Method and apparatus for controlling a movable platform

Abstract

A control method and device of a movable platform, the method comprising: acquiring a target path of movement of the movable platform; acquiring lane distribution information of the target path; generating a plurality of routes according to the lane distribution information, the plurality of routes comprising a first route and a second route, the first route comprising a first route segment, and the second route comprising a second route segment, the first route segment and the second route segment being located in different lanes of the target path; determining a target route from the plurality of routes; and controlling the movable platform to move along the target path according to the target route. Thus, more route options are provided for the movable platform when traveling along the target path to meet diversified needs.

Description

Technical Field

[0001] This application relates to the field of mobile platform technology, and more specifically, to a control method and apparatus for a mobile platform. Background Technology

[0002] In the field of autonomous driving, navigation route planning is an indispensable part. Currently, autonomous vehicle navigation route planning involves planning a route based on the origin, destination, and road network information. A route is a path from the origin to the destination, composed of multiple road segments. The autonomous vehicle then generates a driving strategy based on this route, controlling its movement to ensure it follows the planned path. However, the currently planned routes are limited and cannot meet diverse needs. Summary of the Invention

[0003] The purpose of this application is to provide a control method and apparatus for a mobile platform to solve the problem that the currently planned routes are too singular to meet diverse needs.

[0004] In a first aspect, this application discloses a control method for a mobile platform, comprising:

[0005] Obtain the target path for the movement of the mobile platform;

[0006] Obtain lane distribution information for the target path;

[0007] Multiple routes are generated based on lane distribution information. These routes include a first route and a second route. The first route includes a first route segment, and the second route includes a second route segment. The first route segment and the second route segment are located in different lanes of the target path.

[0008] From multiple routes, determine the target route;

[0009] Based on the target route, control the mobile platform to move along the target path.

[0010] Secondly, this application discloses a control device for a mobile platform, including: a memory and a processor;

[0011] Memory, used to store instructions;

[0012] The processor invokes instructions stored in memory to perform the following operations:

[0013] Obtain the target path for the movement of the mobile platform;

[0014] Obtain lane distribution information for the target path;

[0015] Multiple routes are generated based on lane distribution information. These routes include a first route and a second route. The first route includes a first route segment, and the second route includes a second route segment. The first route segment and the second route segment are located in different lanes of the target path.

[0016] From multiple routes, determine the target route;

[0017] Based on the target route, control the mobile platform to move along the target path.

[0018] Thirdly, this application discloses a mobile platform, including a control device for the mobile platform as described in the second aspect.

[0019] Fourthly, embodiments of this application disclose a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect.

[0020] Fifthly, embodiments of this application disclose a computer program product, including computer instructions, which, when executed by a processor, implement the method described in the first aspect.

[0021] In conjunction with the above technical solutions, this application discloses a control method and apparatus for a mobile platform. By generating multiple routes for the same target path based on lane distribution information, and then selecting the target route from these multiple routes to control the autonomous vehicle's movement. Notably, the lanes on the same road are not entirely identical for different routes. Therefore, this application provides autonomous vehicles with more route selection options to meet user preferences and needs in complex environments. Attached Figure Description

[0022] Figure 1 This is a schematic architecture diagram of an autonomous vehicle according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application;

[0024] Figure 3 A flowchart illustrating a control method for a mobile platform provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram of lane distribution information provided in one embodiment of this application;

[0026] Figure 5 A flowchart illustrating a control method for a movable platform provided in another embodiment of this application;

[0027] Figure 6 A schematic diagram illustrating the principle of the control method for the mobile platform provided in this application;

[0028] Figures 7a-7c These are schematic diagrams illustrating the generation of flight paths according to a preset motion strategy provided in an embodiment of this application;

[0029] Figure 8 A flowchart illustrating a control method for a movable platform provided in another embodiment of this application;

[0030] Figure 9 A schematic diagram illustrating a steerable area for determining a flight path according to an embodiment of this application;

[0031] Figure 10 A flowchart illustrating a control method for a movable platform provided in another embodiment of this application;

[0032] Figure 11 A flowchart illustrating a control method for a movable platform provided in another embodiment of this application;

[0033] Figure 12 A schematic diagram of the structure of a control device for a movable platform provided in an embodiment of this application;

[0034] Figure 13 This is a schematic diagram of the structure of a movable platform provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] Embodiments of this application provide a control method and apparatus for a mobile platform, wherein the mobile platform may be a drone, unmanned vehicle, unmanned boat, robot, or autonomous vehicle, etc.

[0039] The following description of the mobile platform of this application uses an autonomous vehicle as an example. Figure 1 This is a schematic architecture diagram of an autonomous vehicle according to an embodiment of this application.

[0040] The autonomous vehicle 100 may include a perception system 110, a control system 120, and a mechanical system 130.

[0041] The perception system 110 is used to measure the state information of the autonomous vehicle 100, i.e., the perception data of the autonomous vehicle 100. The perception data can represent the position and / or state information of the autonomous vehicle 100, such as position, angle, speed, acceleration, and angular velocity. The perception system 110 may include at least one of the following sensors: a visual sensor (e.g., multiple monocular or binocular vision devices), a lidar, a millimeter-wave radar, an inertial measurement unit (IMU), a global navigation satellite system, a gyroscope, an ultrasonic sensor, an electronic compass, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS).

[0042] After acquiring the perception data, the perception system 110 can transmit the perception data to the control system 120. The control system 120 is used to make decisions based on the perception data to control how the autonomous vehicle 100 should drive, such as: what speed to drive at, what braking acceleration to use, whether to change lanes, or to turn left / right. The control system 120 may include, for example, a computing platform, such as an onboard supercomputing platform, or at least one of the following processing devices: a central processing unit, a distributed processing unit, etc. The control system 120 may also include communication links for various data transmissions on the vehicle.

[0043] The control system 120 can output one or more control commands to the mechanical system 130 based on the determined decision. The mechanical system 130 responds to the one or more control commands from the control system 120 to control the autonomous vehicle 100 to complete the aforementioned decision. For example, the mechanical system 130 can drive the wheels of the autonomous vehicle 100 to rotate, thereby providing power for the autonomous vehicle 100 to move. The rotation speed of the wheels can affect the speed of the autonomous vehicle. The mechanical system 130 may include, for example, at least one of the following: a mechanical body engine / electric motor, a control drive system, etc.

[0044] It should be understood that the naming of the components of the autonomous vehicle described above is for identification purposes only and should not be construed as a limitation on the embodiments of this application.

[0045] in, Figure 2 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application, such as... Figure 2 As shown, the user sets the starting point and destination. The autonomous vehicle 100 can then obtain the target route from the starting point to the destination, such as first passing through road A, then road B, and then road C, etc. However, when the autonomous vehicle 100 is traveling on a road, since a road can have one or more lanes in the same direction of travel, the autonomous vehicle also plans a route for each road, specifying which lane to follow. Currently, however, the autonomous vehicle only plans one route, which cannot meet diverse needs.

[0046] Taking a roundabout as an example, if the user prefers efficiency—that is, the shorter the travel time of the autonomous vehicle—then the autonomous vehicle should ideally travel along the inner ring road. If the user prefers comfort—that is, the autonomous vehicle should ideally travel along the outer ring road, then the autonomous vehicle should ideally travel along the outer ring road. However, the currently planned route cannot simultaneously meet both requirements.

[0047] For example, if there are obstacles in the lane that the autonomous vehicle needs to travel in, since there is only one planned route, the autonomous vehicle will stop behind the obstacle in order to avoid it and will not be able to continue moving forward, which cannot meet the needs of autonomous vehicles in complex environments.

[0048] In this application, multiple routes are generated, and then a target route is selected from these multiple routes to control the driving of the autonomous vehicle. The lanes on the same road are not exactly the same for different routes, providing the autonomous vehicle 100 with more route selection space to meet the needs of user preferences and complex environments. For specific implementation process, please refer to the following embodiments of this application.

[0049] Figure 3 A flowchart of a control method for a mobile platform provided in an embodiment of this application is shown below. Figure 3 As shown, the method in this embodiment may include:

[0050] S301, Obtain the target path for the movement of the movable platform.

[0051] S302. Obtain lane distribution information for the target path.

[0052] S303. Generate multiple routes based on lane distribution information. The multiple routes include a first route and a second route. The first route includes a first route segment, and the second route includes a second route segment. The first route segment and the second route segment are located in different lanes of the target path.

[0053] S304. Determine the target route from multiple routes.

[0054] S305. Control the movable platform to move along the target path according to the target route.

