Vehicle driving path planning method, device and equipment and computer storage medium

Abstract

The application discloses a vehicle driving path planning method, device and equipment and a computer storage medium. The vehicle driving path planning method comprises the following steps: acquiring boundary information in a vehicle driving environment; planning a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, wherein the reference trajectory comprises N first trajectory points, each first trajectory point is associated with a curvature and a slope on the reference trajectory, N is an integer greater than 1; in the case that there is at least one second trajectory point in the N first trajectory points, determining a target trajectory point from the at least one second trajectory point, and planning a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point; wherein the second trajectory point is a first trajectory point whose associated curvature is greater than a curvature threshold. The embodiment of the application is helpful to avoid the situation that the vehicle cannot turn after driving along the reference trajectory to the target trajectory point, and ensures the reliability of vehicle driving.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle driving path planning method, device, equipment and computer storage medium. BACKGROUND

[0002] It is known that some vehicles have the need to drive along the edge. For example, a sweeper vehicle can need to drive along the edge to clean the edge area or railings.

[0003] In the prior art, when a vehicle drives along the edge, the driving path is usually planned directly based on the detected boundary of the road. However, in the case where there are obstacles in the road, the vehicle is difficult to reliably drive along the planned driving path due to the limitation of the turning ability of the vehicle. SUMMARY

[0004] The embodiments of the present application provide a vehicle driving path planning method, device, equipment and computer storage medium to solve the problem that the vehicle is difficult to reliably drive along the planned driving path in the prior art.

[0005] In a first aspect, the embodiments of the present application provide a vehicle driving path planning method, and the method comprises:

[0006] obtaining boundary information in a vehicle driving environment;

[0007] planning a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory comprising N first trajectory points, each first trajectory point being associated with a curvature and a slope on the reference trajectory, N being an integer greater than 1;

[0008] in the case where there is at least one second trajectory point in the N first trajectory points, determining a target trajectory point from the at least one second trajectory point, and planning a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point;

[0009] wherein the second trajectory point is a first trajectory point associated with a curvature greater than a curvature threshold.

[0010] In a second aspect, the embodiments of the present application provide a vehicle driving path planning device, and the device comprises:

[0011] an obtaining module configured to obtain boundary information in a vehicle driving environment;

[0012] a first planning module configured to plan a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory comprising N first trajectory points, each first trajectory point being associated with a curvature and a slope on the reference trajectory, N being an integer greater than 1;

[0013] determining a target trajectory point from the at least one second trajectory point, and planning a target driving path of the vehicle to the target trajectory point according to a slope associated with the target trajectory point;

[0014] wherein the second trajectory point is the first trajectory point associated with a curvature greater than a curvature threshold.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, which comprises a processor and a memory storing computer program instructions;

[0016] The processor executes the computer program instructions to implement the vehicle driving path planning method shown in the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the vehicle driving path planning method shown in the first aspect.

[0018] The vehicle driving path planning method, device, equipment and computer storage medium provided by the embodiments of the present application obtain boundary information in a vehicle driving environment, plan a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory can comprise a plurality of first trajectory points, each first trajectory point is associated with a curvature on the reference trajectory, in the case that there is a second trajectory point with a curvature greater than a curvature threshold among the first trajectory points, a target trajectory point is determined from the second trajectory point, and a target driving path of the vehicle to the target trajectory point is planned according to a slope associated with the target trajectory point. The embodiments of the present application consider the target trajectory point that can cause the vehicle to exceed the steering capability in the reference trajectory, and plan the target driving path of the vehicle to the target trajectory point, which helps to avoid the situation that the vehicle cannot steer after driving along the reference trajectory to the target trajectory point, and ensures the reliability of the vehicle driving. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced, and other drawings can be obtained by those of ordinary skill in the art without creative labor on the premise of not paying creative labor.

[0020] Figure 1 is a flowchart of the vehicle driving path planning method provided by the embodiments of the present application;

[0021] Figure 2 is a schematic diagram of a vehicle body coordinate system;

[0022] Figure 3 is an example diagram of planning a target driving path;

[0023] Figure 4 is another example diagram of planning a target driving path;

[0024] Figure 5 is still another example diagram of planning a target driving path;

[0025] Figure 6 is a structural schematic diagram of a vehicle driving path planning apparatus provided by an embodiment of the present application;

[0026] Figure 7 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0028] It should be noted that, in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0029] In order to solve the problems in the prior art, the embodiments of the present application provide a vehicle driving path planning method, device, equipment and computer storage medium. First, the vehicle driving path planning method provided by the embodiments of the present application will be introduced.

[0030] Figure 1 The flowchart of the vehicle driving path planning method provided by an embodiment of the present application is shown. As shown in Figure 1 , the method comprises:

[0031] Step 101, obtaining boundary information in a vehicle driving environment;

[0032] Step 102: Based on the boundary information, plan the reference trajectory of the vehicle in the preset coordinate system. The reference trajectory includes N first trajectory points, each of which is associated with the curvature and slope on the reference trajectory, where N is an integer greater than 1.

[0033] Step 103: If there is at least one second trajectory point among the N first trajectory points, determine the target trajectory point from the at least one second trajectory point, and plan the target driving path from the vehicle to the target trajectory point based on the slope associated with the target trajectory point.

[0034] The second trajectory point is the first trajectory point associated with a curvature greater than the curvature threshold.

[0035] The vehicle driving path planning method provided in this application embodiment can be applied to vehicles that need to drive close to the edge, such as sweeping vehicles that need to clean the edge area of ​​the road or road railings, or ordinary autonomous vehicles that can meet the needs of low-speed driving by driving close to the edge.

[0036] Vehicles can be equipped with various types of sensors, such as lidar or cameras. Based on the data collected by these sensors, boundary information in the vehicle's driving environment can be obtained.

[0037] For example, vehicles can process images captured by cameras to obtain boundary information of curbs or obstacles in the road. Alternatively, vehicles can extract boundary information of curbs or obstacles by extracting point cloud features from point cloud data collected by LiDAR.

[0038] The specific process of obtaining boundary information from image or point cloud data can be implemented using existing technologies, and will not be elaborated here.

[0039] In addition, in practical applications, the boundary information mentioned above can also be obtained by combining data collected from multiple sensors.

[0040] In step 102, the reference trajectory of the vehicle can be planned in the preset coordinate system based on the boundary information.

[0041] In this embodiment, the preset coordinate system can be a vehicle coordinate system or a geodetic coordinate system, etc., and no specific limitation is made here. For the sake of simplicity, the following explanation will mainly use the vehicle coordinate system as the preset coordinate system.

