A trajectory planning determination method and device, equipment and storage medium

Abstract

The application discloses a kind of planning trajectory determination method, device, equipment and storage medium.The method comprises: obtaining vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information, and determining target planning trajectory according to vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information.Through the technical scheme of the application, the driving efficiency can be improved while the vehicle meets the position constraint, speed constraint, acceleration constraint and jerk constraint.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, and particularly relate to a method and device for determining a planning trajectory, an equipment and a storage medium. BACKGROUND

[0002] Autonomous vehicles are currently being developed to have the ability to transport passengers through public streets to their desired destinations without passenger intervention.

[0003] Vehicle trajectory planning is a key technology in the field of autonomous driving, and the quality of vehicle trajectory planning will directly affect the response speed to customer demand, customer satisfaction and service cost. Vehicle trajectory planning mainly considers three key factors: safety, reliability and comfort.

[0004] Most of the research on comfort in the process of trajectory planning is only directed at passenger comfort itself. In the face of complex and variable real road conditions, too much attention to comfort itself will reduce the efficiency of autonomous driving, and thus the determined planning trajectory cannot meet the driving requirements. SUMMARY

[0005] Embodiments of the present application provide a method and device for determining a planning trajectory, an equipment and a storage medium to improve driving efficiency while meeting position constraints, speed constraints, acceleration constraints and jerk constraints.

[0006] According to an aspect of the present application, a method for determining a planning trajectory is provided, comprising:

[0007] obtaining vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information;

[0008] determining a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information.

[0009] According to another aspect of the present application, a device for determining a planning trajectory is provided, comprising:

[0010] an obtaining module configured to obtain vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information;

[0011] a planning trajectory determination module configured to determine a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information.

[0012] According to another aspect of the present application, an electronic device is provided, comprising:

[0013] at least one processor; and

[0014] a memory in communication with the at least one processor; wherein

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the trajectory planning method according to any one of the embodiments of the present application.

[0016] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the trajectory planning method according to any one of the embodiments of the present application when executed by the processor.

[0017] The embodiments of the present application obtain vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information, and determine a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information, thereby solving the problem that automatic driving efficiency is reduced due to excessive attention to comfort itself without considering the relationship between comfort and driving efficiency, and improving driving efficiency under the condition that the vehicle meets position constraints, speed constraints, acceleration constraints and jerk constraints.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 is a flow chart of a trajectory planning method in the embodiments of the present application;

[0021] Figure 2 is a jerk change schematic diagram in the embodiments of the present application;

[0022] Figure 3 is an acceleration change schematic diagram in the embodiments of the present application;

[0023] Figure 4 is a speed change schematic diagram in the embodiments of the present application;

[0024] Figure 5 This is a schematic diagram of the system structure in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of a trajectory determination device according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a method for determining a planned trajectory provided by an embodiment of the present invention. This embodiment is applicable to the case of determining a planned trajectory. The method can be executed by the planned trajectory determination device in this embodiment of the present invention, which can be implemented in software and / or hardware, such as... Figure 1 As shown, the method specifically includes the following steps:

[0032] S110, obtain vehicle information, position constraint information, speed constraint information, acceleration constraint information, and jerk constraint information.

[0033] The vehicle information includes at least one of a current position of the vehicle, a current speed of the vehicle, a current acceleration of the vehicle, and a current jerk of the vehicle, and the position constraint information includes a target distance corresponding to a target point and a given time. The position constraint means that the vehicle can reach the target point at the given time T end The distance between the starting point and the target point is the target distance S end The speed constraint information includes at least one of a minimum speed, a maximum speed, and a target point speed, and the speed constraint means that the vehicle travels within a limited speed [v, v] during the movement process. The initial speed of the planning is the current speed v0 of the vehicle, and the terminal speed is the target point speed v end The acceleration constraint information includes at least one of a minimum acceleration, a maximum acceleration, and a target point acceleration, and the acceleration constraint means that the vehicle travels within a limited acceleration [a, a] during the movement process. The initial acceleration of the planning is the current acceleration a0 of the vehicle, and the terminal acceleration is the target point acceleration a end The jerk constraint information includes a minimum jerk and a maximum jerk, and the jerk constraint means that the vehicle travels within a limited jerk [j, j] during the movement process.

[0034] Specifically, the manner of obtaining the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information, and the jerk constraint information can be obtaining the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information, and the jerk constraint information in a user input system.

