Vehicle driving path processing method and device, electronic equipment and storage medium

Abstract

The present application relates to a kind of vehicle driving path processing method, device, electronic equipment and storage medium, the vehicle driving path processing method, obtain the planning path of the reference line indicating vehicle driving, extract the straight path in planning path, so as to divide the straight path based on preset length, obtain segmented path, the length of segmented path is less than or equal to preset length, adjust the distance between segmented path and the road boundary of vehicle driving road, obtain target planning path, the distance between the reference line indicated by target planning path and road boundary is greater than or equal to preset distance threshold value;Therefore, by dividing the straight path into segmented path, segmented path is handled, solve the problem that the high demand of computing resource and low processing precision exist in the length process of straight path, and the effect of reducing the demand of computing resource and improving processing precision is realized by processing segmented path.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and more specifically to a method, apparatus, electronic device, and storage medium for processing vehicle travel paths. Background Technology

[0002] The process of autonomous driving or navigation in vehicles involves many aspects, including perception and localization, prediction and decision-making, and path planning. Among these, path planning is an essential part of autonomous driving or navigation. Path planning refers to the pre-planning of the vehicle's driving route, which can be displayed in the form of reference lines. In other words, reference lines serve to guide the vehicle's movement. Therefore, reasonable path planning is the foundation for the safe and efficient driving of vehicles.

[0003] After the reference line for the current planning path is generated, it usually needs to be optimized using algorithms. However, due to the difference between straight and curved paths, the planned path needs to be divided into straight paths and curved paths for separate processing. Since the length of the straight path is usually long, the algorithm requirements and computational resource requirements for processing the straight path are both high. Furthermore, as the length of the straight path increases, the processing accuracy of the algorithm will continue to decrease. Therefore, there are problems of high computational resource requirements and low processing accuracy. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a method, apparatus, electronic device, and storage medium for processing vehicle travel paths.

[0005] Firstly, this application provides a method for processing vehicle travel paths, the method comprising:

[0006] Obtain the planned path, which represents the reference line for the vehicle's travel;

[0007] Extract the straight sections from the planned path;

[0008] The straight path is divided into segments based on a preset length, and the length of each segment is less than or equal to the preset length.

[0009] Adjust the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path. The distance between the reference line representing the target planned path and the road boundary is greater than or equal to a preset distance threshold.

[0010] Optionally, adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path includes:

[0011] Obtain map information, wherein the map information represents the location of the segmented path;

[0012] Based on the map information, the road boundary is determined, whereby the road boundary represents the boundary of the road at the location of the segmented path;

[0013] Determine whether the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold;

[0014] If the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold, the position of the reference line representing the segmented path is adjusted to obtain the target segmented path, wherein the distance between the reference line representing the target segmented path and the road boundary is greater than or equal to the preset distance threshold.

[0015] Based on the target segmented path, the target planned path is obtained.

[0016] Optionally, determining whether the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold includes:

[0017] Determine the initial discrete points on the reference line represented by the segmented path to obtain the initial discrete point set;

[0018] Determine whether there exists an initial discrete point in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold;

[0019] If, in the initial set of discrete points, there exists an initial discrete point whose distance to the road boundary is less than the preset distance threshold, then it is determined that the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold.

[0020] If there are no initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold, then the distance between the reference line represented by the segmented path and the road boundary is determined to be no less than the preset distance threshold.

[0021] Optionally, adjusting the position of the reference line representing the segmented path to obtain the target segmented path when the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold includes:

[0022] If the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold, the initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold are determined as target discrete points.

[0023] The position of the target discrete point is adjusted to obtain the adjusted target discrete point, and the distance between the adjusted target discrete point and the road boundary is not less than the preset distance threshold.

[0024] Based on the adjusted target discrete points, the target segmented path is obtained.

[0025] Optionally, adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path includes:

[0026] Determine the connection relationships between the segmented paths;

[0027] Based on the connection relationship, an adjustment strategy is determined, which represents a strategy for adjusting the distance between the segmented path and the road boundary of the vehicle's travel path;

[0028] The target planned path is obtained by adjusting the distance between the segmented path and the road boundary of the vehicle's travel path based on the adjustment strategy.

