Path planning method and device, readable storage medium and vehicle

Abstract

The application provides a path planning method, device, readable storage medium and vehicle. The path planning method comprises the following steps: establishing a first path between a starting point and an ending point of a vehicle, determining a first coordinate point on the first path, and the first coordinate point is located inside an obstacle region; in the case that a first region corresponding to the first coordinate point and the obstacle region have an overlapping region, determining a second coordinate point located inside the first region and the obstacle region, the first region is a coordinate region determined based on the first coordinate point, and the first coordinate point is located outside the first region; in the case that a second region corresponding to the second coordinate point and the obstacle region do not have an overlapping region, determining a third coordinate point located inside the second region, the third coordinate point is located outside the obstacle region, the second region is a coordinate region determined based on the second coordinate point, and the second coordinate point is located outside the second region; and establishing a second path of the vehicle according to the starting point, the ending point and the third coordinate point.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more specifically, to a path planning method, apparatus, readable storage medium, and vehicle. Background Technology

[0002] With the development of technologies such as artificial intelligence and computer vision, driverless vehicles and unmanned delivery vehicles have begun to emerge. In the operation of driverless vehicles, the coordination of the operating path and speed is an important factor in ensuring the smooth operation of the vehicle.

[0003] Path planning for autonomous vehicles refers to providing a safe, collision-free path to a target location for the vehicle in an environment with obstacles, while considering dynamic constraints and adhering to traffic rules. As the dynamic environments in which autonomous vehicles operate become increasingly complex and contain numerous uncertainties, the requirements for autonomous vehicle path planning are becoming increasingly stringent.

[0004] However, current path planning methods suffer from problems such as high path complexity and low planning efficiency. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, the first aspect of the present invention is to propose a path planning method.

[0007] A second aspect of the invention is to provide a path planning device.

[0008] A third aspect of the invention is to provide another path planning device.

[0009] A fourth aspect of the present invention is to provide a readable storage medium.

[0010] The fifth aspect of the invention is to provide a vehicle.

[0011] In view of this, according to a first aspect of the present invention, a path planning method is proposed, the path planning method comprising: establishing a first path between a starting point and an ending point of a vehicle; determining a first coordinate point on the first path, the first coordinate point being located inside an obstacle area; if the first area corresponding to the first coordinate point and the obstacle area overlap, determining a second coordinate point located inside the first area and the obstacle area, the first area being a coordinate area determined based on the first coordinate point, the first coordinate point being located outside the first area; if the second area corresponding to the second coordinate point and the obstacle area do not overlap, determining a third coordinate point located inside the second area, the third coordinate point being located outside the obstacle area, the second area being a coordinate area determined based on the second coordinate point, the second coordinate point being located outside the second area; and establishing a second path for the vehicle based on the starting point, the ending point, and the third coordinate point.

[0012] The path planning method in this technical solution establishes a first path between the vehicle's start and end points. If the first path overlaps with an obstacle area, a first coordinate point on the first path is determined. If the first area corresponding to the first coordinate point overlaps with an obstacle area, a second coordinate point located within both areas is determined. If the second area corresponding to the second coordinate point does not overlap with an obstacle area, a third coordinate point located within the second area is determined. Then, based on the start, end, and third coordinate points, a second path for the vehicle is established. By reducing the number of inflection points in the vehicle path, the time and space complexity of the path are significantly reduced, improving the efficiency of path planning while ensuring the accuracy of the vehicle path.

[0013] According to a second aspect of the present invention, a path planning device is provided, comprising: a processing module for establishing a first path between a starting point and an ending point of a vehicle, and determining a first coordinate point on the first path, the first coordinate point being located inside an obstacle region; the processing module is further configured to, when the first region corresponding to the first coordinate point and the obstacle region overlap, determine a second coordinate point located inside the first region and the obstacle region, the first region being a coordinate region determined based on the first coordinate point, the first coordinate point being located outside the first region; the processing module is further configured to, when the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine a third coordinate point located inside the second region, the third coordinate point being located outside the obstacle region, the second region being a coordinate region determined based on the second coordinate point, the second coordinate point being located outside the second region; and the processing module is further configured to establish a second path for the vehicle based on the starting point, the ending point, and the third coordinate point.

[0014] The path planning device in this technical solution establishes a first path between the vehicle's starting point and ending point. If the first path overlaps with an obstacle area, it determines a first coordinate point on the first path. If the first area corresponding to the first coordinate point overlaps with an obstacle area, it determines a second coordinate point located within both the first and obstacle areas. If the second area corresponding to the second coordinate point does not overlap with an obstacle area, it determines a third coordinate point located within the second area. Based on the starting point, ending point, and third coordinate point, a second path for the vehicle is established. By reducing the number of inflection points in the vehicle path, the time and space complexity of the vehicle path are significantly reduced, improving the efficiency of vehicle path planning while ensuring the accuracy of the vehicle path.

[0015] According to a third aspect of the present invention, a path planning apparatus is provided, comprising a processor and a memory, wherein the memory stores a program or instructions, which, when executed by the processor, implement the steps of the path planning method as described in any of the above-described technical solutions. Therefore, this path planning apparatus possesses all the beneficial effects of the path planning methods in any of the above-described technical solutions, which will not be elaborated further here.