[0042] like Figure 2 As shown, Figure 2A schematic diagram of the vehicle body coordinate system is shown in FIG. 1. The origin O of the vehicle body coordinate system can be the midpoint of the head of the vehicle body, or the position of the inertial measurement unit of the vehicle, etc., which can be determined according to actual needs. The direction of the X-axis of the vehicle body coordinate system can be consistent with the length direction of the vehicle body, and the positive axis of the X-axis points to the front of the vehicle body; the direction of the Y-axis can be consistent with the width direction of the vehicle body, and the positive axis of the Y-axis points to the left side of the vehicle body; and the direction of the Z-axis can correspond to the up-down direction of the vehicle body, and the positive axis of the Z-axis points to the top of the vehicle body.

[0043] Based on the boundary information, the specific positions of the boundaries of objects such as road edges, railings or obstacles in the vehicle body coordinate system can be determined, which can provide a reference for the driving path of the vehicle. In other words, according to the boundary information, the reference trajectory of the vehicle in the preset coordinate system can be planned.

[0044] For example, when the vehicle is driving, there can be a certain distance between the vehicle and the above-mentioned boundaries, and the vehicle itself also has a certain width, so in the vehicle body coordinate system, the reference trajectory of the vehicle can be obtained by offsetting each boundary in the direction away from the corresponding object by a preset distance.

[0045] It is easy to understand that when the reference trajectory is relatively smooth, the vehicle can directly drive along the reference trajectory. For example, the reference trajectory is obtained by offsetting the boundary of the straightly extended road edge, at this time, the vehicle can directly drive along the reference trajectory without turning.

[0046] In some application scenarios, the reference trajectory can also have a relatively large change in the extension direction. For example, when there is an obstacle in front of the vehicle, there can be a large directional change between the boundary of the obstacle and the boundary of the road edge; or there can be a large directional change between the boundaries of the obstacle itself; or when the vehicle drives to a right-angle bend of the road, the boundary of the road edge can also have a large directional change. The reference trajectory can be obtained by offsetting each boundary, therefore, the directional change between the boundaries can represent the change in the extension direction of the reference trajectory. In order to simplify the description, the position where the extension direction of the reference trajectory has a large change can be referred to as a turning point.

[0047] Taking the case where there is an obstacle in front of the vehicle as an example, due to the limitation of the turning ability of the vehicle, if the vehicle drives to the turning point along the reference trajectory, the vehicle can be unable to turn around to pass by the obstacle when the vehicle reaches a position too close to the obstacle.

[0048] In this embodiment, the inflection point in the reference trajectory can be determined based on the curvature. Specifically, the reference trajectory can include N first reference trajectory points, each of which is associated with a curvature on the reference trajectory. When the curvature associated with a certain first reference trajectory point is large, it indicates that the extension direction of the reference trajectory at the first reference trajectory point has changed greatly, and the first reference trajectory point can be considered as an inflection point.

[0049] It is easy to understand that the reference trajectory can include a plurality of first reference trajectory points. For example, based on the obtained reference trajectory, a plurality of first reference trajectory points can be obtained by sampling the reference trajectory at a predetermined distance; or, due to the influence of the sampling frequency of the sensor, the reference trajectory itself is composed of a plurality of first reference trajectory points.

[0050] Each first reference trajectory point can be associated with a curvature on the reference trajectory. Generally, the reference trajectory can be considered as being formed by connecting a plurality of straight lines or curves. For a straight line, its curvature can be considered as equal to 0; for a curve, the curvature of each point on the curve can be determined according to the fitted curve equation. Therefore, the curvature associated with each first reference trajectory point on the reference trajectory can be determined.

[0051] Of course, in some feasible embodiments, a circle can also be fitted for the three first reference points on the reference trajectory in succession, and the curvature of the obtained circle can be taken as the curvature associated with one of the first reference points. When the three first reference points in succession are located on the same straight line, the curvature of the fitted circle can be considered as 0.

[0052] In step 103, when there is at least one second trajectory point in the N first trajectory points, a target trajectory point is determined from the at least one second trajectory point.

[0053] The second trajectory point can be a first trajectory point associated with a curvature greater than a curvature threshold. It is easy to understand that when a vehicle travels along a curve, the greater the curvature of the curve, the greater the steering angle required by the vehicle; and the steering ability of the vehicle is usually limited, and when the curvature of the curve is greater than a certain value, it will cause the steering ability of the vehicle to be exceeded, so that the vehicle cannot travel along the curve.

[0054] Therefore, the curvature threshold described above can be determined considering the steering ability of the vehicle. In some embodiments, the curvature threshold can be equal to the inverse of the minimum turning radius of the vehicle; of course, in other embodiments, considering factors such as the stability or reliability of the vehicle steering, the curvature threshold can also be less than the inverse of the minimum turning radius of the vehicle.

[0055] When there is at least one second trajectory point, a target trajectory point can be determined therefrom.

[0056] For example, the second trajectory points can be determined as the target trajectory points one by one. In another aspect, it can be described as trying to plan a driving path for the vehicle to drive to each second planning point, and if a reasonable driving path can be planned, the planned driving path can be determined as the target driving path. It is easy to understand that the reasonable driving path mentioned here can be considered as a driving path that meets the steering ability of the vehicle to some extent.

[0057] In another example, the target trajectory point can also be determined according to the position distribution of each second trajectory point. For example, the second trajectory points can be traversed along the reference trajectory in the direction away from the vehicle, and the second trajectory point farthest away can be determined as the target trajectory point. Alternatively, the second trajectory point with the largest lateral offset relative to the vehicle in the width direction of the vehicle (i.e., the Y-axis direction) can be determined as the target trajectory point, and so on. Of course, in addition to determining the target trajectory point according to the distance of the second trajectory point from the vehicle along the reference trajectory, the lateral offset, and the orientation of the second trajectory point relative to the vehicle in the Y-axis direction, the target trajectory point can also be determined according to other conditions, which will not be described one by one here.

[0058] In yet another example, obstacles in the driving environment of the vehicle can also be detected, second trajectory points associated with the obstacles can be obtained, and the second trajectory points associated with the obstacles can be determined as the target trajectory points, and so on.

[0059] As for the specific way of planning the target driving path of the vehicle to the target trajectory point, the planning of the driving path can be performed by connecting the vehicle and the target trajectory point with one or more circular arc paths. In general, this planning method can also be referred to as single-double circle method.

[0060] Of course, in actual applications, a hybrid A-star planning algorithm can also be used to plan the target driving path, and so on.

[0061] During the planning of the target driving path of the vehicle to the target trajectory point, the slope associated with the target trajectory point can be used as a constraint condition. For example, when the vehicle drives along the target driving path to reach the target trajectory point, the heading angle of the vehicle can be equal to the angle corresponding to the slope, or the heading angle can be located within the angle interval determined according to the slope, and so on.

