Path planning method, system, electronic equipment, and vehicle

Abstract

The present invention discloses a path planning method, system, electronic device, and vehicle. The method comprises: obtaining a reference path and multiple high-precision map paths; determining the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path; matching each high-precision map path with the reference path according to the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, to obtain a successfully matched high-precision map path; performing path planning according to the successfully matched high-precision map path and the reference path. Thus, it is possible to more accurately match the high-precision map path and the ordinary map path under heterogeneous conditions, and perform path planning.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a path planning method, system, electronic equipment, and vehicle. Background Art

[0002] With the development of intelligent driving technology for automobiles, high-precision maps have become an indispensable part of intelligent driving functions to achieve positioning, planning and control of autonomous driving, and improve driving safety.

[0003] However, due to the low coverage of high-precision maps, the paths planned by high-precision maps may be incomplete and cannot be used directly for path planning. Therefore, it is necessary to combine them with ordinary navigation electronic maps, that is, to match the paths planned by high-precision maps with the paths planned by ordinary navigation electronic maps to realize the "path planning-regulation and control" function.

[0004] At present, the matching schemes for high-precision map paths and ordinary navigation electronic map paths are both homologous matching schemes, that is, the high-precision map data and ordinary navigation map data come from the same supplier. Therefore, the optional matching schemes and corresponding prices are relatively limited. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, an object of the present invention is to propose a path planning method that can more accurately match high-precision map paths and ordinary map paths and perform path planning under heterogeneous conditions.

[0007] The second objective of the present invention is to provide a path planning system.

[0008] A third objective of the present invention is to provide an electronic device.

[0009] A fourth object of the present invention is to provide a vehicle.

[0010] To achieve the above object, a first embodiment of the present invention provides a path planning method, the method comprising:

[0011] Acquire a reference path and multiple high-precision map paths; determine the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each of the high-precision map paths; match each of the high-precision map paths with the reference path based on the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each of the high-precision map paths, to obtain a successfully matched high-precision map path; perform path planning based on the successfully matched high-precision map path and the reference path.

[0012] The path planning method of the embodiment of the present invention obtains a reference path and multiple high-precision map paths provided by any manufacturer; determines the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path; matches each high-precision map path with the reference path based on the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, and finds the high-precision map path that best matches the reference path among multiple high-precision map paths; and then performs path planning based on the successfully matched high-precision map path and the reference path, thereby achieving more accurate matching of the high-precision map path and the ordinary map path and performing path planning under heterogeneous conditions.

[0013] To achieve the above object, a second embodiment of the present invention provides a path planning system, the system comprising:

[0014] An acquisition module is used to acquire a reference path and multiple high-precision map paths; a determination module is used to determine the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each of the high-precision map paths; a matching module is used to match each of the high-precision map paths with the reference path based on the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each of the high-precision map paths, to obtain a successfully matched high-precision map path; a path planning module is used to perform path planning based on the successfully matched high-precision map path and the reference path.

[0015] The path planning system of the embodiment of the present invention obtains a reference path and multiple high-precision map paths provided by any manufacturer through an acquisition module; determines the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path through a determination module; the matching module matches each high-precision map path with the reference path based on the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, and finds the high-precision map path that best matches the reference path among multiple high-precision map paths; the path planning module then performs path planning based on the successfully matched high-precision map path and the reference path, thereby achieving more accurate matching of the high-precision map path and the ordinary map path and performing path planning under heterogeneous conditions.

[0016] To achieve the above-mentioned purpose, a third aspect of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the path planning method described above when executing the program.

[0017] To achieve the above-mentioned purpose, a fourth aspect of the present invention provides a vehicle, comprising the path planning system described in the second aspect of the present invention, or the electronic device described in the third aspect of the present invention.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a path planning method according to a first embodiment of the present invention;

[0020] Figure 2 is a flow chart of a path planning method according to a second embodiment of the present invention;

[0021] Figure 3 is a flow chart of a path planning method according to a third embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of a first observation direction and a second observation direction of a specific embodiment of the present invention;

[0023] Figure 5 is a flow chart of a path planning method according to a fourth embodiment of the present invention;

[0024] Figure 6 is a flow chart of a path planning method according to a fifth embodiment of the present invention;

[0025] Figure 7 is a schematic diagram of a reference path and a high-precision map path of a specific embodiment of the present invention;

[0026] Figure 8 is a schematic diagram of the structure of a path planning system according to an embodiment of the present invention;

[0027] Fig. 9 It is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] The path planning method, system, electronic device, and vehicle according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0030] Figure 1 FIG. 1 is a flow chart of a path planning method according to a first embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0031] Step S110: Obtain a reference path and multiple high-precision map paths.