[0016] According to a fourth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, implement the path planning method as described in any of the above-described technical solutions. Therefore, this readable storage medium possesses all the beneficial effects of the path planning method in any of the above-described technical solutions, and will not be elaborated further here.

[0017] According to a fifth aspect of the present invention, a vehicle is provided, comprising: a path planning device as defined in the second aspect above, or a path planning device as defined in the third aspect above, and / or a readable storage medium as defined in the fourth aspect above, thereby having all the beneficial technical effects of the path planning device as defined in the second aspect above, or a path planning device as defined in the third aspect above, and / or a readable storage medium as defined in the fourth aspect above, which will not be elaborated further here.

[0018] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 One of the flowcharts of the path planning method in an embodiment of the present invention is shown;

[0021] Figure 2A second flowchart illustrating the path planning method in an embodiment of the present invention is shown;

[0022] Figure 3 The third schematic flowchart of the path planning method in an embodiment of the present invention is shown;

[0023] Figure 4 The fourth flowchart of the path planning method in an embodiment of the present invention is shown;

[0024] Figure 5 The fifth flowchart of the path planning method in an embodiment of the present invention is shown;

[0025] Figure 6 A flowchart of the path planning method in an embodiment of the present invention is shown in Figure 6.

[0026] Figure 7 The seventh flowchart of the path planning method in an embodiment of the present invention is shown;

[0027] Figure 8 One of the path planning methods in an embodiment of the present invention is shown in the diagram.

[0028] Figure 9 A second schematic diagram of the path planning method in an embodiment of the present invention is shown;

[0029] Figure 10 The third schematic diagram of the path planning method in an embodiment of the present invention is shown;

[0030] Figure 11 The fourth schematic diagram of the path planning method in an embodiment of the present invention is shown.

[0031] Figure 12 The fifth schematic diagram of the path planning method in an embodiment of the present invention is shown;

[0032] Figure 13 This shows one of the structural block diagrams of a path planning device according to an embodiment of the present invention;

[0033] Figure 14 A second structural block diagram of the path planning device in an embodiment of the present invention is shown. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0036] The following is combined Figures 1 to 14 The path planning method, apparatus, readable storage medium, and vehicle provided in this application will be described in detail through specific embodiments and application scenarios.

[0037] The execution subject of the path planning method provided by this invention can be a path planning device, or it can be determined according to actual usage requirements, and no specific limitation is made here. In order to more clearly describe the path planning method provided by this invention, the following description uses a path planning device as the execution subject.

[0038] In some embodiments, optionally, such as Figure 1 As shown, a path planning method is proposed, which includes:

[0039] Step 102: Establish the first path between the vehicle's starting point and ending point, and determine the first coordinate point on the first path;

[0040] Step 104: If there is an overlap between the first region and the obstacle region corresponding to the first coordinate point, determine the second coordinate point located inside the first region and the obstacle region.

[0041] Step 106: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0042] Step 108: Establish the second path for the vehicle based on the starting point, ending point, and third coordinate point.

[0043] In this embodiment, a path planning method is provided for a vehicle. The path planning device first establishes a first path between the vehicle's starting point and ending point.

[0044] For example, the vehicle may specifically be an autonomous vehicle.

[0045] For example, the first path may specifically be a straight path between the vehicle's starting point and its ending point.

[0046] If the first path and the obstacle area overlap, it indicates that the first path is blocked by an obstacle. The path planning device determines a first coordinate point on the first path, and the first coordinate point is located inside the obstacle area. The obstacle area is the distribution area of ​​the obstacles, and the first coordinate point is the coordinate point that is located in both the first path and the obstacle area.

[0047] For example, the first coordinate point may be specifically the first comparative coordinate point of the first path and the obstacle area.

[0048] The path planning device expands the first coordinate point into a first region, and the first coordinate point is located outside the first region, wherein the first region is the coordinate region corresponding to the first coordinate point.

[0049] For example, the first region can be a rectangular region, and the first coordinate point can be located at the outer edge of the rectangular region.

[0050] If the first region corresponding to the first coordinate point and the obstacle region overlap, it indicates that the first region is blocked by the obstacle. The path planning device determines a second coordinate point located inside both the first region and the obstacle region. The second coordinate point is a coordinate point that is simultaneously located inside both the first region and the obstacle region.

[0051] For example, the path planning device can search the coordinate points in the first area column by column, and set the first searched coordinate point that coincides with the obstacle area as the second coordinate point.

[0052] The path planning device expands the second coordinate point into a second region, and the second coordinate point is located outside the second region, wherein the second region is the coordinate region corresponding to the second coordinate point.

[0053] For example, the second region can be a rectangular region, and the second coordinate point can be located at the outer edge of the rectangular region.

[0054] If the second region corresponding to the second coordinate point does not overlap with the obstacle region, it means that the second region is not blocked by the obstacle and the second coordinate point is located at the edge of the obstacle region. The path planning device determines the third coordinate point located inside the second region, while the third coordinate point is located outside the obstacle region.

