Path planning method, electronic device, and storage medium

Abstract

Embodiments of the present application provide a path planning method, an electronic device and a storage medium. The path planning method comprises: in response to detecting a trajectory based on a first electronic map, determining a range covered by the detected trajectory; selecting a first candidate road segment from the first electronic map according to the range covered by the trajectory; screening a second candidate road segment meeting an autonomous driving requirement from the first candidate road segment; and planning a global navigation path according to the second candidate road segment. Through the embodiments of the present application, the electronic device can plan a global navigation path meeting the autonomous driving requirement according to a self-defined trajectory.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and more specifically, to a path planning method, electronic device, and storage medium. Background Technology

[0002] In current route planning methods, the user typically provides the starting point and destination, and the navigator plans the navigation route for the user.

[0003] However, the paths planned by these path planning methods may not meet user expectations, thus reducing the user experience. Summary of the Invention

[0004] This application provides a path planning method, electronic device, and storage medium that can at least partially solve the aforementioned problems existing in the prior art.

[0005] The first aspect of this application provides a path planning method, comprising: in response to detecting a trajectory drawn based on a first electronic map, determining the range covered by the detected trajectory; selecting a first candidate road segment from the first electronic map according to the range covered by the trajectory; filtering a second candidate road segment that meets the requirements of autonomous driving from the first candidate road segment; and planning a global navigation path according to the second candidate road segment.

[0006] A second aspect of this application provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the path planning method mentioned in the above embodiments.

[0007] A third aspect of this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the path planning method mentioned in the above embodiments.

[0008] According to the embodiments provided in this application, the electronic device determines the user's desired driving range based on the coverage area of ​​the trajectory, and selects candidate road segments for the user accordingly. From the selected candidate road segments, it filters out those that meet the requirements of autonomous driving to plan a global navigation path. This allows the electronic device to plan a global navigation path for the user based on a user-defined trajectory, even when the user has a given driving range (i.e., no specific destination). Furthermore, by planning the global navigation path based on the filtered candidate road segments that meet the requirements of autonomous driving, the planned global navigation path ensures that each road segment meets the requirements of autonomous driving as much as possible. Attached Figure Description

[0009] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Wherein:

[0010] Figure 1 This is a flowchart illustrating a path planning method according to one embodiment of this application;

[0011] Figure 2 This is a schematic diagram of a trajectory according to one embodiment of this application;

[0012] Figure 3 According to one embodiment of this application, the first electronic map shows the range covered by the trajectory and the positional relationship of some road segments in the first electronic map;

[0013] Figure 4 This is a flowchart illustrating a path planning method according to one embodiment of this application;

[0014] Figure 5 This is a flowchart illustrating a path planning method according to another embodiment of this application;

[0015] Figure 6 This is a schematic diagram of the structure of an electronic device according to one embodiment of this application. Detailed Implementation

[0016] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this application and are not intended to limit the scope of this application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0017] It should be noted that in this specification, the terms "first," "second," "third," etc., are used only to distinguish one feature from another and do not imply any limitation on the features, especially not any order of precedence. Therefore, without departing from the teachings of this application, the first candidate road segment discussed in this application may also be referred to as the second candidate road segment, or the third candidate road segment, and vice versa.

[0018] It should also be understood that expressions such as "comprising," "including," "having," "containing," and / or "comprising" are open-ended rather than closed-ended expressions in this specification. Furthermore, when describing embodiments of this application, the word "may" is used to mean "one or more embodiments of this application." And the term "exemplary" is intended to refer to examples or illustrations.

[0019] Unless otherwise specified, all terms used herein (including engineering and technical terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that, unless expressly stated herein, terms defined in common dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or overly formalized meaning.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Furthermore, unless explicitly limited or contradicted by the context, the specific steps included in the methods described in this application are not limited to the order in which they are described, but can be performed in any order or in parallel. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] In some technologies, the navigation route planning process for autonomous driving is usually based on the user's explicit destination and map information. If there are navigation routes that are not suitable for autonomous driving, then alternative routes are planned for those routes.

[0022] However, during the navigation route planning process described above, the user needs to input a specific destination. If the user does not have a specific destination, a navigation route cannot be planned for them. Autonomous driving navigation routes are primarily planned by electronic devices, not according to the user's subjective intentions. Furthermore, the process of repeatedly calculating and replacing routes may result in a waste of computing resources.

[0023] Figure 1 This is a flowchart illustrating a path planning method 1000 according to one embodiment of this application. In embodiments of this application, the path planning method 1000 may be executed by, for example, an electronic device such as a vehicle navigation system or a server. Figure 1 As shown, an embodiment of this application provides a path planning method 1000 including:

[0024] S11, in response to detecting a trajectory drawn based on the first electronic map, determine the range covered by the detected trajectory.

[0025] S12, Select the first candidate road segment from the first electronic map based on the range covered by the trajectory.

[0026] S13, selects a second candidate road segment that meets the requirements of autonomous driving from the first candidate road segment.

[0027] S14, Plan the global navigation path based on the second candidate road segment.

[0028] According to the embodiments of this application, the electronic device determines the user's desired driving range based on the range covered by the trajectory, and selects candidate road segments for the user accordingly. From the selected candidate road segments, it filters out those that meet the requirements of autonomous driving to plan a global navigation path. This allows the electronic device to plan a global navigation path for the user based on a user-defined trajectory, even when the user has a given driving range (i.e., no specific destination). Furthermore, by planning the global navigation path based on the filtered candidate road segments that meet the requirements of autonomous driving, the planned global navigation path ensures that each road segment meets the requirements of autonomous driving as much as possible.

[0029] The following is combined with Figures 2 to 5 right Figure 1 Steps S11 to S14 are illustrated by way of example.

[0030] Step S11

[0031] In some embodiments of this application, the route planning method 1000 may further include, for example, displaying a first electronic map on a screen. This screen may be, for example, an in-vehicle display screen.

[0032] For example, an electronic device responds to a map display command by displaying a first electronic map on its screen.

[0033] Alternatively, the map display command may, for example, indicate the city where the electronic device is located or the city to be navigated to, and the first electronic map may, for example, include an electronic map of that city. The electronic device acquires the display scale of the city and displays the first electronic map on the screen according to the acquired display scale. The display scale of each city can be determined based on the actual size information of the city and the screen size information, or it can be set by the user.

[0034] In some embodiments of this application, the method by which the vehicle-mounted terminal detects the trajectory may include, for example, detecting the trajectory through the screen of an electronic device (e.g., a touchscreen). For instance, the screen of the electronic device displays a first electronic map, and the user draws a route by sliding their finger on the screen. The electronic device detects the route drawn by the user through the screen to obtain the trajectory. In other words, the user can directly draw the route on the screen.

[0035] In other embodiments of this application, the electronic device may detect a trajectory by means of data detected by a camera or distance sensor of the electronic device. For example, the screen of the electronic device displays a first electronic map, and the user draws a route in the air above the screen with their finger, etc. The camera or distance sensor obtains the sliding trajectory by detecting the movement of the finger. In other words, the user can draw a route by operating in the air.

