping corner point positions, determines the contour corner point overlap line and the decision corner point reference line. The contour corner point overlap line overlaps and covers the contour edge where the vehicle or obstacle is expected to collide. The contour edge is a line segment formed by two secondary overlapping corner points as its two endpoints. That is, depending on the situation, the contour corner point overlap line can cover the contour edge Po1-Po2 where the obstacle will collide, such as... Figure 3 As shown; or covering the contour edges Po1-Po2 where the vehicle collision occurred, such as Figure 4 As shown, l1 is the trajectory normal, l2 is the contour corner overlap line, and l3 is the decision corner reference line. The determined decision corner reference line is parallel to the trajectory normal. Since the decision corner reference line is constructed based on the overlapping corner point positions, and these positions include primary and secondary overlapping corner point positions, to make the path boundary more accurate, the decision corner reference line is fixed based on the primary overlapping corner point position, thus causing the contour corner overlap line to intersect with the decision corner reference line.

[0093] It should be noted that the construction of each line in the embodiments of the present invention can be based on the position coordinates of each point and the straight line formula y = kx + b. For example, the reference line for the decision corner point can be constructed based on the (x, y) coordinates of the main overlapping corner point and the slope k of the trajectory normal. The embodiments of the present invention do not impose specific limitations.

[0094] 103. If the first intersection point between the overlapping contour corner point line and the decision corner point reference line is not located on the contour edge, the collision avoidance distance of the vehicle is determined based on the overlapping corner point position, the decision corner point reference line, and the contour corner point position located on the overlapping contour corner point line.

[0095] In this embodiment of the invention, combined with Figure 3 and Figure 4The positional relationship between the contour corner overlap line l2 and the decision corner reference line l3 is such that the contour corner overlap line and the decision corner reference line are not parallel lines, meaning they intersect to obtain the first intersection point. If the first intersection point is not on the contour edge, that is, the angle between the contour corner overlap line and the decision corner reference line is small, and the slope of the decision corner reference line is the same as the trajectory normal, it indicates that the curvature of the path trajectory is large. Therefore, the collision avoidance distance of the vehicle is determined based on the overlap corner point position, the decision corner reference line, and the contour corner point position. The contour corner point position refers to the position coordinates of two corner points on the contour edge that are on the contour corner overlap line. If the contour corner overlap line overlaps and covers the contour edge of the vehicle, then the contour corner point position is the position coordinate of a corner point on the vehicle's contour. If the contour corner overlap line overlaps and covers the contour edge of an obstacle, then the contour corner point position is the position coordinate of a corner point on the obstacle's contour. Specifically, in this embodiment, the corner point refers to the point of the contour corner, such as... Figure 5 The positions of the two contour corner points Pl1 and Pl2 shown are not specifically limited in this embodiment of the invention.

[0096] It should be noted that the collision avoidance distance in this embodiment of the invention is the distance the vehicle moves from the current overlapping state to the non-overlapping state in the first coordinate system, thereby achieving collision avoidance driving.

[0097] 104. In the second coordinate system, generate a path boundary for path planning decisions based on the collision avoidance distance.

[0098] In this embodiment of the invention, after obtaining the collision avoidance distance in the first coordinate system, in order to better realize path planning decisions, the collision avoidance distance is transformed into a second coordinate system to generate a path boundary. This path boundary is then used as a constraint condition for path planning decisions and optimized. Furthermore, since the path trajectory is a road for expected travel, in order to determine whether the vehicle has lateral avoidance space during path planning decisions, the second coordinate system is a coordinate system constructed from the distance along the trajectory and the distance from the trajectory centerline, preferably the Frenrt coordinate system. After determining the collision avoidance distance, it is transformed into a Frenrt coordinate system, thereby generating a path boundary based on the collision avoidance distance in this coordinate system. This path boundary is then used for path planning decisions, improving the accuracy of path planning.

[0099] In another embodiment of the invention, for further definition and explanation, the step of determining the collision avoidance distance of the vehicle based on the overlapping corner point position, the decision corner point reference line, and the contour corner point position on the overlapping contour corner point line includes:

[0100] If the position of the primary overlapping corner point is the same as the position of the vehicle outline corner point, then a collision avoidance translation line is constructed based on the position of the primary overlapping corner point, the position of the obstacle outline corner point, and the position of the secondary overlapping corner point. The collision avoidance distance of the vehicle is determined according to the position of the primary overlapping corner point, the position of the second intersection between the collision avoidance translation line and the decision corner point reference line. The outline corner point overlapping line overlaps and covers the outline edge of the obstacle where the collision is expected to occur and the position of the obstacle outline corner point.

[0101] If the position of the primary overlapping corner point is the same as the position of the obstacle outline corner point of the obstacle, then a collision avoidance translation line is constructed based on the position of the primary overlapping corner point, the position of the vehicle outline corner point, and the position of the secondary overlapping corner point. The collision avoidance distance of the vehicle is determined according to the position of the primary overlapping corner point, the position of the second intersection between the collision avoidance translation line and the decision corner point reference line. The outline corner point overlapping line overlaps and covers the outline edge of the vehicle where the collision is expected to occur and the position of the vehicle outline corner point.