[0055] In this embodiment, taking the mobile platform as an autonomous vehicle as an example, the target path of the autonomous vehicle is obtained. Specifically, the target path of the autonomous vehicle from the starting point to the destination can be obtained based on the starting point, destination and road network information of the autonomous vehicle. The target path includes at least one road from the starting point to the destination, such as traveling from one position on road A to another position on road A.

[0056] After obtaining the target path for the autonomous vehicle, the lane distribution information of the target path is then acquired. This lane distribution information, obtained from high-precision road network data, details the lane distribution on each road within the target path. Multiple flight paths are then generated based on this information. Taking any two of these paths as examples, they are designated as the first and second flight paths to distinguish them. The first flight path includes at least one segment, referred to as the first flight path segment. The second flight path also includes at least one segment, referred to as the second flight path segment. The first and second flight paths are located in different lanes of the target path. Finally, one of the generated flight paths is selected as the target flight path, and the autonomous vehicle is controlled to travel along this path. For example, the autonomous vehicle can determine the target flight path based on indicators representing user preferences to meet the needs of different users. Alternatively, the autonomous vehicle can determine the target flight path based on its environment to meet driving requirements in various complex environments.

[0057] Taking a target path that includes road A, which includes a left lane and a right lane, as an example, the first segment of the first route is located in the left lane of road A, and the second segment of the first route is located in the right lane of road A. If the determined target route is the first route, the autonomous vehicle is controlled to travel along road A in the left lane; if the determined target route is the second route, the autonomous vehicle is controlled to travel along road A in the right lane.

[0058] Optionally, the target path can also be a path on an air route. Based on the lane distribution information of the road where the target path is located, multiple air routes can be generated, thereby increasing the variety of air routes and providing more route selection space for autonomous vehicles.

[0059] The method provided in this embodiment generates multiple flight paths based on lane distribution information of the target path. These multiple flight paths include a first flight path and a second flight path. The first flight path includes a first flight path segment, and the second flight path includes a second flight path segment. The first and second flight path segments are located in different lanes of the target path. Then, a target flight path is determined based on these multiple flight paths, and the mobile platform is controlled to move along the target path based on the target flight path. The multiple flight paths generated in this application belong to the same target path (e.g., the same road), but are not completely identical at the lane level, providing more options for the mobile platform to travel along the target path to meet diverse needs.

[0060] Based on the above embodiments, in an optional embodiment, the lane distribution information includes the location of the target path in one or more lane blocks in each road segment. Figure 4 This is a schematic diagram of lane distribution information provided in one embodiment of this application, such as... Figure 4 As shown, taking a road containing the target path as an example, this road is divided into three lanes in the horizontal direction and includes multiple segments in the vertical direction. Each segment includes three lane blocks: lane blocks 1 to 3 form one segment, lane blocks 4 to 6 form one segment, lane blocks 7 to 9 form one segment, and lane blocks 10 to 12 form one segment. One possible implementation of S303 is to generate multiple flight paths based on the position of the target path in one or more lane blocks within each segment.

[0061] Based on the above embodiments, the first and second routes each include at least some route segments, some of which are located on the same road segment. Specifically, the first and second routes may contain at least one identical route segment. Correspondingly, the multiple routes generated in S303 above can be parallel routes, each originating from the same point in time and heading towards the same destination. It should be noted that "parallel" does not mean that these multiple routes must be parallel to each other, but rather that they are all located on the target path, originating from the same point in time and heading towards the same destination. These multiple routes may intersect in some sections or run parallel in others.

[0062] Based on the above embodiments, in one optional embodiment, each route passes through multiple lane blocks along the target path. One possible implementation of S303 is: determining multiple routes that pass through multiple lane blocks along the target path based on lane distribution information. Figure 4 The image shows one of the routes, which passes through lane block 2, lane block 5, lane block 8, lane block 7, lane block 10, etc. in sequence. Another route could also pass through lane block 1, lane block 4, lane block 7, lane block 10, etc. in sequence.

[0063] Based on the above embodiments, in one optional embodiment, the route is composed of multiple route segments connected together, and these multiple route segments are located in lane blocks of continuously distributed road segments. For example... Figure 4 The route shown consists of route segments located in lane block 2, lane block 5, lane block 8, lane block 7, and lane block 10. The road segment belonging to lane block 2 is adjacent to the road segment belonging to lane block 5, the road segments belonging to lane blocks 8 and 7 are adjacent to the road segment belonging to lane block 5, and the road segments belonging to lane blocks 8 and 7 are adjacent to the road segment belonging to lane block 10.

[0064] Based on the above embodiments, in an optional embodiment, the route includes a turning route segment, which comprises an adjacent first route segment and a second route segment. The target path includes a first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in adjacent first and second lanes of the path. The first road segment and the second road segment are the same road segment, or the first road segment and the second road segment are two adjacent road segments.

[0065] refer to Figure 4 As shown, for example, when an autonomous vehicle turns from the middle lane to the left lane, the route segment from lane block 8 to lane block 7 can be called the turning route segment. Lane block 7 and lane block 8 are located in different lanes. This turning route segment includes the route segment within lane block 8 and the route segment within lane block 7, and lane block 8 and lane block 7 are located within the same road segment. Accordingly, the autonomous vehicle can turn from one lane to another within the same road segment. Or,

[0066] The route segment from lane block 8 to lane block 10 can be called a turning route segment. Lane block 8 and lane block 10 are located in different lanes. This turning route segment includes the route segment within lane block 8 and the route segment within lane block 10, and lane block 8 and lane block 10 are located in different road segments. Accordingly, autonomous vehicles need to cross road segments to turn from one lane to another.

[0067] Based on the above embodiments, in an optional embodiment, the above-mentioned route includes a straight route segment, the straight route segment includes an adjacent first route segment and a second route segment, the target path includes an adjacent first road segment and a second road segment, the first route segment is located in the first lane block of the first road segment, the second route segment is located in the second lane block of the second road segment, and the first lane block and the second lane block are respectively located in the same lane of the target path.

[0068] refer to Figure 4 As shown, the autonomous vehicle travels straight from lane block 2 to lane block 5. The route segment from lane block 2 to lane block 5 can be called the straight route segment. Lane block 2 and lane block 5 are located in the same lane. This straight route segment is located in the route segment within lane block 2 and the route segment within lane block 8. Moreover, lane block 2 and lane block 5 are located in different road segments.

[0069] Based on the above embodiments, Figure 5 A flowchart of a control method for a movable platform provided in another embodiment of this application is shown below. Figure 5 As shown, the method in this embodiment may include:

[0070] S501, Obtain the target path for the movement of the movable platform.

[0071] S502. Obtain lane distribution information for the target path.

[0072] In this embodiment, the specific implementation process of S501 and S502 can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0073] S503. Search for each lane block in the lane distribution information to obtain multiple route segments.

[0074] S504. Generate multiple routes based on multiple route segments.

[0075] In this embodiment, after obtaining lane distribution information, each lane block in the lane distribution information is searched to obtain multiple route segments, and multiple routes are obtained based on the multiple route segments, such as combining multiple route segments to form a route.

[0076] The descriptions of the relevant route segments and routes can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0077] For example, you can search for lane blocks in the lane distribution information, determine the lane blocks that the target path must pass through, remove the lane blocks that will not be passed through from the lane blocks in the lane distribution information, obtain the lane blocks that may be passed through, and then obtain multiple route segments based on the lane blocks that must be passed through and the lane blocks that may be passed through.

[0078] Optionally, one possible implementation of S503 and S504 above is as follows: based on multiple preset motion strategies, each lane block in the lane distribution information is searched to obtain multiple route segments. Then, based on the multiple route segments searched for each preset motion strategy, the route corresponding to that preset motion strategy is generated.

[0079] like Figure 6 As shown, Figure 6 The diagram shows n preset motion strategies. The lane distribution information of the target path is obtained based on road network information. Then, based on each preset motion strategy and lane distribution information, the corresponding route for each preset motion strategy is obtained, resulting in a total of n routes. Finally, the target route is determined from the n routes.

[0080] Optionally, several preset motion strategies are available, including a minimum lane change motion strategy and a target direction lane motion strategy, where the target direction is either the leftmost or the far left. For example, preset motion strategies may include the following: minimum lane change motion strategy, left lane motion strategy, and right lane motion strategy.

[0081] For example, one can search for lane blocks in the lane distribution information, determine the lane blocks that the target path must pass through, remove lane blocks that will not be passed through from the lane blocks in the lane distribution information, obtain the lane blocks that may be passed through, and then obtain multiple route segments based on the required lane blocks and the lane blocks that may be passed through. The following example describes the specific implementation process.