[0036] It should be understood that, without departing from the teachings of this application, trajectories can be detected in other ways, and this application does not impose any restrictions on this.

[0037] In some embodiments of this application, determining the coverage area of ​​the detected trajectory may include, for example, determining the coverage area of ​​the trajectory based on the contour of the trajectory and the display scale of the first electronic map.

[0038] For example, based on the trajectory drawn on the first electronic map, such as Figure 2 As shown by the thick lines in the image. Because the finger has a certain width, when it draws a route on the screen displaying the first electronic map, the electronic device can detect a trajectory whose width is approximately equal to the total width of the operating finger and whose length is approximately equal to the distance the user's finger moves. Its outline is roughly as follows: Figure 2 As shown, the electronic device can determine the area covered by the trajectory based on the size of the trajectory outline, the display scale of the first electronic map, and the relative positional relationship between the outline and the first electronic map.

[0039] It should be understood that, Figure 2 The map point corresponding to the pentagram in the image can be, for example, the endpoint of the trajectory, or, for example, the endpoint obtained by the electronic device after searching according to the search command. This application does not impose any limitations on this.

[0040] Step S12

[0041] In some embodiments of this application, the electronic device may select a first candidate road segment from a first electronic map based on the range covered by the trajectory, for example, by acquiring road segments in the first electronic map that are at least partially located within the range covered by the trajectory as the first candidate road segments.

[0042] For example, the area covered by the trajectory in the first electronic map and the positional relationship of some road segments in the first electronic map are as follows: Figure 3 As shown. The dashed lines represent road segments, totaling L1-L11, and the thicker solid lines indicate the approximate trend direction of the trajectory. If a road segment that is at least partially within the trajectory's coverage area is selected as the first road segment, then for... Figure 3 The electronic equipment selected road segments L1, L2, L3, L4, L5, L6, L7, L8, L9, L10 and L11 as the first candidate road segments.

[0043] In some other embodiments of this application, the electronic device may select a first candidate road segment from a first electronic map based on the range covered by the trajectory, for example, by obtaining a road segment in the first electronic map that is completely within the range covered by the trajectory as the first candidate road segment.

[0044] For example, with Figure 3For example, if the road segment completely within the trajectory coverage area is taken as the first road segment, then for Figure 3 The electronic equipment selected road segments L1, L4, L6 and L9 as the first candidate road segments.

[0045] In some other embodiments of this application, the electronic device selecting a first candidate road segment from a first electronic map based on the range covered by the trajectory may include, for example, acquiring road segments in the first electronic map that are at least partially located within the range covered by the trajectory, and selecting road segments in the first electronic map whose displayed distance from at least one endpoint to the range covered by the trajectory is less than a first threshold as first candidate road segments. The first threshold may be set, for example, according to the display scale of the first electronic map or other parameters.

[0046] For example, the electronic device stores a constraint relationship between the display scale of the first electronic map and a first threshold. During the process of acquiring the first candidate road segment, the electronic device obtains the first threshold based on the display scale of the first electronic map. For instance, the constraint relationship between the display scale of the first electronic map and the first threshold indicates that a larger display scale of the first electronic map results in a larger first threshold, and a smaller display scale of the first electronic map results in a smaller first threshold.

[0047] It is worth noting that when the display scale of the first electronic map is small (e.g., 1:10km), the actual area covered by the trajectory calculated based on this display scale is large, and the number of actual roads is generally greater than the number of actual roads corresponding to the trajectory at a larger display scale (e.g., 1:1km). Decreasing the first threshold can avoid adding weakly related first candidate road segments, thus increasing the computational load of the path planning process. Conversely, when the display scale of the first electronic map is large (e.g., 1:1km), the area covered by the trajectory calculated based on this display scale is small, and the number of actual roads is generally less than the number of actual roads corresponding to the trajectory at a larger display scale (e.g., 1:10km). Increasing the first threshold can avoid the path planning results being affected by too few selectable first candidate road segments.

[0048] For example, with Figure 3 For example, the electronic equipment selects road segments L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11, and L12 as the first candidate road segments.

[0049] It should be understood that, without departing from the teachings of this application, the method of selecting the first candidate road segment can be set as needed, and this application does not impose any restrictions on it.

[0050] Step S13

[0051] In some embodiments of this application, the autonomous driving requirements may include, for example, road requirements for autonomous driving. Road requirements for autonomous driving may include, for example, at least one of the following: the road segment is permitted for autonomous vehicles to travel on; the road segment width and vehicle width satisfy a first constraint relationship; the road segment's roughness is less than a second threshold; and the road segment's historical traffic volume is less than a third threshold.

[0052] For example, the first constraint relationship may be that the road segment width is greater than the vehicle width, or that the difference between the road segment width and the vehicle width is greater than a fourth threshold. The fourth threshold may be set according to autonomous driving safety requirements, for example, and this application does not impose any restrictions on the first constraint relationship.

[0053] For example, the roughness of a road segment can be obtained by an electronic device from the network, i.e., detected and calculated by other devices. Alternatively, the electronic device can obtain the vehicle's vibration data on that road segment based on the vehicle's historical driving data, and calculate the roughness of the road segment based on the obtained vibration data and a preset second constraint relationship between the vibration data and the roughness. The second constraint relationship can be, for example, a pre-stored calculation model. This application does not limit the method of obtaining the roughness of the road segment.

[0054] It should be understood that the second threshold can be set according to the calculation method of the road segment's roughness and / or the vehicle's anti-shake parameters, and this application does not limit this.

[0055] For example, the historical traffic flow of a road segment can be, for instance, the average traffic flow or the minimum traffic flow of the road segment over a preset period of time. This application does not limit the method of calculating the historical traffic flow of a road segment.

[0056] It should be understood that the third threshold can be set according to parameters such as the response speed of various components in the vehicle and the current network speed of the electronic device, and this application does not impose any restrictions on it.

[0057] In other embodiments of this application, autonomous driving requirements may include, for example, road requirements and road condition requirements. Road requirements may include, for example, at least one of the following: road width and vehicle width satisfying a first constraint relationship, road roughness less than a second threshold, and historical traffic volume less than a third threshold, as mentioned above. Road condition requirements may include, for example, real-time traffic volume less than a fifth threshold, absence of obstacles, absence of accidents, and absence of traffic control. In other words, road requirements for autonomous driving may be, for example, requirements for road segment conditions that do not change in the short term, such as road segment width, while road condition requirements may be, for example, requirements for road segment conditions that change in real time, such as real-time traffic volume.

[0058] It should be understood that, without departing from the teachings of this application, those skilled in the art may set autonomous driving requirements based on other rules, and this application does not impose any restrictions on this.