[0102] To accurately determine vehicle collision avoidance distances, the overlapping edges of the vehicle or obstacle contours covered by the constructed contour corner point overlap lines differ depending on the anticipated collision scenario. Specifically, for example... Figure 3 As shown, when a vehicle is expected to collide with an obstacle, in the area of ​​overlapping collision, the position of the main overlapping corner point is the same as the position of one of the vehicle's contour corner points, indicating that the vehicle enters the obstacle and collides. At this time, the constructed contour corner point overlap line overlaps and covers the contour edge of the obstacle where the collision is expected to occur. Furthermore, the contour corner point overlap line also overlaps and covers the contour corner point position of the obstacle, corresponding to... Figure 3 As shown in l2. Figure 4 As shown, when a vehicle is expected to collide with an obstacle, in the area of ​​overlapping collision, the position of the main overlapping corner point is the same as the position of one of the outline corner points of the obstacle, indicating that the obstacle enters the vehicle and collides with it. At this time, the constructed outline corner point overlap line overlaps and covers the outline edge of the vehicle where the collision is expected. Furthermore, the outline corner point overlap line also overlaps and covers the vehicle's outline corner point position, corresponding to... Figure 4 The l2 shown.

[0103] It should be noted that under different anticipated collision scenarios, the overlap lines of the contour corner points obtained by overlapping the contour edges of the vehicle or obstacle will be different. Collision avoidance translation lines can be constructed based on the positions of the primary overlap corner points, the vehicle contour corner points, the obstacle contour corner points, and the secondary overlap corner points. In this case, the collision avoidance translation line is used to characterize the maximum reference line for the vehicle's collision avoidance movement with the obstacle, such as... Figure 6As shown in l5. In order for the vehicle to move in the direction of the vehicle's trajectory normal during the collision avoidance movement, the straight-line distance between the second intersection point between the collision avoidance translation line and the decision corner reference line and the main overlapping corner point is used as the collision avoidance distance. This allows the vehicle to avoid collisions with obstacles after trajectory optimization based on this collision avoidance distance as a constraint.

[0104] In another embodiment of the invention, for further definition and explanation, such as Figure 7 As shown, the steps include constructing a collision avoidance translation line based on the primary overlapping corner point position, the vehicle outline corner point position or the obstacle outline corner point position, and the secondary overlapping corner point position, and determining the vehicle's collision avoidance distance based on the primary overlapping corner point position, the second intersection point between the collision avoidance translation line and the decision corner point reference line, including:

[0105] 201. Based on the vector directions of the secondary overlapping corner point position and the primary overlapping corner point position relative to the trajectory normal, select the target secondary overlapping corner point position;

[0106] 202. Construct a reference translation line based on the target secondary overlapping corner point position and the main overlapping corner point position, and construct a collision avoidance translation line based on the slope of the reference translation line and the vehicle outline corner point position or the obstacle outline corner point position;

[0107] 203. Determine the position of the second intersection point between the collision avoidance translation line and the decision corner reference line, and determine the distance between the position of the second intersection point and the position of the main overlapping corner point as the collision avoidance distance.

[0108] In this embodiment of the invention, since the position of the secondary overlapping corner point includes the position coordinates of two overlapping corner points, in order to construct a reference translation line based on a target secondary overlapping corner point position and the position of the primary overlapping corner point to obtain a collision avoidance translation line, a target secondary overlapping corner point position is selected based on the vector directions of the secondary and primary overlapping corner point positions relative to the trajectory normal. Specifically, the vector directions of the two secondary overlapping corner points are determined relative to the primary overlapping corner point position. If, at this time, the vector directions of one secondary overlapping corner point Po1 and the primary overlapping corner point position Ph relative to the trajectory normal are positive, then the other secondary overlapping corner point Po2 is selected as the target secondary overlapping corner point; that is, the position of Po2 is selected as the target secondary overlapping corner point position. Figure 6As shown, at this point, a reference translation line is constructed between the target secondary overlapping corner point position Po2 and the primary overlapping corner point position Ph. After the reference translation line l4 is constructed, a collision avoidance translation line is constructed based on the slope of this reference translation line l4 and the contour corner point position of the vehicle or obstacle. Additionally, if the vector direction of an overlapping corner point Po1 and the primary overlapping corner point position Ph relative to the trajectory normal is negative, the method of constructing the collision avoidance translation line is the opposite of the positive method; this will not be elaborated further in this embodiment.

[0109] In a specific implementation scenario, if the position of the primary overlapping corner point Ph(Phx, Phy) is the same as the position of the vehicle contour corner point, such as Figure 6 As shown, the positions of the secondary overlapping corner points are Po1(Po1x, Po1y) and Po2(Po2x, Po2y), respectively. At this time, the vector directions of Po1 and Ph relative to the trajectory normal are Proj1 = Proj(<Ph,Po1> If l3 is positive, then the target secondary overlapping corner point position Po2 and the primary overlapping corner point position Ph are selected to construct a reference translation line l4. At this time, the direction of l3 is the same as the direction of the trajectory normal. Then, based on the slope of the reference translation line l4 and one of the obstacle contour corner point positions Pl1(Pl1x, Pl1y) and Pl2(Pl2x, Pl2y), a collision avoidance translation line is constructed. Preferably, a collision avoidance translation line l5 is constructed based on the slope of the reference translation line l4 and the obstacle contour corner point position Pl1.

[0110] k_l4=(Po2y-Phy) / (Po2x-Phx), that is, l5: y=k_l4*(x-Pl1x)+Pl1y.

