Vehicle navigation method, device, electronic device and storage medium

Abstract

The present application provides a vehicle navigation method, device, electronic device, and storage medium, belonging to the field of autonomous driving technology. The method comprises: obtaining the real-time location of a vehicle; determining a global path from the real-time location to a target parking space from pre-stored road network data according to a preset path planning algorithm, wherein the road network data is data with road centerlines created based on the roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines; based on the pre-stored correspondence between lane lines and road centerlines, converting the global path into a path formed by lane lines as the target path for the vehicle. This method can quickly determine a lane-level navigation path, thereby improving the problem of difficulty in navigating based on parking spaces in the parking lot.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle navigation method, device, electronic device and storage medium. Background Art

[0002] In recent years, intelligent driving has become a rapidly developing area in the automotive industry. Experts, scholars, and technology companies are competing to develop and mass-produce autonomous driving systems ranging from Level 0 to Level 5. Currently, these systems primarily focus on Level 2 to Level 3 automated parking systems (APA) and automated valet parking (AVP). However, automated parking in parking lots currently faces challenges in navigating to specific parking spaces, making parking difficult. Summary of the Invention

[0003] In view of this, an object of the embodiments of the present application is to provide a vehicle navigation method, device, electronic device and storage medium, which can improve the problem of difficulty in navigating based on parking spaces in a parking lot.

[0004] To achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a vehicle navigation method, the method comprising:

[0006] Get the real-time location of the vehicle;

[0007] Determine, according to a preset path planning algorithm, a global path from the real-time location to the target parking space from pre-stored road network data, wherein the road network data is data with road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines;

[0008] Based on the pre-stored correspondence between lane lines and road center lines, the global path is converted into a path formed by lane lines to serve as the target path for the vehicle.

[0009] In conjunction with the first aspect, in some optional implementations, the method further includes:

[0010] Control the vehicle to travel along the target path to the target parking space.

[0011] In conjunction with the first aspect, in some optional implementations, the method further includes:

[0012] When the vehicle is within a specified distance from the target parking space, the vehicle is controlled to park in the target parking space using a preset automatic parking algorithm.

[0013] In conjunction with the first aspect, in some optional implementations, the method further includes:

[0014] When there is an obstacle in the target parking space, controlling the vehicle to traverse along the road in the road network data;

[0015] When the vehicle determines that there is a vacant parking space in the parking lot through scene data collected by the camera during traversal driving, the vacant parking space is determined as the new target parking space;

[0016] When the distance between the vehicle and the new target parking space is within a specified distance range, the vehicle is controlled to park at the new target parking space using a preset automatic parking algorithm.

[0017] In conjunction with the first aspect, in some optional implementations, before obtaining the real-time position of the vehicle, the method further includes:

[0018] The road network data is created and stored based on the positional relationship between lane lines, road center lines, and parking spaces in the parking lot.

[0019] In combination with the first aspect, in some optional implementations, the target path is the shortest path.

[0020] In combination with the first aspect, in some optional implementations, the preset path planning algorithm includes an A-star algorithm.

[0021] In a second aspect, an embodiment of the present application further provides a vehicle navigation device, the device comprising:

[0022] An acquisition unit, used to obtain the real-time position of the vehicle;

[0023] a path planning unit, configured to determine, based on a preset path planning algorithm, a global path from the real-time position to a target parking space from pre-stored road network data, wherein the road network data is data having road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines;

[0024] The path conversion unit is used to convert the global path into a path formed by lane lines based on the pre-stored correspondence between lane lines and road center lines, so as to serve as the target path for the vehicle to travel.

[0025] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory coupled to each other, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device executes the above method.

[0026] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is run on a computer, the computer executes the above method.