[0062] As for the way of obtaining the slope associated with each first trajectory point, the slope of the fitting curve of the reference trajectory at each first trajectory point can be calculated, or the slope of the line connecting a certain first trajectory point and the first trajectory point adjacent thereto in the preset coordinate system can be determined as the slope associated therewith, which will not be described one by one here.

[0063] The vehicle driving path planning method provided in the embodiments of the present application obtains boundary information in a vehicle driving environment, plans a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory can include a plurality of first trajectory points, each first trajectory point is associated with a curvature on the reference trajectory, in the case that there is a second trajectory point with a curvature greater than a curvature threshold among the first trajectory points, a target trajectory point is determined from the second trajectory points, and a target driving path of the vehicle to the target trajectory point is further planned according to the slope associated with the target trajectory point. The embodiments consider the target trajectory point that can cause the vehicle to exceed the steering capability in the reference trajectory, and plan the target driving path of the vehicle to the target trajectory point, which helps to avoid the situation that the vehicle cannot steer after driving along the reference trajectory to the target trajectory point, and ensures the reliability of the vehicle driving.

[0064] Optionally, the step 103 of determining the target trajectory point from the at least one second trajectory point and planning the target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point includes:

[0065] determining the at least one second trajectory point as the target trajectory point one by one;

[0066] in the case that the ith second trajectory point is determined as the target trajectory point and the driving path of the vehicle to the target trajectory point is planned, the planned driving path is taken as the target driving path, i is a positive integer.

[0067] As shown in Figure 3 , when there is an obstacle in front of the driving direction of the vehicle, there can be a plurality of inflection points in the corresponding reference trajectory, that is, the above-mentioned second trajectory points.

[0068] One of the second trajectory points can be located at the transition position of the road edge and the obstacle, denoted as inflection point G1, and the other second trajectory point can be located at the left rear corner position of the obstacle, denoted as inflection point G2.

[0069] In the embodiments, the inflection points G1 and G2 can be determined as the target trajectory point one by one.

[0070] For example, the inflection point G1 can be determined as the target trajectory point first, and the target driving path of the vehicle to the inflection point G1 is planned.

[0071] As shown above, the slope associated with the inflection point G1 can be taken as a constraint condition in path planning, and under the limitation of the constraint condition, the target driving path that meets the steering capability of the vehicle can not be planned.

[0072] Therefore, the process of planning the target driving path from the vehicle to the inflection point G1 can actually be considered as an attempt to plan the driving path from the vehicle to the inflection point G1. When the attempt fails, the planning result may indicate that the target driving path cannot be planned.

[0073] When the planned target driving path fails to be determined for inflection point G1, the inflection point G2 can be further determined as the target trajectory point by following the logic of determining the target trajectory points one by one.

[0074] like Figure 3 As shown, when inflection point G2 is determined as the target trajectory point, two arc-shaped paths can be used to ensure that the heading angle of the vehicle when it reaches inflection point G2 matches the slope associated with inflection point G2. This matching relationship can correspond to the heading angle being equal to the angle corresponding to the slope, or the heading angle being within the angle range determined by the slope, etc., which will be explained in detail below.

[0075] In other words, even under the constraint of the slope associated with inflection point G2, it is still possible to successfully plan the vehicle's driving path to inflection point G2. This successfully planned driving path can be used as a target driving path to guide the vehicle's movement.

[0076] In this embodiment, under the constraint of the slope associated with each second trajectory point, the driving path from the vehicle to each second trajectory point can be planned. On the one hand, this can avoid the situation where the vehicle deviates from the road boundary or collides with the boundary due to the limitation of steering ability when driving to the second trajectory point according to the reference trajectory. On the other hand, it can also ensure that the vehicle has a more reasonable driving direction when driving to the second trajectory point according to the target driving path, so as to meet the requirement of driving close to the edge.

[0077] Meanwhile, in this embodiment, it is not necessary to obtain the location information of obstacles in the vehicle's driving environment. The target driving path of the vehicle can be determined directly by planning the driving path of the vehicle to each second trajectory point one by one, which helps to reduce the computing power consumption caused by obstacle recognition.

[0078] In one example, the second trajectory points on the reference trajectory can be identified one by one as target trajectory points in the direction away from the vehicle. In this way, the vehicle can track the boundary with a small deviation from the trajectory when encountering irregular road boundaries. In other words, it can make the vehicle drive as close to the edge as possible.

[0079] In some application scenarios, when planning a target driving path, obstacles in the vehicle's driving environment can be detected first, so that the first trajectory point associated with the obstacle is known.

[0080] On this basis, in an optional embodiment, in the case that there is at least one second trajectory point in the N first trajectory points in the step 103, the target trajectory point is determined from the at least one second trajectory point, comprising:

[0081] In the case that the obstacle is detected in the vehicle driving environment, the first trajectory is determined from the reference trajectory, the first trajectory is a reference trajectory planned according to the boundary information of the obstacle, and the first trajectory includes M first trajectory points, M being a positive integer less than or equal to N;

[0082] In the case that there is a second trajectory point in the M first trajectory points, the second trajectory point in the M first trajectory points is determined as the target trajectory point

[0083] It is easy to understand that in the case that the obstacle in the vehicle driving environment is known, the boundary information of the obstacle can be determined accordingly.

[0084] As indicated above, in some examples, the reference trajectory can be obtained by offsetting the boundary, and therefore, in the case that the boundary information of the obstacle is determined, the trajectory after offsetting the boundary of the obstacle can also be determined.

[0085] It is easy to understand that the trajectory obtained by offsetting the boundary of the obstacle can correspond to the first trajectory described above, which can be a component of the reference trajectory described above.

[0086] In some cases, the first trajectory can correspond to a complete reference trajectory; while in other cases, there can also be a trajectory (referred to as a second trajectory) determined according to the road edge or the like in the reference trajectory, at this time, the first trajectory can correspond to part of the reference trajectory. In general, the first trajectory is a reference trajectory planned according to the boundary information of the obstacle.

[0087] As indicated above, the reference trajectory includes N first trajectory points, and in the case that the obstacle is known in the embodiment, the second trajectory point can be queried from the first trajectory point on the first trajectory. The first trajectory point on the first trajectory corresponds to the M first trajectory points described above, and it is easy to understand that the M first trajectory points can be all or part of the N first trajectory points described above.

[0088] Each first trajectory point on the first trajectory can be associated with a slope, and the curvatures associated with each first trajectory point on the first trajectory are compared with a curvature threshold to determine whether it is a second trajectory point. When there is a second trajectory point on the first trajectory, the second trajectory point located on the first trajectory can be determined as the target trajectory point.

[0089] For the sake of simplicity, the second trajectory point determined from the M first trajectory points included in the first trajectory can be referred to as a second trajectory point associated with the obstacle.