[0111] In a specific implementation scenario, if the position of the main overlapping corner point Ph(Phx, Phy) is the same as the position of the corner point of the obstacle outline, such as Figure 8 As shown, the positions of the secondary overlapping corner points are Po1(Po1x, Po1y) and Po2(Po2x, Po2y), respectively. At this time, the vector directions of Po1 and Ph relative to the trajectory normal are Proj1 = Proj(<Ph,Po1> If l3 is positive, then the target secondary overlapping corner point position Po1 and the primary overlapping corner point position Ph are selected to construct a reference translation line l4. At this time, the direction of l3 is the same as the direction of the trajectory normal. Then, based on the slope of the reference translation line l4 and one of the vehicle contour corner point positions Pl1(Pl1x, Pl1y) and Pl2(Pl2x, Pl2y), a collision avoidance translation line is constructed. Preferably, the collision avoidance translation line l5 is constructed based on the slope of the reference translation line l4 and the vehicle contour corner point position Pl2, that is, l5: y=k_l4*(x-Pl2x)+Pl2y.

[0112] It should be noted that, in cases such as Figure 6 With Figure 8The collision avoidance translation line l5 and the trajectory normal l3 both intersect at a second intersection point, namely Pi(Pix, Piy). To ensure complete collision avoidance during path planning, the distance between the second intersection point Pi and the main overlap corner point Ph is used to determine the collision avoidance distance, i.e., adjust_distance = ||<Pi,Ph> ||.

[0113] In another embodiment of the invention, for further definition and explanation, the step of constructing a collision avoidance translation line based on the slope of the reference translation line and the position of the vehicle outline corner point or the position of the obstacle outline corner point includes:

[0114] Based on the vector direction of the vehicle outline corner position or the obstacle outline corner position and the main overlapping corner position relative to the trajectory normal, the target vehicle outline corner position or the target obstacle outline corner position is selected, and a collision avoidance translation line is constructed according to the slope of the reference translation line and the target vehicle outline corner position or the target obstacle outline corner position.

[0115] Since the overlapping line of the contour corner points covers the contour corner points of the vehicle or obstacle, each contour corner point includes the position coordinates of two contour corner points, such as Pl1 and Pl2. Therefore, in order to accurately construct the collision avoidance translation line, specifically, based on the vector direction of the vehicle or obstacle contour corner point position and the main overlapping corner point position relative to the trajectory normal, the target vehicle contour corner point position or the target obstacle contour corner point position is selected, and the collision avoidance translation line is constructed based on the slope of the reference translation line and the target vehicle contour corner point position or the target obstacle contour corner point position.

[0116] In such Figure 6 In the example scenario where the main overlapping corner point position Ph(Phx, Phy) is the same as the vehicle outline corner point position, and the obstacle outline corner point positions are Pl1 and Pl2, then if the vector directions of Pl1 and Ph relative to the trajectory normal are Proj1' = Proj(<Ph,Pl1> If l3) is positive, then the corner point position Pl1 of the target obstacle contour is selected. Based on the slope of the reference translation line l4 and the corner point position Pl1 of the target obstacle contour, a collision avoidance translation line l5 is constructed. At this time,

[0117] l5: y=k_l4*(x-Pl1x)+P11y.

[0118] Similarly, in such Figure 8In the example scenario where the main overlapping corner point position Ph(Phx, Phy) is the same as the obstacle contour corner point position, the vehicle contour corner point positions are Pl1 and Pl2. In this case, if the vector directions of Pl1 and Ph relative to the trajectory normal are Proj1' = Proj(…<Ph,Pl1> If l3) is positive, then select the target vehicle contour corner point position P12. Based on the slope of the reference translation line l4 and the target vehicle contour corner point position Pl2, construct the collision avoidance translation line l5, l5: y=k_l4*(x-Pl2x)+P12y.

[0119] In another embodiment of the invention, for further definition and explanation, the step of determining the contour corner overlap line and the decision corner reference line based on the vehicle's trajectory normal, the overlapping corner point position, includes:

[0120] Contour corner overlap lines are constructed based on the positions of two secondary overlapping corner points among the overlapping corner point positions, and decision corner reference lines are constructed based on the slope of the trajectory normal line according to the position of the primary overlapping corner point among the overlapping corner point positions.

[0121] Since the vehicle operates autonomously according to a path trajectory, and the overlapping corner points include both primary and secondary overlapping corner point positions, in order to accurately construct such... Figure 3 , 4 The outline corner point overlap line and the decision corner point reference line shown are constructed specifically according to the positions of two secondary overlap corner points, such as l2: y2 = k2x + b2, where the latter can be calculated by combining the positions of the two secondary overlap corner points Po1(Po1x, Po1y) and Po1(Po2x, Po2y). Simultaneously, the decision corner point reference line l3 is constructed based on the primary overlap corner point position Ph(Phx, Phy) and the slope k1 of the trajectory normal, resulting in l3: y3 = k1(x - Phx) + Phy. Furthermore, the trajectory normal l1 can be represented by l1: y1 = k1x + b1, but this embodiment of the invention does not impose specific limitations.

[0122] In another embodiment of the invention, to further define and illustrate, after determining the contour corner overlap line and the decision corner reference line based on the vehicle's trajectory normal, the overlap corner position, the method further includes:

[0123] If the first intersection point between the overlapping line of the contour corner points and the reference line of the decision corner points is located on the edge of the contour, then the distance between the first intersection point and the main overlapping corner point among the overlapping corner point positions is determined as the collision avoidance distance.

[0124] In this embodiment of the invention, based on the positional relationship between the contour corner overlap line l2 and the decision corner reference line l3, it is determined that the contour corner overlap line and the decision corner reference line are two non-parallel lines, meaning they will intersect, thus obtaining the first intersection point. If the first intersection point is located on the contour edge, meaning the angle between the contour corner overlap line and the decision corner reference line is large, and the slope of the decision corner reference line is the same as the trajectory normal, it indicates that the curvature of the path trajectory is small. Therefore, the distance between the first intersection point and the main overlapping corner point position can be determined as the collision avoidance distance. Figure 5 As shown, the first intersection point Pi' (Pi'x, Pi'y) of l2 and l3 is located on the outline edge of the obstacle. Therefore, the distance between the first intersection point Pi' and the main overlapping corner point Ph (Phx, Phy) is directly calculated as the collision avoidance distance.