[0027] The invention adopting the above technical solution has the following advantages:

[0028] In the technical solution provided by this application, based on the vehicle's real-time location and according to a preset path planning algorithm, a global path from the real-time location to the target parking space is determined from pre-stored road network data. This global path is then converted into a path formed by lane lines, which serves as the target path for the vehicle. Because the road network data is created based on a parking lot, a lane-level navigation path can be quickly determined based on the target parking space in the parking lot, thereby alleviating the difficulty of navigating within parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present application may be further illustrated by the non-limiting embodiments provided in the accompanying drawings. It should be understood that the following drawings illustrate only certain embodiments of the present application and are therefore not to be construed as limiting the scope of the present application. It is understood that a person skilled in the art can derive other relevant drawings from these drawings without inventive effort.

[0030] Figure 1 A schematic diagram of functional modules in an electronic device provided in an embodiment of the present application.

[0031] Figure 2 A flowchart of a vehicle navigation method provided in an embodiment of the present application.

[0032] Figure 3 This is a block diagram of a vehicle navigation device provided in an embodiment of the present application.

[0033] Icons: 10 - electronic device; 11 - positioning module; 12 - path planning module; 13 - regulation and control module; 200 - vehicle navigation device; 210 - acquisition unit; 220 - path planning unit; 230 - path conversion unit. DETAILED DESCRIPTION

[0034] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts in the drawings or descriptions are numbered the same. Implementations not shown or described in the drawings are known to those of ordinary skill in the art. In the description of this application, the terms "first," "second," etc. are used solely to distinguish descriptions and are not to be construed as indicating or implying relative importance.

[0035] Please refer to Figure 1The present invention provides an electronic device 10, which may include a processing module and a storage module. The storage module stores a computer program. When the computer program is executed by the processing module, the electronic device 10 is able to perform the corresponding steps of the vehicle navigation method described below.

[0036] Electronic device 10 is a hardware device installed or deployed on a vehicle. It may also include functional modules or hardware modules that are invoked by the processing module. For example, electronic device 10 may include a positioning module 11, a path planning module 12, and a regulation and control module 13. Positioning module 11, path planning module 12, and regulation and control module 13 may be implemented using hardware, software, or a combination thereof.

[0037] The positioning module 11 is used to collect the real-time location data of the vehicle and transmit the real-time location data to the path planning module 12 via UDP (User Datagram Protocol).

[0038] The path planning module 12 accesses a pre-built high-precision map. The user can enter a destination into the path planning module 12, which then determines a path from the vehicle's real-time location to the destination based on the high-precision map and transmits the path to the control module 13 via UDP.

[0039] The regulation and control module 13 can control the vehicle to travel along the path based on the received path to achieve automatic driving of the vehicle.

[0040] Please refer to Figure 2 The present application also provides a vehicle navigation method, which can be applied to the above-mentioned electronic device 10. The vehicle navigation method can include the following steps:

[0041] Step 110, obtaining the real-time location of the vehicle;

[0042] Step 120: Determine, based on a preset path planning algorithm, a global path from the real-time location to the target parking space from pre-stored road network data, wherein the road network data is data with road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines;

[0043] Step 130: Based on the pre-stored correspondence between lane lines and road center lines, the global path is converted into a path formed by lane lines as the target path for the vehicle.

[0044] The following will describe in detail the various steps of the vehicle navigation method, as follows:

[0045] If the electronic device 10 does not store road network data, or has not yet created road network data for the corresponding parking lot, before obtaining the real-time location of the vehicle, the method may include:

[0046] The road network data is created and stored based on the positional relationship between lane lines, road center lines, and parking spaces in the parking lot.

[0047] It is understandable that road network data, as data in an electronic map, can be used to describe the positional relationship between roads and parking spaces. If a parking lot does not have road network data, the road network data can be created proportionally based on the lane lines (lanes) of the lanes in the parking lot, the road center lines (links), and the positions of the parking spaces. Among them, the lane lines refer to the edge lines of the lanes, that is, each lane usually has two light lines. The road center line is the center line of a single lane. It is a virtual line and does not need to be shown on the actual road.