[0035] S120, determine a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information, and the jerk constraint information.

[0036] Specifically, the manner of determining the target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information can be: determining a speed planning rule according to the vehicle information, the speed constraint information, the acceleration constraint information and the jerk constraint information; determining a predicted driving distance according to the speed constraint information and the speed planning rule; and determining the target planning trajectory according to the vehicle information, the predicted driving distance, the position constraint information, the speed constraint information, the acceleration constraint information and the speed planning rule. The manner of determining the target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information can also be: if the predicted driving distance is greater than or equal to a target distance, determining a target start speed and a target start acceleration according to the vehicle information, determining a target end speed according to the speed constraint information, determining a target end acceleration according to the acceleration constraint information, and determining the target planning trajectory according to the target start speed, the target start acceleration, the target end speed, the target end acceleration and the speed planning rule. The manner of determining the target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information can also be: if the predicted driving distance is less than the target distance, determining the target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint and the target distance.

[0037] Optionally, the position constraint includes a target distance corresponding to a target point.

[0038] The manner of determining the target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information includes:

[0039] The manner of determining the speed planning rule according to the vehicle information, the speed constraint information, the acceleration constraint information and the jerk constraint information includes:

[0040] The manner of determining the predicted driving distance according to the speed constraint information and the speed planning rule includes:

[0041] The manner of determining the target planning trajectory according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information and the speed planning rule includes:

[0042] The speed planning rule can be: if it is one segment, the speed planning rule is that the jerk is the maximum jerk in [0, t1] and the absolute value of the acceleration gradually increases in [0, t1]. If it is divided into two segments, the speed planning rule is that the jerk is the maximum jerk in [0, t1], the absolute value of the acceleration gradually increases in [0, t1], and the jerk is the maximum jerk in [t1, t2] and the absolute value of the acceleration gradually increases in [t1, t2]. end end ] and the absolute value of the acceleration gradually increases in [0, t1]. If it is divided into two segments, the speed planning rule is that the jerk is the maximum jerk in [0, t1], the absolute value of the acceleration gradually increases in [0, t1], and the jerk is the maximum jerk in [t1, t2] and the absolute value of the acceleration gradually increases in [t1, t2].​end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t end ] is the maximum jerk, the absolute value of the acceleration gradually increases in [0, t1], the jerk is zero in [t1, t2], the acceleration is constant in [t1, t2], the jerk is the minimum jerk in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t

[0043] Specifically, the manner of determining the speed planning rule according to the vehicle information, the speed constraint information, the acceleration constraint information, and the jerk constraint information can be: determining a difference value between the maximum speed and the current speed as a first difference value; determining a difference value between the target point speed and the maximum speed as a second difference value; determining a difference value between the target point speed and the current speed as a third difference value; if the third difference value is greater than a sum of the first difference value and the second difference value, dividing the time into three segments: a first time segment [0, t1], a second time segment [t1, t2], and a third time segment [t2, t end ], and determining the speed planning rule to include: the vehicle speed changes with a first change trend in [0, t1], the vehicle speed changes with a second change trend in [t1, t2], and the vehicle speed changes with a third change trend in [t2, t end ], the jerk is the maximum jerk in [0, t1], the absolute value of the acceleration gradually increases in [0, t1], the jerk is zero in [t1, t2], the acceleration is constant in [t1, t2], the jerk is the minimum jerk in [t2, t end ], and the absolute value of the acceleration gradually decreases in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t end ] is the minimum jerk, and the absolute value of the acceleration gradually decreases in [t2, t endThe absolute value of acceleration within the range gradually decreases. The method for determining the speed planning rule based on vehicle information, speed constraint information, acceleration constraint information, and jerk constraint information can also be as follows: if the third difference is less than the sum of the first difference and the second difference, and the third difference is equal to the first difference, then the total time is determined as a time period ([0, t...). end The speed planning rules are determined as follows: the vehicle speed satisfies the condition [0, t] end The velocity within [0, t] changes with the first trend. end The internal jerk is the maximum jerk, in [0,t] end The absolute value of the internal acceleration gradually increases.

[0044] In a specific example, such as Figure 2 , Figure 3 as well as Figure 4 As shown, the speed planning rule divides time into three segments:

[0045] The vehicle first moves at a constant maximum speed within the time interval [0, t1]. Upon reaching the upper limit of acceleration, the change in velocity becomes an increase with variable acceleration.