[0055] For example, the second region can be a rectangular region, and the third coordinate point can be the coordinate point located at the lower right corner of the rectangular region.

[0056] It should be noted that if the second region and the obstacle region still overlap, the region search steps can be repeated to find regions that do not overlap with the obstacle region.

[0057] The path planning device establishes a second path for the vehicle based on the starting point, the ending point, and the third coordinate point. The second path is a polyline path based on the starting point, the ending point, and the third coordinate point.

[0058] For example, the first path can be specifically a broken line path between the vehicle's starting point and ending point.

[0059] The path planning method in this embodiment establishes a first path between the vehicle's start and end points. If the first path and the obstacle area overlap, a first coordinate point on the first path is determined. If the first area corresponding to the first coordinate point overlaps with the obstacle area, a second coordinate point located within both the first and obstacle areas is determined. If the second area corresponding to the second coordinate point does not overlap with the obstacle area, a third coordinate point located within the second area is determined. Then, based on the start, end, and third coordinate points, a second path for the vehicle is established. By reducing the number of inflection points in the vehicle path, the time and space complexity of the vehicle path are significantly reduced, improving the efficiency of vehicle path planning while ensuring the accuracy of the vehicle path.

[0060] In some embodiments, optionally, such as Figure 2 As shown, a path planning method is proposed, which includes:

[0061] Step 202: Establish the vehicle's spatial coordinate system, and determine the first coordinate information of the starting point and the second coordinate information of the ending point based on the spatial coordinate system;

[0062] Step 204: Determine the first path based on the first coordinate information and the second coordinate information;

[0063] Step 206: Determine the first coordinate point on the first path;

[0064] Step 208: If there is an overlap between the first region corresponding to the first coordinate point and the obstacle region, determine the second coordinate point located inside the first region and the obstacle region.

[0065] Step 210: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0066] Step 212: Establish the second path for the vehicle based on the starting point, ending point, and third coordinate point.

[0067] In this embodiment, the path planning device establishes a spatial coordinate system for the vehicle and determines the first coordinate information of the starting point and the second coordinate information of the ending point through the spatial coordinate system. The spatial coordinate system is the coordinate system corresponding to the space where the vehicle is located, the first coordinate information is the coordinate information of the vehicle's starting point, and the second coordinate information is the coordinate information of the vehicle's ending point.

[0068] For example, the spatial coordinate system may specifically be a Cartesian coordinate system.

[0069] The path planning device connects the first coordinate information and the second coordinate information to obtain the first path.

[0070] For example, the starting point of the vehicle can be the origin of the spatial coordinate system, and the first coordinate information can be the coordinates of the origin of the spatial coordinate system.

[0071] The path planning method in this embodiment establishes a spatial coordinate system for the vehicle, determines the first coordinate information of the starting point and the second coordinate information of the ending point through the spatial coordinate system, and connects the first coordinate information and the second coordinate information to obtain the first path. This significantly reduces the path complexity of the first path, improves the planning efficiency of the first path, and ensures the accuracy of the first path.

[0072] In some embodiments, optionally, such as Figure 3 As shown, a path planning method is proposed, which includes:

[0073] Step 302: Establish the first path between the vehicle's starting point and ending point, and determine the first coordinate point on the first path;

[0074] Step 304: If the first region corresponding to the first coordinate point and the obstacle region overlap, obtain the obstacle coordinate point inside the obstacle region.

[0075] Step 306: Based on the obstacle coordinates, compare the coordinate information of the coordinates within the first region to obtain the second coordinates.

[0076] Step 308: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0077] Step 310: Establish the second path for the vehicle based on the starting point, ending point, and third coordinate point.

[0078] In this embodiment, when there is an overlap between the first region corresponding to the first coordinate point and the obstacle region, the path planning device obtains the obstacle coordinate point inside the obstacle region, compares the coordinate information of the coordinate point inside the first region based on the obstacle coordinate point, and then determines the second coordinate point, wherein the obstacle coordinate point is the coordinate point corresponding to the obstacle region.

[0079] For example, the path planning device can compare the coordinate values ​​of the obstacle coordinate point and the coordinate value of the point inside the first region. If the coordinate values ​​are the same, it means that the coordinate point corresponding to the same coordinate value is located inside both the first region and the obstacle region.

[0080] The path planning method in this embodiment compares the coordinate information of the coordinate points within the first area based on the obstacle coordinate points to determine the second coordinate point, which increases the difficulty of determining the second coordinate point and ensures the accuracy of the second coordinate point's coordinates.

[0081] In some embodiments, optionally, such as Figure 4 As shown, a path planning method is proposed, which includes:

[0082] Step 402: Establish the first path between the vehicle's starting point and ending point, and determine the first coordinate point on the first path;

[0083] Step 404: If the first region and the obstacle region corresponding to the first coordinate point overlap, determine the second coordinate point located inside the first region and the obstacle region.

[0084] Step 406: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0085] Step 408: Determine the first sub-path based on the starting point and the third coordinate point;

[0086] Step 410: Determine the second sub-path based on the endpoint and the third coordinate point;

[0087] Step 412: Combine the first sub-path and the second sub-path to obtain the second path.