[0032] It should be noted that the reference path is generated by the common navigation electronic map (Street Directory Map, SDMap), and the high-precision map path is generated by the high-definition map (High Definition Map, HD Map). Since the high-precision map can only generate the corresponding high-precision map path in its coverage area, the high-precision map path may be an incomplete path. In addition, the data of the common navigation electronic map and the data of the high-precision map can be provided by different suppliers.

[0033] Figure 2 FIG. 1 is a flow chart of a path planning method according to a second embodiment of the present invention. Figure 2 As shown, in some implementations, step S110 includes the following steps:

[0034] Step S210: Obtain the starting point and end point of the driving route.

[0035] Step S220: Generate multiple ordinary map paths and multiple high-precision map paths based on the starting point and the end point.

[0036] Step S230: determining a target ordinary map path autonomously selected by the driver from among a plurality of ordinary map paths, and using the target ordinary map path as a reference path.

[0037] In this embodiment, both the common navigation electronic map system and the high-precision map system can be run on electronic devices, and both the images of the common navigation electronic map and the images of the high-precision map can be displayed by the display device of the electronic device. The electronic device includes but is not limited to: mobile phones, laptop computers, PADs (tablet computers), and vehicle terminals (such as vehicle navigation terminals).

[0038] The electronic device obtains the starting point and end point of the driving route, and the starting point and end point of the driving route can be input by the driver through the electronic device. It should be noted that the starting point and end point input into the ordinary navigation electronic map are the same as the starting point and end point input into the high-precision map. After the driver enters the starting point and end point, the ordinary navigation electronic map generates multiple selectable ordinary map paths. Similarly, the high-precision map will also generate multiple selectable high-precision map paths. Multiple ordinary map paths and multiple high-precision map paths will also be displayed on the display device of the electronic device for the driver to view.

[0039] After generating multiple ordinary map paths and multiple high-precision map paths, the driver can select a target ordinary map path from the multiple ordinary map paths; after the driver selects the target ordinary map path, the target ordinary map path is obtained and used as a reference path, so that the desired high-precision map path can be selected later according to the reference path.

[0040] Step S120: Determine the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path.

[0041] After obtaining the reference path and multiple high-precision map paths, it is necessary to first determine the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path. The following introduces the determination of the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path.

[0042] Figure 3 FIG. 1 is a flow chart of a path planning method according to a third embodiment of the present invention. Figure 3 As shown, in some implementations, step S120 includes the following steps:

[0043] Step S310: Map the reference path and each high-precision map path into a pre-constructed plane coordinate system.

[0044] Step S320: Obtain the position information of the observation points of the reference path in the plane coordinate system and the position information of the corresponding observation points of each high-precision map path in the plane coordinate system.

[0045] Step S330: According to the position information corresponding to the reference path and each high-precision map path, the geometric information of the reference path and each high-precision map path is obtained respectively.

[0046] Specifically, before determining the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, the reference path and each high-precision map path can be mapped to a pre-constructed plane coordinate system. Usually, ordinary navigation electronic maps are two-dimensional maps, while high-precision maps are three-dimensional maps. Therefore, mapping the reference path and each high-precision map path to a plane coordinate system and removing the height coordinates of the three-dimensional coordinates of the high-precision map path can reduce the amount of calculation in the subsequent calculation process and improve the operation efficiency.

[0047] It should be noted that the plane coordinate system can be generated by the vehicle's control chip, and the X-axis, Y-axis and origin of the plane coordinate system can be set as needed. For example, the north direction can be used as the positive direction of the Y-axis, and the east direction can be used as the positive direction of the X-axis. The origin of the plane coordinate system can be set at the starting point of the reference path or the high-precision map path. In addition, the reference path and each high-precision map path can be mapped to the same plane coordinate system or to different plane coordinate systems.