[0090] In combination Figure 3 The inflection point G1 is actually a second trajectory point on the second trajectory (for example, a trajectory determined according to a road edge or the like); or the inflection point G1 needs to be determined in combination with the positional relationship between the first trajectory and the second trajectory, and the inflection point G1 can be considered not to be associated with the obstacle, and thus can not be determined as the target trajectory point. The inflection point G2 is a second trajectory point associated with the obstacle, and thus can be determined as the target trajectory point, and then the target driving path of the vehicle to the inflection point G2 is planned.

[0091] In this embodiment, the second trajectory point associated with the obstacle is determined as the target trajectory point to plan the target driving path, which can enable the vehicle to take a shorter detour trajectory to detour in the case of encountering an obstacle, and improve the reliability of close-to-edge driving.

[0092] In addition, in this embodiment, the vehicle driving path to the target trajectory point can be planned without determining each second trajectory point as the target trajectory point one by one, thereby saving the calculation power consumption caused by multiple trajectory planning.

[0093] In combination with some practical application scenarios, in an automatic driving vehicle such as a cleaning vehicle, a camera or a laser radar or the like can be provided to identify the obstacles in the road. These obstacle identification results can be directly applied to the determination process of the target trajectory point in this embodiment, so as to fully utilize the existing computing resources in the vehicle.

[0094] Optionally, after the reference trajectory of the vehicle is planned in the preset coordinate system according to the boundary information in the step 102, the method further includes:

[0095] In the case where there is no second trajectory point in the N first trajectory points, the N first trajectory points are determined as the target trajectory point one by one.

[0096] In the case where the jth first trajectory point is determined as the target trajectory point, and the driving path of the vehicle to the target trajectory point is planned according to the slope associated with the target trajectory point, the planned driving path is taken as the target driving path, and j is a positive integer less than or equal to N.

[0097] In this embodiment, the vehicle body coordinate system is also taken as an example of the preset coordinate system.

[0098] For example Figure 4 and Figure 5As shown, in some application scenarios, when the vehicle is traveling and there are no obstacles in front, and the road edge transition is relatively gentle, the curvature associated with each first trajectory point in the determined reference trajectory may be small. Specifically, the curvature associated with each first trajectory point is less than or equal to the curvature threshold, and there may be no second trajectory point among the N first trajectory points.

[0099] In this embodiment, N first trajectory points can be determined one by one as target trajectory points, and then the driving path of the vehicle to the determined target trajectory point can be planned.

[0100] It is easy to understand that the use of curvature associated with the first trajectory point can be considered as a constraint on the vehicle's steering ability, etc.

[0101] The use of the slope associated with the first trajectory point can be considered as a constraint condition proposed for the attitude angle of the vehicle after reaching the corresponding first trajectory point (hereinafter referred to as the constraint condition corresponding to the slope associated with the first trajectory point).

[0102] For example, the slope associated with the first trajectory point can be represented by the slope angle. When the vehicle reaches a certain first trajectory point according to the planned driving path, if the attitude angle is equal to the slope angle associated with the first trajectory point, then the vehicle's attitude angle satisfies the constraint condition corresponding to the slope associated with the first trajectory point.

[0103] Of course, this is just an example of the constraint conditions corresponding to the slope associated with the first trajectory point. In practical applications, the slope associated with the first trajectory point can also be a reference value for the attitude angle of the vehicle when it reaches the first trajectory point. For example, if the attitude angle of the vehicle when it reaches the first trajectory point is within the preset range of the slope angle associated with the first trajectory point (obtained by calculating the arctangent of the slope), it can also be considered that the constraint conditions corresponding to the slope associated with the first trajectory point are satisfied.

[0104] by Figure 4 For example, when the target trajectory point is located to the right of the vehicle and too close to it in the X-axis direction, the vehicle may be unable to reach the target trajectory point due to limitations in its steering ability. Alternatively, even if the vehicle can reach the target trajectory point, its direction of travel may not align with the direction of the road edge boundary, meaning the vehicle's attitude angle does not satisfy the constraint conditions corresponding to the slope associated with the first trajectory point. In these cases, it can be considered impossible to plan a target driving path from the vehicle to the target trajectory point.

[0105] At this point, following the logic of determining the N first trajectory points as the target trajectory points one by one, another first trajectory point can be determined as the target trajectory point.

[0106] and Figure 4As shown, when a certain target trajectory point is determined, a driving path of the vehicle to the target trajectory point can be planned under the limitation of the vehicle steering capability and the like, and when the planned driving path can satisfy the constraint condition corresponding to the slope associated with the target trajectory point, the successfully planned driving path can be determined as the target driving path.

[0107] It can be seen that, in the case of a relatively gentle change in the reference trajectory, the vehicle can still reliably follow the edge based on the planning of the target driving path.

[0108] In some embodiments, the N first trajectory points can be determined one by one as target trajectory points in the order of their positions on the reference trajectory. Here, the order of positions can be the order of positions in the direction away from the vehicle (i.e., from near to far), or the order of positions in the direction close to the vehicle (i.e., from far to near), which is not limited here.

[0109] In an example, the N first trajectory points can be determined one by one as target trajectory points in the order of positions in the direction away from the vehicle, which helps the vehicle to follow the edge as much as possible.

[0110] In an embodiment, in step 103, planning the target driving path of the vehicle to the target trajectory point can include:

[0111] planning the target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point and a preset path planning rule;

[0112] The preset path planning rule includes connecting the vehicle and the target trajectory point using at least one circular arc path, wherein the tangent direction of the circular arc path connected with the vehicle at the vehicle is the length direction of the vehicle, the slope of the tangent at the target trajectory point connected with the target trajectory point matches the slope associated with the target trajectory point, the radius of each circular arc path is greater than or equal to a preset radius threshold, and in the case of using multiple circular arc paths, the adjacent two circular arc paths are tangent, and the total arc length of the multiple circular arc paths is minimum.

[0113] It is easy to understand that the preset path planning rule mentioned here can correspond to the single-double circle method described above. That is, the target driving path can be planned based on the single-double circle method.

[0114] The target trajectory point can be understood as a selected end point of path planning to some extent. As shown above, when the second trajectory point exists, the target trajectory point can be determined from the second trajectory point, and when the second trajectory point does not exist, the target trajectory point can also be any first trajectory point.

[0115] To simplify the description, we will also use the vehicle body coordinate system as an example. Generally speaking, the position of the vehicle in the vehicle body coordinate system is the origin of the vehicle body coordinate system, the length direction of the vehicle is the X-axis direction of the aforementioned vehicle body coordinate system, and the width direction is the Y-axis direction.

[0116] Since the reference trajectory can be planned in the vehicle coordinate system, the position of the target trajectory point, which is a trajectory point on the reference trajectory, in the vehicle coordinate system can be obtained. Let this target trajectory point be denoted as P. C Then P C The position can be determined by coordinates P. C (x C ,y C ) is used to represent.

