A global path planning method, device, equipment and storage medium

Abstract

The application relates to a global path planning method, device and equipment and a storage medium. The method comprises the following steps: determining an unstructured area according to coordinate information of a to-be-traveled area; determining a plurality of position points based on a position where the unstructured area is connected with a preset structured area; determining a to-be-traveled road according to the plurality of position points; taking a to-be-traveled road closest to to-be-traveled position information of a to-be-traveled node as a target to-be-traveled road according to the received to-be-traveled position information; and determining a global planning route corresponding to the unstructured area and the preset structured area according to a position point corresponding to the target to-be-traveled road, position information, a to-be-traveled road and a driving route of a self vehicle in the preset structured area. The application solves the problem that global path planning cannot be performed in a mixed area of an unstructured area and a structured area in the prior art.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a global path planning method, a global path planning device, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Autonomous vehicle applications can be categorized into low-speed and high-speed scenarios. Low-speed scenarios include unstructured roads such as parks and parking lots, while high-speed scenarios include unstructured roads such as urban roads and highways. As their application areas expand, autonomous driving technology needs to be compatible with both types of scenarios to meet more demands.

[0003] The global path planning algorithm, based on a high-precision map, receives task instructions and plans a global path from the current location through all task points to the destination, which guides the lower-level local path planning. This algorithm, applicable to both structured and unstructured roads, unifies the interface for both scenarios at the upper level, laying a solid foundation for future functional expansion.

[0004] Existing structured global path planning methods are mainly used for vehicle navigation. They first establish a directed graph based on the road network topology, and then apply graph search algorithms to generate a sequence of roads from the starting point to the destination. Commonly used algorithms include graph search algorithms and ant colony optimization algorithms. Existing unstructured global path planning methods are mainly suitable for robots to find a collision-free waypoint sequence in environments with obstacles. Commonly used algorithms include sampling algorithms and the Venn diagram equipotential field method.

[0005] Structured global path planning algorithms require directed graph planning, while unstructured roads lack definite topology and direction. Furthermore, navigation algorithms do not consider vehicle dynamics constraints, failing to meet the tracking requirements of vehicles on unstructured roads. Unstructured global path planning algorithms, not utilizing the topology of structured roads, are extremely time and space resource-intensive and are also unsuitable for global path planning on structured roads. Therefore, it is difficult to simultaneously solve the global path planning problems for both types of scenarios. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a global path planning method, apparatus, device, and storage medium. This method can plan a driving route in an unstructured area and then use the planned driving route and the driving route in a structured area as global path planning, thus solving the problem in existing technologies that global path planning cannot be performed in mixed areas of unstructured and structured areas.

[0007] Firstly, to achieve the above objectives, the present invention provides a global path planning method, the method comprising:

[0008] Based on the coordinate information of the area to be driven, the unstructured area is determined;

[0009] Based on the location where the unstructured region connects to the preset structured region, multiple location points are determined;

[0010] Based on the multiple location points, the road to be traveled is determined;

[0011] Based on the received location information of the node to be driven, the road closest to the location information is selected as the target road to be driven;

[0012] Based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area, a global planning route corresponding to the unstructured area and the preset structured area is determined.

[0013] Furthermore, determining whether the area to be driven is an unstructured area based on its coordinate information includes:

[0014] Obtain the coordinate information of the edge of the area to be driven;

[0015] Coordinate information that is not included in the preset map information will be used as target coordinate information;

[0016] The region determined by the target coordinate information is considered as an unstructured region.

[0017] Furthermore, based on the positions where the unstructured region connects to the preset structured region, multiple location points are determined, including:

[0018] The point corresponding to the location where the unstructured region connects to the preset structured region is taken as the exit or entrance;

[0019] The point corresponding to the middle position of the unstructured region is taken as the middle point;

[0020] The exit, the entrance, and the intermediate point are respectively designated as the location points.

[0021] Furthermore, determining the road to be traveled based on the multiple location points includes:

[0022] The roads formed between the exit and the midpoint, and between the midpoint and the entrance, are respectively designated as the roads to be traveled.