[0046] When the jerk becomes 0 in [t1,t2], the acceleration is constant, and the vehicle runs with a constant acceleration.

[0047] In [t2,t end The vehicle's jerkiness reaches the lower limit of acceleration at a constant minimum jerkiness j.

[0048] Specifically, the method for determining the predicted driving distance based on the speed constraint information and the speed planning rule can be as follows: determine the predicted driving distance based on the target point speed and the speed planning rule. For example, it could be to use the speed planning rule to determine the speed planning trajectory required to reach the target point, and set the maximum speed as t. end The corresponding vehicle speed is used to call speed planning rules to obtain the predicted travel distance.

[0049] In a specific example, such as Figure 4 As shown, the predicted driving distance S is determined based on the following formula. test :

[0050] S test =S1+S2+S3;

[0051]

[0052]

[0053]

[0054] S1 is a driving distance corresponding to the first time period, v0 is a current speed of the vehicle, t1 is a termination time of the first time period, a0 is a current acceleration of the vehicle, J is a maximum jerk, t2 is a termination time of the second time period, S2 is a driving distance corresponding to the second time period, v t1 is a speed corresponding to the t1 moment, is a maximum acceleration, S3 is a driving distance corresponding to the third time period, is a maximum speed, t end is a termination time of the third time period, and j is a minimum jerk.

[0055] Specifically, the manner of determining the target planning trajectory according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information, and the speed planning rule can be: if the predicted driving distance is greater than or equal to the target distance, determining the target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information, and the speed planning rule. If the sum of the first-segment trajectory distance and the last-segment trajectory distance is less than the target distance, determining the middle-segment trajectory according to the first-segment trajectory distance, the last-segment trajectory distance, the target distance, the first-segment termination speed, and the speed planning rule; and determining the target planning trajectory according to the first-segment trajectory, the middle-segment trajectory, and the last-segment trajectory.

[0056] Optionally, the manner of determining the target planning trajectory according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information, and the speed planning rule comprises:

[0057] If the predicted driving distance is greater than or equal to the target distance, determining the target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information, and the speed planning rule.

[0058] Specifically, the manner of determining the target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information, and the speed planning rule can be: determining a target start speed and a target start acceleration according to the vehicle information; determining a target termination speed according to the speed constraint information, and determining a target termination acceleration according to the acceleration constraint information; and determining the target planning trajectory according to the target start speed, the target start acceleration, the target termination speed, the target termination acceleration, and the speed planning rule.

[0059] It should be noted that if the predicted driving distance is greater than or equal to the target distance, the trajectory between the current position of the vehicle and the target position corresponding to the target point does not need to be divided, and is taken as a segment trajectory.

[0060] Optionally, the speed constraint information comprises a target point vehicle speed, and the acceleration constraint information comprises a target point acceleration.

[0061] The target planning trajectory is determined according to the vehicle information, the speed constraint information, the acceleration constraint information, and the speed planning rule.

[0062] The target start speed and the target start acceleration are determined according to the vehicle information.

[0063] The target end speed is determined according to the target point vehicle speed.

[0064] The target end acceleration is determined according to the target point acceleration.

[0065] The target planning trajectory is determined according to the target start speed, the target start acceleration, the target end speed, the target end acceleration, and the speed planning rule.

[0066] The vehicle information comprises a current vehicle speed and a current acceleration of the vehicle.

[0067] Specifically, the target start speed and the target start acceleration are determined according to the vehicle information in the following manner: the current vehicle speed is determined as the target start speed, and the current acceleration of the vehicle is determined as the target start acceleration.

[0068] Specifically, the target end speed is determined according to the target point vehicle speed in the following manner: the target point vehicle speed is determined as the target end speed. The target end acceleration is determined according to the target point acceleration in the following manner: the target point acceleration is determined as the target end acceleration.

[0069] Optionally, the speed constraint information comprises a target point vehicle speed, and the acceleration constraint information comprises a target point acceleration.

[0070] The target planning trajectory is determined according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information, and the speed planning rule.

[0071] If the predicted driving distance is less than the target distance, the first segment trajectory and the first segment trajectory distance are determined according to the vehicle information, the speed constraint information, and the speed planning rule.

[0072] The last segment trajectory and the last segment trajectory distance are determined according to the first segment trajectory, the target point vehicle speed, the target point acceleration, and the speed planning rule.