[0048] Additionally, in road network data, attribute relationships can be used to associate road centerlines with lane lines. Attribute relationships can be understood as the positional relationship between road centerlines and lane lines. For example, two lane lines in the same lane are associated with the centerline of that lane. This establishes a correspondence between lane lines and road centerlines.

[0049] It should be noted that a lane line can also be associated with lane lines of other parallel lanes. In addition, the association method between the road center line and the lane line can be flexibly set according to actual conditions, and the association method between the road center line and the lane line is not specifically limited here.

[0050] In step 110, the vehicle can obtain real-time location data of the vehicle through the positioning module 11. The frequency of obtaining real-time location data can be flexibly set according to actual conditions and is not specifically limited here. The real-time location data may include the current latitude and longitude coordinates and heading of the vehicle.

[0051] In step 120, the preset path planning algorithm includes the A-star algorithm (referring to the A* algorithm), or other path planning algorithms, which are not specifically limited here. Among them, the A-star algorithm is a direct search algorithm for solving the shortest path in a static road network. In this embodiment, the path planning module 12 in the electronic device 10 can use the A-star algorithm to determine a global path from the road network data based on the road centerline in the road network data, according to the real-time position and the position of the target parking space. The global path is a path based on the road centerline (link), that is, a path from the real-time position to the target parking space formed by the road centerline.

[0052] The target parking space can be flexibly determined based on actual conditions. For example, in a residential parking lot, if it is a private parking space, the owner can specify the corresponding parking space in the high-precision map or road network data as the target parking space based on the location of their parking space in the parking garage.

[0053] If the parking space is not a private parking space and can be flexibly parked by other car owners, the target parking space can be any vacant parking space. If the current car owner does not know which parking space in the parking lot is vacant, he or she can randomly select a parking space that is convenient for parking as the initial target parking space.

[0054] In step 130, the target path is a path related to a lane, that is, a path formed by lane lines. The path planning module 12 utilizes the correspondence between lane lines and road centerlines to convert the global path into a target path formed by lane lines. This enables lane-level path planning, resulting in higher accuracy and facilitating autonomous driving in parking lots based on high-precision maps.

[0055] The target path can be the shortest path, or the shortest path without congestion. That is, if the current shortest path is congested or impassable, a new path is planned. If other replanned paths exist (other than the shortest path), the shortest of these paths is used as the new target path.

[0056] As an optional implementation, the method may further include:

[0057] Control the vehicle to travel along the target path to the target parking space.

[0058] The path planning module 12 sends the calculated target path to the control module 13 via UDP. Based on the target path, the control module 13 controls the vehicle to drive along the target path to the target parking space. If the vehicle approaches the target parking space and finds it occupied, it searches for a new vacant parking space as the new target parking space.

[0059] As an optional implementation, the method may further include:

[0060] When the vehicle is within a specified distance from the target parking space, the vehicle is controlled to park in the target parking space using a preset automatic parking algorithm.

[0061] The designated distance range can be flexibly set based on actual circumstances. For example, the designated distance range can be within 3 meters, 5 meters, or other distance ranges. The preset automatic parking algorithm is a conventional automatic parking algorithm, which can be flexibly selected based on actual circumstances. That is, the vehicle can automatically park in the target parking space based on the preset automatic parking algorithm.

[0062] As an optional implementation, the method may further include:

[0063] When there is an obstacle in the target parking space, controlling the vehicle to traverse along the road in the road network data;

[0064] When the vehicle determines that there is a vacant parking space in the parking lot through scene data collected by the camera during traversal driving, the vacant parking space is determined as the new target parking space;

[0065] When the distance between the vehicle and the new target parking space is within a specified distance range, the vehicle is controlled to park at the new target parking space using a preset automatic parking algorithm.

[0066] In this embodiment, the vehicle can use a camera or radar to automatically detect whether there is an obstacle in the target parking space that affects parking. The obstacle can be a parked vehicle or other object, which is not specifically limited here.