[0029] Optionally, extracting the straight path from the planned path includes:

[0030] Determine the curvature of the reference line representing the planned path;

[0031] The reference line whose curvature is within the preset curvature range is determined as the straight path, and the straight path is extracted.

[0032] Optionally, the step of dividing the straight path based on a preset length to obtain segmented paths includes:

[0033] Determine whether the length of the planned path is greater than a preset length;

[0034] If the length of the planned path is greater than the preset length, the straight path is divided based on the preset length to obtain at least two segmented paths.

[0035] If the length of the planned path is not greater than the preset length, the planned path is determined as the segmented path.

[0036] Secondly, this application provides a vehicle travel path processing device, the device comprising:

[0037] The acquisition module is used to acquire the planned path, which represents the reference line for the vehicle's travel.

[0038] The extraction module is used to extract the straight paths from the planned path;

[0039] A segmentation module is used to divide the straight path based on a preset length to obtain segmented paths, wherein the length of the segmented paths is less than or equal to the preset length.

[0040] The adjustment module is used to adjust the distance between the segmented path and the road boundary of the vehicle's driving road to obtain the target planned path. The distance between the reference line represented by the target planned path and the road boundary is greater than or equal to a preset distance threshold.

[0041] Thirdly, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0042] Memory, used to store computer programs;

[0043] A processor, when executing a program stored in memory, implements the method described in any embodiment of the first aspect.

[0044] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in any embodiment of the first aspect.

[0045] The technical solutions provided in this application have the following advantages compared with the prior art:

[0046] The method provided in this application embodiment obtains a planned path representing a reference line for vehicle travel, extracts straight paths from the planned path, divides the straight paths based on a preset length to obtain segmented paths, where the length of each segmented path is less than or equal to the preset length, and adjusts the distance between the segmented paths and the road boundary of the vehicle's travel path to obtain a target planned path, where the distance between the reference line represented by the target planned path and the road boundary is greater than or equal to a preset distance threshold. Therefore, by dividing the straight path into segmented paths and processing the segmented paths, the problem of high computational resource requirements and low processing accuracy associated with processing excessively long straight paths is solved. Processing the segmented paths achieves the effect of reducing computational resource requirements and improving processing accuracy. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A flowchart illustrating a method for processing vehicle travel paths provided in an embodiment of this application;

[0050] Figure 2 A schematic diagram of a vehicle travel path processing device provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0053] In existing solutions, the optimization of planned paths involves numerous factors, such as whether the curvature of the curve matches the vehicle's attributes and whether the reference line of the curve can be properly connected to the reference line of the straight path. Therefore, there are many optimization schemes for the curve portion of the planned path. On the other hand, the straight section, where the vehicle only needs to travel in a straight line, has fewer influencing factors. However, the distance indicated by the reference line of the straight path is usually longer. The optimization process for the straight path typically involves using algorithms to collect discrete points on the reference line. Therefore, the longer the reference line of the straight path, the more discrete points need to be collected, resulting in higher computational resource requirements. Furthermore, due to the limitations of the algorithm, when the number of discrete points exceeds the standard computational range of the algorithm, the accuracy of the optimization results will decrease.

[0054] Furthermore, in existing solutions for optimizing straight-line routes, the entire straight-line route is typically treated as a whole. For example, a reference line for a 10-kilometer straight road might have 5 lanes for the first 8 kilometers and 3 lanes for the last 2 kilometers. In this case, to ensure smooth vehicle travel, the reference line for the entire straight-line route might be set in the 3rd lane. The 3rd lane is the center lane when the road has 5 lanes, but it is the lane near the road edge when the road has 3 lanes. This increases the risk of vehicle travel. Therefore, existing straight-line route optimization processes do not take into account the road width, which increases the risk of vehicle travel when the road narrows.

[0055] Figure 1 This is a flowchart illustrating a method for processing vehicle travel paths provided in an embodiment of this application.

[0056] like Figure 1 As shown in the illustration, this application discloses an embodiment of a method for processing vehicle travel paths, the method comprising:

[0057] S110: Obtain the planned path, which represents the reference line for the vehicle's movement.