[0048] After mapping the reference path and each high-precision map path into the plane coordinate system, the position information of the observation point of the reference path in the plane coordinate system and the position information of the observation point of each high-precision map path in the plane coordinate system are obtained.

[0049] It should be noted that multiple continuous observation points can be set on the reference path and each high-precision map path, where the number of observation points is n, and n is a natural number. And the reference path and each high-precision map path are set according to the same setting rules, that is, the observation points of the reference path correspond to the observation points of each high-precision map one by one, and the setting rules can be: setting observation points according to path length, road attributes (such as national roads, provincial roads, etc.). The reference path and each high-precision map path can be split into n-1 segments according to the set observation points, and each segment is regarded as a sub-path.

[0050] In some implementations, point information may be configured for the above-mentioned continuous observation points. For example, from the starting point to the end point of the reference path, the observation points may be numbered 1#, 2#, ... n# in sequence, and the number is the point information.

[0051] After determining the reference points of the reference path and the reference points of each high-precision map path, obtain the position information of each reference point in the plane coordinate system, where the position information may be the coordinate value of each reference point in the plane coordinate system. After obtaining the coordinate values ​​of the reference points of the reference path and the coordinate values ​​of the reference points of each high-precision map path, obtain the geometric information of the reference path and the geometric information of each high-precision map path according to the coordinate values ​​of the reference path and the coordinate values ​​of the high-precision map path.

[0052] In some implementations, the observation direction may be set in the plane coordinate system with the current observation point as the reference, and the observation direction of the current observation point observing the next observation point is taken as the first observation direction, and the observation direction of the current observation point observing the previous observation point is taken as the second observation direction.

[0053] Figure 4 Schematic diagram of the first observation direction and the second observation direction of a specific embodiment of the present invention. As an example, Figure 4 As shown, there are 5 observation points set on the reference path, which are numbered as observation point 1, observation point 2, observation point 3, observation point 4 and observation point 5 from the starting point to the end point. If the current observation point is observation point 2, the direction from observation point 2 to observation point 3 is the first observation direction, and the direction from observation point 2 to observation point 1 is the second observation direction.

[0054] In some embodiments, the geometric information includes the observation distance, observation angle, and connection relationship between observation points in a preset observation direction, wherein the preset observation direction includes a first observation direction from the current observation point to the next observation point, and a second observation direction from the current observation point to the previous observation point.

[0055] Step S330 includes determining the observation distance, direction information and connection relationship according to the position information of two adjacent observation points; and determining the observation angle according to the direction information and a preset positive direction.

[0056] Specifically, the observation distance is the straight-line distance between the observation points, and the observation distance can be calculated by the coordinate values ​​of the two observation points. Taking the first observation direction as an example, it can be calculated by the following formula:

[0057]

[0058] Where D is the observation distance, X1 is the coordinate value of the current observation point on the X-axis, X2 is the coordinate value of the next observation point on the X-axis, Y1 is the coordinate value of the current observation point on the Y-axis, and Y2 is the coordinate value of the next observation point on the Y-axis.

[0059] The observation angle is the direction of the line segment between the observation points and the angle between it and the preset positive direction. The direction information of the line segment between the two observation points can be calculated based on the coordinate values ​​of the two observation points, and then the observation angle can be determined based on the direction information and the preset positive direction. It should be noted that the preset positive direction can be set according to demand. For example, the north direction can be used as the preset positive direction. Using the preset positive direction as a reference direction can more quickly determine the required observation angle, thereby improving operating efficiency.

[0060] As an example, continue to refer to Figure 4 , the positive direction of the Y axis can be used as the preset positive direction. If the current observation point is observation point 2, the next observation point is observation point 3. The observation angle of observation point 2 in the first observation direction can be directly calculated by calculating the angle between the line segment between observation point 2 and observation point 3 and the Y axis, which is the observation angle.

[0061] The connection relationship is the relationship between observation points. For example, Figure 4 In the example, if the current observation point is observation point 2, observation point 3 is the next observation point, and observation point 1 is the previous observation point, it can be considered that observation point 2 has a connection relationship with observation point 3, and observation point 2 has a connection relationship with observation point 1.