[0059] In some embodiments of this application, the path planning method 1000 may further include, for example, obtaining the trajectory direction of a trajectory and determining the driving direction of the vehicle based on the trajectory direction. Selecting a second candidate road segment from the first candidate road segment that meets the requirements for autonomous driving may, for example, include selecting a second candidate road segment from the first candidate road segment that meets the requirements for autonomous driving and whose relationship between at least one drivable direction and the driving direction meets a first preset requirement. The electronic device can detect the direction of movement of the user's finger as the trajectory direction, so as to use it as the driving direction during subsequent vehicle operation.

[0060] It is worth mentioning that selecting second candidate road segments based on the driving directions of each first candidate road segment can reduce problems such as navigation failure caused by the selected second candidate road segments not allowing reverse passage.

[0061] Alternatively, the trajectory direction includes the trajectory direction of each curved segment of the trajectory. A first preset requirement may include, for example, that the angle between the drivable direction and the driving direction is less than a first angle threshold. The first angle threshold may be, for example, any angle value less than 90°. A curved segment of the trajectory refers to the curve between two inflection points on the trajectory. Since the trajectory drawn by the user may be tortuous, the trajectory direction may differ in different parts of the trajectory, and their corresponding driving directions will also differ.

[0062] For example, the electronic device can first determine the driving direction of the vehicle in each area covered by the trajectory in the first electronic map based on the trajectory direction of each curve segment of the trajectory. In the process of filtering the second candidate road segment from the first candidate road segment based on the driving direction, the electronic device determines the area to which the first candidate road segment belongs, and determines whether to filter the first candidate road segment as the second candidate road segment based on whether the angle between the drivable direction of the first candidate road segment and the driving direction of the area is less than a first angle threshold, and whether the first candidate road segment meets the requirements of autonomous driving.

[0063] Alternatively, the trajectory direction is the general trend direction of the trajectory (e.g., the direction of the line connecting the two endpoints of the trajectory), and the first preset requirement may include, for example, that the angle between the drivable direction and the driving direction is less than a second angle threshold. The second angle threshold may be, for example, any angle value less than 90°.

[0064] For example, in the process of selecting a second candidate road segment from the first candidate road segment based on the driving direction, the electronic device determines whether to select the first candidate road segment as the second candidate road segment based on whether the angle between the drivable direction and the general trend direction of the first candidate road segment is less than a second angle threshold and whether the first candidate road segment meets the requirements of autonomous driving.

[0065] For example, with Figure 3 For example, the general trend is shown by the arrow on line segment L. All road segments meet the requirements for autonomous driving. The first candidate road segments include L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, and L11. The permissible driving directions for each road segment are shown by the arrows on that segment. In other words, if a road segment is marked with a one-way arrow, it is a one-way street; if a road segment is marked with a two-way arrow, it is a two-way street. For Figure 3 The second candidate road segments selected may include, for example, road segments L1, L2, L3, L4, L5, L6, L7, L8, L9, and L10.

[0066] It should be understood that, without departing from the teachings of this application, a second candidate road segment may be selected in accordance with other rules, and this application does not restrict this.

[0067] Step S14

[0068] In some embodiments of this application, such as Figure 4 As shown, step S14: planning the global navigation path based on the second candidate road segment may include, for example, the following sub-steps:

[0069] Sub-step S141: Select a candidate road segment from the second candidate road segment based on the first endpoint of the trajectory. .

[0070] Specifically, the electronic device selects the first alternative route segment based on the first endpoint of the trajectory, and selects other alternative routes in the direction of the second endpoint of the trajectory based on the first alternative route segment.

[0071] The following provides an example illustrating how to select the first endpoint.

[0072] As an alternative, the first endpoint of the trajectory is the starting point of the trajectory (e.g., Figure 3 Point A in the equation), the second endpoint of the trajectory is the end point of the trajectory (e.g., point A in the equation). Figure 3 (Point B in the equation). In other words, the electronic device starts from the beginning of the trajectory and sequentially selects alternative routes from the second candidate routes until it approaches the end of the trajectory.

[0073] As an alternative, the first endpoint of the trajectory is the end point of the trajectory (e.g. Figure 3 Point B in the equation), the second endpoint of the trajectory is the starting point of the trajectory (e.g., point B in the equation). Figure 3 Point A in the diagram). In other words, the electronic device starts from the end of the trajectory and sequentially selects alternative routes from the second candidate routes until it approaches the beginning of the trajectory.

[0074] In some embodiments of this application, the starting point or ending point of the trajectory may be, for example, an extreme point of the trajectory profile. For example, an electronic device extracts the trajectory profile and identifies the extreme point located at the beginning of the trajectory as the starting point of the trajectory, and identifies the extreme point located at the end of the trajectory profile as the ending point of the trajectory.

[0075] In some other embodiments of this application, the starting point of the trajectory may be, for example, the earliest point on the screen detected during the trajectory drawing process, and the ending point of the trajectory may be, for example, the last point on the screen detected during the trajectory drawing process.

[0076] It should be understood that, without departing from the teachings of this application, the starting point and ending point of the trajectory can also be determined in other ways. For example, an electronic device can provide the user with some optional map points based on the range covered by the trajectory, and the user can select the starting point or ending point of the trajectory. Alternatively, the starting point of the trajectory can be adjusted, for example, based on the current location information of the vehicle. For example, the map point pointed to by the current location information of the vehicle can be used as the starting point of the trajectory. This application does not limit this.

[0077] The following is an example of how to select the first alternative road segment based on the first endpoint.

[0078] In some embodiments of this application, selecting a candidate road segment from the second candidate road segments based on the first endpoint of the trajectory may include, for example, using the second candidate road segment containing the first endpoint of the trajectory as a candidate road segment in response to the first endpoint of the trajectory being located on any second candidate road segment. In other words, if one end of the trajectory is located on a selected second candidate road segment, the second candidate road segment may be used as a candidate road segment in order to form a global navigation path that passes through at least both ends of the trajectory.

[0079] For example, such as Figure 3 As shown, if the first endpoint is the starting point of the trajectory (i.e., point A), then segment L1 can be selected as the first alternative segment.

[0080] In other embodiments of this application, selecting a candidate road segment from the second candidate road segments based on the first endpoint of the trajectory may, for example, include: in response to the first endpoint of the trajectory not being located on all the second candidate road segments, selecting at least one second candidate road segment as a candidate road segment based on the distance between the first endpoint of the trajectory and the second candidate road segments. For example, selecting the second candidate road segment with the smallest distance as a candidate road segment.

[0081] For example, such as Figure 3 As shown, if the first endpoint is Figure 3Since A' is the closest to road segment L2, road segment L2 can be selected as the first alternative road segment.