[0082] In one possible implementation, taking the least lane change movement strategy (also known as the greedy forward strategy) as an example, the specific process of searching each lane block in the lane distribution information to obtain multiple route segments according to the least lane change movement strategy may include: starting from the current lane block of the target path in the lane distribution information, searching straight along the target path until the third lane block, wherein the next lane block of the third lane block does not belong to the target path; determining the straight route segment based on the lane block found by the straight search; starting from the third lane block, turning and searching until the lane block of the target path is found, and determining the turning route segment based on the lane block found by the turning search.

[0083] like Figure 7aAs shown, the target path includes traveling from road A to road B. Based on the lane distribution information, lane blocks 13 and 14 are located at two forks in the lanes, and the journey from road A to road B must pass through lane block 13. The current lane block is lane block 2. Starting from lane block 2, the search proceeds straight along road A, essentially moving greedily forward. When the left and middle lanes fork, it becomes impossible to return to the target path (road B) without violating traffic rules. In other words, it's impossible to return from lane block 14 to the necessary lane block 13. Therefore, the search ends at the fork, and the searched lane block is now lane block 11. Based on the straight-line search results for lane blocks 2, 5, 8, and 11, a straight-line route is determined. This straight-line route is the path from lane block 2 to lane blocks 5, 8, and 11 in sequence.

[0084] Then, starting the search from lane block 11, since the necessary lane block 13 is located to the left of lane block 11, the search proceeds along a route segment from lane block 11 to lane block 13. For example, searching to the left from the lane blocks leads to lane block 10, from which a straight path can be taken to lane block 13. Therefore, the turning route segment is determined based on lane blocks 11 and 10. This turning route segment is the route segment from lane block 11 to lane block 10.

[0085] For example, combining the above straight-ahead route segment and turning route segment can yield a route from lane block 2 to turning lane block 10.

[0086] In another possible implementation, taking the right-lane driving strategy (also known as the greedy right-turn strategy) as an example, the specific process of searching for each lane block in the lane distribution information to obtain multiple route segments according to the right-lane driving strategy can include: starting from the current lane block of the target path in the lane distribution information, turning right to search until the third lane block, where the third lane block is the lane block where turning right is no longer allowed; determining the turning route segment based on the lane block searched; starting from the third lane block, searching for the necessary lane block to return to the target path, and determining the route segment from the third lane block back to the necessary lane block based on the searched lane block. Here, the lane where the third lane block is located is the rightmost drivable lane on the road where the autonomous vehicle is traveling forward in that lane. In some cases, there is no lane to the right of the third lane block. Alternatively, in other cases, the right lane of the third lane block is not a lane that autonomous vehicles can drive in; for example, the right lane of the third lane block is an emergency lane, bus lane, bicycle lane or pedestrian lane, or the driving direction of the right lane of the third lane block is different from the driving direction of the third lane block. For example, the driving direction of the lane where the third lane block is located is straight, while the driving direction of the right lane of the third lane block is right turn.

[0087] like Figure 7b As shown, the target path includes traveling from road A to road B. Based on the lane distribution information, lane block 13 and lane block 14 are located at two forks in the lanes, and the journey from road A to road B must pass through lane block 13. The current lane block is lane block 2. The search begins from lane block 2 and continues to the right until no further right turns are possible. That is, after searching lane block 3, it is impossible to continue changing lanes to the right. Then, the right-turn route segment is determined based on lane blocks 2 and 3. Then, starting from lane block 3, the search returns to the necessary lane block 13. For example, from lane blocks 4-12, a search is conducted to find lane blocks that lead from lane block 3 to lane block 13. For instance, lane blocks 6, 9, 12, 11, and 10 can lead from lane block 3 to lane block 13. Therefore, a straight route segment can be obtained from lane block 3, passing through lane blocks 6, 9, and 12 in sequence, and then turning right from lane block 12 to lane block 11 and lane block 10.

[0088] In another possible implementation, taking the left-lane driving strategy (also known as the greedy left-turn strategy) as an example, the specific process of searching for multiple route segments in the lane distribution information according to the left-lane driving strategy can include: starting from the current lane block of the target path in the lane distribution information, turning left to search until the third lane block, where the third lane block is the lane block where turning left is no longer allowed; determining the turning route segment based on the searched lane blocks; starting from the third lane block, searching for the necessary lane block to return to the target path, and determining the route segment from the third lane block back to the necessary lane block based on the searched lane blocks. Here, the lane where the third lane block is located is the rightmost drivable lane on the road where the autonomous vehicle is traveling forward in that lane. In some cases, there is no lane to the right of the third lane block. Alternatively, in other cases, the left lane of the third lane block is not a lane that autonomous vehicles can drive in; for example, the driving direction of the left lane of the third lane block is different from the driving direction of the third lane block. For example, the driving direction of the lane where the third lane block is located is straight, while the driving direction of the left lane of the right block of the third lane is left turn.

[0089] like Figure 7c As shown, the target path includes traveling from road A to road B. Based on the lane distribution information, lane blocks 13 and 14 are located at two forks in the lanes, and the journey from road A to road B must pass through lane block 13. The current lane block is lane block 2. The search starts from lane block 2 and turns left until no further left turns are possible, i.e., after finding lane block 1, no further left turns are possible. Then, the left-turn route segment is determined based on lane blocks 2 and 1. Then, the search returns from lane block 1 to the necessary lane block 13. For example, from lane blocks 4-12, a search is conducted to find lane blocks that lead from lane block 1 to lane block 13. For instance, lane blocks 4, 5, and 10 can be used to reach lane block 13. Therefore, a straight route segment from lane block 1, passing through lane blocks 4, 7, and 10, can be obtained to reach lane block 13.

[0090] Among them, by Figures 7a-7c As shown, all three routes include lane block 2 to lane block 16. These three routes are parallel routes, not three routes that must be parallel to each other. These three routes intersect in some sections and run parallel in other sections.

[0091] S505. Determine the target route from multiple routes.

[0092] S506. Control the movable platform to move along the target path according to the target route.

[0093] In this embodiment, the specific implementation process of S505 and S506 can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0094] The method in this embodiment can generate multiple different routes on the same target path by using a variety of preset motion strategies, so as to provide the mobile platform with more route selection space to meet different motion needs.

[0095] Figure 8 A flowchart of a control method for a movable platform provided in another embodiment of this application is shown below. Figure 8 As shown, the method in this embodiment may include:

[0096] S801, Obtain the target path for the movement of the movable platform.

[0097] S802. Obtain lane distribution information for the target path.

[0098] S803: Generate multiple routes based on lane distribution information.

[0099] In this embodiment, the specific implementation process of S801-S803 can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0100] S804. Based on the information on multiple routes and lane distribution, the turning areas of multiple routes are obtained respectively.

[0101] In this embodiment, after generating multiple flight paths, the steerable area of ​​each flight path can be obtained based on the lane distribution information of each flight path and the target path. Within the steerable area, the mobile platform can steer and change lanes.

[0102] Taking one route as an example, first determine the third and fourth lanes where the turning section of the route is located; based on the lane distribution information of the target path, then obtain the fourth lane block and the fifth lane block that the route must pass through. The fourth lane block is a lane block in the third lane, and the fifth lane block is a lane block in the fourth lane; then, based on the lane blocks between the road segment where the fourth lane block is located and the road segment where the fifth lane block is located, determine the turning area of ​​the route.

[0103] refer to Figure 9As shown, the route includes the following lane block sequence {2, 5, 8, 7, 10}, and includes a turning segment where lane block 8 turns into lane block 7. This segment is located between the lane containing lane block 7 (the leftmost lane) and the lane containing lane block 8 (the middle lane), and the route must pass through lane block 10 (the leftmost lane) and lane block 2 (the middle lane). Then, the turning area of ​​the route is determined based on the lane blocks between lane block 2 and lane block 10.

[0104] In a specific example, the route segments before and after the turning segment in the above route are {2, 5, 8} and {7, 10}, respectively. The last lane block in the route segment before the turn is lane block 8. Starting from lane block 8, the vehicle proceeds straight ahead to search for lane blocks. If a searched lane block can be reached by changing lanes once to a lane block in the route segment after the turn {7, 10}, then the searched lane block is determined to belong to the turnable area of ​​the route. For example, if lane block 11 is found, lane block 10 can be reached by changing lanes once. The above process is repeated until no lane block that meets the conditions is found.

[0105] The first lane block in the route segment after the turn is lane block 7. Starting from lane block 7, the search continues straight to find lane blocks. If a searched lane block can be reached by changing lanes once to reach a lane block in the route segment {2, 5, 8} before the turn, then the searched lane block is determined to belong to the turnable area of ​​that route. For example, if lane block 4 is found, lane block 5 can be reached by changing lanes once, and if lane block 1 is found, lane block 2 can be reached by changing lanes once.