[0067] If the target parking space is obstructed, the vehicle is controlled to traverse the parking lot along the roads in the road network data, searching for vacant parking spaces during the traversal. Traversal involves controlling the vehicle to traverse all lanes in the parking lot along a pre-defined path until a vacant parking space is found. The method for detecting vacant parking spaces is the opposite of detecting parking spaces with obstacles. That is, if there are no obstacles that could hinder parking, the space is considered vacant and can be selected as the target parking space.

[0068] Of course, in other implementations, vacant parking spaces may also be private spaces where other vehicles are not permitted to park. Such parking spaces can be marked as closed to the public in high-precision maps or road network data. When searching for a target parking space, the closed parking spaces can be filtered out from the road network data. Then, a search for vacant parking spaces among the remaining open spaces can be performed to select the target parking space. This allows for automatic search for valid target parking spaces and automated parking.

[0069] In this embodiment, the positioning module 11 can transparently transmit the real-time location data to the path planning module 12 via UDP through Dspace. The path planning module 12 can send the calculated target path to the regulation and control module 13 through Dspace.

[0070] When automatic parking is required in a parking lot, for example, automatic parking from the garage entrance (or any starting position in the garage) to the target parking space, the vehicle's automatic valet parking system can trigger the HMI (Human Machine Interface) module to select the target parking space, parse the high-precision map data (that is, the map containing the lane line accuracy level), the positioning module 11 sends the current vehicle location coordinate information, the path planning module 12 receives the high-precision map data, the target parking space information, and the vehicle's current location information to generate a lane navigation path, and finally transmits it to the regulation and control module 13 to control the vehicle.

[0071] Based on the above design, lane-level automatic navigation can be realized in the parking lot, and automatic valet parking can be achieved from any starting position in the parking lot to a point near any parking space in the parking lot.

[0072] Please refer to Figure 3 The present application further provides a vehicle navigation device 200, which includes at least one software function module that can be stored in the form of software or firmware in a storage module or embedded in an operating system (OS) of an electronic device 10. The processing module is configured to execute executable modules stored in the storage module, such as the software function modules and computer programs included in the vehicle navigation device 200.

[0073] The vehicle navigation device 200 includes an acquisition unit 210, a path planning unit 220, and a path conversion unit 230. The functions of each unit may be as follows:

[0074] An acquisition unit 210 is used to acquire the real-time position of the vehicle;

[0075] a path planning unit 220 for determining, based on a preset path planning algorithm, a global path from the real-time location to the target parking space from pre-stored road network data, wherein the road network data is data having road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines;

[0076] The path conversion unit 230 is used to convert the global path into a path formed by lane lines based on the pre-stored correspondence between lane lines and road center lines, so as to serve as the target path for the vehicle to travel.

[0077] Optionally, the vehicle navigation device 200 may further include a control unit, configured to control the vehicle to travel along the target path to the target parking space.

[0078] Optionally, the control unit may also be configured to: when the distance between the vehicle and the target parking space is within a specified distance range, control the vehicle to park at the target parking space using a preset automatic parking algorithm.

[0079] Optionally, the control unit may also be used to:

[0080] When there is an obstacle in the target parking space, controlling the vehicle to traverse along the road in the road network data;

[0081] When the vehicle determines that there is a vacant parking space in the parking lot through scene data collected by the camera during traversal driving, the vacant parking space is determined as the new target parking space;

[0082] When the distance between the vehicle and the new target parking space is within a specified distance range, the vehicle is controlled to park at the new target parking space using a preset automatic parking algorithm.

[0083] Optionally, the vehicle navigation device 200 may further include a creating unit for creating and storing the road network data based on the positional relationship between lane lines of lanes in the parking lot, road center lines, and parking spaces.