[0023] Furthermore, the step of selecting the road closest to the received location information of the node to be driven as the target road to be driven, based on the received location information of the node to be driven, includes:

[0024] Draw perpendicular lines from the location information to each road to be traveled;

[0025] The road to be traveled that is closest to the vertical line is taken as the target road.

[0026] Furthermore, determining the globally planned route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area includes:

[0027] When the location point corresponding to the target road to be driven is the exit and the entrance, the route map formed by the entrance and the location information, and the road between the location information and the exit, is used as the intermediate planned route.

[0028] The route taken by the vehicle in the preset structured area and the route taken by the intermediate planned route are used as the global planned route.

[0029] Furthermore, determining the globally planned route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area includes:

[0030] When the location point corresponding to the target road to be driven is the point determined by the entrance and the location information, the route map formed by the road between the entrance and the point determined by the location information, and the road between the point determined by the location information and the exit, is used as the intermediate planned route.

[0031] The route taken by the vehicle in the preset structured area and the route taken by the intermediate planned route are used as the global planned route.

[0032] Secondly, embodiments of the present invention provide a global path planning device, the device comprising:

[0033] The determination module is used to determine an unstructured area based on the coordinate information of the area to be driven; determine multiple location points based on the connection between the unstructured area and a preset structured area; and determine the road to be driven based on the multiple location points.

[0034] The target module is used to select the road closest to the received location information of the node to be driven as the target road to be driven, based on the received location information of the node to be driven.

[0035] The planning module is used to determine a global planning route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the driving route of the vehicle in the preset structured area.

[0036] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0037] One or more processors; and

[0038] One or more machine-readable media on which instructions are stored;

[0039] When the instruction is executed by the one or more processors, the processor performs the global path planning method described above.

[0040] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the global path planning method described above.

[0041] As can be seen, the global path planning method provided by this embodiment of the invention can plan a path within an unstructured region based on location points and driving roads. Then, a globally planned route is formed based on the paths within the unstructured region and the paths within the structured region. This method can be used for global path planning in mixed unstructured and structured regions. Attached Figure Description

[0042] Figure 1 A flowchart of the global path planning method provided in an embodiment of the present invention;

[0043] Figure 2 This is a first schematic diagram of the global path planning method provided in an embodiment of the present invention;

[0044] Figure 3 This is a second schematic diagram of the global path planning method provided in an embodiment of the present invention;

[0045] Figure 4 This is a structural diagram of a global path planning device provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0047] The global path planning method provided by this invention abstracts unstructured roads into several virtual roads, which together with structured roads establish a road network topology. The method sequentially calls structured roads and unstructured roads for path planning, thereby decoupling and coordinating the results of the two types of path planning and realizing global path planning for all scenarios.

[0048] Structured roads generally refer to well-structured highways such as expressways and urban arterial roads. These roads have clear road markings, a relatively simple background environment, and readily apparent geometric features. Therefore, the road detection problem for these roads can be simplified to the detection of lane lines or road boundaries.

[0049] Unstructured roads generally refer to urban non-arterial roads, rural streets, and other roads with low levels of structure. These roads lack lane lines and clear road boundaries, and are further affected by shadows and watermarks, making it difficult to distinguish between road areas and non-road areas. The diverse road types, complex environmental backgrounds, and factors such as shadows, watermarks, and changing weather all pose challenges to unstructured road detection and represent a major research direction in current road recognition technology.

[0050] In this embodiment of the invention, structured roads can be understood as roads for which path planning can be performed based on a vehicle navigation system. Unstructured road information refers to roads for which path planning cannot be performed based on vehicle navigation and can only be performed based on the vehicle's own sensors.

[0051] In actual driving, one may enter a mixed road area of ​​structured and unstructured roads. How to plan a global path in such road conditions is the technical problem that this application needs to solve. Figure 1 The flowchart below illustrates the global path planning method provided in this embodiment of the invention. Figure 1 The technical solution of the present invention will be described in detail below.

[0052] Step S11: Determine the unstructured area based on the coordinate information of the area to be driven;

[0053] Step S12: Based on the location where the unstructured region connects to the preset structured region, determine multiple location points;

[0054] Step S13: Determine the road to be traveled based on multiple location points;

[0055] Step S14: Based on the received location information of the node to be driven, select the road to be driven that is closest to the location information as the target road to be driven;

[0056] Step S15: Based on the location point, location information, road to be driven, and the vehicle's driving route in the preset structured area, determine the global planning route corresponding to the unstructured area and the preset structured area.