[0058] In this embodiment, the reference line representing the planned path is used to indicate the path the vehicle travels. Therefore, different positions of the reference line can indicate different routes for the vehicle. For example, on a 5-lane road, when the reference line is in the 3rd lane, it indicates that the vehicle is traveling in the 3rd lane, and when the reference line is in the 2nd lane, it indicates that the vehicle is traveling in the 2nd lane.

[0059] S120: Extract the straight path from the planned path.

[0060] In this embodiment, the straight path refers to the straight section of the planned path. Since vehicles usually travel through both straight and curved paths during their journey, the planned path can also include straight and curved paths. The straight path refers to the reference line indicating the straight road on which the vehicle travels, and the curved path refers to the reference line indicating the curved road on which the vehicle travels.

[0061] In one embodiment, S120 extracting the straight path from the planned path may include:

[0062] Determine the curvature of the reference line representing the planned path;

[0063] A reference line whose curvature is within a preset curvature range is identified as a straight path, and the straight path is extracted.

[0064] In this embodiment, since the planned path represents a reference line for vehicle travel, the curvature of the reference line can be used to determine whether the current planned path is a straight path or a curved path. For example, the curvature of a curved path is usually greater than 45 degrees, while the curvature of a straight path is usually 0 degrees. Alternatively, the curvature may be less than 10 degrees when changing lanes or driving at an angle. Therefore, a preset curvature range, such as 0-10 degrees, is set in advance according to the requirements. After determining the curvature of the reference line represented by the planned path, the reference line whose curvature is within the preset curvature range is identified as a straight path and extracted. This effectively identifies the reference line of the straight path in the planned path and determines it as a straight path.

[0065] S130: Divide the straight path into segments based on the preset length to obtain segmented paths. The length of each segmented path is less than or equal to the preset length.

[0066] In this embodiment, after determining the straight path, since the reference line represented by the straight path is usually quite long, the straight path can be divided based on a preset length to obtain a segmented path. The preset length can be determined according to the processing capability of the algorithm with low computational resource requirements. For example, if the current algorithm can process a 15-meter reference line, the preset length can be determined as 10 meters or 15 meters, etc. It should be noted that the specific process of dividing the straight path can be the division of the reference line.

[0067] In one embodiment, S130, which divides the straight path based on a preset length to obtain a segmented path, may include:

[0068] Determine if the length of the planned path is greater than the preset length;

[0069] If the length of the planned path is greater than the preset length, the straight path is divided based on the preset length to obtain at least two segmented paths.

[0070] If the length of the planned path is no greater than the preset length, the planned path will be determined as a segmented path.

[0071] In this embodiment, since the length of the planned path may be less than the preset length, there is no need to divide it. Therefore, we can first determine whether the length of the planned path is greater than the preset length. If the length of the planned path is greater than the preset length, it means that the planned path needs to be divided to obtain at least two segmented paths. For example, if the preset length is 15 meters and the length of the planned path is 50 meters, then we can divide it into three 15-meter segmented paths and one 5-meter segmented path, for a total of four segmented paths. If the length of the planned path is not greater than the preset length, it means that there is no need to divide the planned path. In this case, the planned path can be directly determined as a segmented path. For example, if the length of the planned path is 10 meters and the preset length is 15 meters, then the planned path can be directly determined as a segmented path. In addition, segment identifiers can be assigned to each segmented path. These segment identifiers indicate the connection relationship between the segmented paths and the planned paths they belong to. For example, if planned path A is divided into segmented paths A1, A2, A3, and A4, and connected in the order of A1, A2, A3, and A4, then the segment identifier of segmented path A2 indicates that the head of segmented path A2 connects to the tail of segmented path A1, the tail of segmented path A2 connects to the head of segmented path A3, and segmented path A2 belongs to the second segmented path of planned path A. In this way, after subsequent adjustments to the segmented paths, the process of recombining them to generate the target planned path can be accurately and effectively recombined based on the segment identifiers.

[0072] S140: Adjust the distance between the segmented path and the road boundary of the vehicle's driving road to obtain the target planned path. The distance between the reference line represented by the target planned path and the road boundary is greater than or equal to a preset distance threshold.