[0088] In this embodiment, the path planning device connects the starting point and the third coordinate point to obtain a first sub-path, and connects the ending point and the third coordinate point to obtain a second sub-path. The first sub-path is the path between the vehicle's starting point and the third coordinate point, and the second sub-path is the path between the vehicle's ending point and the third coordinate point.

[0089] For example, the first sub-path and the second sub-path can be straight paths.

[0090] The path planning device combines the first sub-path and the second sub-path to obtain the second path.

[0091] For example, the path planning device connects the first sub-path and the second sub-path into a second path based on a third coordinate point.

[0092] The path planning method in this embodiment obtains a first sub-path by connecting the starting point and the third coordinate point, obtains a second sub-path by connecting the ending point and the third coordinate point, and combines the first sub-path and the second sub-path to obtain the second path. This ensures the accuracy of the first sub-path and the second sub-path, and thus ensures the accuracy of the second path.

[0093] In some embodiments, optionally, such as Figure 5 As shown, a path planning method is proposed, which includes:

[0094] Step 502: Establish the first path between the vehicle's starting point and ending point, and determine the first coordinate point on the first path;

[0095] Step 504: If the first region corresponding to the first coordinate point and the obstacle region overlap, determine the second coordinate point located inside the first region and the obstacle region.

[0096] Step 506: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0097] Step 508: Establish the second sub-path between the third coordinate point and the endpoint, and confirm the fourth coordinate point on the second sub-path;

[0098] Step 510: If there is an overlapping area between the third region and the obstacle region corresponding to the fourth coordinate point, determine the fifth coordinate point located inside the third region and the obstacle region.

[0099] Step 512: If there is no overlapping area between the fourth region and the obstacle region corresponding to the fifth coordinate point, determine the sixth coordinate point located in the fourth region;

[0100] Step 514: Establish the third path for the vehicle based on the starting point, ending point, third coordinate point, and sixth coordinate point.

[0101] In this embodiment, the path planning device establishes a second sub-path between the third coordinate point and the destination, wherein the second sub-path is the vehicle path between the third coordinate point and the destination.

[0102] For example, the second sub-path can be specifically a straight path between the third coordinate point and the vehicle's destination.

[0103] When the second sub-path and the obstacle area overlap, it indicates that the second sub-path is blocked by the obstacle. The path planning device then determines the fourth coordinate point on the second sub-path, and the fourth coordinate point is inside the obstacle area.

[0104] For example, the fourth coordinate point can be specifically the first comparative coordinate point of the second sub-path and the obstacle area.

[0105] The path planning device expands the fourth coordinate point into the third region, and the fourth coordinate point is located outside the third region, where the third region is the coordinate region corresponding to the fourth coordinate point.

[0106] For example, the third region can be a rectangular region, and the fourth coordinate point can be located at the outer edge of the rectangular region.

[0107] If there is an overlapping area between the third region and the obstacle region corresponding to the fourth coordinate point, it indicates that the third region is blocked by an obstacle. The path planning device determines the fifth coordinate point located inside both the third region and the obstacle region. The fifth coordinate point is a coordinate point that is simultaneously located inside both the third region and the obstacle region.

[0108] For example, the path planning device can search the coordinate points in the third area column by column, and set the first searched coordinate point that coincides with the obstacle area as the fifth coordinate point.

[0109] The path planning device expands the fifth coordinate point into the fourth region, and the fifth coordinate point is located outside the fourth region, where the fourth region is the coordinate region corresponding to the fifth coordinate point.

[0110] For example, the fourth region can be a rectangular region, and the fifth coordinate point can be located at the outer edge of the rectangular region.

[0111] If there is no overlap between the fourth region and the obstacle region corresponding to the fifth coordinate point, it means that the fourth region is not blocked by obstacles, and the fifth coordinate point is located at the edge of the obstacle region. The path planning device determines the sixth coordinate point located inside the fourth region, while the sixth coordinate point is located outside the obstacle region.

[0112] For example, the fourth region can be a rectangular region, and the fifth coordinate point can be the coordinate point located at the lower right corner of the rectangular region.

[0113] It should be noted that if there is still overlap between the fourth region and the obstacle region, the region search steps can be repeated to find regions that do not overlap with the obstacle region.

[0114] The path planning device establishes a third path for the vehicle based on the starting point, ending point, third coordinate point, and sixth coordinate point.

[0115] For example, the third path can be a polyline path.

[0116] The path planning method in this embodiment establishes a second sub-path between the third coordinate point and the destination. When the second sub-path overlaps with the obstacle area, a fourth coordinate point on the second sub-path is determined. If there is an overlap between the third area corresponding to the fourth coordinate point and the obstacle area, a fifth coordinate point located inside the third area and the obstacle area is determined. If there is no overlap between the fourth area corresponding to the fifth coordinate point and the obstacle area, a sixth coordinate point located inside the fourth area is determined. Then, based on the starting point, the destination, the third coordinate point, and the sixth coordinate point, the third path of the vehicle is established, which significantly reduces the time and space complexity of the vehicle path, improves the efficiency of vehicle path planning, and ensures the accuracy of the vehicle path.