[0106] Therefore, the steerable area of ​​the route {2, 5, 8, 7, 10} includes lane blocks 1, 2, 4, 5, 7, 8, 10, and 11.

[0107] S805. Determine the target route from multiple routes.

[0108] In this embodiment, the specific implementation process of S805 can be found in the relevant descriptions of each embodiment, and will not be repeated here.

[0109] S806. Based on the target route and the steerable area of ​​the target route, control the movable platform to move along the target path.

[0110] In this embodiment, taking an autonomous vehicle as an example, after determining the target route, the autonomous vehicle is controlled to travel along the target path based on the determined target route and the steerable blocks of the target route.

[0111] In one alternative implementation, after determining the target route, the autonomous vehicle is controlled to travel along the target route. During the autonomous vehicle's travel along the target route, environmental information of the autonomous vehicle is detected. Based on the environmental information of the autonomous vehicle and the steerable blocks on the target route, the autonomous vehicle is controlled to turn within the steerable area of ​​the target route. This ensures that during the process of controlling the autonomous vehicle to travel according to the target route, timely turning and lane changing adjustments are made based on the current environmental information to avoid the inability to control the autonomous vehicle to travel according to the target route.

[0112] Optionally, one possible implementation of controlling the autonomous vehicle to turn within the steerable area of ​​the target route based on the autonomous vehicle's environmental information and the steerable area on the target route is as follows: If the location of an obstacle is detected based on the environmental information, the autonomous vehicle is controlled to turn within the steerable area on the target route to avoid the obstacle. In this embodiment, after detecting the autonomous vehicle's environmental information, an obstacle is detected based on that information, and it is determined whether the autonomous vehicle needs to pass through the lane block where the obstacle is located according to the target route. If the autonomous vehicle needs to pass through the lane block where the obstacle is located, the autonomous vehicle is controlled to turn and change lanes within the steerable area on the target route to avoid passing through the lane block where the obstacle is located, thus avoiding the risk of collision. The obstacle can be, for example, a roadblock (stone, object, etc.) or a stopped vehicle (such as a vehicle involved in a collision).

[0113] The method provided in this embodiment generates multiple routes and lane distribution information, obtains the steerable area of ​​each route, and controls the mobile platform to move along the target path based on the target route and the steerable area of ​​the target route. This helps the mobile platform to turn in time in some emergency situations and ensures safety during the movement.

[0114] The following examples illustrate how to determine a target route from multiple routes.

[0115] Figure 10 A flowchart of a control method for a movable platform provided in another embodiment of this application is shown below. Figure 10 As shown, the method in this embodiment may include:

[0116] S1001, Obtain the target path for the movement of the movable platform.

[0117] S1002. Obtain lane distribution information for the target path.

[0118] S1003. Generate multiple routes based on lane distribution information.

[0119] In this embodiment, the specific implementation process of S1001-S1003 can be found in the relevant descriptions in each embodiment, and will not be repeated here.

[0120] After generating multiple routes, a target route can be determined from these routes based on a target reference indicator selected by the user. This target reference indicator can be selected by the user according to their preferences. For example, if the user prefers efficiency, the target reference indicator could be the travel time corresponding to the route; if the user prefers comfort, the target reference indicator could be the number of turns corresponding to the route; if the user prefers safety, the target reference indicator could be the number of overtaking lanes and / or emergency lanes corresponding to the route. Therefore, this embodiment can adapt the target route preferred by the user from these multiple routes to meet the user's preference needs.

[0121] In an optional embodiment, determining the target route from these multiple routes based on the target reference index selected by the user may include the following steps S1004 and S1005.

[0122] S1004. Determine the parameter values ​​for each route on the target reference index based on the target reference index.

[0123] In this embodiment, the parameter values ​​for each route are determined based on the aforementioned target reference indicators. For example, if the target reference indicator is the travel time corresponding to the route, the travel time value is determined based on the route's length. If the target reference indicator is the number of turns corresponding to the route, the number of turns is determined based on each turning segment within the route. If the number of hazardous lanes corresponding to a route is the number of hazardous lanes, this number is determined based on the lanes traversed by the route. Hazardous lanes include, for example, at least one of the following: overtaking lane, emergency lane, or lane prone to collision (e.g., lanes adjacent to bus lanes, bicycle lanes, truck lanes, or pedestrian lanes).

[0124] S1005. Determine the target route from multiple routes based on the relationship between the parameter value and the parameter threshold.

[0125] In this embodiment, if the target reference indicator is the travel duration corresponding to the route, then the route with a travel duration value less than a travel duration threshold is selected as the target route. For example, if there are at least two routes with a travel duration value less than the travel duration threshold, then the route with the shortest travel duration value is selected as the target route. If the target reference indicator is the number of turns corresponding to the route, then the route with the number of turns corresponding to the route is selected as the target route. For example, if there are at least two routes with a number of turns corresponding to the route, then the route with the shortest number of turns is selected as the target route. If the target reference indicator is the number of dangerous lanes corresponding to the route, then the route with the number of dangerous lanes corresponding to the route is selected as the target route. For example, if there are at least two routes with the number of dangerous lanes corresponding to the route, then the route with the fewest dangerous lanes is selected as the target route.

[0126] In an alternative method to S1005 above, the route with the optimal parameter value can be selected as the target route. For example, the route with the shortest travel time value can be selected as the target route, or the route with the fewest dangerous lane values ​​can be selected as the target route, or the route with the fewest turning times can be selected as the target route.

[0127] In another alternative embodiment, determining the target route from these multiple routes based on the user-selected target reference indicator may include: determining a score for each route on the target reference indicator; and determining the target route from the multiple routes based on the scores of each route on the target reference indicator. If the target reference indicator is travel duration, a lower travel duration value results in a higher score. If the target reference indicator is the number of turns, a lower number of turns results in a higher score. If the target reference indicator is the number of dangerous lanes, a lower number of dangerous lanes results in a higher score. Optionally, this embodiment may determine the route with the best score on the target reference indicator as the target route, or select a route from scores greater than a score threshold as the target route.

[0128] Optionally, the above threshold can be determined in one or more of the following ways:

[0129] The first method involves determining the corresponding parameter thresholds or scoring thresholds based on the user-selected target reference indicators. For example, the thresholds for the target reference indicators such as driving time, number of turns exceeded, and number of dangerous lanes may differ.

[0130] The second method involves obtaining parameter thresholds or rating thresholds input by the user. These thresholds are set by the user to ensure the selected target route better suits their needs.

[0131] The third approach involves determining parameter thresholds or scoring thresholds based on the scenario requirements of the mobile platform moving along the target path. For example, if the mobile platform is an autonomous vehicle, the scenario requirements could include users riding in an autonomous vehicle to catch a flight, or elderly people and / or children riding in an autonomous vehicle.

[0132] The fourth approach is to use machine learning to determine parameter thresholds or scoring thresholds by taking the motion results of the mobile platform as input.

[0133] The fifth method: Determine parameter thresholds or scoring thresholds based on environmental information detected by the mobile platform. If the vehicle's environmental information indicates congestion in the lanes along the route, the travel duration threshold needs to be set longer to adapt to the current environment.

[0134] S1006. Control the movable platform to move along the target path according to the target route.

[0135] In this embodiment, the specific implementation process of S1006 can be found in the relevant descriptions in each embodiment, and will not be repeated here.

[0136] In this embodiment, after generating multiple routes, the method focuses on the target reference indicators selected by the user and determines the target route from the multiple routes. The indicators selected by the user are related to the user's current preferences. Therefore, the target route determined in this embodiment can meet the user's preferences and improve the user experience.

[0137] Figure 11 A flowchart of a control method for a movable platform provided in another embodiment of this application is shown below. Figure 11 As shown, the method in this embodiment may include:

[0138] S1101, Obtain the target path for the movement of the movable platform.

[0139] S1102. Obtain lane distribution information for the target path.

[0140] S1103. Generate multiple routes based on lane distribution information.

[0141] In this embodiment, the specific implementation process of S1101-S1103 can be found in the relevant descriptions in each embodiment, and will not be repeated here.

[0142] S1104. Obtain the weights of various reference indicators.

[0143] In this embodiment, the route can be evaluated using a variety of reference indicators, such as the travel time, number of turns, and number of dangerous lanes. Dangerous lanes include at least one of the following: overtaking lane, emergency lane, and lanes prone to collisions (such as lanes close to bus lanes, bicycle lanes, truck lanes, or pedestrian lanes).

[0144] It should be noted that the execution order of S1104 and the above-mentioned S1101, S1102, and S1103 is not limited.