[0117] P C It can be associated with curvature and slope, where P C The associated curvature can be denoted as C. C P C The associated slope can be expressed as the slope angle S in the vehicle coordinate system. C To perform.

[0118] For ease of understanding, P is explained here. C The calculation process of the associated curvature and slope is illustrated with an example.

[0119] For P C Associated slope angle S C It can be based on P C (x C ,y C ) and P C The next first trajectory point P in the reference trajectory N coordinates P N (x N ,y N The determination is made using the following specific calculation method:

[0120] S C =arctan((y N -y C ) / (x N -x C )) (1)

[0121] Where, x N -x C ≠0, arctan is the arctangent function, -π C <π;S C When = 0, the slope direction is parallel to the X-axis.

[0122] When x N -x C ​When = 0, then S C It is infinite, and the slope direction is parallel to the Y-axis.

[0123] It is easy to understand that P C If the slope of the correlation is denoted as k C Then we have k C =(y N -y C ) / (x N -x C ), S C By adjusting k C The arctangent value is obtained. For other first trajectory points, a similar relationship exists between the associated slope and slope angle. In practical applications, the slope associated with the first trajectory point can be expressed as either a slope or a slope angle.

[0124] The slope of the tangent line of the arc path connecting to the target trajectory point at the target trajectory point is denoted as the first slope, and the slope associated with the target trajectory point is denoted as the second slope. The first slope and the second slope are matched, which is actually similar to the matching relationship between heading angle and slope mentioned above.

[0125] For example, the first slope and the second slope match; they can be equal, or the first slope can fall within a range determined by the second slope, ensuring that a reasonable vehicle travel path can be planned. For example, combining... Figure 3 The target trajectory point is P. C P is determined according to formula (1) C The associated second slope may be a value slightly greater than 0. In practical applications, even if the first slope is equal to 0, a relatively reasonable vehicle driving path can still be planned.

[0126] For P C Associated curvature C C It can be based on P C (x C ,y C The above P) N (x N ,y N ), and P C The previous first trajectory point P in the reference trajectory L coordinates P L (x L ,y L The determination is made using the following specific calculation method:

[0127] P C P N and P L Connected in pairs, P N With PL The length of the line connecting P N P C P L is denoted as A; P C and P N The length of the line connecting P N P L P C is denoted as B; P C and P L The length of the line connecting P C P N P L is denoted as C. Then we have:

[0128] a = ((x L -x N ) 2 +(y L -y N ) 2 ) 1 / 2 (2)

[0129] b = ((x N -x C ) 2 +(y N -y C ) 2 ) 1 / 2 (3)

[0130] c = ((x L -x C ) 2 +(y L -y C ) 2 ) 1 / 2 (4)

[0131] From the cosine law, we can get:

[0132] cos A = (b 2 +c 2 -a 2 ) / (2bc) (5)

[0133] The sine of angle A is:

[0134] sin A = (1 - cos 2 A) 1 / 2 (6)

[0135] From the sine law, we can get the radius R C of the circular arc passing through P N , P L and P C :

[0136] R C = a / (2 * sin A) (7)

[0137] And the curvature is the reciprocal of the radius, then:

[0138] C C = 1 / R C (8)

[0139] It can be seen that based on formula (1) to formula (8), P C The slope angle S C associated with the curvature C C .

[0140] It is easy to understand that when P C , P N and P L are located on the same straight line, P C The curvature C C associated with it can be 0.

[0141] As shown above, the vehicle is located at the origin of the vehicle coordinate system, so the coordinates of the vehicle can be recorded as P V (0,0), and the vehicle can also be associated with a slope angle, which can be defined as 0.

[0142] Based on the above known parameters, the solving methods of single circle method and double circle method will be described below. Among them, the single circle method can be considered as a way to connect the vehicle and the target trajectory point using a circular arc path to realize path planning, and the double circle method can be considered as a way to connect the vehicle and the target trajectory point using two circular arc paths to realize path planning.

[0143] Based on the above predetermined path planning rule, in the single circle method, the following known conditions exist:

[0144] 1. The starting point is P v (0,0), and the associated slope angle S V = 0; the target trajectory point is P C (x C , y C ), and the associated slope angle is S C ;

[0145] 2. The slope angle of the tangent line of the circular arc path to be planned at P v is equal to 0, and the slope angle of the tangent line of the circular arc path at P C is equal to S C ;

[0146] 3. The radius R of the circular arc path is greater than or equal to the predetermined radius threshold R m , and the R mCan be matched with the minimum turning radius of the vehicle.

[0147] In combination Figure 5 , the solving process of the single circle method is as follows:

[0148] In the case of the radius of the circular arc path being R, the coordinates of the circle point of the circular arc path can be determined as (0, R), and since the distance between the circle point and the vehicle and the distance between the circle point and the target trajectory point are equal, according to the distance formula, we have:

[0149] R 2 = x C 2 + (y C -R) 2 (9)

[0150] Then we can solve:

[0151] R = (x C 2 +y C 2 ) / 2 y C (10)

[0152] When R is greater than or equal to R m determined according to condition 3, the target driving path can be obtained, which can be expressed by the equation:

[0153] x 2 + (y-R) 2 =R 2 (11)

[0154] Based on the above-mentioned preset path planning rules, in the double circle method, there are the following known conditions:

[0155] 1. The starting point is P v (0, 0), and the associated slope angle S v = 0; the target trajectory point is P C (x C , y C ), and the associated slope angle is S C ;

[0156] 2. There are two circular arc paths, which are defined as the starting point circular arc and the ending point circular arc, respectively, and the starting point circular arc and the ending point circular arc are tangent to each other at P Q ; the starting point circular arc passes through P V , and the slope angle of the tangent line at P V is equal to 0; the ending point circular arc passes through P C , and the slope angle of the tangent line at P C is equal to S C ;

[0157] 3、The radius R1 of the start point arc and the radius of the end point arc are both greater than or equal to a preset radius threshold R m , and the R m may match the minimum turning radius of the vehicle;

[0158] 4、The total length of the two-arc path is required to be minimum, i.e., P V + L1+ L2 is minimum. Q The arc length L1 of the arc from P Q to P C and the arc length L2 of the arc from P v to P Q are both minimum.

[0159] In combination with Figure 3 and Figure 4 , the solving process of the double-arc method is as follows:

[0160] Let the radius of the start point arc be R1, the center of the circle O1(x1, y1), the radius of the end point arc be R2, the center of the circle O2(x2, y2), the slope angle of the tangent line at P Q be θ1, and the slope angle of the tangent line at P C be θ2.