[0117] In some embodiments, optionally, such as Figure 6 As shown, a path planning method is proposed, which includes:

[0118] Step 602: Establish the first path between the vehicle's starting point and ending point, and determine the first coordinate point on the first path;

[0119] Step 604: If the first region and the obstacle region corresponding to the first coordinate point overlap, determine the second coordinate point located inside the first region and the obstacle region.

[0120] Step 606: If the second region corresponding to the second coordinate point and the obstacle region do not overlap, determine the third coordinate point located inside the second region.

[0121] Step 608: Establish the second sub-path between the third coordinate point and the endpoint, and confirm the fourth coordinate point on the second sub-path;

[0122] Step 610: If there is an overlapping area between the third region and the obstacle region corresponding to the fourth coordinate point, determine the fifth coordinate point located inside the third region and the obstacle region.

[0123] Step 612: If there is no overlapping area between the fourth region and the obstacle region corresponding to the fifth coordinate point, determine the sixth coordinate point located in the fourth region;

[0124] Step 614: Determine the first sub-path based on the starting point and the third coordinate point;

[0125] Step 616: Determine the third sub-path based on the third and sixth coordinate points;

[0126] Step 618: Determine the fourth sub-path based on the sixth coordinate point and the endpoint;

[0127] Step 620: Combine the first sub-path, the third sub-path, and the fourth sub-path to obtain the third path.

[0128] In this embodiment, the path planning device connects the starting point and the third coordinate point to establish a first sub-path, connects the third coordinate point and the sixth coordinate point to establish a third sub-path, connects the sixth coordinate point and the end point to establish a fourth sub-path. The first sub-path is the path between the starting point and the third coordinate point, the third sub-path is the path between the third coordinate point and the sixth coordinate point, and the fourth sub-path is the path between the sixth coordinate point and the end point.

[0129] For example, the third and fourth sub-paths can be straight paths.

[0130] The path planning device combines the first sub-path, the third sub-path, and the fourth sub-path to obtain the third path, which is determined based on the third coordinate point and the sixth coordinate point.

[0131] For example, the path planning device connects the first sub-path and the third sub-path based on the third coordinate point, and connects the third sub-path and the fourth sub-path based on the sixth coordinate point.

[0132] The path planning method in this embodiment establishes a first sub-path by connecting the starting point and the third coordinate point, establishes a third sub-path by connecting the third coordinate point and the sixth coordinate point, establishes a fourth sub-path by connecting the sixth coordinate point and the ending point, and combines the first, third, and fourth sub-paths to obtain the third path. This ensures the accuracy of the third and fourth sub-paths, and thus ensures the accuracy of the third path.

[0133] In some embodiments, optionally, such as Figure 7 As shown, a path planning method is proposed, which includes:

[0134] Step 702: Establish a coordinate system and obtain the starting point S, the ending point E, and the raster map;

[0135] Step 704: Are there any obstacles between the starting point and the ending point? If not, proceed to step 706; if yes, proceed to step 708.

[0136] Step 706: Use a straight line as the final path;

[0137] Step 708: Construct a rectangle with the obstacle point as the midpoint of the vertical side;

[0138] Step 710: Search for obstacle points column by column within the rectangle;

[0139] Step 712: Are there any new obstacles? If yes, proceed to step 718; otherwise, proceed to step 714.

[0140] Step 714: Select the lower corner point of the original obstacle point as the midpoint M;

[0141] Step 716: Use the A* algorithm to search for paths from point S to point M and from point M to point E respectively;

[0142] Step 718: Select a new obstacle point;

[0143] Step 720, path splicing.

[0144] In this embodiment, the first step is to construct a Cartesian coordinate system with the autonomous vehicle as the origin, the right side of the autonomous vehicle as the positive X-axis direction, and the front of the autonomous vehicle as the positive Y-axis direction.

[0145] The second step is to treat the autonomous vehicle as a point mass and set a safe distance for the autonomous vehicle, denoted as d, according to the width and redundancy distance of the autonomous vehicle.

[0146] The third step is to determine the starting point S and target point coordinates E of the unmanned vehicle based on the target location, and to determine the position coordinates of the corresponding obstacle nodes based on the grid map provided by the lidar.

[0147] The fourth step is to construct a straight line function between the starting point and the target point. If the straight line does not coincide with the obstacle node, the best path to find is a straight line between the starting point and the target point of the car.

[0148] Fifth, if an obstacle point is encountered, denoted as point A, select a horizontal search direction, prioritizing the search of the area within the angle between the linear function and the Y-axis. After searching this area, search both sides of the angle area according to the agreed rules.

[0149] Step 6: Using point A as the base point, expand a rectangle as follows: take point A as the midpoint of the vertical side, take the length of the vertical side as 2d, and draw the horizontal side in the search direction obtained in step 5, with the length of the horizontal side as d.

[0150] Step 7: Within the rectangular area, search for obstacle points column by column from bottom to top (i.e., Y values ​​from smallest to largest) from the edge opposite point A to the edge where point A is located. Record the first obstacle point found as point B. If no obstacle point is found, proceed to step 9.