[0125] adjust_distance = ||<Pi’,Ph> ||.

[0126] In another embodiment of the invention, for further definition and explanation, the step of generating the path boundary for path planning decision based on the collision avoidance distance in the second coordinate system includes:

[0127] Convert the collision avoidance distance to the collision avoidance length in the second coordinate system;

[0128] Based on the lateral distance between the target trajectory point in the path trajectory under the second coordinate system and the vehicle, the collision avoidance length and the decision length are coupled to obtain the path boundary used for path planning decision.

[0129] To improve the accuracy of path planning decisions by using path boundaries as constraints, path boundaries are generated based on collision avoidance distances in a second coordinate system. Specifically, the collision avoidance distances obtained in the first coordinate system are first transformed to the second coordinate system. For example, the `adjust_daistance` obtained in the Cartesian coordinate system is transformed to the Frenet coordinate system to obtain `adjusted_daistance`. The collision avoidance length and decision length are coupled using the lateral distance between the target trajectory point and the vehicle in the second coordinate system to obtain the path boundary. Here, the target trajectory point is a trajectory point on the path trajectory. A trajectory frame can contain 20 trajectory points within 0-4 seconds. If the current trajectory point is i, then during path planning decisions, the positions of the i+1 trajectory points in the Frenet coordinate system are determined, thereby determining the lateral distance between each target trajectory point and the vehicle. This lateral distance can be determined based on the vehicle's center point as a reference position to impose lateral constraints on the vehicle relative to the path trajectory. This embodiment of the invention does not impose specific limitations. Furthermore, after determining the lateral distance *l* between the target trajectory point and the vehicle, this lateral distance is compared with the length of the obstacle. Based on the comparison result, the collision avoidance length and the decision length are coupled to obtain the path boundary as a constraint. Specifically, if the lateral distance of the (i+1)th point is less than the length of the obstacle, then `path.upper_bound = traj(i).l - adjusted_distance`; if the lateral distance of the (i+1)th point is greater than the length of the obstacle, then `path.lower_bound = traj(i).l + adjusted_distance`. Here, `traj(i).l` represents the decision length corresponding to point i, thus coupling it with the collision avoidance length `adjusted_distance` under different conditions to obtain the path boundary `path bound`. `path.upper_bound` and `path.lower_bound` are the upper and lower bounds, respectively, of the path boundary as a constraint for path planning of the next trajectory point.

[0130] In another embodiment of the invention, for further definition and explanation, such as Figure 9 As shown, before determining the expected overlapping corner point position of the collision based on the contour point positions corresponding to the vehicle and the obstacle in the path trajectory in the first coordinate system, the method further includes:

[0131] 301. In the second coordinate system, obtain the path trajectory of the vehicle in the predicted trajectory frame, and transform the path trajectory to the first coordinate system;

[0132] 302. In the first coordinate system, based on the vehicle outline of the vehicle, determine the position of the vehicle outline point at the target trajectory point in the path trajectory;

[0133] 303. In the first coordinate system, based on the perception system and / or path map, obtain the obstacle outline point position of at least one obstacle that matches the target trajectory point in the path trajectory.

[0134] To determine the path boundary in the first coordinate system and improve the accuracy of path boundary optimization, the vehicle's path trajectory in the predicted trajectory frame is first obtained in the second coordinate system, and then this path trajectory is transformed to the first coordinate system. The predicted trajectory frame may contain all path trajectory points corresponding to the current time and the next 4 seconds, preferably 20 path trajectory points, thus forming a path trajectory. In this embodiment of the invention, it can be based on std: <trajectorypoints>The TRAJ application acquires the vehicle model, determines the vehicle's path trajectory, and transforms it to a first coordinate system. Simultaneously, in conjunction with an obstacle decision-maker, based on the vehicle's outline (including length and width), it determines the vehicle outline point positions corresponding to each target trajectory point in the path trajectory within the first coordinate system. This determines the vehicle outline point positions in the first coordinate system based on the vehicle outline. At this point, the vehicle outline point positions include multiple vehicle outline edge point positions and four vehicle outline corner point positions; however, this embodiment of the invention does not impose specific limitations.

[0135] It should be noted that, since the predicted trajectory frame in this embodiment of the invention may include 20 target trajectory points, collision detection is performed on vehicles at each point. Therefore, in the first coordinate system, based on the perception system and / or path map, the obstacle contour point position of at least one obstacle matching the target trajectory point in the path trajectory is obtained, and the collision between the vehicle and the obstacle is detected based on this obstacle contour point position. The obstacle contour point position includes multiple obstacle contour edge point positions and four obstacle contour corner point positions, which are not specifically limited in this embodiment of the invention. Simultaneously, collision detection between the obstacle and the vehicle in the first coordinate system can also be performed using the HasOverlap function, which has coverage area calculation capabilities. That is, in the first coordinate system, the existence of an overlapping coverage area is calculated based on the obstacle contour point position and the vehicle contour point position to complete the collision detection. If a collision is expected at each target trajectory point, the overlapping corner point position corresponding to each target trajectory point is calculated to execute the method of steps 101-104 in this embodiment of the invention.