[0073] In this embodiment, after obtaining the segmented path, each segmented path can be processed. Specific processing steps may include smoothness optimization, offset optimization, etc. This embodiment takes adjusting the distance between the segmented path and the road boundary of the vehicle's driving path as an example. Since the road has different widths at different locations, and the reference line represented by the path planning may be too close to the road boundary when the road narrows, the distance between the segmented path and the road boundary of the vehicle's driving path is adjusted to obtain a target planned path where the distance between the reference line and the road boundary is greater than or equal to a preset distance threshold. The preset distance represents the safe distance for vehicle driving and can be set according to different vehicle attributes or user needs, such as 0.5 meters, 1 meter, 1.5 meters, etc. This ensures that the reference line represented by the target planned path can maintain a safe distance from the road boundary, and also allows the vehicle to stay away from the road boundary in the narrowing part of the road, thereby reducing driving risks.

[0074] In one embodiment, S140 adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path may include:

[0075] Obtain map information, which includes the location of the segmented paths;

[0076] Based on map information, road boundaries are determined, and road boundaries represent the boundaries of roads at the locations of segmented paths;

[0077] Determine whether the distance between the reference line representing the segmented path and the road boundary is less than a preset distance threshold;

[0078] If the distance between the reference line represented by the segmented path and the road boundary is less than a preset distance threshold, adjust the position of the reference line represented by the segmented path to obtain the target segmented path. The distance between the reference line represented by the target segmented path and the road boundary is greater than or equal to the preset distance threshold.

[0079] Based on the target segmented path, the target planned path is obtained.

[0080] In this embodiment, the process of adjusting the distance between the segmented path and the road boundary of the vehicle's driving path first requires obtaining map information. This map information includes the road boundary of the segmented path's location, such as a high-precision map or a real-view map that clearly shows the road boundary. Next, based on the map information, the road boundary is determined. The road boundary represents the boundary of the road at the segmented path's location and can include the left and right boundaries, such as curbs, mountains, guardrails, trees, etc. Then, it is determined whether the distance between the reference line representing the segmented path and the road boundary is less than a preset distance threshold. This determines whether the current reference line is too close to the road boundary; if it is too close, it may increase driving risks. Finally, if the distance between the reference line representing the segmented path and the road boundary is less than a preset distance threshold... If the distance threshold is too high, it indicates that the current reference line is too close to the road boundary, posing a driving risk. In this case, the position of the reference line represented by the segmented path needs to be adjusted to obtain the target segmented path. Conversely, if the distance between the reference line represented by the segmented path and the road boundary is greater than or equal to the preset distance threshold, it indicates that the distance between the current reference line and the road boundary is within a safe distance. In this case, there is no need to adjust the reference line represented by the segmented path, and the segmented path can be directly determined as the target segmented path. The distance between the reference line represented by the target segmented path and the road boundary is greater than or equal to the preset distance threshold, which will allow vehicles to avoid getting too close to the road boundary when driving according to the reference line represented by the target segmented path, thereby reducing driving risks. Finally, the target segmented path can be recombined and connected to obtain the target planned path.

[0081] In one embodiment, determining whether the distance between the reference line representing the segmented path and the road boundary is less than a preset distance threshold includes:

[0082] Determine the initial discrete points on the reference line represented by the segmented path to obtain the initial set of discrete points;

[0083] Determine whether there are any initial discrete points in the initial set of discrete points whose distance from the road boundary is less than a preset distance threshold;

[0084] If there are initial discrete points in the initial set of discrete points whose distance from the road boundary is less than a preset distance threshold, then the distance between the reference line representing the segmented path and the road boundary is determined to be less than the preset distance threshold.

[0085] If there are no initial discrete points in the initial set of discrete points whose distance from the road boundary is less than a preset distance threshold, then the distance between the reference line representing the segmented path and the road boundary is determined to be no less than the preset distance threshold.