[0151] Step 8: Using point B as the new base point, expand the rectangle and repeat steps 6 and 7 until no new obstacle points are found, then the search ends and proceed to step 9.

[0152] Step 9: Take the bottom corner point of the side opposite point A of rectangle as the midpoint M of segment A*. Use the A* algorithm to search for paths from S to M and from M to E respectively, and then concatenate them to obtain the final path.

[0153] Step 10: If the search space from S to M and from M to E is still too large, the above method can be used to search for the path from S to M and from M to E in segments.

[0154] For example, such as Figure 8 and Figure 9 As shown, Figure 9 The path in the text is the path planned in this embodiment. (By comparison...) Figure 8 and Figure 9 The path planned in this embodiment has fewer turning points and lower complexity.

[0155] For example, such as Figure 10 , Figure 11 and Figure 12As shown, S is the starting point of the vehicle, E is the ending point of the vehicle, and A is the intersection of the straight path between the starting point and the ending point and the obstacle.

[0156] like Figure 13 As shown, an embodiment of the present invention provides a path planning device, the path planning device 1300 comprising:

[0157] The processing module 1302 is used to establish a first path between the starting point and the ending point of the vehicle, and to determine a first coordinate point on the first path, wherein the first coordinate point is located inside the obstacle area.

[0158] The processing module 1302 is further configured to determine a second coordinate point located inside the first region and the obstacle region when there is an overlapping region between the first region corresponding to the first coordinate point and the obstacle region. The first region is a coordinate region determined based on the first coordinate point, and the first coordinate point is located outside the first region.

[0159] The processing module 1302 is further configured to determine a third coordinate point located inside the second region when the second region corresponding to the second coordinate point and the obstacle region do not overlap. The third coordinate point is located outside the obstacle region, and the second region is a coordinate region determined based on the second coordinate point, with the second coordinate point located outside the second region.

[0160] The processing module 1302 is also used to establish a second path for the vehicle based on the starting point, the ending point, and the third coordinate point.

[0161] In this embodiment, a path planning device 1300 is provided, which is applied to a vehicle. The path planning device first establishes a first path between the vehicle's starting point and ending point, wherein the first path is the path between the vehicle's starting point and ending point.

[0162] For example, the vehicle may specifically be an autonomous vehicle.

[0163] For example, the first path may specifically be a straight path between the vehicle's starting point and its ending point.

[0164] If the first path and the obstacle area overlap, it indicates that the first path is blocked by an obstacle. The processing module 1302 determines the first coordinate point on the first path. At the same time, the first coordinate point is located inside the obstacle area. The obstacle area is the distribution area of ​​the obstacle, and the first coordinate point is the coordinate point that is located in both the first path and the obstacle area.

[0165] For example, the first coordinate point may be specifically the first comparative coordinate point of the first path and the obstacle area.

[0166] The processing module 1302 expands the first coordinate point into a first region, and the first coordinate point is located outside the first region, wherein the first region is the coordinate region corresponding to the first coordinate point.

[0167] For example, the first region can be a rectangular region, and the first coordinate point can be located at the outer edge of the rectangular region.

[0168] If the first region corresponding to the first coordinate point and the obstacle region overlap, it indicates that the first region is blocked by the obstacle. The processing module 1302 determines the second coordinate point located inside both the first region and the obstacle region. The second coordinate point is a coordinate point that is simultaneously located inside both the first region and the obstacle region.

[0169] For example, the path planning device can search the coordinate points in the first area column by column, and set the first searched coordinate point that coincides with the obstacle area as the second coordinate point.

[0170] The processing module 1302 expands the second coordinate point into a second region, and the second coordinate point is located outside the second region, wherein the second region is the coordinate region corresponding to the second coordinate point.

[0171] For example, the second region can be a rectangular region, and the second coordinate point can be located at the outer edge of the rectangular region.

[0172] If the second region corresponding to the second coordinate point does not overlap with the obstacle region, it means that the second region is not blocked by the obstacle and the second coordinate point is located at the edge of the obstacle region. The processing module 1302 determines the third coordinate point located inside the second region, while the third coordinate point is located outside the obstacle region.

[0173] For example, the second region can be a rectangular region, and the third coordinate point can be the coordinate point located at the lower right corner of the rectangular region.

[0174] It should be noted that if the second region and the obstacle region still overlap, the region search steps can be repeated to find regions that do not overlap with the obstacle region.

[0175] The processing module 1302 establishes a second path for the vehicle based on the starting point, the ending point, and the third coordinate point. The second path is a polyline path based on the starting point, the ending point, and the third coordinate point.

[0176] For example, the first path can be specifically a broken line path between the vehicle's starting point and ending point.

[0177] In this embodiment, the path planning device 1300 establishes a first path between the vehicle's starting point and ending point. If the first path and the obstacle area overlap, it determines a first coordinate point on the first path. If the first area corresponding to the first coordinate point overlaps with the obstacle area, it determines a second coordinate point located within both the first and obstacle areas. If the second area corresponding to the second coordinate point does not overlap with the obstacle area, it determines a third coordinate point located within the second area. Then, based on the starting point, ending point, and third coordinate point, it establishes a second path for the vehicle. By reducing the number of inflection points in the vehicle path, it significantly reduces the time and space complexity of the vehicle path, improves the efficiency of vehicle path planning, and ensures the accuracy of the vehicle path.