[0145] The above-mentioned S1104 can be implemented in one or more of the following ways:

[0146] The first method involves generating weights for various reference indicators based on the user-selected target reference indicator. For example, if the user selects the duration of the activity as the target reference indicator, then the weight of the duration of the activity is greater than the weight of the number of turns and the number of dangerous lanes.

[0147] The second method involves obtaining the weights of various reference indicators input by the user. The weights of these reference indicators are set by the user to ensure that the selected target route better suits the user's needs.

[0148] The third approach involves determining the weights of reference indicators based on the scenario requirements of the mobile platform's movement along the target path. Taking an autonomous vehicle as an example, if the scenario requires a user to catch a flight in an autonomous vehicle, then the weight of factors such as travel time should be greater. If the scenario requires elderly people and / or children to ride in an autonomous vehicle, then the weights of factors such as the number of turns and the number of dangerous lanes should be greater.

[0149] The fourth approach: Using machine learning, the motion results of the mobile platform are used as input to determine the weights of various reference indicators;

[0150] The fifth method: Determine the weights of various reference indicators based on the environmental information detected by the mobile platform.

[0151] S1105. Based on the weights of various reference indicators, determine the target route from multiple routes.

[0152] In this embodiment, after obtaining the weights of various reference indicators, the target route is determined from multiple flight routes based on these weights, such as... Figure 6 As shown.

[0153] Optionally, one possible implementation of S1105 above is as follows: Based on multiple reference indicators and multiple routes, obtain the score for each route on each reference indicator; for example, obtain the score for each route on travel duration, number of turns, and dangerous lane. Then, based on the scores of each route on multiple reference indicators and the weights of the multiple reference indicators, obtain the total score corresponding to each route; for example, obtain the product of the route's score on travel duration and the weight of travel duration, obtain the product of the route's score on the number of turns and the weight of the number of turns, obtain the product of the route's score on dangerous lane and the weight of dangerous lane, and determine the sum of the above three products as the total score corresponding to the route. Then, based on the total scores corresponding to multiple routes, determine the target route from the multiple routes, for example, determine the route with the highest total score as the target route.

[0154] S1106. Control the movable platform to move along the target path according to the target route.

[0155] In this embodiment, the specific implementation process of S1106 can be found in the relevant descriptions in each embodiment, and will not be repeated here.

[0156] The method in this embodiment generates multiple routes and then determines the target route from these routes based on the weights of various reference indicators. Therefore, this application evaluates routes from multiple perspectives to determine the target route that is better in all aspects and can better meet user needs, thereby improving user experience.

[0157] In a replaceable form of the above Figure 10 or Figure 11 In the embodiment of the scheme shown, after generating multiple flight paths, one way to determine the target flight path from these multiple flight paths is to detect the environmental information of the mobile platform; based on the environmental information, determine the target flight path from the multiple flight paths. This embodiment can obtain the environmental information of the mobile platform in real time, and can determine the target flight path from the multiple flight paths based on the current environmental information. For example, if there is an obstacle in a lane block, the flight path passing through that lane block can be excluded as the target flight path.

[0158] Based on the above embodiments, during the process of controlling the movement of the mobile platform according to the target route, the environmental information of the mobile platform is detected. Then, based on the environmental information, a new target route is determined from multiple routes. This new target route may not be the same as the previously determined target route. Based on the newly determined target route, the mobile platform is controlled to continue moving along the target path. Therefore, when environmental conditions cause problems in controlling the mobile platform according to the current target route (such as collisions occurring if movement continues), this application can quickly adjust the movement trajectory of the mobile platform by re-determining a target route from multiple pre-generated routes, without needing to regenerate routes or re-acquire target paths, thus saving processing resources and improving processing efficiency.

[0159] For example, if environmental information determines that the mobile platform needs to pass through the location of an obstacle, then a target route is determined from multiple routes. The newly determined target route does not pass through the location of the obstacle, so as to avoid the obstacle and ensure the safety of the mobile platform's movement.

[0160] This application also provides a computer storage medium storing instructions that, when executed on a computer, cause the computer to perform some or all of the steps of the method described in any of the above embodiments. The computer storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0161] This application also provides a computer program product, including computer instructions, which, when executed by a processor, implement some or all of the steps of the method described in any of the above embodiments.

[0162] Figure 12 This is a schematic diagram of the structure of a control device for a movable platform provided in an embodiment of this application, as shown below. Figure 12 As shown, the control device 1200 of the mobile platform in this embodiment may include a memory 1201 and a processor 1202. The memory 1201 and the processor 1202 can be connected via a communication bus.

[0163] Memory 1201 is used to store instructions.

[0164] Processor 1202 calls the instructions stored in memory 1201 to perform the following operations:

[0165] Obtain the target path for the mobile platform's movement; obtain lane distribution information for the target path; generate multiple routes based on the lane distribution information, including a first route and a second route, where the first route includes a first route segment and the second route includes a second route segment, with the first and second route segments located in different lanes of the target path; determine the target route from the multiple routes; and control the mobile platform to move along the target path based on the target route.

[0166] In some embodiments, lane distribution information includes the location of the target path in one or more lane blocks in each road segment.

[0167] In some embodiments, the first route and the second route include at least a portion of the route segments, which are located on the same road segment.

[0168] In some embodiments, each route passes through multiple lane blocks along the target path. The route consists of multiple route segments connected together, and these route segments are located in lane blocks of a continuously distributed road segment.

[0169] In some embodiments, the route includes a turning route segment, which comprises an adjacent first route segment and a second route segment. The target path includes a first road segment and a second road segment. The first route segment is located in a first lane block of the first road segment, and the second route segment is located in a second lane block of the second road segment. The first lane block and the second lane block are respectively located in adjacent first lanes and second lanes of the path. The first road segment and the second road segment are the same road segment, or the first road segment and the second road segment are two adjacent road segments.

[0170] In some embodiments, the route includes a straight route segment, which includes an adjacent first route segment and a second route segment. The target path includes an adjacent first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the same lane of the target path.

[0171] In some embodiments, the processor 1202 is specifically configured to: search for lane blocks in lane distribution information to obtain multiple route segments; and generate multiple routes based on the multiple route segments.

[0172] In some embodiments, the processor 1202 is specifically used for:

[0173] Based on various preset motion strategies, each lane block in the lane distribution information is searched to obtain multiple route segments. Among these preset motion strategies are a minimum lane change motion strategy and a target direction lane motion strategy, where the target direction is either the leftmost direction or the far left direction.

[0174] In some embodiments, the preset motion strategy includes a minimum lane change motion strategy. Processor 1202 is specifically used for:

[0175] Starting from the current lane block of the target path in the lane distribution information, search straight along the target path until the third lane block. The next lane block of the third lane block does not belong to the target path.

[0176] Determine the straight-ahead route segment based on the lane blocks found during the straight-ahead search;

[0177] The system starts searching from the third lane block until the target lane block is found, and then determines the turning route segment based on the lane block found.

[0178] In some embodiments, the preset motion strategy includes a motion strategy along the target direction lane. Processor 1202 is specifically used for:

[0179] The search starts from the current lane block of the target path in the lane distribution information and turns towards the target direction until the third lane block, where the third lane block is the lane block where turning towards the target direction can no longer continue;

[0180] The turning route segment is determined based on the lane blocks found during the turning search;

[0181] Starting from the third lane block, search for the necessary lane blocks in the path back to the target, and determine the route segment from the third lane block back to the necessary lane block based on the searched lane blocks.

[0182] In some embodiments, the processor 1202 is further configured to: obtain the steerable areas of multiple routes based on the multiple routes and lane distribution information. When controlling the mobile platform to move along a target path based on the target route, the processor 1202 is specifically configured to: control the mobile platform to move along the target path based on the target route and the steerable areas of the target route.

[0183] In some embodiments, the processor 1202 is specifically used for:

[0184] Control the mobile platform to move along the target path according to the target route;

[0185] During the movement of the mobile platform along the target path, the environmental information of the mobile platform is detected;

[0186] Based on environmental information and the steerable area on the target route, control the mobile platform to turn along the target path within the steerable area.

[0187] In some embodiments, the processor 1202 is specifically used for:

[0188] If the location of an obstacle is detected based on environmental information, the mobile platform is controlled to turn within the steerable area on the target route to avoid the obstacle.

[0189] In some embodiments, the processor 1302 is specifically used for:

[0190] Determine the third and fourth lanes where the turning section of the route is located;

[0191] Based on the lane distribution information, the fourth lane block and the fifth lane block that must be passed in the route are obtained. The fourth lane block is a lane block in the third lane, and the fifth lane block is a lane block in the fourth lane.