[0082] As an alternative, the electronic device determines whether the first endpoint of the trajectory is located on any second candidate road segment by: determining a map point in the first electronic map corresponding to the first endpoint of the trajectory; determining the road segment to which the map point belongs; determining whether the selected second candidate road segments include the road segment to which the map point belongs; if so, it means that the first endpoint is located on a selected second candidate road segment, and the vicinity of the first endpoint is suitable for autonomous driving, so the second candidate road segment can be directly used as a candidate road segment; if not, it means that the first endpoint is not located on any of the second candidate road segments, that is, the vicinity of the first endpoint is not suitable for autonomous driving, so a second candidate road segment closer to the first endpoint can be selected as a candidate road segment; and after selecting the closer second candidate road segment, or after selecting all candidate road segments, a navigation path from the first endpoint to the closer second candidate road segment is planned as part of the global navigation path.

[0083] It should be understood that, without departing from the teachings of this application, the first alternative road segment can also be selected in other ways. For example, the electronic device determines a map point in a first electronic map corresponding to the first endpoint of the trajectory, and determines whether the map point is located between the two ends of its road segment or at the endpoint of its road segment. If the map point is located between the two ends of its road segment, and the vehicle needs to travel along the road segment to which the map point belongs, the electronic device can select the first alternative road segment from the second candidate road segments based on the drivable direction of the road segment to which the map point belongs, the distance information between the road segment to which the map point belongs and each second candidate road segment, etc. This application does not limit the method of selecting the first alternative road segment.

[0084] Sub-step S142: Based on the previously selected candidate road segments, select the second candidate road segment remaining after the previous selection. Select alternative road segments. Among them, the distance from at least one map point of the candidate road segment selected this time to the first endpoint of the trajectory is greater than the distance from all map points of the candidate road segment selected in the previous time to the first endpoint of the trajectory.

[0085] In some embodiments of this application, the electronic device selects the candidate road segment for the current time based on whether there is a second candidate road segment among the remaining second candidate road segments after the previous selection that intersects with the candidate road segment selected in the previous selection.

[0086] As an alternative, the second candidate road segment that intersects with the previously selected candidate road segment is the second candidate road segment that connects with the previously selected candidate road segment.

[0087] For example, after completing the selection of the previous candidate road segment, it is determined whether the road segment intersecting with the previously selected candidate road segment in the first electronic map is a second candidate road segment. If it is determined that the intersecting road segment is a second candidate road segment and that road segment has not yet been selected, then it is determined that at least one remaining second candidate road segment after the previous selection intersects with the previously selected candidate road segment. If it is determined that the intersecting road segment is a second candidate road segment but that road segment has already been selected, or if the intersecting road segment is not a second candidate road segment, then it is determined that none of the remaining second candidate road segments after the previous selection intersect with the previously selected candidate road segment. Based on this, in response to at least one remaining second candidate road segment after the previous selection intersecting with the previously selected candidate road segment, the electronic device selects the remaining second candidate road segment after the previous selection that intersects with the previously selected candidate road segment as a third candidate road segment; and selects the candidate road segment to be selected this time from the third candidate road segment. The electronic device responds to the fact that none of the remaining second candidate road segments after the previous selection intersect with the previously selected candidate road segments, and selects a third candidate road segment based on the distance between the remaining second candidate road segments and the previously selected candidate road segments; and selects a candidate road segment for the current selection from the third candidate road segments. For example, it selects an unselected second candidate road segment whose distance to the previously selected candidate road segment is less than a sixth threshold as the third candidate road segment, so as to select a candidate road segment for the current selection. The sixth threshold can be set according to the processing capabilities of the electronic device, etc., and this application does not limit it.

[0088] For example, with Figure 3 For example, the selected second candidate road segments could include road segments L1, L2, L3, L4, L5, L6, L7, L8, L9, and L10. If the previously selected candidate road segments included L1 and L2, and the current candidate road segment is L3, the remaining second candidate road segments after this selection would include L4, L5, L6, L7, L8, L9, and L10. Since L4, L5, and L6 intersect with L3, they can be considered as the third candidate road segments in this selection. Considering that the drivable direction of L4 after intersecting with L3 differs from the general trend direction L, L4 can be deleted. Therefore, the final third candidate road segments in this selection process include L5 and L6.

[0089] It should be understood that, without departing from the teachings of this application, alternative routes other than the first alternative route can be selected in other ways, and this application does not restrict this.

[0090] Alternatively, the electronic device may select the candidate road segment from the third candidate road segments by, for example, determining the autonomous driving suitability of the third candidate road segments, and selecting the candidate road segment based on the autonomous driving suitability of each third candidate road segment.

[0091] As another option, the electronic device responds to the number of third candidate road segments being 1, and uses the third candidate road segment as a candidate road segment for this selection; responds to the number of third candidate road segments being greater than 1, and determines the autonomous driving suitability of the third candidate road segment; and selects a candidate road segment for this selection based on the autonomous driving suitability of each third candidate road segment.

[0092] In other words, the electronic device can perform steps such as determining the suitability of autonomous driving when the number of third candidate road segments is greater than 1, or it can perform steps such as determining the suitability of autonomous driving regardless of the number of third candidate road segments.

[0093] For example, with Figure 3 For example, as shown in the example above, the final third candidate road segment in this selection process includes road segment L5 and road segment L6. Since the number of road segments is greater than 1, the autonomous driving suitability of road segment L5 and road segment L6 are calculated separately. If the autonomous driving suitability of road segment L5 is greater than that of road segment L6, then road segment L5 is selected as the candidate road segment. If the autonomous driving suitability of road segment L5 is less than or equal to that of road segment L6, then road segment L6 is selected as the candidate road segment.

[0094] In some embodiments of this application, the electronic device determining the autonomous driving suitability of a third candidate road segment may include, for example, determining the autonomous driving suitability of the third candidate road segment based on vehicle information and road information of the third candidate road segment; wherein, the vehicle information includes at least one of the vehicle size and the vehicle's processing capacity. The road information of the third candidate road segment may include at least one of the following: the length of the third candidate road segment, the lane width of the third candidate road segment, and the road type of the third candidate road segment.

[0095] For example, vehicle information includes the vehicle's processing power, and road information for the third candidate road segment includes the road type of the third candidate road segment. The electronic device stores preset requirements for the vehicle's processing power for each road type. During the selection of a candidate road segment from the third candidate road segments, the electronic device determines the suitability for autonomous driving of the third candidate road segment based on the preset requirements for the vehicle's processing power for each road type, and the vehicle's processing power. The vehicle's processing power may include, for example, the vehicle's navigation software version and the vehicle's CPU performance.

[0096] For example, the electronic device stores preset requirements for vehicle processing power for various road types: For road type 1, the requirement is a navigation software version of 1.0 or higher, and the vehicle's CPU performance meeting the first performance standard; for road type 2, the requirement is a navigation software version of 2.0 or higher, and the vehicle's CPU performance meeting the second performance standard; for road type 3, the requirement is a navigation software version of 4.0 or higher, and the vehicle's CPU performance meeting the third performance standard. Different navigation software versions may handle different road types, and the requirements for each road type can be set based on the types of roads each version can handle. Different CPUs have different processing speeds, and different road types may have different levels of complexity; therefore, the CPU performance requirements for each road type can be set based on the complexity of each road type.