[0136] In another embodiment of the invention, for further definition and explanation, the step of determining the position of the vehicle outline point at the target trajectory point in the path trajectory based on the vehicle outline includes:

[0137] Calculate the heading angle of the target trajectory point in the path trajectory, and determine the position of the vehicle contour point based on the heading angle and the vehicle contour.

[0138] Since the vehicle moves along a path by controlling its center point, its position changes in real time. To accurately determine the vehicle contour point position in the first coordinate system, the heading angle of each target trajectory point is first calculated. Based on this heading angle and the vehicle contour (including its length and width), the vehicle contour point position is drawn in the first coordinate system. The vehicle contour point position includes multiple vehicle contour edge point positions and four vehicle contour corner point positions. The heading angle is based on the tangent direction of the path trajectory, i.e., heading angle: atan2(x_{i}-x_{i-1},y_{i}-y_{i-1}), i=1,...n,n=20.

[0139] In another embodiment of the invention, to further define and illustrate, before determining the contour corner overlap line and the decision corner reference line based on the vehicle's trajectory normal, the overlap corner position, the method further includes:

[0140] Obtain the center point position of the vehicle and determine the vertical direction of the path trajectory;

[0141] The trajectory normal of the vehicle is constructed based on the vertical direction and the position of the center point.

[0142] Since this embodiment of the invention involves the vehicle's center point automatically driving along a path trajectory, a trajectory normal is pre-constructed to ensure the vehicle plans its lateral distance from the path during collision avoidance. Specifically, the center point position at each target trajectory point is first obtained. At this point, geometric calculations can be performed based on the vehicle's outline in the first coordinate system; this embodiment does not impose specific limitations. Simultaneously, since the heading angle is the tangent direction of the path trajectory, a perpendicular line can be drawn based on the tangent direction of the path trajectory. The perpendicular direction is the direction of the trajectory normal. Therefore, the vehicle's trajectory normal is constructed based on this perpendicular direction passing through the center point position, such as... Figure 3 , Figure 4 In l1, the direction of the trajectory normal is towards the path trajectory, so as to determine the vector direction corresponding to projection Proj1 and projection Proj1'.

[0143] This invention provides a method for determining the boundary of a driving path. In a first coordinate system, the overlapping corner points of the expected collision are determined based on the contour point positions corresponding to the vehicle and obstacles in the path trajectory. An overlapping line of contour corner points and a decision corner point reference line are determined based on the vehicle's trajectory normal and the overlapping corner point positions. The decision corner point reference line is parallel to the trajectory normal, and the overlapping line overlaps and covers the contour edge of the vehicle or obstacle where a collision is expected. If the first intersection point between the overlapping line and the decision corner point reference line is not on the contour edge, a collision avoidance distance for the vehicle is determined based on the overlapping corner point positions, the decision corner point reference line, and the contour corner point positions on the overlapping line. In a second coordinate system, a path boundary for path planning decisions is generated based on the collision avoidance distance. This achieves the goal of optimizing planning decisions using the path boundary as a constraint, significantly reducing planning errors of the path boundary and lowering the risk of collision with obstacles when the turning radius is too large, thereby improving the accuracy of path planning decisions based on the path boundary as a constraint.

[0144] This invention provides a trajectory planning method, which includes:

[0145] The vehicle's driving path boundary is determined according to steps 101-104;

[0146] The vehicle's trajectory is determined based on the boundaries of the driving path.

[0147] In this embodiment of the invention, the vehicle's driving path boundary is determined in steps 101-104, and the driving path boundary is used as a constraint condition for path planning decision-making to obtain the vehicle's expected driving trajectory. This improves the accuracy and effectiveness of driving path planning and reduces the risk of collision with obstacles when the turning radius is too large.

[0148] Furthermore, as a response to the above Figure 1 The implementation of the method shown in this invention provides a device for determining the boundary of a driving path, as described in this embodiment. Figure 10 As shown, the device includes:

[0149] The first determining module 41 is used to determine the position of the overlapping corner point of the expected collision based on the position of the contour points corresponding to the vehicle and the obstacle in the path trajectory in the first coordinate system.

[0150] The second determining module 42 is used to determine the contour corner overlap line and the decision corner reference line based on the trajectory normal of the vehicle and the position of the overlap corner point. The decision corner reference line is parallel to the trajectory normal, and the contour corner overlap line overlaps and covers the contour edge where the vehicle or the obstacle is expected to collide.

[0151] The third determining module 43 is used to determine the collision avoidance distance of the vehicle based on the overlapping corner position, the decision corner reference line, and the contour corner position on the overlapping corner line if the first intersection point between the overlapping contour corner line and the decision corner reference line is not on the contour edge.

[0152] The generation module 44 is used to generate a path boundary for path planning decisions based on the collision avoidance distance in the second coordinate system.

[0153] Furthermore, the overlapping corner positions include at least one primary overlapping corner position and two secondary overlapping corner positions.

[0154] The third determining module is specifically used to construct a collision avoidance translation line based on the main overlapping corner point position, the obstacle contour corner point position, and the auxiliary overlapping corner point position if the main overlapping corner point position is the same as the vehicle contour corner point position of the vehicle. The module also determines the collision avoidance distance of the vehicle based on the second intersection point position between the main overlapping corner point position, the collision avoidance translation line, and the decision corner point reference line. The contour corner point overlapping line overlaps and covers the contour edge of the obstacle where the collision is expected to occur and the contour corner point position of the obstacle.