[0192] The turning zone of the route is determined based on the lane blocks between the road segments containing the fourth and fifth lane blocks.

[0193] In some embodiments, the processor 1202 is specifically used for:

[0194] The target route is determined from multiple routes based on the target reference indicators selected by the user.

[0195] In some embodiments, the processor 1202 is specifically used for:

[0196] Based on the target reference index, determine the parameter value of each route on the target reference index;

[0197] The target route is determined from multiple routes based on the relationship between the parameter value and the parameter threshold.

[0198] In some embodiments, the processor 1202 is further configured to perform one or more of the following:

[0199] Based on the target reference indicator selected by the user, determine the parameter threshold corresponding to the target reference indicator;

[0200] Obtain the threshold values ​​of the parameters input by the user;

[0201] Determine parameter thresholds based on the scenario requirements of the mobile platform moving along the target path;

[0202] Using machine learning, the motion results of the mobile platform are used as input to determine parameter thresholds;

[0203] The parameter thresholds are determined based on the environmental information detected by the mobile platform.

[0204] In some embodiments, the processor 1202 is further configured to: obtain the weights of multiple reference metrics;

[0205] When determining the target route from multiple routes, processor 1202 is specifically used for:

[0206] The target route is determined from multiple routes based on the weights of various reference indicators.

[0207] In some embodiments, the processor 1202 is further configured to perform one or more of the following:

[0208] Based on the target reference indicators selected by the user, generate weights for multiple reference indicators;

[0209] Obtain the weights of various reference metrics input by the user;

[0210] Based on the scenario requirements of the mobile platform moving along the target path, the weights of various reference indicators are determined;

[0211] Using machine learning, the motion results of a mobile platform are used as input to determine the weights of various reference indicators;

[0212] The weights of various reference indicators are determined based on the environmental information detected by the mobile platform.

[0213] In some embodiments, the processor 1202 is specifically used for:

[0214] Based on multiple reference indicators and multiple routes, obtain the score of each route on each reference indicator;

[0215] The total score for each route is obtained based on the scores of each route on multiple reference indicators and the weights of these indicators.

[0216] The target route is determined from the multiple routes based on their respective total scores.

[0217] In some embodiments, the processor 1202 is specifically configured to: detect environmental information of the mobile platform; and determine a target route from multiple routes based on the environmental information.

[0218] In some embodiments, the processor 1202 is further configured to:

[0219] During the process of controlling the movement of the mobile platform according to the target route, the environmental information of the mobile platform is detected;

[0220] Based on environmental information, the target route was determined again from multiple routes;

[0221] Based on the redefined target route, control the mobile platform to continue moving along the target path.

[0222] In some embodiments, the processor 1202 is specifically used for:

[0223] If the location of an obstacle is determined based on environmental information, the target route is redefined from multiple routes to avoid the obstacle.

[0224] The control device of the movable platform in this embodiment can be used to execute the technical solutions of the above-described method embodiments of this application. Its implementation principle and technical effect are similar, and will not be repeated here.

[0225] Figure 13 This is a schematic diagram of the structure of a movable platform provided in an embodiment of this application, as shown below. Figure 13 As shown, the portable platform 1300 of this embodiment includes a memory 1301 and a processor 1302 within its casing. The memory 1301 and the processor 1302 are connected via a communication bus.

[0226] Memory 1301 is used to store instructions.

[0227] Processor 1302 calls the instructions stored in memory 1301 to perform the following operations:

[0228] Obtain the target path for the motion of the 1300 mobile platform;

[0229] Obtain lane distribution information for the target path;

[0230] Multiple routes are generated based on lane distribution information. These routes include a first route and a second route. The first route includes a first route segment, and the second route includes a second route segment. The first route segment and the second route segment are located in different lanes of the target path.

[0231] From multiple routes, determine the target route;

[0232] Based on the target route, control the mobile platform 1300 to move along the target path.

[0233] In some embodiments, lane distribution information includes the location of the target path in one or more lane blocks in each road segment.

[0234] In some embodiments, the first route and the second route include at least a portion of the route segments, which are located on the same road segment.

[0235] In some embodiments, each route passes through multiple lane blocks along the target path. The route consists of multiple route segments connected together, and these route segments are located in lane blocks of a continuously distributed road segment.

[0236] In some embodiments, the route includes a turning route segment, which comprises an adjacent first route segment and a second route segment. The target path includes a first road segment and a second road segment. The first route segment is located in a first lane block of the first road segment, and the second route segment is located in a second lane block of the second road segment. The first lane block and the second lane block are respectively located in adjacent first lanes and second lanes of the path. The first road segment and the second road segment are the same road segment, or the first road segment and the second road segment are two adjacent road segments.

[0237] In some embodiments, the route includes a straight route segment, which includes an adjacent first route segment and a second route segment. The target path includes an adjacent first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the same lane of the target path.

[0238] In some embodiments, the processor 1302 is specifically configured to: search for lane blocks in lane distribution information to obtain multiple route segments; and generate multiple routes based on the multiple route segments.

[0239] In some embodiments, the processor 1302 is specifically used for:

[0240] Based on various preset motion strategies, each lane block in the lane distribution information is searched to obtain multiple route segments. Among these preset motion strategies are a minimum lane change motion strategy and a target direction lane motion strategy, where the target direction is either the leftmost direction or the far left direction.

[0241] In some embodiments, the preset motion strategy includes a minimum lane change motion strategy. Processor 1302 is specifically used for:

[0242] Starting from the current lane block of the target path in the lane distribution information, search straight along the target path until the third lane block. The next lane block of the third lane block does not belong to the target path.

[0243] Determine the straight-ahead route segment based on the lane blocks found during the straight-ahead search;

[0244] The system starts searching from the third lane block until the target lane block is found, and then determines the turning route segment based on the lane block found.

[0245] In some embodiments, the preset motion strategy includes a motion strategy along the target direction lane. Processor 1302 is specifically used for:

[0246] The search starts from the current lane block of the target path in the lane distribution information and turns towards the target direction until the third lane block, where the third lane block is the lane block where turning towards the target direction can no longer continue;

[0247] The turning route segment is determined based on the lane blocks found during the turning search;

[0248] Starting from the third lane block, search for the necessary lane blocks in the path back to the target, and determine the route segment from the third lane block back to the necessary lane block based on the searched lane blocks.

[0249] In some embodiments, the processor 1302 is further configured to:

[0250] Based on the information on multiple routes and lane distribution, the turning areas of multiple routes are obtained respectively;

[0251] When processor 1302 controls the movable platform 1300 to move along the target path according to the target route, it is specifically used for:

[0252] Based on the target route and the steerable area of ​​the target route, control the movable platform 1300 to move along the target path.

[0253] In some embodiments, the processor 1302 is specifically used for:

[0254] According to the target route, control the mobile platform 1300 to move along the target path;

[0255] During the movement of the mobile platform 1300 along the target path, the environmental information of the mobile platform 1300 is detected;

[0256] Based on environmental information and the steerable area on the target route, control the mobile platform 1300 to turn along the target path within the steerable area.

[0257] In some embodiments, the processor 1302 is specifically used for:

[0258] If the location of an obstacle is detected by the environmental information, the mobile platform 1300 is controlled to turn within the steerable area on the target route to avoid the obstacle.

[0259] In some embodiments, the processor 1302 is specifically used for:

[0260] Determine the third and fourth lanes where the turning section of the route is located;

[0261] Based on the lane distribution information, the fourth lane block and the fifth lane block that must be passed in the route are obtained. The fourth lane block is a lane block in the third lane, and the fifth lane block is a lane block in the fourth lane.

[0262] The turning zone of the route is determined based on the lane blocks between the road segments containing the fourth and fifth lane blocks.

[0263] In some embodiments, the processor 1302 is specifically used for:

[0264] The target route is determined from multiple routes based on the target reference indicators selected by the user.

[0265] In some embodiments, the processor 1302 is specifically used for:

[0266] Based on the target reference index, determine the parameter value of each route on the target reference index;

[0267] The target route is determined from multiple routes based on the relationship between the parameter value and the parameter threshold.

[0268] In some embodiments, the processor 1302 is further configured to perform one or more of the following:

[0269] Based on the target reference indicator selected by the user, determine the parameter threshold corresponding to the target reference indicator;

[0270] Obtain the threshold values ​​of the parameters input by the user;

[0271] Based on the scenario requirement of the mobile platform 1300 moving along the target path, the parameter thresholds are determined;

[0272] Using machine learning, the motion results of the mobile platform 1300 are used as input to determine parameter thresholds;

[0273] Based on the environmental information detected by the mobile platform 1300, parameter thresholds are determined.