[0097] It should be understood that road types can be classified, for example, according to the limited driving direction, such as closed loop roads, one-way roads, two-way roads, etc., or according to other rules, such as the number of lanes, historical traffic volume, etc. This application does not impose any restrictions on this.

[0098] It should be understood that the first performance standard, the second performance standard, the third performance standard, etc., can be set as needed. For example, each performance standard indicates the minimum value of each performance parameter of the CPU. The requirement to meet the performance standard can be, for example, that all performance parameters of the vehicle's CPU meet the minimum value requirement of the performance standard, or it can be, for example, that a certain performance parameter of the vehicle's CPU meets the minimum value requirement of the performance standard. This application does not limit this.

[0099] It should be understood that the requirements for vehicle processing capacity for each preset road type can be set in combination with the accuracy of the first electronic map, the complexity of the road, etc. The above content is only for illustrative purposes and this application does not impose any restrictions on it.

[0100] It should be understood that, without departing from the teachings of this application, electronic devices may also calculate the autonomous driving suitability of the third candidate road segment based on other information of the vehicle and other information of the third candidate road segment, and this application does not limit this.

[0101] It should be understood that, without departing from the teachings of this application, electronic devices may also select candidate road segments from the third candidate road segments based on other parameters, such as the degree of fit between the third candidate road segment and the trajectory, and this application does not impose any restrictions on this.

[0102] As an alternative, the electronic device may select the candidate road segment for this selection based on the autonomous driving suitability of each third candidate road segment. For example, it may select the third candidate road segment with the highest autonomous driving suitability as the candidate road segment for this selection.

[0103] Alternatively, the electronic device may select candidate road segments based on the autonomous driving suitability of each third candidate road segment. This selection may include, for example, selecting the third candidate road segment with the highest autonomous driving suitability as the candidate road segment if there is a third candidate road segment with an autonomous driving suitability greater than the seventh threshold, and selecting the candidate road segment based on the road information of the third candidate road segments if there is no third candidate road segment with an autonomous driving suitability greater than the seventh threshold. The road information of the third candidate road segments may include, for example, historical traffic flow and vehicle width. The seventh threshold may be set according to autonomous driving safety requirements, and this application does not impose any restrictions on it.

[0104] It should be understood that, without departing from the teachings of this application, electronic devices may directly select alternative road segments based on the suitability of autonomous driving, and may also combine other parameters to evaluate each third candidate road segment, and select alternative road segments from the third candidate road segments based on the evaluation results. For example, the third candidate road segment may be evaluated by combining the suitability of autonomous driving and historical traffic flow. This application does not impose any restrictions on this.

[0105] Alternatively, the electronic device can select a candidate road segment from the third candidate road segments and then delete the remaining third candidate road segments. The third candidate road segments determined in each selection process are usually contradictory; that is, selecting one third candidate road segment reduces the probability of selecting the others in subsequent selections. By deleting the remaining third candidate road segments, the number of candidate road segments that need to be compared in subsequent selection operations can be reduced, thus reducing computational overhead.

[0106] Sub-step S143: Determine whether the remaining second candidate road segment after this selection meets the second preset requirements.

[0107] Specifically, if it is determined that the remaining second candidate road segment after this selection does not meet the second preset requirement, the process returns to step S142. If it is determined that the remaining second candidate road segment after this selection meets the second preset requirement, the process proceeds to step S144. In other words, the electronic device determines whether to end the selection of candidate road segments based on whether the remaining second candidate road segment after this selection meets the second preset requirement.

[0108] As an option, the remaining second candidate road segments after this selection may meet the second preset requirement, for example, that: none of the remaining second candidate road segments after this selection are located in the driving direction of the selected candidate road segments.

[0109] For example, with Figure 3For example, the second candidate road segments selected may include road segments L1, L2, L3, L4, L5, L6, L7, L8, L9, and L10. If the previously selected candidate road segments include road segments L1 and L2, and the selected candidate road segment this time is L3, the remaining second candidate road segments after this selection include road segments L4, L5, L6, L7, L8, L9, and L10. Among them, road segments L4, L5, and L6 intersect with road segment L3. Therefore, road segments L4, L5, and L6 can be used as the third candidate road segments in this selection. Since road segments L5, L6, L7, L8, L9, and L10, which are among the remaining second-candidate road segments after this selection, are located in the driving direction of the currently selected candidate road segment and do not meet the second preset requirement, the electronic device will proceed with the next candidate road segment selection. If the previously selected candidate road segments included L1, L2, L3, L6, and L9, and the selected candidate road segment this time is L10, then the remaining second-candidate road segments after this selection include L4, L5, L7, and L8. Since none of these road segments are located in the driving direction of the currently selected candidate road segment, the candidate road segment selection process ends.

[0110] Alternatively, the remaining second candidate road segments after this selection may meet the second preset requirement, for example, by meeting at least one of the following requirements:

[0111] After this selection, the number of remaining second candidate road segments is 0;

[0112] The remaining second candidate road segment after this selection is greater than the second candidate road segment from the second endpoint of the trajectory to the selected alternative road segment.

[0113] The remaining second candidate road segments after this selection are not located in the driving direction of the selected alternative road segments.

[0114] It should be understood that, without departing from the teachings of this application, the second presupposition requirement may be set as needed, and this application does not impose any restrictions on it.

[0115] Sub-step S144: Plan the global navigation path based on all candidate road segments.

[0116] In some embodiments of this application, planning a global navigation path based on all candidate road segments may include, for example, determining a global navigation path based on the path formed by all candidate road segments if the path is a continuous path.

[0117] For example, such as Figure 3As shown, all selected candidate road segments include road segment L1, road segment L2, road segment L3, road segment L6, road segment L9 and road segment L10, which can form a continuous path. Electronic devices can combine them in sequence to form a global navigation path, for example: road segment L1 → road segment L2 → road segment L3 → road segment L6 → road segment L9 → road segment L10.

[0118] In some embodiments of this application, planning a global navigation path based on all candidate road segments may include, for example: in response to the existence of breakpoints in the path formed by all candidate road segments, planning connecting road segments between adjacent breakpoints in the formed path; and determining a global navigation path based on the formed path and connecting road segments. Adjacent breakpoints may, for example, be the breakpoints with the smallest distance between them.

[0119] For example, with Figure 3 For example, if road segments L8 and L9 do not meet the requirements for autonomous driving, all selected alternative road segments include L1, L2, L3, L6, and L10. The resulting path includes L1 → L2 → L3 → L6 and L10, with a breakpoint between L6 and L10. The electronic device can plan connecting road segments between these breakpoints, such as L8. The global navigation path formed by sequentially combining the resulting path and connecting road segments can be, for example, L1 → L2 → L3 → L6 → L8 → L10. If the resulting path includes multiple breakpoints, connecting road segments can be planned separately using the above process to form the global navigation path.