[0155] The third determining module is further configured to, if the position of the main overlapping corner point is the same as the position of the obstacle outline corner point of the obstacle, construct a collision avoidance translation line based on the position of the main overlapping corner point, the position of the vehicle outline corner point, and the position of the secondary overlapping corner point, and determine the collision avoidance distance of the vehicle based on the position of the main overlapping corner point, the position of the second intersection between the position of the main overlapping corner point, the position of the collision avoidance translation line and the position of the decision corner point reference line, wherein the outline corner point overlapping line overlaps and covers the outline edge of the vehicle where the collision is expected to occur and the position of the vehicle outline corner point.

[0156] Furthermore, the third determining module includes:

[0157] The selection unit is used to select the target secondary overlapping corner point position based on the vector direction of the secondary overlapping corner point position and the primary overlapping corner point position relative to the trajectory normal.

[0158] The construction unit is used to construct a reference translation line based on the target secondary overlapping corner point position and the main overlapping corner point position, and to construct a collision avoidance translation line based on the slope of the reference translation line and the vehicle outline corner point position or the obstacle outline corner point position.

[0159] The determining unit is used to determine the position of the second intersection point between the collision avoidance translation line and the decision corner reference line, and to determine the distance between the second intersection point position and the main overlapping corner point position as the collision avoidance distance.

[0160] Furthermore, the construction unit is specifically used to select the target vehicle outline corner position or the target obstacle outline corner position based on the vector direction of the vehicle outline corner position or the obstacle outline corner position and the main overlapping corner position relative to the trajectory normal, and to construct a collision avoidance translation line according to the slope of the reference translation line and the target vehicle outline corner position or the target obstacle outline corner position.

[0161] Furthermore, the second determining module is specifically used to construct an outline corner point overlap line according to the positions of two secondary overlapping corner points among the overlapping corner point positions, and to construct a decision corner point reference line according to the slope of the trajectory normal based on the position of the primary overlapping corner point among the overlapping corner point positions.

[0162] Furthermore, the device also includes:

[0163] The fourth determining module is used to determine the collision avoidance distance as the distance between the first intersection point and the main overlapping corner point position among the overlapping corner point positions if the first intersection point position between the overlapping line of the contour corner point and the decision corner point reference line is on the contour edge.

[0164] Furthermore, the generation module is specifically used to convert the collision avoidance distance into a collision avoidance length in the second coordinate system; based on the lateral distance between the target trajectory point in the path trajectory in the second coordinate system and the vehicle, the collision avoidance length and the decision length are coupled to obtain the path boundary for path planning decision.

[0165] Furthermore, the device also includes:

[0166] The conversion module is used to obtain the path trajectory of the vehicle in the predicted trajectory frame in the second coordinate system and convert the path trajectory to the first coordinate system.

[0167] The fifth determining module is used to determine the position of the vehicle contour point of the vehicle at the target trajectory point in the path trajectory based on the vehicle contour of the vehicle in the first coordinate system.

[0168] The first acquisition module is used to acquire, in the first coordinate system, the position of the obstacle outline point of at least one obstacle that matches the target trajectory point in the path trajectory, based on the perception system and / or the path map.

[0169] Furthermore, the fifth determining module is specifically used to calculate the heading angle of the target trajectory point in the path trajectory, and determine the vehicle outline point position of the vehicle based on the heading angle and the vehicle outline, wherein the outline point position includes the positions of the four corner points of the vehicle.

[0170] Furthermore, the device also includes:

[0171] The second acquisition module is used to acquire the center point position of the vehicle and determine the vertical direction of the path trajectory;

[0172] A construction module is used to construct the trajectory normal of the vehicle based on the vertical direction and the position of the center point.

[0173] This invention provides a device for determining the boundary of a driving path. In a first coordinate system, based on the positions of the contour points corresponding to the vehicle and obstacles in the path trajectory, the device determines the position of the overlapping corner point where a collision is expected. Based on the vehicle's trajectory normal and the overlapping corner point positions, it determines an overlapping line of the contour corner points and a decision corner point reference line. The decision corner point reference line is parallel to the trajectory normal, and the overlapping line of the contour corner points overlaps and covers the contour edge where the vehicle or obstacle is expected to collide. If the first intersection point between the overlapping line of the contour corner points and the decision corner point reference line is not on the contour edge, the device determines the collision avoidance distance of the vehicle based on the overlapping corner point position, the decision corner point reference line, and the contour corner point position on the overlapping line of the contour corner points. In a second coordinate system, based on the collision avoidance distance, a path boundary is generated for path planning decisions. This achieves the goal of optimizing planning decisions using the path boundary as a constraint, significantly reducing the planning error of the path boundary and lowering the risk of collision with obstacles when the turning radius is too large, thereby improving the accuracy of path planning decisions based on the path boundary as a constraint.

[0174] Furthermore, as an implementation of the above method, embodiments of the present invention provide a trajectory planning device, the device comprising:

[0175] A travel path boundary determination device, used to determine the travel path boundary of a vehicle; and

[0176] The driving path determination module is used to determine the driving trajectory of the vehicle based on the driving path boundary information obtained by the driving path boundary determination device.

[0177] In this embodiment of the invention, the driving path boundary is determined by the driving path boundary determination device, and this driving path boundary is used as a constraint condition for path planning decision-making to obtain the expected driving trajectory of the vehicle. This improves the accuracy and effectiveness of driving path planning and reduces the risk of collision with obstacles when the turning radius is too large.

[0178] Furthermore, as an implementation of the above method, embodiments of the present invention provide a vehicle including the aforementioned driving path boundary determination device.

[0179] Furthermore, as an implementation of the above method, embodiments of the present invention provide another vehicle, including the above-described trajectory planning device.