[0073] If the sum of the first segment trajectory distance and the last segment trajectory distance is equal to the target distance, the target planning trajectory is determined according to the first segment trajectory and the last segment trajectory.

[0074] It should be noted that if the predicted driving distance is less than the target distance, the trajectory between the current position of the vehicle and the target position corresponding to the target point can be divided into two or three segments, and whether to divide into two or three segments needs to be determined according to the relationship between the sum of the first segment trajectory distance and the last segment trajectory distance and the target distance. If the sum of the first segment trajectory distance and the last segment trajectory distance is equal to the target distance, the trajectory is divided into two segments. If the sum of the first segment trajectory distance and the last segment trajectory distance is less than the target distance, the trajectory is divided into three segments.

[0075] Specifically, the manner of determining the first segment trajectory and the first segment trajectory distance according to the vehicle information, the speed constraint information, and the speed planning rule can be: determining a first segment start speed and a first segment start acceleration according to the vehicle information, determining a first segment end speed according to the speed constraint information, and determining a first segment end acceleration as zero by default, and determining the first segment trajectory and the first segment trajectory distance according to the first segment start speed, the first segment start acceleration, the first segment end speed, the first segment end acceleration, and the speed planning rule.

[0076] Specifically, the manner of determining the last segment trajectory and the last segment trajectory distance according to the first segment trajectory, the target point speed, the target point acceleration, and the speed planning rule can be: determining a last segment start speed and a last segment start acceleration according to the first segment trajectory, determining a last segment end speed and a last segment end acceleration according to the target point speed and the target point acceleration, and determining the last segment trajectory and the last segment trajectory distance according to the last segment start speed, the last segment start acceleration, the last segment end speed, the last segment end acceleration, and the speed planning rule.

[0077] Optionally, the method further comprises:

[0078] If the sum of the first segment trajectory distance and the last segment trajectory distance is less than the target distance, determining a middle segment trajectory according to the first segment trajectory distance, the last segment trajectory distance, the target distance, the first segment end speed, and the speed planning rule.

[0079] Determining a target planning trajectory according to the first segment trajectory, the middle segment trajectory, and the last segment trajectory.

[0080] Specifically, the manner of determining the middle segment trajectory according to the first segment trajectory distance, the last segment trajectory distance, the target distance, the first segment end speed, and the speed planning rule can be: middle segment trajectory distance = first segment trajectory distance + last segment trajectory distance - target distance, middle segment time = S2 / v 1end , second segment speed = v 1end , where v 1end is the first segment end speed.

[0081] Optionally, the speed constraint information comprises: a maximum vehicle speed.

[0082] The first segment trajectory and its distance are determined based on the vehicle information, speed constraint information, and speed planning rules, including:

[0083] Determine the initial speed and initial acceleration of the first segment based on the vehicle information;

[0084] The initial segment termination speed is determined based on the maximum vehicle speed.

[0085] The trajectory and distance of the first segment are determined based on the initial velocity, initial acceleration, initial velocity, and velocity planning rules.

[0086] The vehicle information includes the vehicle's current speed and current acceleration. The method for determining the initial speed and initial acceleration based on the vehicle information can be as follows: the vehicle's current speed is determined as the initial speed, and the vehicle's current acceleration is determined as the initial acceleration.

[0087] Specifically, the method for determining the trajectory and distance of the first segment based on the initial velocity, initial acceleration, initial velocity, and velocity planning rules can be as follows: Predetermine the initial velocity to be zero, and then determine the trajectory and distance based on the initial velocity, initial acceleration, initial velocity, initial acceleration, and velocity planning rules.

[0088] Optionally, determining the final trajectory and its distance based on the first trajectory segment, the target point speed, the target point acceleration, and the speed planning rule includes:

[0089] The initial velocity and initial acceleration of the final segment are determined based on the initial trajectory.

[0090] Determine the final termination speed based on the vehicle speed at the target point;

[0091] Determine the final acceleration based on the target point acceleration;

[0092] The final segment trajectory and the final segment trajectory distance are determined based on the final segment start velocity, final segment start acceleration, final segment end velocity, final segment end acceleration, and the velocity planning rules.

[0093] Specifically, the method for determining the starting velocity and acceleration of the final segment based on the trajectory of the first segment can be as follows: the ending velocity of the first segment is determined as the starting velocity of the final segment, and the ending acceleration of the first segment is determined as the starting acceleration of the final segment.