[0120] It should be understood that, without departing from the teachings of this application, the planning method for connecting road segments between adjacent breakpoints can refer to the method of path planning based on the start and end points, which will not be listed here.

[0121] In some embodiments of this application, the path planning method 1000 may further include, for example, marking navigation segments in the global navigation path that do not meet the requirements for autonomous driving in response to the existence of such segments; and providing feedback on the marked global navigation path. In other words, since there may be connecting segments planned based on breakpoints during the path planning process, these paths may not meet the requirements for autonomous driving. The electronic device marks the navigation segments that do not meet the requirements for autonomous driving (e.g., by marking them in red), so that the user can be intuitively and prominently reminded of the road conditions of the global navigation path (whether there are navigation segments unsuitable for autonomous driving). The navigation segments that do not meet the requirements for autonomous driving can be obtained by detecting the global navigation path based on the requirements for autonomous driving, or connecting segments can be considered as navigation segments that do not meet the requirements for autonomous driving; this application does not impose any limitations on this.

[0122] For example, if the planned global navigation path is the one mentioned above that includes at least segment L1 → segment L2 → segment L3 → segment L6 → segment L8 → segment L10, segment L8 can be highlighted in red.

[0123] In some embodiments of this application, the electronic device controls the vehicle for autonomous driving based on a global navigation path. The path planning method 1000 may further include, for example, obtaining navigation information based on a second electronic map and the global navigation path, to control the vehicle's movement according to the navigation information; wherein the accuracy of the second electronic map is higher than that of the first electronic map. In other words, the first electronic map may be, for example, a coarse electronic map, and the second electronic map may be, for example, a high-precision map. The electronic device performing path planning based on the first electronic map can reduce the amount of data loaded with information unrelated to path planning. The electronic device navigating based on the more accurate second electronic map, due to its higher accuracy and more map information, can improve the safety of the autonomous driving process. For example, for... Figure 3 In the context of road segment L1, the first electronic map contains the road segment width information of road segment L1, while the second electronic map contains the road segment width information of road segment L1, the lane information included in the road segment, and the width information of each lane.

[0124] Alternatively, after receiving the user's navigation instructions (i.e., instructions to determine the global navigation path), the electronic device can control the vehicle to perform autonomous driving based on the global navigation path.

[0125] In some embodiments of this application, obtaining navigation information based on a second electronic map and a global navigation path may include, for example: acquiring a local map in the second electronic map corresponding to the real-time location information of the vehicle, and a local navigation path in the global navigation path corresponding to the real-time location information of the vehicle; determining lane information of the local navigation path based on the local map; selecting one lane in the local navigation path as a driving lane based on the lane information of the local navigation path; and determining navigation information based on the driving lane, wherein the navigation information at least indicates driving along the driving lane.

[0126] For example, after autonomous driving begins, the electronic device can gradually refine a detailed route suitable for autonomous driving (including how far to travel on a certain road, which lane to take on a certain road, and how to turn at a certain intersection) using a second electronic map (high-precision map) and the real-time road environment. During this process, the electronic device does not need to download the entire high-precision map; it only needs to download a high-precision map within a preset range (i.e., the driving range) corresponding to the vehicle's real-time location information, saving data and reducing initial loading time. For example, the preset range could be x kilometers, meaning the electronic device provides the user with a local navigation path of x kilometers. If the distance is less than x kilometers, it displays the remaining distance. Furthermore, the electronic device will transmit the loaded local navigation path to the vehicle in real time for autonomous driving. Here, x can be set to any positive number greater than 0 as needed; for example, x can be an integer such as 1, 2, or 3.

[0127] For example, with Figure 3 For example, if the planned global navigation path includes road segment L1 → road segment L2 → road segment L3 → road segment L6 → road segment L8 → road segment L10, and the vehicle is traveling on road segment L1, the electronic device must obtain at least a partial map of the second electronic map that includes road segment L1, thereby obtaining the lane information of road segment L1. If the lane information of road segment L1 indicates that the driving lanes of road segment L1 include lane 1, lane 2, lane 3, and lane 4, where the driving direction of lanes 1 and 2 is from east to west, lane 1 is a straight and right turn lane, and lane 2 is a straight and left turn lane, and the driving direction of lanes 3 and 4 is from west to east, lane 3 is a straight and left turn lane, and lane 4 is a straight and right turn lane, since the vehicle's driving direction is from west to east and it needs to enter road segment L2, the navigation information can, for example, instruct the vehicle to travel along lane 4 and turn right after M meters (the distance from the vehicle's current position to the intersection).

[0128] In some embodiments of this application, the path planning method 1000 may further include, for example, responding to the fact that the road conditions of a local navigation path do not meet the road condition requirements for autonomous driving, or that the road conditions of the local navigation path do not meet the road conditions requirements for autonomous driving, providing first warning information to indicate that there is an autonomous driving risk on the local navigation path. The road condition requirements for autonomous driving may include, for example, at least one of real-time traffic flow being less than a fifth threshold, the absence of obstacles, the absence of accidents, and the absence of traffic control. Road segments that do not meet the autonomous driving requirements may, for example, be the marked navigation road segments mentioned above.

[0129] For example, with Figure 3For example, if the planned global navigation path includes road segment L1 → road segment L2 → road segment L3 → road segment L6 → road segment L8 → road segment L10, and road segment L3 is congested and does not meet the road condition requirements for autonomous driving, and road segment L8 is a road segment that does not meet the requirements for autonomous driving, then when the vehicle enters the local navigation path in the congested road segment L3 while traveling along road segment L2 or road segment L3, the first prompt information will be provided. When the vehicle enters the local navigation path in road segment L8 while traveling along road segment L6, the first prompt information will be provided.

[0130] It is worth mentioning that considering both the road conditions of the local navigation path itself and the real-time traffic conditions to determine whether the local navigation path is suitable for autonomous driving can improve the safety of autonomous driving.

[0131] In some embodiments of this application, the route planning method 1000 may further include, for example,: responding to receiving a continue driving instruction, providing a second prompt to prompt the user to enter manual driving mode; and controlling the vehicle to enter manual driving mode. In other words, if a local navigation route is not suitable for autonomous driving, the electronic device provides a first prompt and, based on the user's response to the first prompt, decides whether to switch driving modes.

[0132] For example, during the process of providing the first prompt, the electronic device consults the user via a pop-up window or similar means to ask whether to continue driving or change routes. If a command to continue driving is received, to improve driving safety, a second prompt is provided to encourage the user to enter manual driving mode, and the vehicle is put into manual driving mode upon user confirmation. If a command to change routes is received, the electronic device replans the route based on the vehicle's real-time location information and the endpoint of the global navigation path, and provides the replanned route to the user. In response to receiving a confirmation command for the replanned route, navigation is performed according to the replanned route.