[0161] According to condition 1, the coordinates of the centers of the circles O1 and O2 are as follows:

[0162] x1=0; y1=-R1;

[0163] x2=x C –R2×cosS C ; y2=y C +R2×sinS C ;

[0164] According to condition 2, the distance between the centers of the circles O1 and O2 is equal to the sum of the radii of the two-arc paths, and thus the following equation is obtained:

[0165] R1+R2= ((x2-x1) 2 +(y2-y1) 2 ) 1 / 2

[0166] R1+R2= ((x C –R2×cosS C ) 2 +(y C +R2×sinS C +R1) 2 ) 1 / 2 (12)

[0167] According to condition 2, the tangent line slope angle S Q of the tangent point P Q is as follows:

[0168] S Q = arctan((y2-y1) / (x2-x1))-π / 2

[0169] S Q = arctan((y C +R2×sinS C +R1) / (x C –R2×cosS C ))-π / 2 (13)

[0170] Wherein, arctan((y2-y1) / (x2-x1)) calculates the slope angle of the straight line passing through the center O1 and the center O2.

[0171] Then, we have:

[0172] θ1=|S Q |; θ2=|S C -S Q | (14)

[0173] From condition 3, we have:

[0174] R1≥R m ; R2≥R m (15)

[0175] According to condition 4, the total arc length L of L1 and L2 is:

[0176] L=L1θ1+L2θ2 (16)

[0177] Substituting formula (12), (13), (14) and (15) into formula (16), we can obtain an expression about R1 or R2 as an unknown quantity. By solving the minimum value of formula (16), we can solve the unique R1 and R2, and thus obtain the target driving path of the double circle method planning.

[0178] In this embodiment, at least one circular arc path is used to connect the vehicle and the target trajectory point in the preset path planning rule, so as to realize the planning of the target driving path. By using the circular arc path, the path planning with a smaller detour length can still be realized under the condition that the road boundary is irregular or there are obstacles, and the reliability of the vehicle close to the edge driving is improved. In the case of a cleaning vehicle, the close-to-edge cleaning effect of the vehicle can be improved.

[0179] In the above embodiment, the acquisition method of the curvature and the slope associated with the target trajectory point is exemplarily illustrated. It is easy to understand that the above acquisition method of the curvature and the slope can also be applied to other first trajectory points.

[0180] Specifically, the curvature and the slope associated with the first trajectory point are obtained in the following manner;

[0181] According to the arrangement order of the N first trajectory points on the reference trajectory, the n-th first trajectory point and the n-1-th first trajectory point and the n+1-th first trajectory point adjacent to the n-th first trajectory point are determined, n being an integer greater than 1 and less than N;

[0182] The slope of the straight line connecting the n-th first trajectory point and the n+1-th first trajectory point in the preset coordinate system is determined as the slope associated with the n-th first trajectory point;

[0183] The curvature of the circular arc passing through the n-1-th first trajectory point, the n-th first trajectory point and the n+1-th first trajectory point is determined as the curvature associated with the n-th first trajectory point.

[0184] The manner of obtaining the curvature and the slope associated with each first trajectory point can be similar to the manner of obtaining the curvature and the slope associated with the target trajectory point, which will not be described in detail here.

[0185] In this embodiment, the curvature and the slope associated with each first trajectory point can be determined based on the coordinate information of the first trajectory point alone, and thus the process of locally fitting the reference trajectory to obtain the curvature and the slope can be omitted, thereby improving the efficiency of obtaining the curvature and the slope associated with the first trajectory point.

[0186] Optionally, according to the slope associated with the target trajectory point and a preset path planning rule, a target driving path of the vehicle to the target trajectory point is planned, comprising:

[0187] The position information of the target trajectory point relative to the vehicle in the width direction of the vehicle is determined;

[0188] In a case where the position information indicates that the target trajectory point is located on the target side of the vehicle, a target driving path of the vehicle to the target trajectory point is planned based on a circular arc path.

[0189] In this embodiment, whether to use the single-circle method to attempt to plan the target driving path can be selected according to the position of the target trajectory point relative to the vehicle.

[0190] For example, the vehicle can be required to drive right along the edge.

[0191] In combination with Figure 4 and Figure 5 When the target trajectory point as shown in Figure 4 is located on the right half of the Y-axis (y C<0), meaning that when the target trajectory point is located on the right side of the vehicle, if the target driving path is planned using the single circle method, the vehicle can only be on the right or lower right side of the reference trajectory. However, at this time, the vehicle is driving close to the right edge, and the vehicle can only be on the left side of the road boundary, which does not match the actual scenario.

[0192] When Figure 5 The target trajectory point shown is located on the left half of the Y-axis (y C If the target trajectory point is located to the left of the vehicle (≥0), then the single circle method can be used to plan the target driving path.

[0193] In summary, when a vehicle is driving close to the right edge, the left side of the vehicle can be pre-defined as the target side. When the target trajectory point is located on the left side of the vehicle relative to the vehicle's position information in the vehicle's width direction (i.e., the Y-axis direction), the single-circle method can be used to plan the target driving path.

[0194] In some implementations, the aforementioned location information may correspond to the Y-axis coordinate of the target trajectory point in the vehicle body coordinate system.

[0195] Of course, in some applications, such as when a vehicle is cleaning the median barrier or the curb on a left-hand drive road, the right side of the vehicle can be pre-set as the target side. When the target trajectory point is located on the right side of the vehicle, the single-circle method can be used to plan the target driving path.

[0196] It is easy to understand that when using the single-circle method for driving path planning, the planning process is relatively simple, consumes less computational resources, and the length of the planned driving path is also relatively short. In this embodiment, when the location information of the target obstacle indicates that it is located on the target side of the vehicle, it can be considered that there is a possibility that the single-circle method can successfully plan the target driving path. At this time, using the single-circle method to plan the target driving path can effectively improve the path planning effect.

[0197] Of course, in some application scenarios, the single-circle method may not be able to plan the target driving path. Accordingly, in some implementations, after determining the position of the target trajectory point relative to the vehicle's width direction, the vehicle driving path planning may further include:

[0198] Plan the target driving path from the vehicle to the target trajectory point based on multiple circular arc paths, provided that any of the following conditions are met:

[0199] The location information indicates that the target trajectory point is located on the target side of the vehicle, and the target driving path planning based on a circular arc path has failed;

[0200] Location information indicates that the target trajectory point is not located on the target side of the vehicle.

[0201] Similarly, in the application scenario of the vehicle adhering to the right side, see Figure 4 When the target trajectory point is located on the right side of the vehicle, the position information indicates that the target trajectory point is not on the target side (left side) of the vehicle, and in this case, the single-circle method can not be used, and the double-circle method can be directly used to plan the target driving path.

[0202] In some application scenarios, even if the target trajectory point is located on the target side of the vehicle, the reference trajectory can be irregular, and the single-circle method cannot successfully plan the target driving path. In this case, the double-circle method can be used to plan the target driving path, thereby effectively improving the success rate of planning the target driving path.