[0178] In some embodiments, the route planning device 1300 may optionally further include:

[0179] The processing module 1302 is also used to establish the vehicle's spatial coordinate system and, based on the spatial coordinate system, determine the first coordinate information of the starting point and the second coordinate information of the ending point;

[0180] The processing module 1302 is also used to determine the first path based on the first coordinate information and the second coordinate information.

[0181] In this embodiment, the path planning device 1300 establishes a spatial coordinate system for the vehicle, determines the first coordinate information of the starting point and the second coordinate information of the ending point through the spatial coordinate system, and connects the first coordinate information and the second coordinate information to obtain the first path. This significantly reduces the path complexity of the first path, improves the planning efficiency of the first path, and ensures the accuracy of the first path.

[0182] In some embodiments, the route planning device 1300 may optionally further include:

[0183] The processing module 1302 is also used to obtain the coordinate points of obstacles within the obstacle area;

[0184] The processing module 1302 is also used to compare the coordinate information of the coordinate points inside the first area based on the obstacle coordinate points to obtain the second coordinate point.

[0185] In this embodiment, the path planning device 1300 compares the coordinate information of the coordinate points inside the first area based on the obstacle coordinate points to determine the second coordinate point, which increases the difficulty of determining the second coordinate point and ensures the accuracy of the second coordinate point's coordinates.

[0186] In some embodiments, the route planning device 1300 may optionally further include:

[0187] Processing module 1302 is also used to determine the first sub-path based on the starting point and the third coordinate point;

[0188] The processing module 1302 is also used to determine the second sub-path based on the endpoint and the third coordinate point;

[0189] The processing module 1302 is also used to combine the first sub-path and the second sub-path to obtain the second path.

[0190] In this embodiment, the path planning device 1300 obtains a first sub-path by connecting the starting point and the third coordinate point, obtains a second sub-path by connecting the ending point and the third coordinate point, and combines the first sub-path and the second sub-path to obtain the second path, thus ensuring the path accuracy of the first sub-path and the second sub-path, and consequently ensuring the path accuracy of the second path.

[0191] In some embodiments, the route planning device 1300 may optionally further include:

[0192] The processing module 1302 is also used to establish a second sub-path between the third coordinate point and the endpoint, and to determine a fourth coordinate point on the second sub-path, wherein the fourth coordinate point is located inside the obstacle area;

[0193] The processing module 1302 is also used to determine a fifth coordinate point located inside the third region and the obstacle region when there is an overlapping region between the third region and the obstacle region corresponding to the fourth coordinate point. The third region is a coordinate region determined based on the fourth coordinate point, and the fourth coordinate point is located outside the third region.

[0194] The processing module 1302 is also used to determine the sixth coordinate point located in the fourth region when there is no overlapping region between the fourth region and the obstacle region corresponding to the fifth coordinate point. The fourth region is a coordinate region determined based on the fifth coordinate point, and the fifth coordinate point is located outside the fourth region.

[0195] The processing module 1302 is also used to establish a third path for the vehicle based on the starting point, the ending point, the third coordinate point, and the sixth coordinate point.

[0196] In this embodiment, the path planning device 1300 establishes a second sub-path between the third coordinate point and the endpoint. When the second sub-path overlaps with the obstacle area, it determines a fourth coordinate point on the second sub-path. When there is an overlap between the third area corresponding to the fourth coordinate point and the obstacle area, it determines a fifth coordinate point located inside the third area and the obstacle area. When there is no overlap between the fourth area corresponding to the fifth coordinate point and the obstacle area, it determines a sixth coordinate point located inside the fourth area. Then, based on the starting point, the endpoint, the third coordinate point, and the sixth coordinate point, it establishes a third path for the vehicle. This significantly reduces the time and space complexity of the vehicle path, improves the efficiency of vehicle path planning, and ensures the accuracy of the vehicle path.

[0197] In some embodiments, the route planning device 1300 may optionally further include:

[0198] Processing module 1302 is also used to determine the first sub-path based on the starting point and the third coordinate point;

[0199] Processing module 1302 is also used to determine the third sub-path based on the third coordinate point and the sixth coordinate point;

[0200] Processing module 1302 is also used to determine the fourth sub-path based on the sixth coordinate point and the endpoint;

[0201] The processing module 1302 is also used to combine the first sub-path, the fourth sub-path and the fifth sub-path to obtain the third path.

[0202] In this embodiment, the path planning device 1300 establishes a first sub-path by connecting the starting point and the third coordinate point, establishes a third sub-path by connecting the third coordinate point and the sixth coordinate point, establishes a fourth sub-path by connecting the sixth coordinate point and the ending point, and combines the first, third, and fourth sub-paths to obtain the third path, thus ensuring the accuracy of the third and fourth sub-paths and consequently ensuring the accuracy of the third path.