[0086] In this embodiment, since the reference lines for planned or segmented paths are usually composed of discrete points, the processing of the reference lines for segmented paths can also be based on discrete points. First, the initial discrete points on the reference lines representing the segmented paths are determined, resulting in an initial set of discrete points, which forms the basis for the reference lines representing the segmented paths. Next, since the width of a road may vary partially—for example, a 30-meter straight road might have a 10-meter, 5-lane road at the beginning, a 10-meter, 3-lane road in the middle, and a 10-meter, 5-lane road at the end—it is necessary to determine whether any of the initial discrete points exist within the set that are at a distance from the road boundary. The initial discrete points are selected based on their distance from the road boundary. If any initial discrete point in the initial set of discrete points is less than the preset distance threshold, it indicates that the segmented path of that initial set of discrete points is too close to the road boundary. In this case, it is determined that the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold. If no initial discrete point in the initial set of discrete points is less than the preset distance threshold, it indicates that the segmented path of that initial set of discrete points is not too close to the road boundary. It can be determined that the distance between the reference line represented by the segmented path and the road boundary is not less than the preset distance threshold. Therefore, by analyzing the initial discreteness of each segmented path, the system determines whether any segmented path is too close to the road boundary.

[0087] In one embodiment, when the distance between the reference line representing the segmented path and the road boundary is less than a preset distance threshold, the position of the reference line representing the segmented path is adjusted to obtain the target segmented path, including:

[0088] If the distance between the reference line represented by the segmented path and the road boundary is less than a preset distance threshold, the initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold are determined as target discrete points.

[0089] Adjust the position of the target discrete point to obtain the adjusted target discrete point. The distance between the adjusted target discrete point and the road boundary shall not be less than a preset distance threshold.

[0090] Based on the adjusted target discrete points, the target segmented path is obtained.

[0091] In this embodiment, if the distance between the reference line represented by the segmented path and the road boundary is less than a preset distance threshold, it indicates that the segmented path of the initial discrete point set is too close to the road boundary. In this case, it is necessary to adjust the distance between the segmented path and the road boundary. The specific adjustment process can be as follows: the initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold are identified as target discrete points, which represent the discrete points that need to be adjusted; then the positions of each target discrete point are adjusted to obtain the adjusted target discrete points, so that the distance between the adjusted target discrete points and the road boundary is not less than the preset distance threshold; then, based on the adjusted target discrete points, the target segmented path is obtained, which represents the reference line determined after all target discrete points have been adjusted. It should be noted that after all target discrete points have been adjusted, the initial discrete point set can also be optimized for smoothness based on the adjusted target discrete points to improve the smoothness of the reference line of the target segmented path.

[0092] In one embodiment, adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path includes:

[0093] Determine the connection relationships between segmented paths;

[0094] Based on the connectivity, an adjustment strategy is determined, which represents the strategy for adjusting the distance between the segmented path and the road boundary of the vehicle's travel path;

[0095] The target planned path is obtained by adjusting the distance between the segmented path and the road boundary of the vehicle's travel path based on the adjustment strategy.

[0096] In this embodiment, the connection relationship between segmented paths can be determined based on the segmentation identifiers in the aforementioned embodiments. After determining the connection relationship, different adjustment strategies can be determined based on different connection relationships. For example, to ensure the smoothness of the final target planned path obtained by recombining the adjusted segmented paths, the adjustment strategy can define the connection area of ​​the segmented paths as a maintenance area, where the maintenance area represents the position where adjustment is prohibited. The process of adjusting the distance between the segmented paths and the road boundary of the vehicle's driving road based on the adjustment strategy to obtain the target planned path can, in one example, be that the planned path A is divided into sequentially connected segmented paths A1, A2, and A3. At this time, segmented path A... There is a connection region at the end of segment path A1, a connection region at the beginning and end of segment path A2, and a connection region at the end of segment path A3. At this time, based on the connection relationship, the adjustment strategy for segment path A1 can be to prohibit the adjustment of the end of segment path A1. Based on the connection relationship, the adjustment strategy for segment path A2 can be to prohibit the adjustment of the beginning and end of segment path A2. The beginning can be one or more discrete points of the reference line represented by the segment path, and the end can be one or more discrete points of the reference line represented by the segment path. This ensures that the accuracy of the connection combination of each segment path can be maintained during the process of recombining the adjusted segment paths to obtain the target planning path.

[0097] After obtaining the target planned path, the vertical offset can be converted into coordinate offset based on the reference line represented by the target planned path, and the set of coordinate points of the reference line represented by the target planned path can be obtained. This set of coordinate points can then be used to control the vehicle to drive automatically or as navigation information.