[0094] In a specific example, the longitudinal velocity planning architecture is as follows: Figure 5 As shown, where:

[0095] System inputs include:

[0096] 1) Vehicle information: including current speed, current acceleration, current jerk, current position, etc.

[0097] 2) Constraint information: position constraint information, speed constraint information, acceleration constraint information, and jerk constraint information.

[0098] The system internally includes:

[0099] 1) The speed planning aims to obtain a speed trajectory that satisfies the speed constraint and acceleration constraint by calculation.

[0100] 2) The position planning module aims to obtain a trajectory that satisfies all constraints by discussing and calling the speed planning algorithm.

[0101] The system output includes a longitudinal planning trajectory that can be used for automatic driving vehicle tracking control.

[0102] The speed planning module is based on the current jerk, current speed v0, current acceleration a0, and current position (0, 0) of the vehicle, and under the premise of satisfying the speed constraint, acceleration constraint, and jerk constraint, a speed trajectory that can satisfy the target point acceleration constraint a end and target point speed v end is calculated. The specific idea is as follows:

[0103] The overall planning is divided into three segments (refer to Figure 2 , Figure 3 and Figure 4 ):

[0104] The vehicle first reaches the upper limit of acceleration with constant maximum jerk in [0, t1] time, and the speed changes to variable acceleration rise;

[0105] In [t1, t2], the jerk becomes 0, and the vehicle runs at a constant acceleration;

[0106] In [t2, t end ], the jerk is the minimum to reach the lower limit of acceleration.

[0107] The position planning module is based on the current state of the vehicle, the current position (0), the speed v0, and the acceleration a0, and under the premise of satisfying the position constraint, the speed constraint, and the jerk constraint, a speed trajectory that can satisfy the end point position S end , the acceleration constraint a end , and the speed constraint v end 2 is calculated. The trajectory can be composed of three speed planning trajectories, the first segment is acceleration motion, the second segment is fixed speed operation, and the third segment is acceleration operation. The specific idea is as follows:

[0108] (1) Using the target point speed to plan the speed planning trajectory required to reach the target point speed, and calculating the predicted driving distance S test .

[0109] (2) If the current driving distance S test <target distance S end , set the end point speed v 1end of the first segment trajectory = v;

[0110] Otherwise:

[0111] The first segment position planning trajectory is the final trajectory.

[0112] The calculated trajectory is the entire position planning trajectory, and the second segment trajectory and the third segment trajectory do not exist, and the algorithm ends.

[0113] (3) Using the first segment trajectory start speed, the first segment trajectory start acceleration, the first segment trajectory end speed, the first segment trajectory end acceleration (default 0) calculated by the first segment trajectory, calling the speed planning module to calculate the first segment trajectory, and obtaining the first segment trajectory distance;

[0114] (4) Calculate the third segment trajectory:

[0115] The third segment trajectory start speed = the first segment trajectory end point speed v 1end ;

[0116] The third segment trajectory start acceleration = the first segment trajectory end acceleration a 1end ;

[0117] The third segment trajectory end speed = the target point speed v end ;

[0118] The third segment trajectory end acceleration = the target point acceleration a end ;

[0119] According to the third segment trajectory start speed, the third segment trajectory start acceleration, the third segment trajectory end speed, and the third segment trajectory end acceleration, call the speed planning module to calculate the third segment trajectory, and obtain the third segment trajectory distance S3.

[0120] (5) Calculate the second segment trajectory:

[0121] The second segment trajectory length = the first segment trajectory length + the third segment trajectory length - the target distance S en d

[0122] The second segment time = S2 / v 1end ;

[0123] The second segment speed = v 1end .

[0124] The target planning trajectory is determined according to the first segment trajectory, the second segment trajectory and the third segment trajectory.

[0125] Optionally, the vehicle information comprises a current speed of the vehicle, the speed constraint comprises a maximum speed and a target point speed, and the jerk constraint comprises a maximum jerk and a minimum jerk.

[0126] The speed planning rule is determined according to the vehicle information, the speed constraint, the acceleration constraint and the jerk constraint, and comprises:

[0127] A difference between the maximum speed and the current speed is determined as a first difference.

[0128] A difference between the target point speed and the maximum speed is determined as a second difference.

[0129] A difference between the target point speed and the current speed is determined as a third difference.