[0203] In some embodiments, optionally, such as Figure 14 As shown, a path planning device 1400 is proposed. The path planning device 1400 includes a processor 1402 and a memory 1404. The memory 1404 stores a program or instructions, which, when executed by the processor 1402, implement the steps of the path planning method as described in any of the above-described technical solutions. Therefore, the path planning device 1400 possesses all the beneficial effects of the path planning method in any of the above-described technical solutions, which will not be elaborated further here.

[0204] In some embodiments, optionally, a readable storage medium is provided on which a program is stored, which, when executed by a processor, implements the path planning method as described in any of the above embodiments, and thus has all the beneficial technical effects of the path planning method in any of the above embodiments.

[0205] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0206] In some embodiments, optionally, a vehicle is provided, comprising: a path planning device as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, thus having all the beneficial technical effects of the path planning device as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, which will not be elaborated further here.

[0207] It should be clarified that in the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances of the above data.

[0208] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0209] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A path planning method, characterized in that, The path planning method is used for vehicles, and the path planning method includes: Establish a first path between the starting point and the ending point of the vehicle, and determine a first coordinate point on the first path, wherein the first coordinate point is located inside the obstacle area; In the case where there is an overlap between the first region corresponding to the first coordinate point and the obstacle region, a second coordinate point located inside the first region and the obstacle region is determined. The first region is a coordinate region determined based on the first coordinate point, and the first coordinate point is located outside the first region. If the second region corresponding to the second coordinate point and the obstacle region do not overlap, a third coordinate point is determined that is located inside the second region. The third coordinate point is located outside the obstacle region. The second region is a coordinate region determined based on the second coordinate point, and the second coordinate point is located outside the second region. A second path for the vehicle is established based on the starting point, the ending point, and the third coordinate point.

2. The path planning method according to claim 1, characterized in that, Establishing the first path between the vehicle's starting point and destination includes: Establish a spatial coordinate system for the vehicle, and determine the first coordinate information of the starting point and the second coordinate information of the ending point based on the spatial coordinate system; The first path is determined based on the first coordinate information and the second coordinate information.

3. The path planning method according to claim 1, characterized in that, Determining the second coordinate point located within the first region and the obstacle region includes: Obtain the coordinates of the obstacles within the obstacle region; Based on the coordinates of the obstacle, the coordinates of the points within the first region are compared to obtain the second coordinates.

4. The path planning method according to claim 1, characterized in that, The step of establishing the second path of the vehicle based on the starting point, the ending point, and the third coordinate point includes: The first sub-path is determined based on the starting point and the third coordinate point; The second sub-path is determined based on the endpoint and the third coordinate point; The first sub-path and the second sub-path are combined to obtain the second path.

5. The path planning method according to any one of claims 1 to 4, characterized in that, After determining the third coordinate point located within the second region, the method further includes: Establish a second sub-path between the third coordinate point and the endpoint, and determine a fourth coordinate point on the second sub-path, wherein the fourth coordinate point is located inside the obstacle area; If there is an overlapping area between the third region corresponding to the fourth coordinate point and the obstacle region, a fifth coordinate point is determined that is located inside the third region and the obstacle region. The third region is a coordinate region determined based on the fourth coordinate point, and the fourth coordinate point is located outside the third region. If there is no overlap between the fourth region corresponding to the fifth coordinate point and the obstacle region, a sixth coordinate point is determined in the fourth region, wherein the fourth region is a coordinate region determined based on the fifth coordinate point, and the fifth coordinate point is located outside the fourth region. A third path for the vehicle is established based on the starting point, the ending point, the third coordinate point, and the sixth coordinate point.

6. The path planning method according to claim 5, characterized in that, The step of establishing the third path for the vehicle based on the starting point, the ending point, the third coordinate point, and the sixth coordinate point includes: The first sub-path is determined based on the starting point and the third coordinate point; The third sub-path is determined based on the third coordinate point and the sixth coordinate point; The fourth sub-path is determined based on the sixth coordinate point and the endpoint; The first sub-path, the third sub-path, and the fourth sub-path are combined to obtain the third path.

7. A path planning device, characterized in that, The route planning device is used in a vehicle, and the route planning device includes: The processing module is used to establish a first path between the starting point and the ending point of the vehicle, and to determine a first coordinate point on the first path, wherein the first coordinate point is located inside the obstacle area. The processing module is further configured to determine a second coordinate point located inside the first region and the obstacle region when there is an overlapping region between the first region corresponding to the first coordinate point and the obstacle region, wherein the first region is a coordinate region determined based on the first coordinate point and the first coordinate point is located outside the first region; The processing module is further configured to determine a third coordinate point located inside the second region when the second region corresponding to the second coordinate point and the obstacle region do not overlap. The third coordinate point is located outside the obstacle region, and the second region is a coordinate region determined based on the second coordinate point, wherein the second coordinate point is located outside the second region. The processing module is also used to establish a second path for the vehicle based on the starting point, the ending point, and the third coordinate point.

8. A path planning device, characterized in that, include: processor; A memory storing a program or instructions, wherein the processor, when executing the program or instructions in the memory, implements the steps of the path planning method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the path planning method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, include: The path planning device as described in claim 7 or 8; and / or The readable storage medium as described in claim 9.

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