[0098] like Figure 2 As shown in the illustration, this application discloses an embodiment of a vehicle travel path processing device, the device comprising:

[0099] The acquisition module 210 is used to acquire the planned path, which represents the reference line for the vehicle's travel.

[0100] Extraction module 220 is used to extract straight paths from the planned path;

[0101] The segmentation module 230 is used to divide the straight path based on a preset length to obtain segmented paths, wherein the length of the segmented path is less than or equal to the preset length.

[0102] The adjustment module 240 is used to adjust the distance between the segmented path and the road boundary of the vehicle driving road to obtain the target planned path. The distance between the reference line represented by the target planned path and the road boundary is greater than or equal to a preset distance threshold.

[0103] In one embodiment, the adjustment module 240 may include:

[0104] The first acquisition unit is used to acquire map information, which includes the location of the segmented paths.

[0105] The first determining unit is used to determine the road boundary based on map information. The road boundary represents the boundary of the road at the location of the segmented path.

[0106] The first judgment unit is used to determine whether the distance between the reference line represented by the segmented path and the road boundary is less than a preset distance threshold.

[0107] The first adjustment unit is used to adjust the position of the reference line represented by the segmented path when the distance between the reference line represented by the segmented path and the road boundary is less than a preset distance threshold, so as to obtain the target segmented path. The distance between the reference line represented by the target segmented path and the road boundary is greater than or equal to the preset distance threshold.

[0108] The second determining unit is used to obtain the target planned path based on the target segmented path.

[0109] In one embodiment, the first determination unit may include:

[0110] The first determining sub-unit is used to determine the initial discrete points on the reference line represented by the segmented path, thereby obtaining the initial discrete point set;

[0111] The first judgment subunit is used to determine whether there are any initial discrete points in the initial discrete point set whose distance from the road boundary is less than a preset distance threshold.

[0112] The first determining sub-unit is used to determine that the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold when there are initial discrete points in the initial discrete point set that are less than the distance between the reference line and the road boundary.

[0113] The second determining sub-unit is used to determine that the distance between the reference line represented by the segmented path and the road boundary is not less than the preset distance threshold when there are no initial discrete points in the initial discrete point set that are less than the distance between the reference line and the road boundary.

[0114] In one embodiment, the first adjustment unit may include:

[0115] The third determining sub-unit is used to determine the initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold as target discrete points when the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold.

[0116] The first adjustment subunit is used to adjust the position of the target discrete point to obtain the adjusted target discrete point. The distance between the adjusted target discrete point and the road boundary is not less than a preset distance threshold.

[0117] The fourth determination sub-unit is used to obtain the target segmented path based on the adjusted target discrete points.

[0118] In one embodiment, the adjustment module 240 includes:

[0119] The third determining unit is used to determine the connection relationship between segmented paths;

[0120] The fourth determining unit is used to determine the adjustment strategy based on the connection relationship. The adjustment strategy represents the strategy for adjusting the distance between the segmented path and the road boundary of the vehicle's travel path.

[0121] The second adjustment unit is used to adjust the distance between the segmented path and the road boundary of the vehicle's travel path based on the adjustment strategy, so as to obtain the target planned path.

[0122] In one embodiment, the extraction module 220 includes:

[0123] The fifth determining unit is used to determine the curvature of the reference line representing the planned path;

[0124] The sixth determining unit is used to determine the reference line whose curvature is within the preset curvature range as the straight path, and to extract the straight path.

[0125] In one embodiment, the partitioning module 230 includes:

[0126] The second judgment unit is used to determine whether the length of the planned path is greater than the preset length.

[0127] The dividing unit is used to divide the straight path into at least two segmented paths based on the preset length when the length of the planned path is greater than the preset length.

[0128] The seventh determining unit is used to determine the planned path as a segmented path when the length of the planned path is not greater than the preset length.

[0129] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0130] like Figure 3 As shown, this application embodiment provides an electronic device, including a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The memory 330 is used to store computer programs.

[0131] In one embodiment of this application, when the processor 310 executes the program stored in the memory 330, it implements the method provided in any of the foregoing method embodiments.

[0132] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method provided in any of the foregoing method embodiments.