[0180] According to one embodiment of the present invention, a storage medium is provided, the storage medium storing at least one executable instruction, the computer-executable instruction being able to execute the driving path boundary determination method in any of the above method embodiments.

[0181] Figure 11 The diagram shows a structural schematic of a terminal according to an embodiment of the present invention. The specific implementation of the terminal is not limited by the specific embodiments of the present invention.

[0182] like Figure 11 As shown, the terminal may include: a processor 502, a communications interface 504, a memory 506, and a communications bus 508.

[0183] The processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508.

[0184] Communication interface 504 is used to communicate with other network elements such as clients or other servers.

[0185] The processor 502 is used to execute program 510, which can specifically execute the relevant steps in the above-described embodiment of the driving path boundary determination method.

[0186] Specifically, program 510 may include program code that includes computer operation instructions.

[0187] Processor 502 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The terminal may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0188] Memory 506 is used to store program 510. Memory 506 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0189] Specifically, program 510 can be used to cause processor 502 to perform the following operations:

[0190] In the first coordinate system, the overlapping corner points of the expected collision are determined based on the contour points of the vehicle and the obstacle in the path trajectory.

[0191] Based on the trajectory normal of the vehicle, the overlapping corner point position, the contour corner point overlap line and the decision corner point reference line are determined. The decision corner point reference line is parallel to the trajectory normal, and the contour corner point overlap line overlaps and covers the contour edge where the vehicle or the obstacle is expected to collide.

[0192] If the first intersection point between the overlapping contour corner point line and the decision corner point reference line is not located on the contour edge, the collision avoidance distance of the vehicle is determined based on the overlapping corner point position, the decision corner point reference line, and the contour corner point position located on the overlapping contour corner point line.

[0193] In the second coordinate system, a path boundary is generated based on the collision avoidance distance for path planning decisions.

[0194] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0195] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.< / trajectorypoints>

Claims

1. A travel path boundary determination method characterized by, The method comprises the following steps: In a first coordinate system, a position of an overlapping corner point at which a collision is expected to occur is determined according to a position of a contour point corresponding to the vehicle and the obstacle in the path trajectory; A contour corner point overlapping line is determined based on a trajectory normal line of the vehicle, the position of the overlapping corner point, and a decision corner point reference line, the decision corner point reference line being parallel to the trajectory normal line, and the contour corner point overlapping line overlapping the contour edge at which the collision is expected to occur between the vehicle and the obstacle; If a first intersection position between the contour corner point overlapping line and the decision corner point reference line is not on the contour edge, a collision avoidance distance of the vehicle is determined based on the position of the overlapping corner point, the decision corner point reference line, and a position of a contour corner point on the contour corner point overlapping line; In a second coordinate system, a path boundary for path planning decision is generated based on the collision avoidance distance; The position of the overlapping corner point includes at least one main overlapping corner point and two auxiliary overlapping corner point positions, and the determination of the collision avoidance distance of the vehicle based on the position of the overlapping corner point, the decision corner point reference line, and the position of the contour corner point on the contour corner point overlapping line comprises: If the main overlapping corner point position is the same as the vehicle contour corner point position of the vehicle, a collision avoidance translation line is constructed based on the main overlapping corner point position, an obstacle contour corner point position, and the auxiliary overlapping corner point position, and the collision avoidance distance of the vehicle is determined according to the main overlapping corner point position and a second intersection position between the collision avoidance translation line and the decision corner point reference line, the contour corner point overlapping line overlapping the contour edge at which the collision is expected to occur between the obstacle and the obstacle contour corner point position; If the main overlapping corner point position is the same as the obstacle contour corner point position of the obstacle, a collision avoidance translation line is constructed based on the main overlapping corner point position, a vehicle contour corner point position, and the auxiliary overlapping corner point position, and the collision avoidance distance of the vehicle is determined according to the main overlapping corner point position and a second intersection position between the collision avoidance translation line and the decision corner point reference line, the contour corner point overlapping line overlapping the contour edge at which the collision is expected to occur between the vehicle and the vehicle contour corner point position.

2. The method of claim 1, wherein, The construction of the collision avoidance translation line based on the main overlapping corner point position, the vehicle contour corner point position or the obstacle contour corner point position, and the auxiliary overlapping corner point position, and the determination of the collision avoidance distance of the vehicle according to the second intersection position between the main overlapping corner point position and the collision avoidance translation line and the decision corner point reference line comprise: A target auxiliary overlapping corner point position is selected based on the vector direction of the auxiliary overlapping corner point position and the main overlapping corner point position relative to the trajectory normal line; A reference translation line is constructed according to the target auxiliary overlapping corner point position and the main overlapping corner point position, and a collision avoidance translation line is constructed based on the slope of the reference translation line and the vehicle contour corner point position or the obstacle contour corner point position; A second intersection position between the collision avoidance translation line and the decision corner point reference line is determined, and a distance between the second intersection position and the main overlapping corner point position is determined as the collision avoidance distance.

3. The method of claim 2, wherein, The constructing the collision avoidance translation line based on the slope of the reference translation line and the vehicle profile corner point position or the obstacle profile corner point position comprises: selecting a target vehicle profile corner point position or a target obstacle profile corner point position based on the vector direction of the vehicle profile corner point position or the obstacle profile corner point position and the main overlap corner point position relative to the trajectory normal, and constructing the collision avoidance translation line according to the slope of the reference translation line and the target vehicle profile corner point position or the target obstacle profile corner point position.