[0133] It should be understood that, without departing from the teachings of this application, electronic devices may also re-plan their routes before providing the first prompt information, and provide the re-planned route at the same time as providing the first prompt information; this application does not impose any restrictions on this.

[0134] In some embodiments of this application, the path planning method 1000 may further include, for example,: after the vehicle enters manual driving mode, real-time detection of whether a local navigation path within a preset range of the vehicle meets the requirements for autonomous driving; and, in response to the road conditions of the local navigation path within the vehicle's target area meeting the road condition requirements for autonomous driving, feedback of a third prompt message to alert the user that the vehicle can switch to autonomous driving mode. The autonomous driving requirements may include, for example, road requirements and road condition requirements for autonomous driving. Detecting the local navigation path after entering manual driving mode allows for timely reminders to the user when autonomous driving is possible, enabling the user to choose whether to switch driving modes.

[0135] Optionally, after providing the third prompt, the path planning method 1000 may further include, for example, controlling the vehicle to enter autonomous driving mode in response to receiving a switching command. Switching the driving mode only after the user instructs it can improve driving safety and avoid safety hazards such as electronic device errors caused by the vehicle suddenly entering autonomous driving mode.

[0136] Optionally, during vehicle operation, the electronic device can continuously refine the local navigation path within the global navigation route using a second electronic map (high-precision map) and analyze the refined navigation information. When an unsuitable navigation section for autonomous driving is identified in advance, the electronic device can display obstacle information (in the current vehicle's autonomous driving system configuration, this refers to impassable, unrecognizable, or risky road sections, not simple obstacles like rocks) and alternative route options on the second electronic map. After seeing the prompt, if the user clicks to agree to the alternative route, the electronic device can control the vehicle to continue driving automatically along the replanned route. If the user clicks to disagree with the alternative route, a warning can be displayed: "For driving safety, please manually take over the steering wheel." Optionally, after clicking "disagree," the vehicle speed will gradually decrease to a safe speed until the driver takes over, at which point the vehicle will continue driving. When the road conditions are suitable for autonomous driving, the electronic device can remind the user: "The road is currently suitable for autonomous driving; you can switch to autonomous driving." After the user confirms switching to autonomous driving mode, the electronic device will control the vehicle to begin autonomous driving.

[0137] Optionally, during autonomous driving, electronic devices can also combine real-time traffic information to recommend alternative routes to the user until the destination is reached or the user stops navigation. The method of controlling the vehicle's autonomous driving can refer to some autonomous driving algorithms, and this application does not impose any restrictions on it.

[0138] In some embodiments of this application, an electronic device is used as an in-vehicle terminal as an example, such as... Figure 5 As shown, the path planning method 2000 mentioned in the embodiments of this application may include, for example, the following steps:

[0139] S21, Start the vehicle. Specifically, when the user starts the vehicle, the vehicle enters the usage state.

[0140] S22, Activate navigation. Specifically, the in-vehicle terminal may have built-in navigation, and the user can open the navigation application (APP).

[0141] S23, Determine if navigation is needed. Specifically, the in-vehicle terminal can determine whether navigation is needed by the user through voice or navigation interface operation. If it is determined that navigation is not needed, proceed to step S24; if it is determined that navigation is needed, proceed to step S25.

[0142] S24, Enter and maintain cruise mode. Specifically, after the vehicle terminal enters cruise mode, if navigation is detected as needed, it can proceed to step S25; otherwise, it continues to maintain cruise mode.

[0143] S25. Has a two-finger operation been detected? Specifically, the contact area between the hand and the screen can be used to detect whether a two-finger operation is currently in progress. If it is detected, proceed to step S26; otherwise, continue in cruise mode, i.e., execute step S24.

[0144] It should be understood that, without departing from the teachings of this application, the vehicle terminal may also trigger subsequent processes by detecting other operational behaviors, such as single-finger operation, and this application does not impose any restrictions on this.

[0145] S26, Adjust the display scale of the first electronic map. Specifically, after detecting a two-finger operation, the vehicle terminal can adjust the display scale of the first electronic map to allow the user to draw a sliding trajectory. The display scale can be determined based on the city currently displayed on the first electronic map. For example, the second display scale for Wuhan can be, for example, 1cm:5km, for Dalian can be, for example, 1cm:2km, and for Shenyang can be, for example, 1cm:2km.

[0146] S27, determine whether a trajectory has been detected. Specifically, the vehicle terminal detects whether the user has drawn a route based on the first electronic map. If it is determined that the user has not drawn a route, proceed to step S28; if it is determined that the user has drawn a route, proceed to step S29.

[0147] S28, the navigation engine does not perform a search. Specifically, the navigation engine does not perform a search, that is, it does not perform route planning, until a trajectory is detected to proceed to step S29, or the vehicle is turned off to end the process, etc.

[0148] S29, plan the global navigation route. Specifically, after the finger leaves the navigation interface, the in-vehicle device can execute... Figure 1 The path planning method shown is used to plan the global navigation path.

[0149] S30, in response to receiving a confirmation command for the global navigation path, obtains the vehicle's readiness status. Specifically, if the in-vehicle terminal is equipped with an autonomous driving module, the in-vehicle terminal can, for example, send the vehicle readiness status to the vehicle's autonomous driving module. The vehicle readiness status can, for example, indicate whether the vehicle's autonomous driving switch is activated.

[0150] S31. Determine whether the automatic driving switch is turned on. If it is, proceed to step S32; otherwise, proceed to step S33.

[0151] S32 uses an autonomous driving module to control the vehicle to drive automatically along a global navigation route until navigation ends.

[0152] S33 prompts the user to turn on the automatic navigation switch or enter manual driving mode.

[0153] According to the embodiments of this application, the electronic device determines the user's desired driving range based on the range covered by the trajectory, and selects candidate road segments for the user accordingly. From the selected candidate road segments, it filters out those that meet the requirements of autonomous driving to plan a global navigation path. This allows the electronic device to plan a global navigation path for the user based on a user-defined trajectory, even when the user has a given driving range (i.e., no specific destination). Furthermore, by planning the global navigation path based on the filtered candidate road segments that meet the requirements of autonomous driving, the planned global navigation path ensures that each road segment meets the requirements of autonomous driving as much as possible.

[0154] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0155] One embodiment of this application also provides an electronic device, which includes at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described path planning method.

[0156] One embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a path planning method.

[0157] Figure 6A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of this application 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, 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 application described and / or claimed herein.

[0158] like Figure 6 As shown, the electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. The RAM 303 may also store various programs and data required for the operation of the electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0159] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0160] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 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 computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as path planning methods. For example, in some embodiments, the path planning method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the path planning method described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform path planning methods by any other suitable means (e.g., by means of firmware).