[0062] Step S130: According to the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, each high-precision map path is matched with the reference path to obtain a successfully matched high-precision map path.

[0063] After obtaining the geometric information of the reference path and the geometric information of each high-precision map path, the geometric information and attribute information of each observation point of the reference path are compared and matched with the geometric information and attribute information of each observation point of each high-precision map path in the order of the observation points.

[0064] Figure 5 FIG. 4 is a flow chart of a path planning method according to a fourth embodiment of the present invention. Figure 5 As shown, in some embodiments, step S130 includes the following steps:

[0065] Step S510: Determine the degree of match between each high-precision map path and the reference path based on the geometric information and attribute information of the reference path and the geometric information and attribute information of each high-precision map path.

[0066] Step S520: Determine, among all the high-precision map paths, a high-precision map path with the highest matching degree with the reference path, and use the high-precision map path as the high-precision map path that has successfully matched.

[0067] It should be noted that the attribute information includes road types (such as national highways, provincial highways, viaducts, etc.). Usually, ordinary navigation electronic maps and high-precision maps will obtain Road Class information (road safety information) and Form Way information (map road network information) for each road, and the required road type can be obtained from the Road Class information and Form Way information.

[0068] Specifically, the geometric information and attribute information of the observation points of the reference path are compared with the geometric information and attribute information of the observation points of each HD map path in the order of the observation points. The Viterbi algorithm can be used to calculate the matching degree of each HD map path relative to the reference path; after obtaining the matching degree of each HD map path, the matching degree of each HD map path is compared, and the HD map path with the highest matching degree is selected, which is the HD map path that has been successfully matched.

[0069] As an example, the high-precision map generates three high-precision map paths, which are recorded as path 1, path 2 and path 3. After determining the geometric information and attribute information of the three high-precision map paths, as well as the geometric information and attribute information of the reference path, the Viterbi algorithm is used to calculate the matching degree of the three high-precision map paths relative to the reference path; the matching degrees of the three high-precision map paths are 80%, 100% and 70% respectively, and path 2 is used as the high-precision map path that successfully matches the reference path.

[0070] Step S140: Perform path planning based on the successfully matched high-precision map path and the reference path.

[0071] After obtaining a successfully matched high-precision map path, during the driving process, when the vehicle's control system recognizes that the vehicle's current location is in the high-precision map coverage area (i.e., a high-precision map path is generated), the vehicle's control system can control the vehicle to start the intelligent driving function (i.e., automatic driving) and make the vehicle drive according to the successfully matched high-precision map path. When the vehicle's control system recognizes that the vehicle is about to leave the high-precision map coverage area (i.e., no high-precision map path is generated), the vehicle's control system controls the vehicle to turn off the intelligent driving function, and can control the vehicle's prompt device to prompt the driver that the intelligent driving function has been turned off, so that the driver can drive manually according to the reference path in time.

[0072] Therefore, when the ordinary navigation electronic map and the high-precision map are of different sources, accurate matching of the path planned by the ordinary navigation electronic map and the path planned by the high-precision map is achieved, so that the vehicle can travel according to the matched high-precision map path and ordinary map path, and control the opening and closing of the vehicle's intelligent driving function, thereby improving the intelligence of the vehicle.

[0073] Figure 6 FIG. 5 is a flow chart of a path planning method according to a fifth embodiment of the present invention. Figure 6 As shown, in some embodiments, before step S140, the method further includes the following steps:

[0074] Step S610: traverse the pre-built pre-matching library.

[0075] Step S620: When a target high-precision map path matching the reference path is stored in the pre-matching library, path planning is performed according to the target high-precision map path and the reference path.

[0076] Since the accuracy of ordinary navigation electronic maps and high-precision maps may be different, the coordinates of ordinary navigation electronic maps and high-precision maps may be different, which may affect the matching results of high-precision map paths and reference paths. In this embodiment, a pre-matching library is pre-built, which stores some manually matched high-precision map paths and corresponding reference paths. These manually matched paths are paths that are prone to matching errors.