[0203] In some possible implementations, more than three arc paths can be used to connect the vehicle and the target trajectory point as needed to plan the target driving path.

[0204] In the application scenario of the vehicle being applied to a cleaning vehicle, based on the implementation of the vehicle driving path planning method in the above embodiments, the vehicle can plan an optimal path conforming to the kinematic model of the vehicle when adhering to the side to clean, can ensure that the intelligent cleaning machine tracks the boundary with the minimum deviation from the trajectory when the boundary is irregular, and can perform detouring with the minimum detouring trajectory when obstacles are encountered, thereby maximizing the effect of adhering to the side to clean.

[0205] Of course, the vehicle driving path planning method described above can be applied to local trajectory planning of various low-speed intelligent driving devices, and is not limited to tracking of a road boundary, but can also be applied to local path planning of global path tracking.

[0206] As shown in Figure 6 The vehicle driving path planning device provided in the embodiments of the present application includes:

[0207] The acquisition module 601 is configured to acquire boundary information in a vehicle driving environment.

[0208] The first planning module 602 is configured to plan a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory including N first trajectory points, each first trajectory point being associated with a curvature and a slope on the reference trajectory, and N being an integer greater than 1.

[0209] The determination and planning module 603 is configured to determine a target trajectory point from at least one second trajectory point in the N first trajectory points, and plan a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point.

[0210] The second trajectory point is a first trajectory point associated with a curvature greater than a curvature threshold.

[0211] Optionally, the determining and planning module 603 comprises:

[0212] The first determining unit is configured to determine the at least one second trajectory point as the target trajectory point one by one.

[0213] The first planning unit is configured to, in a case where the ith second trajectory point is determined as the target trajectory point and a driving path of the vehicle to the target trajectory point is planned according to the slope associated with the target trajectory point, take the planned driving path as the target driving path, where i is a positive integer.

[0214] Optionally, the determining and planning module 603 comprises:

[0215] The second determining unit is configured to, in a case where it is detected that there is an obstacle in the driving environment of the vehicle, determine a first trajectory from the reference trajectory, the first trajectory being a reference trajectory planned according to boundary information of the obstacle, the first trajectory comprising M first trajectory points, where M is a positive integer less than or equal to N.

[0216] The third determining unit is configured to, in a case where there is a second trajectory point in the M first trajectory points, determine the second trajectory point in the M first trajectory points as the target trajectory point.

[0217] Optionally, the vehicle driving path planning apparatus can further comprise:

[0218] The first determining module is configured to, in a case where there is no second trajectory point in the N first trajectory points, determine the N first trajectory points as the target trajectory point one by one.

[0219] The second planning module is configured to, in a case where the jth first trajectory point is determined as the target trajectory point and a driving path of the vehicle to the target trajectory point is planned according to the slope associated with the target trajectory point, take the planned driving path as the target driving path, where j is a positive integer less than or equal to N.

[0220] Optionally, the determining and planning module 603 is specifically configured to:

[0221] plan a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point and a preset path planning rule.

[0222] The preset path planning rule comprises: connecting the vehicle and the target trajectory point by using at least one circular arc path, wherein the tangent direction of the circular arc path connected with the vehicle at the vehicle is the length direction of the vehicle, the slope of the tangent line of the circular arc path connected with the target trajectory point matches the slope associated with the target trajectory point, and the radius of each circular arc path is greater than or equal to a preset radius threshold; in the case of using multiple circular arc paths, the two adjacent circular arc paths are also tangent, and the total arc length of the multiple circular arc paths is minimum.

[0223] Optionally, the determining and planning module 603 can comprise:

[0224] A fourth determining unit is configured to determine position information of the target trajectory point relative to the vehicle in the width direction of the vehicle.

[0225] A second planning unit is configured to plan a target driving path of the vehicle to the target trajectory point based on one circular arc path in a case where the position information indicates that the target trajectory point is located on the target side of the vehicle.

[0226] Optionally, the determining and planning module 603 can further comprise:

[0227] A third planning unit is configured to plan a target driving path of the vehicle to the target trajectory point based on multiple circular arc paths in a case where any of the following conditions is met:

[0228] The position information indicates that the target trajectory point is located on the target side of the vehicle, and the target driving path fails to be planned based on one circular arc path;

[0229] The position information indicates that the target trajectory point is not located on the target side of the vehicle.

[0230] Optionally, the vehicle driving path planning apparatus can further comprise:

[0231] A second determining module is configured to determine, according to the arrangement order of the N first trajectory points on the reference trajectory, the n th first trajectory point and the n-1 th first trajectory point and the n+1 th first trajectory point adjacent to the n th first trajectory point, n being an integer greater than 1 and smaller than N.

[0232] A third determining module is configured to determine, as the slope associated with the n th first trajectory point, the slope of a straight line connecting the n th first trajectory point and the n+1 th first trajectory point in a preset coordinate system.

[0233] A fourth determining module is configured to determine, as the curvature associated with the n th first trajectory point, the curvature of a circular arc passing through the n-1 th first trajectory point, the n th first trajectory point and the n+1 th first trajectory point.

[0234] It should be noted that the vehicle driving path planning device is a device corresponding to the vehicle driving path planning method described above, and all the implementation manners in the method embodiments are applicable to the device embodiments, and the same technical effects can be achieved.

[0235] Figure 7 A hardware structure schematic diagram of an electronic device provided by an embodiment of the present application is shown.

[0236] The electronic device can include a processor 701 and a memory 702 having computer program instructions stored therein.

[0237] Specifically, the processor 701 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement one or more embodiments of the present application.

[0238] The memory 702 can include a mass storage for data or instructions. By way of example and not limitation, the memory 702 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 702 can include removable or non-removable (or fixed) media. Where appropriate, the memory 702 can be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 702 is non-volatile solid-state memory.

[0239] The memory can include read-only memory (ROM), random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (e.g., by one or more processors), is operable to perform operations described with reference to the methods according to the present disclosure.

[0240] The processor 701 implements any one of the vehicle driving path planning methods in the above embodiments by reading and executing the computer program instructions stored in the memory 702.

[0241] In one example, the electronic device can further include a communication interface 703 and a bus 704. As shown, the processor 701, the memory 702, and the communication interface 703 are connected through the bus 704 and complete communication with each other. Figure 7 The processor 701, the memory 702, and the communication interface 703 are connected through the bus 704 and complete communication with each other.

[0242] The communication interface 703 is mainly configured to implement the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0243] The bus 704 includes hardware, software, or both. By way of example and not limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (ISA) bus, an InfiniBand (IB) interconnect, a low pin count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards board (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, the bus 704 can include one or more buses. Although the present embodiments describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0244] In addition, in combination with the vehicle driving path planning method in the above embodiments, the present embodiments can provide a computer storage medium for implementation. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any of the vehicle driving path planning methods in the above embodiments.