[0130] If the third difference is greater than a sum of the first difference and the second difference, the speed planning rule comprises that the vehicle speed changes with a first change trend in a first time period, the vehicle speed changes with a second change trend in a second time period, and the vehicle speed changes with a third change trend in a third time period, wherein the jerk corresponding to the first time period is the maximum jerk, the absolute value of the acceleration corresponding to the first time period gradually increases, the jerk corresponding to the second time period is zero, the acceleration corresponding to the second time period is constant, the jerk corresponding to the third time period is the minimum jerk, and the absolute value of the acceleration corresponding to the third time period gradually decreases.

[0131] Optionally, the method further comprises:

[0132] If the third difference is equal to the sum of the first difference and the second difference, the speed planning rule comprises:

[0133] The vehicle speed changes with the first change trend in the first time period and changes with the third change trend in the second time period, wherein the jerk corresponding to the first time period is the maximum jerk, the absolute value of the acceleration corresponding to the first time period gradually increases, the jerk corresponding to the second time period is the minimum jerk, and the absolute value of the acceleration corresponding to the second time period gradually decreases.

[0134] The technical scheme of the embodiment can improve driving efficiency under the condition that the vehicle meets the position constraint, the speed constraint, the acceleration constraint and the jerk constraint by acquiring the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information and determining the target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information.

[0135] Example 2

[0136] Figure 6 This is a schematic diagram of a trajectory determination device provided in an embodiment of the present invention. This embodiment is applicable to the determination of trajectories. The device can be implemented using software and / or hardware, and can be integrated into any device that provides trajectory determination functionality, such as… Figure 6 As shown, the planned trajectory determination device specifically includes: an acquisition module 210 and a planned trajectory determination module 220.

[0137] The acquisition module is used to acquire vehicle information, position constraint information, speed constraint information, acceleration constraint information, and jerk constraint information.

[0138] The trajectory determination module is used to determine the target trajectory based on vehicle information, position constraint information, speed constraint information, acceleration constraint information, and jerk constraint information.

[0139] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0140] Example 3

[0141] Figure 7 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0142] like Figure 7As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected to the at least one processor 11 in communication. The memory stores a computer program executable by the at least one processor 11, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0143] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0144] The processor 11 can be various general and / or special-purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the planning trajectory determination method.

[0145] In some embodiments, the planning trajectory determination method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the planning trajectory determination method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the planning trajectory determination method by any other appropriate means, such as by means of firmware.

[0146] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0147] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented on the computer or other programmable apparatus. The computer programs can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0148] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0149] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0150] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0151] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0152] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0153] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A planning trajectory determination method characterized by, The method comprises: acquiring vehicle information, position constraint information, speed constraint information, acceleration constraint information and jerk constraint information; determining a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information; determining a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information and the jerk constraint information, comprising: determining a speed planning rule according to the vehicle information, the speed constraint information, the acceleration constraint information and the jerk constraint information; determining a predicted driving distance according to the speed constraint information and the speed planning rule; determining a target planning trajectory according to the vehicle information, the predicted driving distance, a target distance, the speed constraint information, the acceleration constraint information and the speed planning rule, wherein the target distance is a distance between a starting point and a target point; determining a target planning trajectory according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information and the speed planning rule, comprising: if the predicted driving distance is greater than or equal to the target distance, determining a target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information and the speed planning rule; if the predicted driving distance is less than the target distance, determining a first segment trajectory and a first segment trajectory distance according to the vehicle information, the speed constraint information and the speed planning rule; determining a last segment trajectory and a last segment trajectory distance according to the first segment trajectory, a target point speed, a target point acceleration and the speed planning rule; if a sum of the first segment trajectory distance and the last segment trajectory distance is equal to the target distance, determining a target planning trajectory according to the first segment trajectory and the last segment trajectory; if the sum of the first segment trajectory distance and the last segment trajectory distance is less than the target distance, determining an intermediate segment trajectory according to the first segment trajectory distance, the last segment trajectory distance, the target distance, a first segment termination speed and the speed planning rule; determining a target planning trajectory according to the first segment trajectory, the intermediate segment trajectory and the last segment trajectory.

2. The method of claim 1, wherein, The position constraint comprises a target distance corresponding to the target point.

3. The method of claim 1, wherein, The speed constraint information comprises a target point speed, and the acceleration constraint information comprises a target point acceleration; determining a target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information and the speed planning rule, comprising: determining a target start speed and a target start acceleration according to the vehicle information; determining a target termination speed according to the target point speed; determining a target termination acceleration according to the target point acceleration; determining a target planning trajectory according to the target start speed, the target start acceleration, the target termination speed, the target termination acceleration and the speed planning rule.