[0077] As an example, see Figure 7, where Figure a is a schematic diagram of the reference path in a plane coordinate system, Figure b is a schematic diagram of a high-precision map road network and two high-precision map paths (path 1 and path 2) in a plane coordinate system, and Figure c is a schematic diagram of mapping the reference path to the high-precision map road network in Figure b. Wherein, the attribute information of path 1 and path 2 is the same, the reference path includes observation point A and observation point B, path 1 includes observation point A and observation point B1, and path 2 includes observation point A and observation point B2. As can be seen from Figure c, when the reference path is mapped in the high-precision map road network, the reference path between observation point A and observation point B is located between path 1 and path 2; and the matching degree between the geometric information of path 1 at observation point A and the geometric information of the reference path at observation point A is the same as the matching degree between the geometric information of path 2 at observation point A and the geometric information of the reference path at observation point A. Therefore, it is impossible to determine whether to select path 1 or path 2 from the geometric information and attribute information. When this happens, manual matching can be performed to select a high-precision map path that best matches the reference path.

[0078] After obtaining a high-precision map path that successfully matches the reference path, the pre-matching library can be traversed to check whether the pre-matching library stores a target high-precision map path that matches the reference path; if the pre-matching library stores a corresponding target high-precision map path, the target high-precision map path in the pre-matching library is used for path planning; if the pre-matching library does not store a corresponding target high-precision map path, the successfully matched high-precision map path is used for path planning.

[0079] As an example, when the driver inputs the starting point and end point of the driving route, the high-precision map generates 10 high-precision map paths, which are recorded as paths 1 to 10 respectively. Through the above-mentioned path planning method, the high-precision map path that successfully matches the reference path is path 1; and the high-precision map path stored in the pre-matching library that matches the reference path is path 5, then path 5 and the reference path are used for path planning, that is, the vehicle is controlled to travel according to path 5 and the reference path.

[0080] Therefore, by manually matching the error-prone roads and storing the matching results in a pre-matching library, the correct high-precision map path can be retrieved for subsequent path planning, thereby further improving the accuracy of matching the path planned by the ordinary navigation electronic map with the path planned by the high-precision map.

[0081] Figure 8 It is a schematic diagram of the structure of a path planning system according to an embodiment of the present invention.

[0082] like Figure 8As shown, the system 800 includes an acquisition module 810 for acquiring a reference path and multiple high-precision map paths, a determination module 820 for determining geometric information and attribute information of the reference path, as well as geometric information and attribute information of each high-precision map path, a matching module 830 for matching each high-precision map path with the reference path to obtain a successfully matched high-precision map path, and a path planning module 840 for performing path planning based on the successfully matched high-precision map path and the reference path.

[0083] The matching module 830 matches each high-precision map path with the reference path according to the geometric information and attribute information of the reference path and the geometric information and attribute information of each high-precision map path.

[0084] Thus, the reference path and multiple high-precision map paths provided by any manufacturer are acquired through the acquisition module 810; the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path are determined through the determination module 820; the matching module 830 matches each high-precision map path with the reference path according to the geometric information and attribute information of the reference path, as well as the geometric information and attribute information of each high-precision map path, and finds the high-precision map path that best matches the reference path among multiple high-precision map paths; the path planning module 840 then performs path planning based on the successfully matched high-precision map path and the reference path, thereby achieving more accurate matching of the high-precision map path and the ordinary map path and performing path planning under heterogeneous conditions.

[0085] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0086] Fig. 9 It is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0087] like Fig. 9 As shown, Fig. 9 The electronic device 900 shown includes: a processor 901 and a memory 903. The processor 901 and the memory 903 are connected, such as through a bus 902. Optionally, the electronic device 900 may also include a transceiver 904. It should be noted that in actual applications, the transceiver 904 is not limited to one, and the structure of the electronic device 900 does not constitute a limitation on the embodiments of the present invention.

[0088] Processor 901 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 901 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0089] The bus 902 may include a path to transmit information between the above components. The bus 902 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 902 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0090] The memory 903 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0091] The memory 903 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 901. The processor 901 is used to execute the application code stored in the memory 903 to implement the content shown in the above method embodiment.