[0274] In some embodiments, the processor 1302 is further configured to:

[0275] Obtain the weights of multiple reference indicators;

[0276] When determining the target route from multiple routes, processor 1302 is specifically used for:

[0277] The target route is determined from multiple routes based on the weights of various reference indicators.

[0278] In some embodiments, the processor 1302 is further configured to perform one or more of the following:

[0279] Based on the target reference indicators selected by the user, generate weights for multiple reference indicators;

[0280] Obtain the weights of various reference metrics input by the user;

[0281] Based on the scenario requirements of the mobile platform 1300 moving along the target path, the weights of various reference indicators are determined.

[0282] Using machine learning, the motion results of the mobile platform 1300 are used as input to determine the weights of various reference indicators;

[0283] Based on the environmental information detected by the mobile platform 1300, the weights of various reference indicators are determined.

[0284] In some embodiments, the processor 1302 is specifically used for:

[0285] Based on multiple reference indicators and multiple routes, obtain the score of each route on each reference indicator;

[0286] The total score for each route is obtained based on the scores of each route on multiple reference indicators and the weights of these indicators.

[0287] The target route is determined from the multiple routes based on their respective total scores.

[0288] In some embodiments, the processor 1302 is specifically used for:

[0289] Detect environmental information of the mobile platform 1300;

[0290] Based on environmental information, the target route is determined from multiple routes.

[0291] In some embodiments, the processor 1302 is further configured to:

[0292] During the process of controlling the movement of the mobile platform 1300 according to the target route, the environmental information of the mobile platform 1300 is detected;

[0293] Based on environmental information, the target route was determined again from multiple routes;

[0294] Based on the redefined target route, control the mobile platform 1300 to continue moving along the target path.

[0295] In some embodiments, the processor 1302 is specifically used for:

[0296] If the location of an obstacle is determined based on environmental information, the target route is redefined from multiple routes to avoid the obstacle.

[0297] In some embodiments, the mobile platform 1300 of this embodiment may further include an environmental sensor 1303, which is used to collect the environmental information mentioned in the above embodiments. The environmental sensor 1303 is, for example, an image sensor or radar.

[0298] In an alternative embodiment, the mobile platform 1300 may be an autonomous vehicle.

[0299] The mobile platform of this embodiment can be used to execute the technical solutions of the above-described method embodiments of this application. Its implementation principle and technical effect are similar, and will not be repeated here.

[0300] This application embodiment also provides a mobile platform, the mobile platform of which includes a control device within its body. The control device of the mobile platform can be... Figure 12 The illustrated device embodiment has a structure. Optionally, the mobile platform may further include an environmental sensor, which can be communicatively connected to the control device of the mobile platform.

[0301] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a mobile platform, characterized in that, include: Obtain the target path for the movement of the mobile platform; obtain lane distribution information of the target path; generate multiple routes based on the lane distribution information, the multiple routes including a first route and a second route, the first route including a first route segment, the second route including a second route segment, the first route segment and the second route segment being located in different lanes of the target path; determine the target route from the multiple routes; Based on the target route, control the mobile platform to move along the target path; The method further includes: obtaining the steerable areas of the multiple routes according to the multiple routes and the lane distribution information; controlling the mobile platform to move along the target path according to the target route includes: controlling the mobile platform to move along the target path according to the target route and the steerable area of ​​the target route.

2. The method according to claim 1, characterized in that, The lane distribution information includes the location of the target path in one or more lane blocks in each road segment.

3. The method according to claim 1 or 2, characterized in that, The first route and the second route each include at least a portion of the route segments, which are located on the same road segment.

4. The method according to claim 1 or 2, characterized in that, Each of the aforementioned routes passes through multiple lane blocks along the target path; the route is composed of multiple route segments connected together, and the multiple route segments are located in lane blocks of a continuously distributed road segment.

5. The method according to claim 1 or 2, characterized in that, The route includes a turning route segment, which includes an adjacent first route segment and a second route segment. The target path includes a first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the adjacent first lane and second lane of the path. The first road segment and the second road segment are the same road segment, or the first road segment and the second road segment are two adjacent road segments.

6. The method according to claim 1 or 2, characterized in that, The route includes a straight route segment, which includes an adjacent first route segment and a second route segment. The target path includes an adjacent first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the same lane of the target path.

7. The method according to claim 1 or 2, characterized in that, Generating multiple routes based on the lane distribution information includes: searching each lane block in the lane distribution information to obtain multiple route segments; and generating the multiple routes based on the multiple route segments.

8. The method according to claim 7, characterized in that, The process of searching for each lane block in the lane distribution information to obtain multiple route segments includes: searching for each lane block in the lane distribution information according to multiple preset movement strategies to obtain multiple route segments; wherein, the multiple preset movement strategies include a minimum lane change movement strategy and a target direction lane movement strategy, wherein the target direction is the leftmost direction or the rightmost direction.

9. The method according to claim 8, characterized in that, The preset motion strategy includes a motion strategy with minimal lane changes; The process of searching each lane block in the lane distribution information according to multiple preset movement strategies to obtain multiple route segments includes: starting from the current lane block of the target path in the lane distribution information and searching straight along the target path until the third lane block, wherein the next lane block of the third lane block does not belong to the target path; determining the straight route segment based on the lane block found through the straight search; starting from the third lane block and searching by turning until the lane block of the target path is found, and determining the turning route segment based on the lane block found through the turning search.

10. The method according to claim 9, characterized in that, The preset motion strategy includes a motion strategy that moves towards the target direction lane; The process involves searching each lane block in the lane distribution information according to multiple preset movement strategies to obtain multiple route segments, including: starting from the current lane block of the target path in the lane distribution information and turning towards the target direction until the third lane block, wherein the third lane block is the lane block where turning towards the target direction is no longer possible; determining the turning route segment based on the lane block found through the turning search; starting from the third lane block and searching for the necessary lane block to return to the target path, and determining the route segment from the third lane block back to the necessary lane block based on the searched lane block.

11. The method according to claim 1, characterized in that, The step of controlling the mobile platform to move along the target path based on the target route and the steerable area of ​​the target route includes: controlling the mobile platform to move along the target path based on the target route; detecting environmental information of the mobile platform during the movement of the mobile platform along the target path; and controlling the mobile platform to turn along the target path within the steerable area based on the environmental information and the steerable area on the target route.

12. The method according to claim 11, characterized in that, The step of controlling the mobile platform to turn along the target path within the steerable area based on the environmental information and the steerable area on the target route includes: if the location of an obstacle is detected by the environmental information, then the mobile platform is controlled to turn within the steerable area based on the steerable area on the target route to avoid the obstacle.

13. The method according to any one of claims 1, 11-12, characterized in that, The step of obtaining the turnable areas of multiple routes based on the multiple routes and the lane distribution information includes: determining the third and fourth lanes where the turning route segment is located in the route; obtaining the fourth lane block and the fifth lane block that must be passed in the route based on the lane distribution information, wherein the fourth lane block is a lane block in the third lane and the fifth lane block is a lane block in the fourth lane; and determining the turnable area of ​​the route based on the lane blocks between the road segment where the fourth lane block is located and the road segment where the fifth lane block is located.

14. The method according to any one of claims 1-2 and 8-12, characterized in that, Determining the target route from the multiple routes includes: determining the target route from the multiple routes based on the target reference indicators selected by the user.

15. The method according to claim 14, characterized in that, The step of determining the target route from the multiple routes based on the target reference indicator selected by the user includes: determining the parameter value of each route on the target reference indicator; and determining the target route from the multiple routes based on the relationship between the parameter value and the parameter threshold.

16. The method according to claim 15, characterized in that, The method further includes one or more of the following: determining the parameter threshold corresponding to the target reference indicator selected by the user; obtaining the parameter threshold input by the user; determining the parameter threshold according to the scenario requirements of the mobile platform moving along the target path; determining the parameter threshold by using machine learning to take the motion result of the mobile platform as input; and determining the parameter threshold according to the environmental information detected by the mobile platform.

17. The method according to any one of claims 1-2, 8-12, and 15-16, characterized in that, The method further includes: obtaining the weights of multiple reference indicators; determining the target route from the multiple routes includes: determining the target route from the multiple routes according to the weights of the multiple reference indicators.

18. The method according to claim 17, characterized in that, The process of obtaining the weights of multiple reference indicators includes one or more of the following: generating the weights of the multiple reference indicators based on the target reference indicator selected by the user; obtaining the weights of the multiple reference indicators input by the user; determining the weights of the multiple reference indicators based on the scenario requirements of the mobile platform moving along the target path; determining the weights of the multiple reference indicators by using machine learning methods with the motion results of the mobile platform as input; and determining the weights of the multiple reference indicators based on the environmental information detected by the mobile platform.