4. The method of claim 1, wherein, The speed constraint information comprises a target point speed, and the acceleration constraint information comprises a target point acceleration.

5. The method of claim 1, wherein, The speed constraint information comprises a maximum speed; determining a first segment trajectory and a first segment trajectory distance according to the vehicle information, the speed constraint information and the speed planning rule, comprising: determining a first segment start speed and a first segment start acceleration according to the vehicle information; determining a first segment end speed according to the maximum vehicle speed; determining a first segment trajectory and a first segment trajectory distance according to the first segment start speed, the first segment start acceleration, the first segment end speed, and a speed planning rule.

6. The method of claim 1, wherein, determining a last segment trajectory and a last segment trajectory distance according to the first segment trajectory, the target point speed, the target point acceleration, and the speed planning rule, including: determining a last segment start speed and a last segment start acceleration according to the first segment trajectory; determining a last segment end speed according to the target point speed; determining a last segment end acceleration according to the target point acceleration; determining a last segment trajectory and a last segment trajectory distance according to the last segment start speed, the last segment start acceleration, the last segment end speed, the last segment end acceleration, and the speed planning rule.

7. The method of claim 1, wherein, the vehicle information includes a current vehicle speed, the speed constraint includes a maximum vehicle speed and a target point speed, and the jerk constraint includes a maximum jerk and a minimum jerk; determining a speed planning rule according to the vehicle information, the speed constraint, the acceleration constraint, and the jerk constraint, including: determining a first difference value as a difference between the maximum vehicle speed and the current vehicle speed; determining a second difference value as a difference between the target point speed and the maximum vehicle speed; determining a third difference value as a difference between the target point speed and the current vehicle speed; if the third difference value is greater than a sum of the first difference value and the second difference value, determining that the speed planning rule includes that the vehicle speed changes with a first change trend in a first time period, changes with a second change trend in a second time period, and changes with a third change trend in a third time period, wherein a jerk corresponding to the first time period is the maximum jerk, an absolute value of an acceleration corresponding to the first time period gradually increases, a jerk corresponding to the second time period is zero, an acceleration corresponding to the second time period is constant, a jerk corresponding to the third time period is the minimum jerk, and an absolute value of an acceleration corresponding to the third time period gradually decreases.

8. A planning trajectory determination apparatus characterized by comprising: including: an acquisition module, configured to acquire vehicle information, position constraint information, speed constraint information, acceleration constraint information, and jerk constraint information; a planning trajectory determination module, configured to determine a target planning trajectory according to the vehicle information, the position constraint information, the speed constraint information, the acceleration constraint information, and the jerk constraint information; the planning trajectory determination module is specifically configured to: determine a speed planning rule according to the vehicle information, the speed constraint information, the acceleration constraint information, and the jerk constraint information; determine a predicted driving distance according to the speed constraint information and the speed planning rule; determine the target planning trajectory according to the vehicle information, the predicted driving distance, a target distance, the speed constraint information, the acceleration constraint information, and the speed planning rule, wherein the target distance is a distance between a starting point and a target point; determine the target planning trajectory according to the vehicle information, the predicted driving distance, the target distance, the speed constraint information, the acceleration constraint information, and the speed planning rule, including: if the predicted driving distance is greater than or equal to the target distance, determining a target planning trajectory according to the vehicle information, the speed constraint information, the acceleration constraint information, and the speed planning rule; if the predicted driving distance is less than the target distance, determining a first segment trajectory and a first segment trajectory distance according to the vehicle information, the speed constraint information, and the speed planning rule; determining a last segment trajectory and a last segment trajectory distance according to the first segment trajectory, a target point vehicle speed, a target point acceleration, and the speed planning rule; if the sum of the first segment trajectory distance and the last segment trajectory distance is equal to the target distance, determining the target planning trajectory according to the first segment trajectory and the last segment trajectory; if the sum of the first segment trajectory distance and the last segment trajectory distance is less than the target distance, determining an intermediate segment trajectory according to the first segment trajectory distance, the last segment trajectory distance, the target distance, a first segment termination speed, and the speed planning rule; determining the target planning trajectory according to the first segment trajectory, the intermediate segment trajectory, and the last segment trajectory.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the planning trajectory determination method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the planning trajectory determination method in any one of claims 1-7 when executed.

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