[0133] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0134] The foregoing has described specific embodiments of the embodiments described in this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0135] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for processing vehicle travel paths, characterized in that, The method includes: Obtain the planned path, which represents the reference line for the vehicle's travel; Extract the straight sections from the planned path; The straight path is divided into segments based on a preset length, and the length of each segment is less than or equal to the preset length. Adjust the distance between the segmented path and the road boundary of the vehicle's driving road to obtain the target planned path. The distance between the reference line representing the target planned path and the road boundary is greater than or equal to a preset distance threshold. The step of adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path includes: Obtain map information, wherein the map information represents the location of the segmented path; Based on the map information, the road boundary is determined, whereby the road boundary represents the boundary of the road at the location of the segmented path; Determine whether the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold; If the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold, the position of the reference line representing the segmented path is adjusted to obtain the target segmented path, wherein the distance between the reference line representing the target segmented path and the road boundary is greater than or equal to the preset distance threshold. Based on the target segmented path, the target planned path is obtained.

2. The method according to claim 1, characterized in that, The step of determining whether the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold includes: Determine the initial discrete points on the reference line represented by the segmented path to obtain the initial discrete point set; Determine whether there exists an initial discrete point in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold; If, in the initial set of discrete points, there exists an initial discrete point whose distance to the road boundary is less than the preset distance threshold, then it is determined that the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold. If there are no initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold, then the distance between the reference line represented by the segmented path and the road boundary is determined to be no less than the preset distance threshold.

3. The method according to claim 2, characterized in that, When the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold, adjusting the position of the reference line represented by the segmented path to obtain the target segmented path includes: If the distance between the reference line represented by the segmented path and the road boundary is less than the preset distance threshold, the initial discrete points in the initial discrete point set whose distance from the road boundary is less than the preset distance threshold are determined as target discrete points. The position of the target discrete point is adjusted to obtain the adjusted target discrete point, and the distance between the adjusted target discrete point and the road boundary is not less than the preset distance threshold. Based on the adjusted target discrete points, the target segmented path is obtained.

4. The method according to claim 1, characterized in that, The step of adjusting the distance between the segmented path and the road boundary of the vehicle's travel path to obtain the target planned path includes: Determine the connection relationships between the segmented paths; Based on the connection relationship, an adjustment strategy is determined, which represents a strategy for adjusting the distance between the segmented path and the road boundary of the vehicle's travel path; The target planned path is obtained by adjusting the distance between the segmented path and the road boundary of the vehicle's travel path based on the adjustment strategy.

5. The method according to claim 1, characterized in that, Extracting the straight path from the planned path includes: Determine the curvature of the reference line representing the planned path; The reference line whose curvature is within the preset curvature range is determined as the straight path, and the straight path is extracted.

6. The method according to claim 1, characterized in that, The step of dividing the straight path based on a preset length to obtain segmented paths includes: Determine whether the length of the planned path is greater than a preset length; If the length of the planned path is greater than the preset length, the straight path is divided based on the preset length to obtain at least two segmented paths. If the length of the planned path is not greater than the preset length, the planned path is determined as the segmented path.

7. A device for processing vehicle travel paths, characterized in that, The device includes: The acquisition module is used to acquire the planned path, which represents the reference line for the vehicle's travel. The extraction module is used to extract the straight paths from the planned path; A segmentation module is used to divide the straight path based on a preset length to obtain segmented paths, wherein the length of the segmented paths is less than or equal to the preset length. The adjustment module is used to adjust the distance between the segmented path and the road boundary of the vehicle's driving road to obtain the target planned path. The distance between the reference line represented by the target planned path and the road boundary is greater than or equal to a preset distance threshold. The adjustment module is specifically used for: Obtain map information, wherein the map information represents the location of the segmented path; Based on the map information, the road boundary is determined, whereby the road boundary represents the boundary of the road at the location of the segmented path; Determine whether the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold; If the distance between the reference line representing the segmented path and the road boundary is less than the preset distance threshold, the position of the reference line representing the segmented path is adjusted to obtain the target segmented path, wherein the distance between the reference line representing the target segmented path and the road boundary is greater than or equal to the preset distance threshold. Based on the target segmented path, the target planned path is obtained.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-6.

Images