19. The method according to claim 18, characterized in that, The step of determining the target route from the multiple routes based on the weights of the multiple reference indicators includes: obtaining a score for each route on each reference indicator based on the multiple reference indicators and the multiple routes; obtaining a total score for each route based on the scores of each route on the multiple reference indicators and the weights of the multiple reference indicators; and determining the target route from the multiple routes based on the total scores corresponding to the multiple routes.

20. The method according to any one of claims 1-2, 8-12, 15-16, and 18-19, characterized in that, Determining the target route from the multiple routes includes: detecting the environmental information of the mobile platform; and determining the target route from the multiple routes based on the environmental information.

21. The method according to any one of claims 1-2, 8-12, 15-16, and 18-19, characterized in that, The method further includes: detecting environmental information of the mobile platform during the process of controlling the movement of the mobile platform according to the target route; determining the target route again from the multiple routes based on the environmental information; and controlling the mobile platform to continue moving along the target path based on the re-determined target route.

22. The method according to claim 21, characterized in that, The step of determining the target route again from the multiple routes based on the environmental information includes: if the location of an obstacle that the movable platform needs to pass through is determined based on the environmental information, then the target route is determined again from the multiple routes to avoid the obstacle.

23. A control device for a mobile platform, characterized in that, include: Memory and processor; The memory is used to store instructions; the processor calls the instructions stored in the memory to perform the following operations: obtaining the target path for the movement of the mobile platform; obtaining lane distribution information of the target path; generating multiple routes based on the lane distribution information, the multiple routes including a first route and a second route, the first route including a first route segment, the second route including a second route segment, the first route segment and the second route segment being located in different lanes of the target path; determining a target route from the multiple routes; and controlling the mobile platform to move along the target path based on the target route. The processor is further configured to: obtain the steerable areas of the multiple routes according to the multiple routes and the lane distribution information; and to control the mobile platform to move along the target path according to the target route, including: controlling the mobile platform to move along the target path according to the target route and the steerable area of ​​the target route.

24. The apparatus according to claim 23, characterized in that, The lane distribution information includes the location of the target path in one or more lane blocks in each road segment.

25. The apparatus according to claim 23 or 24, characterized in that, The first route and the second route each include at least a portion of the route segments, which are located on the same road segment.

26. The apparatus according to claim 23 or 24, characterized in that, Each of the aforementioned routes passes through multiple lane blocks along the target path; the route is composed of multiple route segments connected together, and the multiple route segments are located in lane blocks of a continuously distributed road segment.

27. The apparatus according to claim 23 or 24, characterized in that, The route includes a turning route segment, which includes an adjacent first route segment and a second route segment. The target path includes a first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the adjacent first lane and second lane of the path. The first road segment and the second road segment are the same road segment, or the first road segment and the second road segment are two adjacent road segments.

28. The apparatus according to claim 23 or 24, characterized in that, The route includes a straight route segment, which includes an adjacent first route segment and a second route segment. The target path includes an adjacent first road segment and a second road segment. The first route segment is located in the first lane block of the first road segment, and the second route segment is located in the second lane block of the second road segment. The first lane block and the second lane block are respectively located in the same lane of the target path.

29. The apparatus according to claim 23 or 24, characterized in that, The processor is specifically configured to: search for each lane block in the lane distribution information to obtain multiple route segments; and generate the multiple routes based on the multiple route segments.

30. The apparatus according to claim 29, characterized in that, The processor is specifically used to: search each lane block in the lane distribution information according to a variety of preset motion strategies to obtain multiple route segments; wherein, the variety of preset motion strategies include a minimum lane change motion strategy and a target direction lane motion strategy, wherein the target direction is the leftmost direction or the rightmost direction.

31. The apparatus according to claim 30, characterized in that, The preset motion strategy includes a minimum lane change motion strategy; the processor is specifically configured to: start from the current lane block of the target path in the lane distribution information and search straight along the target path until the third lane block, wherein the next lane block of the third lane block does not belong to the target path; determine a straight-line route segment based on the lane block found through the straight-line search; start from the third lane block and search by turning until the lane block of the target path is found, and determine a turning route segment based on the lane block found through the turning search.

32. The apparatus according to claim 31, characterized in that, The preset movement strategy includes a lane movement strategy that follows the target direction; the processor is specifically configured to: start from the current lane block of the target path in the lane distribution information and search towards the target direction until the third lane block, wherein the third lane block is a lane block where turning towards the target direction is no longer possible; determine a turning route segment based on the lane block searched; start from the third lane block and search for a necessary lane block to return to the target path, and determine a route segment from the third lane block back to the necessary lane block based on the searched lane block.

33. The apparatus according to claim 23, characterized in that, The processor is specifically configured to: control the mobile platform to move along the target path according to the target route; detect environmental information of the mobile platform during the movement of the mobile platform along the target path; and control the mobile platform to turn along the target path within the turnable area according to the environmental information and the turnable area on the target route.

34. The apparatus according to claim 33, characterized in that, The processor is specifically configured to: if the location of an obstacle is detected based on the environmental information, then control the mobile platform to turn in the steerable area according to the steerable area on the target route to avoid the obstacle.

35. The apparatus according to any one of claims 23 and 33-34, characterized in that, The processor is specifically configured to: determine the third and fourth lanes where the turning route segment is located in the route; and, based on the lane distribution information, obtain the fourth lane block and the fifth lane block that must be passed in the route, wherein the fourth lane block is a lane block in the third lane and the fifth lane block is a lane block in the fourth lane. The steerable area of ​​the route is determined based on the lane blocks between the road segment where the fourth lane block is located and the road segment where the fifth lane block is located.

36. The apparatus according to any one of claims 23-24 and 30-34, characterized in that, The processor is specifically configured to: determine the target route from the plurality of routes based on the target reference indicators selected by the user.

37. The apparatus according to claim 36, characterized in that, The processor is specifically configured to: determine the parameter value of each route on the target reference indicator according to the target reference indicator; and determine the target route from the plurality of routes according to the relationship between the parameter value and the parameter threshold.

38. The apparatus according to claim 37, characterized in that, The processor is further configured to perform one or more of the following: determine the parameter threshold corresponding to the target reference indicator selected by the user; obtain the parameter threshold input by the user; determine the parameter threshold according to the scenario requirements of the mobile platform moving along the target path; determine the parameter threshold by using machine learning to take the motion result of the mobile platform as input; and determine the parameter threshold according to the environmental information detected by the mobile platform.

39. The apparatus according to any one of claims 23-24, 30-34, and 37-38, characterized in that, The processor is further configured to: obtain the weights of multiple reference indicators; when determining a target route from multiple routes, the processor is specifically configured to: determine the target route from the multiple routes based on the weights of the multiple reference indicators.

40. The apparatus according to claim 39, characterized in that, The processor is further configured to perform one or more of the following: generating weights for the multiple reference indicators based on the target reference indicator selected by the user; obtaining the weights of the multiple reference indicators input by the user; determining the weights of the multiple reference indicators based on the scenario requirements of the mobile platform moving along the target path; determining the weights of the multiple reference indicators by using machine learning, taking the motion result of the mobile platform as input; and determining the weights of the multiple reference indicators based on the environmental information detected by the mobile platform.

41. The apparatus according to claim 39 or 40, characterized in that, The processor is specifically configured to: obtain a score for each route on each reference indicator based on the multiple reference indicators and the multiple routes; obtain a total score for each route based on the scores of each route on the multiple reference indicators and the weights of the multiple reference indicators; and determine a target route from the multiple routes based on the total scores corresponding to the multiple routes.

42. The apparatus according to any one of claims 23-24, 30-34, 37-38, and 40, characterized in that, The processor is specifically configured to: detect the environmental information of the mobile platform; and determine the target route from the multiple routes based on the environmental information.

43. The apparatus according to any one of claims 23-24, 30-34, 37-38, and 40, characterized in that, The processor is further configured to: detect environmental information of the mobile platform during the process of controlling the movement of the mobile platform according to the target route; determine the target route again from the multiple routes according to the environmental information; and control the mobile platform to continue moving along the target path according to the re-determined target route.

44. The apparatus according to claim 43, characterized in that, The processor is specifically configured to: if the location of an obstacle that the movable platform needs to pass through is determined based on the environmental information, then determine a target route from the multiple routes to avoid the obstacle.

45. A mobile platform, characterized in that, Includes the control device for the mobile platform as described in any one of claims 23-44.

46. ​​The mobile platform according to claim 45, characterized in that, The mobile platform is an autonomous vehicle.

47. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1-22.

48. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method described in any one of claims 1-22.

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