[0245] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0246] The functional blocks shown in the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried on a carrier wave in a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memory, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0247] It is also necessary to note that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0248] The above describes aspects of the present disclosure with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams and combinations of blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus enable the implementation of the functions / acts specified in one or more blocks of the flowcharts and / or block diagrams. The processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each block of the block diagrams and / or flowcharts and combinations of blocks in the block diagrams and / or flowcharts can also be implemented by special hardware to perform the specified functions or acts, or can be implemented by a combination of special hardware and computer instructions.

[0249] The above is only a specific embodiment of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, modules and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A vehicle travel path planning method characterized by comprising: The method comprises: acquiring boundary information in a vehicle driving environment; planning a reference trajectory of the vehicle in a preset coordinate system according to the boundary information, the reference trajectory comprising N first trajectory points, each first trajectory point being associated with a curvature and a slope on the reference trajectory, N being an integer greater than 1; in a case where there is at least one second trajectory point in the N first trajectory points, determining a target trajectory point from the at least one second trajectory point, and planning a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point; wherein the second trajectory point is a first trajectory point associated with a curvature greater than a curvature threshold, the curvature threshold being determined based on a vehicle turning capability, and the curvature threshold being less than or equal to the inverse of a minimum turning radius of the vehicle; the planning of the target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point comprises: planning the target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point and a preset path planning rule; the preset path planning rule comprises: connecting the vehicle and the target trajectory point using at least one circular arc path, wherein the tangent direction of the circular arc path connected to the vehicle at the vehicle is the length direction of the vehicle, the slope of the tangent line of the circular arc path connected to the target trajectory point matches the slope associated with the target trajectory point, and the radius of each circular arc path is greater than or equal to a preset radius threshold; in a case where multiple circular arc paths are used, the adjacent two circular arc paths are also tangent, and the total arc length of the multiple circular arc paths is minimized.

2. The method of claim 1, wherein, the determining of the target trajectory point from the at least one second trajectory point, and the planning of the target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point comprises: determining each of the at least one second trajectory point as the target trajectory point; in a case where the ith second trajectory point is determined as the target trajectory point, and a driving path of the vehicle to the target trajectory point is planned according to the slope associated with the target trajectory point, the planned driving path is taken as the target driving path, i being a positive integer.

3. The method of claim 1, wherein, the determining of the target trajectory point from the at least one second trajectory point in a case where there is at least one second trajectory point in the N first trajectory points comprises: in a case where an obstacle is detected in the vehicle driving environment, determining a first trajectory from the reference trajectory, the first trajectory being a reference trajectory planned according to boundary information of the obstacle, the first trajectory comprising M first trajectory points, M being a positive integer less than or equal to N; in a case where there is a second trajectory point in the M first trajectory points, determining the second trajectory point in the M first trajectory points as the target trajectory point.

4. The method of claim 1, wherein, after the planning of the reference trajectory of the vehicle in the preset coordinate system according to the boundary information, the method further comprises: in a case where there is no second trajectory point in the N first trajectory points, determining each of the N first trajectory points as the target trajectory point; In a case that the jth first trajectory point is determined as a target trajectory point, and a driving path of the vehicle to the target trajectory point is planned according to a slope associated with the target trajectory point, the planned driving path is taken as the target driving path, j is a positive integer less than or equal to N.

5. The method of claim 1, wherein, The target driving path of the vehicle to the target trajectory point is planned according to the slope associated with the target trajectory point and a preset path planning rule, and the target driving path planning includes: determining position information of the target trajectory point relative to the vehicle in a width direction of the vehicle; in a case that the position information indicates that the target trajectory point is located on a target side of the vehicle, planning a target driving path of the vehicle to the target trajectory point based on a segment of the circular arc path.

6. The method of claim 5, wherein, After the position information of the target trajectory point relative to the vehicle in the width direction of the vehicle is determined, the method further includes: in a case that any of the following conditions is met, planning a target driving path of the vehicle to the target trajectory point based on a plurality of segments of the circular arc path: the position information indicates that the target trajectory point is located on the target side of the vehicle, and planning a target driving path based on a segment of the circular arc path fails; the position information indicates that the target trajectory point is not located on the target side of the vehicle.

7. The method of claim 1, wherein, The curvature and slope associated with the first trajectory point are obtained in the following manner: determining the nth first trajectory point and the nth-1 first trajectory point and the nth+1 first trajectory point adjacent to the nth first trajectory point according to the arrangement order of the N first trajectory points on the reference trajectory, n is an integer greater than 1 and less than N; determining a slope of a straight line connecting the nth first trajectory point and the nth+1 first trajectory point in the preset coordinate system as a slope associated with the nth first trajectory point; determining a curvature of a circular arc passing through the nth-1 first trajectory point, the nth first trajectory point and the nth+1 first trajectory point as a curvature associated with the nth first trajectory point.

8. A vehicle travel path planning device characterized by comprising: The device includes: an acquisition module configured to acquire boundary information in a vehicle driving environment; a first planning module configured to plan a reference trajectory of a vehicle in a preset coordinate system according to the boundary information, the reference trajectory including N first trajectory points, each first trajectory point being associated with a curvature and a slope on the reference trajectory, N being an integer greater than 1; a determination planning module configured to determine a target trajectory point from at least one second trajectory point in a case that the at least one second trajectory point exists in the N first trajectory points, and to plan a target driving path of the vehicle to the target trajectory point according to a slope associated with the target trajectory point; wherein the second trajectory point is a first trajectory point associated with a curvature greater than a curvature threshold, the curvature threshold being determined based on a vehicle turning ability, and the curvature threshold being less than or equal to the inverse of a minimum turning radius of the vehicle; the determination planning module is specifically configured to: plan a target driving path of the vehicle to the target trajectory point according to the slope associated with the target trajectory point and a preset path planning rule. The preset path planning rule comprises: connecting the vehicle and the target trajectory point by using at least one circular arc path, wherein the tangent direction of the circular arc path connected with the vehicle at the vehicle is the length direction of the vehicle, the slope of the circular arc path connected with the target trajectory point at the target trajectory point matches the slope associated with the target trajectory point, and the radius of each circular arc path is greater than or equal to a preset radius threshold; in the case of using multiple circular arc paths, the two adjacent circular arc paths are tangent, and the total arc length of the multiple circular arc paths is minimum.

9. An electronic device, comprising: The device comprises a processor and a memory storing computer program instructions; The processor executes the computer program instructions to implement the vehicle driving path planning method according to any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the vehicle driving path planning method according to any one of claims 1-7.

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