[0161] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0162] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0163] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0164] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0165] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0166] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0167] The above description is merely an illustration of the embodiments of this application and the technical principles employed. Those skilled in the art should understand that the scope of protection involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the technical concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A path planning method, characterized in that, include: In response to the detection of a trajectory drawn based on a first electronic map, the area covered by the detected trajectory is determined; Based on the range covered by the trajectory, select the first candidate road segment from the first electronic map; Select a second candidate road segment that meets the requirements of autonomous driving from the first candidate road segment; as well as Based on the second candidate road segment, plan the global navigation path; Based on the second candidate road segment, the planned global navigation path includes: Based on the first endpoint of the trajectory, a candidate road segment is selected from the second candidate road segment; Based on the previously selected candidate road segment, a candidate road segment is selected from the remaining second candidate road segments after the previous selection. The distance from at least one map point of the currently selected candidate road segment to the first endpoint of the trajectory is greater than the distance from all map points of the previously selected candidate road segment to the first endpoint of the trajectory. In response to the fact that the remaining second candidate road segment after this selection does not meet the second preset requirement, the process returns to the step of selecting alternative road segments until the second preset requirement is met; and The global navigation path is planned based on all the candidate road segments.

2. The method according to claim 1, wherein, The method further includes: Obtain the trajectory direction of the trajectory, and determine the driving direction of the vehicle based on the trajectory direction; The second candidate road segments that meet the requirements for autonomous driving, selected from the first candidate road segments, include: From the first candidate road segments, select the second candidate road segments that meet the autonomous driving requirements and whose relationship between at least one driving direction and the driving direction meets the first preset requirements.

3. The method according to claim 1, wherein, The first endpoint of the trajectory is the starting point of the trajectory, and the second endpoint of the trajectory is the ending point of the trajectory, or... The first endpoint of the trajectory is the end point of the trajectory, and the second endpoint of the trajectory is the start point of the trajectory.

4. The method according to claim 1, wherein, Based on the first endpoint of the trajectory, the selection of candidate road segments from the second candidate road segments includes: In response to the first endpoint of the trajectory being located on any of the second candidate road segments, the second candidate road segment where the first endpoint of the trajectory is located is taken as the alternative road segment.

5. The method according to claim 1, wherein, Based on the first endpoint of the trajectory, the selection of candidate road segments from the second candidate road segments includes: In response to the fact that the first endpoint of the trajectory is not located on all the second candidate road segments, at least one second candidate road segment is selected as the alternative road segment based on the distance between the first endpoint of the trajectory and the second candidate road segments.

6. The method according to claim 1, wherein, Based on the previously selected candidate road segments, the remaining second candidate road segments after the previous selection are selected as candidate road segments, including: In response to at least one of the remaining second candidate road segments after the previous selection intersecting with the previously selected candidate road segment, the remaining second candidate road segment after the previous selection that intersects with the previously selected candidate road segment is designated as the third candidate road segment; and Select the candidate road segment selected this time from the third candidate road segment.

7. The method according to claim 1, wherein, Based on the previously selected candidate road segments, the remaining second candidate road segments after the previous selection are selected as candidate road segments, including: In response to the fact that none of the remaining second candidate road segments after the previous selection intersect with the previously selected candidate road segments, a third candidate road segment is selected based on the distance between the remaining second candidate road segments after the previous selection and the previously selected candidate road segments; and Select the candidate road segment selected this time from the third candidate road segment.

8. The method according to claim 6 or 7, wherein, The candidate road segment selected from the third candidate road segment includes: Determine the autonomous driving suitability of the third candidate road segment; and The candidate road segment selected this time is chosen based on the autonomous driving suitability of each of the third candidate road segments.

9. The method according to claim 8, wherein, Determining the autonomous driving suitability of the third candidate road segment includes: Based on the vehicle information and the road information of the third candidate road segment, determine the autonomous driving suitability of the third candidate road segment; The vehicle information includes at least one of the vehicle's dimensions and its processing capacity.

10. The method according to claim 9, wherein, The vehicle information includes the vehicle's processing capacity, and the road information of the third candidate road segment includes the road type of the third candidate road segment; Based on vehicle information and road information of the third candidate road segment, the autonomous driving suitability of the third candidate road segment is determined as follows: The suitability of the third candidate road segment for autonomous driving is determined based on the preset requirements for vehicle processing capacity for each road type and the vehicle's processing capacity.

11. The method according to claim 1, wherein, The global navigation path is planned based on all the candidate road segments, including: In response to the fact that the path formed by all the candidate road segments is a continuous path, the global navigation path is determined based on the formed path.

12. The method according to claim 1, wherein, The global navigation path is planned based on all the candidate road segments, including: In response to the existence of breakpoints in the path formed by all the candidate road segments, plan connecting road segments between adjacent breakpoints in the formed path; and The global navigation path is determined based on the formed path and the connecting road segments.

13. The method according to claim 1, wherein, The method further includes: In response to the existence of navigation segments in the global navigation path that do not meet the requirements of autonomous driving, the navigation segments in the global navigation path that do not meet the requirements of autonomous driving are marked; and The global navigation path following the feedback marker.

14. The method according to claim 1, wherein, The method further includes: Based on the second electronic map and the global navigation path, navigation information is obtained to control vehicle movement according to the navigation information; The second electronic map has higher accuracy than the first electronic map.

15. The method according to claim 14, wherein, The navigation information obtained based on the second electronic map and the global navigation path includes: Obtain the local map in the second electronic map corresponding to the real-time location information of the vehicle, and the local navigation path in the global navigation path corresponding to the real-time location information of the vehicle; Based on the local map, determine the lane information of the local navigation path; Based on the lane information of the local navigation path, one lane in the local navigation path is selected as the driving lane; and The navigation information is determined based on the driving lane, and the navigation information at least indicates driving along the driving lane.

16. The method according to claim 15, wherein, The autonomous driving requirements include road condition requirements and road requirements for autonomous driving, and the method further includes: In response to the fact that the road conditions of the local navigation path do not meet the road conditions requirements of the autonomous driving, or that the road of the local navigation path does not meet the road requirements of the autonomous driving, a first prompt message is fed back to indicate that there is an autonomous driving risk in the local navigation path.

17. The method according to claim 16, wherein, The method further includes: In response to receiving a command to continue driving, a second prompt message is sent to remind the user to enter manual driving mode; and Control the vehicle to enter manual driving mode.

18. The method according to claim 17, wherein, The method further includes: After the vehicle enters the manual driving mode, it continuously monitors whether the local navigation path within a preset range meets the autonomous driving requirements; and In response to the fact that the local navigation path within the target area of ​​the vehicle meets the autonomous driving requirements, a third prompt message is fed back to prompt the user to switch to autonomous driving mode.

19. The method according to claim 18, wherein, Following the third feedback message, the method further includes: In response to receiving a switching command, the vehicle is controlled to enter autonomous driving mode.

20. The method according to claim 1, wherein, The area covered by the detected trajectory is determined to include: The area covered by the trajectory is determined based on the outline of the trajectory and the display scale of the first electronic map.

21. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the path planning method as described in any one of claims 1 to 20.

22. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the path planning method as described in any one of claims 1 to 20.

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