[0084] In this embodiment, the processing module can be an integrated circuit chip with signal processing capabilities. The above-mentioned processing module can be a general-purpose processor. For example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0085] The storage module may be, but is not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, etc. In this embodiment, the storage module may be used to store real-time location, a preset path planning algorithm, the correspondence between lane lines and road centerlines, etc. Of course, the storage module may also be used to store programs, which the processing module executes upon receiving an execution instruction.

[0086] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the electronic device 10 and the vehicle navigation device 200 described above can refer to the corresponding processes of each step in the aforementioned method, and will not be elaborated here.

[0087] The present application also provides a computer-readable storage medium that stores a computer program, which, when executed on a computer, causes the computer to execute the vehicle navigation method described in the above embodiment.

[0088] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0089] In summary, embodiments of the present application provide a vehicle navigation method, apparatus, electronic device, and storage medium. In this solution, based on the vehicle's real-time location and according to a preset path planning algorithm, a global path from the real-time location to the target parking space can be determined from pre-stored road network data. This global path is then converted into a path formed by lane lines, which serves as the target path for the vehicle. Because the road network data is created based on a parking lot, a navigation path can be quickly determined based on the target parking space in the parking lot, thereby alleviating the difficulty of navigating based on parking spaces in the parking lot.

[0090] In the embodiments provided in the present application, it should be understood that the disclosed devices, systems and methods can also be implemented in other ways. The device, system and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of code, and a part of the module, program segment or code includes one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0091] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle navigation method, characterized in that: The method comprises: Get the real-time location of the vehicle; Determine, according to a preset path planning algorithm, a global path from the real-time location to the target parking space from pre-stored road network data, wherein the road network data is data with road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines; Based on the pre-stored correspondence between lane lines and road center lines, the global path is converted into a path formed by lane lines to serve as the target path for the vehicle; Control the vehicle to travel along the target path to the target parking space; when there is an obstacle in the target parking space, control the vehicle to traverse along the road in the road network data; When the vehicle determines that there is a vacant parking space in the parking lot through scene data collected by the camera during traversal driving, the vacant parking space is determined as the new target parking space; When the distance between the vehicle and the new target parking space is within a specified distance range, the vehicle is controlled to park at the new target parking space using a preset automatic parking algorithm.

2. The method according to claim 1, characterized in that The method further comprises: When the vehicle is within a specified distance from the target parking space, the vehicle is controlled to park in the target parking space using a preset automatic parking algorithm.

3. The method according to claim 1, characterized in that Before obtaining the real-time position of the vehicle, the method further includes: The road network data is created and stored based on the positional relationship between lane lines, road center lines, and parking spaces in the parking lot.

4. The method according to any one of claims 1 to 3, characterized in that The target path is the shortest path.

5. The method according to any one of claims 1 to 3, characterized in that The preset path planning algorithm includes the A-star algorithm.

6. A vehicle navigation device, characterized in that: The device comprises: An acquisition unit, used to obtain the real-time position of the vehicle; a path planning unit, configured to determine, based on a preset path planning algorithm, a global path from the real-time position to a target parking space from pre-stored road network data, wherein the road network data is data having road centerlines created based on roads and parking spaces in a parking lot, the target parking space is any parking space in the road network data, and the global path is a path formed by the road centerlines; a path conversion unit, configured to convert the global path into a path formed by lane lines based on a pre-stored correspondence between lane lines and road center lines, so as to serve as a target path for the vehicle; A control unit is used to control the vehicle to travel along the target path to the target parking space; when there is an obstacle in the target parking space, control the vehicle to traverse along the road in the road network data; when the vehicle determines that there is a vacant parking space in the parking lot through scene data collected by the camera during the traversal, the vacant parking space is determined as the new target parking space; when the distance from the vehicle to the new target parking space is within a specified distance range, control the vehicle to park at the new target parking space through a preset automatic parking algorithm.

7. An electronic device, characterized in that: The electronic device includes a processor and a memory coupled to each other, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the electronic device executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 5.

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