4. The method of claim 1, wherein, The determining the profile corner point overlap line based on the trajectory normal of the vehicle and the overlap corner point position, and the decision corner point reference line comprises: constructing the profile corner point overlap line according to two auxiliary overlap corner point positions in the overlap corner point position, and constructing the decision corner point reference line according to the slope of the trajectory normal based on a main overlap corner point position in the overlap corner point position.

5. The method of claim 1, wherein, After the determining the profile corner point overlap line based on the trajectory normal of the vehicle and the overlap corner point position, and the decision corner point reference line, the method further comprises: if a first intersection position between the profile corner point overlap line and the decision corner point reference line is on the profile edge, determining a collision avoidance distance as a distance between the first intersection position and a main overlap corner point position in the overlap corner point position.

6. The method of claim 1, wherein, The generating the path boundary for path planning decision based on the collision avoidance distance in the second coordinate system comprises: converting the collision avoidance distance to a collision avoidance length in the second coordinate system; coupling the collision avoidance length and a decision length based on a lateral distance between a target trajectory point in the path trajectory in the second coordinate system and the vehicle, to obtain the path boundary for path planning decision.

7. The method of claim 1, wherein, Before the determining the overlap corner point position in which the collision is expected to occur according to the profile point positions of the vehicle and the obstacle corresponding to the profile point positions in the path trajectory in the first coordinate system, the method further comprises: acquiring the path trajectory of the vehicle in the prediction trajectory frame in the second coordinate system, and converting the path trajectory to the first coordinate system; determining a vehicle profile point position of the vehicle at the target trajectory point in the path trajectory based on a vehicle profile of the vehicle in the first coordinate system; acquiring an obstacle profile point position of at least one obstacle matching the target trajectory point in the path trajectory based on a perception system and / or a path map in the first coordinate system.

8. The method of claim 7, wherein, The determining the vehicle profile point position of the vehicle at the target trajectory point in the path trajectory based on the vehicle profile of the vehicle comprises: calculating a heading angle of the target trajectory point in the path trajectory, and determining the vehicle profile point position of the vehicle according to the heading angle and the vehicle profile, wherein the profile point position comprises four corner point positions of the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that, Before the determining the profile corner point overlap line based on the trajectory normal of the vehicle and the overlap corner point position, and the decision corner point reference line, the method further comprises: acquiring a center point position of the vehicle, and determining a vertical direction of the path trajectory; constructing the trajectory normal of the vehicle based on the vertical direction and the center point position.

10. A trajectory planning method characterized by, The method further comprises: The method of any one of claims 1-9 determines a driving path boundary of a vehicle; According to the driving path boundary, a driving trajectory of the vehicle is determined.

11. A travel path boundary determination apparatus characterized by comprising: Comprising: A first determining module is configured to determine, in a first coordinate system, a position of an overlapping corner point at which a vehicle is expected to collide with an obstacle according to positions of contour points of the vehicle and the obstacle in a path trajectory; A second determining module is configured to determine a contour corner point overlapping line based on a trajectory normal line of the vehicle, the position of the overlapping corner point, and a decision corner point reference line, the decision corner point reference line being parallel to the trajectory normal line, and the contour corner point overlapping line overlapping a contour edge of the vehicle or the obstacle at which the vehicle is expected to collide; A third determining module is configured to determine a collision avoidance distance of the vehicle based on the position of the overlapping corner point, the decision corner point reference line, and a position of a contour corner point on the contour corner point overlapping line if a first intersection position between the contour corner point overlapping line and the decision corner point reference line is not on the contour edge; A generating module is configured to generate, in a second coordinate system, a path boundary for path planning decision based on the collision avoidance distance; The position of the overlapping corner point includes at least one main overlapping corner point and two auxiliary overlapping corner points, The third determining module is specifically configured to construct a collision avoidance translation line based on the main overlapping corner point, an obstacle contour corner point position, and the auxiliary overlapping corner point positions if the main overlapping corner point is the same as a vehicle contour corner point position of the vehicle, and determine the collision avoidance distance of the vehicle according to the main overlapping corner point and a second intersection position between the collision avoidance translation line and the decision corner point reference line, the contour corner point overlapping line overlapping the contour edge of the obstacle at which the vehicle is expected to collide and the obstacle contour corner point position; The third determining module is specifically further configured to construct a collision avoidance translation line based on the main overlapping corner point, a vehicle contour corner point position, and the auxiliary overlapping corner point positions if the main overlapping corner point is the same as an obstacle contour corner point position of the obstacle, and determine the collision avoidance distance of the vehicle according to the main overlapping corner point and a second intersection position between the collision avoidance translation line and the decision corner point reference line, the contour corner point overlapping line overlapping the contour edge of the vehicle at which the vehicle is expected to collide and the vehicle contour corner point position.

12. A trajectory planning device characterized by comprising: Comprising: The driving path boundary determination apparatus of claim 11 is configured to determine a driving path boundary of a vehicle; And A driving path determination module is configured to determine a driving trajectory of the vehicle according to path boundary information obtained by the driving path boundary determination apparatus.

13. A vehicle characterized by comprising: The driving path boundary determination apparatus of claim 11 is included.

14. A vehicle characterized by comprising: The trajectory planning apparatus of claim 12 is included.

15. A storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the path boundary determination method for path planning decision of any one of claims 1-9.

16. A terminal comprising: a processor, a memory, a communication interface, and a communication bus, which are used for communication among each other through the communication bus; the memory is used for storing at least one executable instruction, which makes the processor execute the operations corresponding to the path boundary determination method for path planning decision according to any one of claims 1-9.

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