[0092] Among them, the electronic device 900 includes but is not limited to: mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The electronic device 900 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0093] In order to implement the above embodiments, the present invention further proposes a vehicle, which includes the path planning system proposed in the above embodiments, or the electronic device proposed in the above embodiments.

[0094] In addition, it should be noted that other structures and functions of the vehicle in the embodiment of the present invention are known to those skilled in the art and will not be described in detail here to reduce redundancy.

[0095] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0096] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0098] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0100] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0102] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A path planning method, characterized in that: include: Obtain reference paths and multiple high-precision map paths; Determine the geometric information and attribute information of the reference path, and the geometric information and attribute information of each of the high-precision map paths; According to the geometric information and attribute information of the reference path, and the geometric information and attribute information of each high-precision map path, each high-precision map path is matched with the reference path to obtain a successfully matched high-precision map path; Performing path planning according to the successfully matched high-precision map path and the reference path; The determining of the geometric information and attribute information of the reference path, and the geometric information and attribute information of each high-precision map path, includes: Mapping the reference path and each of the high-precision map paths into a pre-constructed plane coordinate system; Obtaining the position information of the observation points of the reference path in the plane coordinate system and the position information of the corresponding observation points of each high-precision map path in the plane coordinate system; According to the position information corresponding to the reference path and each of the high-precision map paths, the geometric information of the reference path and each of the high-precision map paths is obtained respectively.

2. The path planning method according to claim 1, characterized in that: The obtaining of the reference path and the plurality of high-precision map paths includes: Get the starting point and end point of the driving route; Generate multiple common map paths and multiple high-precision map paths according to the starting point and the end point; A target ordinary map path autonomously selected by the driver from among the plurality of ordinary map paths is determined, and the target ordinary map path is used as the reference path.

3. The path planning method according to claim 1, characterized in that: The geometric information includes the observation distance, observation angle and connection relationship between observation points in a preset observation direction, wherein: The obtaining the geometric information of the reference path and each of the high-precision map paths according to the position information corresponding to the reference path and each of the high-precision map paths includes: Determine the observation distance, direction information and connection relationship according to the position information of two adjacent observation points; The observation angle is determined according to the direction information and a preset positive direction.

4. The path planning method according to claim 3, characterized in that: The preset observation direction includes a first observation direction for observing a next observation point from a current observation point, and a second observation direction for observing a previous observation point from the current observation point.

5. The path planning method according to claim 1, characterized in that: According to the geometric information and attribute information of the reference path, and the geometric information and attribute information of each high-precision map path, each high-precision map path is matched with the reference path to obtain a successfully matched high-precision map path, including: Determining the degree of match between each high-precision map path and the reference path according to the geometric information and attribute information of the reference path and the geometric information and attribute information of each high-precision map path; Among all the high-precision map paths, determine the high-precision map path with the highest matching degree with the reference path, and use the high-precision map path as the high-precision map path that has successfully matched.

6. The path planning method according to any one of claims 1 to 5, characterized in that: Before performing path planning according to the successfully matched high-precision map path and the reference path, the method further includes: Go through the pre-built pre-matching library; When a target high-precision map path matching the reference path is stored in the pre-matching library, path planning is performed according to the target high-precision map path and the reference path.

7. A path planning system, characterized in that: include: An acquisition module is used to obtain a reference path and multiple high-precision map paths; A determination module, used to determine the geometric information and attribute information of the reference path, and the geometric information and attribute information of each high-precision map path; A matching module, configured to match each high-precision map path with the reference path according to the geometric information and attribute information of the reference path and the geometric information and attribute information of each high-precision map path, so as to obtain a successfully matched high-precision map path; A path planning module, used for performing path planning according to the successfully matched high-precision map path and the reference path; The determining of the geometric information and attribute information of the reference path, and the geometric information and attribute information of each high-precision map path, includes: Mapping the reference path and each of the high-precision map paths into a pre-constructed plane coordinate system; Obtaining the position information of the observation points of the reference path in the plane coordinate system and the position information of the corresponding observation points of each high-precision map path in the plane coordinate system; According to the position information corresponding to the reference path and each of the high-precision map paths, the geometric information of the reference path and each of the high-precision map paths is obtained respectively.

8. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A vehicle, comprising the path planning system according to claim 7, or the electronic device according to claim 8.

Images