[0057] Specifically, the above-mentioned determination of whether the area to be driven is an unstructured area based on the coordinate information of the area to be driven includes: obtaining the coordinate information of the edge of the area to be driven; taking the coordinate information that is not included in the preset map information as the target coordinate information; and taking the area determined by the target coordinate information as an unstructured area.

[0058] Specifically, based on the connection between the unstructured region and the preset structured region, multiple location points are determined, including: the point corresponding to the connection between the unstructured region and the preset structured region is taken as the exit or entrance; the point corresponding to the middle position of the unstructured region is taken as the intermediate point; and the exit, entrance, and intermediate point are taken as location points respectively.

[0059] Specifically, the roads to be traveled are determined based on multiple location points, including the roads formed between the exit and the midpoint, and between the midpoint and the entrance.

[0060] Specifically, the above-mentioned method of taking the road closest to the location information of the node to be driven as the target road to be driven, based on the received location information of the node to be driven, includes: drawing a perpendicular line from the location information to each road to be driven; and taking the road to be driven with the shortest distance from the perpendicular line as the target road to be driven.

[0061] Specifically, based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the driving route of the vehicle in the preset structured area, the global planning route corresponding to the unstructured area and the preset structured area is determined, including: when the location point corresponding to the target road to be driven is an exit and an entrance, the route map formed by the entrance and the location information, and the road between the location information and the exit is used as the intermediate planning route; the route formed by the driving route of the vehicle in the preset structured area and the intermediate planning route is used as the global planning route.

[0062] Specifically, based on the location point corresponding to the target road, location information, the road to be driven, and the vehicle's driving route in the preset structured area, a global planning route is determined for both the unstructured area and the preset structured area. This includes: when the location point corresponding to the target road is both an entrance and a point determined by the location information, the route map formed by the road between the entrance and the point determined by the location information, and the road between the point determined by the location information and the exit, is used as an intermediate planning route. The route formed by the vehicle's driving route in the preset structured area and the intermediate planning route is used as the global planning route.

[0063] As can be seen, the global path planning method provided by this embodiment of the invention can plan a path within an unstructured region based on location points and driving roads. Then, a globally planned route is formed based on the paths within the unstructured region and the paths within the structured region. This method can be used for global path planning in mixed unstructured and structured regions.

[0064] To provide a detailed explanation of the above content, specific embodiments are described below.

[0065] Specific Implementation Example 1, such as Figure 2 As shown, the area where the vehicle is to travel includes two structured areas and an unstructured area between the two structured areas, involving multiple entrances, such as entrance 1, entrance 2, and entrance 3. Multiple exits, such as exit 1 and exit 2, can form multiple roads between the entrances and exits, with the vehicle's travel direction as indicated by the arrows. In this embodiment, entrance 2 and exit 1 are determined based on the intersection of the structured and unstructured areas and the vehicle's travel direction, serving as the required entrances and exits for global planning. The specific process is as follows:

[0066] Step S11: Determine the unstructured area based on the coordinate information of the area to be driven;

[0067] In this step, the unstructured area is taken as the driving area, and the coordinate information of each point around the driving area is determined. When these points are not in the map information, the area determined by these coordinate information is taken as the unstructured area.

[0068] Step S12: Based on the location where the unstructured region connects to the preset structured region, determine multiple location points;

[0069] In this embodiment, the identified multiple location points are entrance 1, entrance 2, entrance 3, and exit 1.

[0070] Step S13: Determine the road to be traveled based on multiple location points;

[0071] In this step, the road to be traveled is the road formed between the entrance and the exit.

[0072] Step S14: Based on the received location information of the node to be driven, select the road to be driven that is closest to the location information as the target road to be driven;

[0073] The destination information can be a pre-estimated destination before actual driving, such as a gas station or store. First, determine the location indicated by the destination information, for example... Figure 2 Point C is the target road to be traveled, and the road m that is closest to point C is taken as the target road to be traveled.

[0074] Step S15: Based on the location point, location information, road to be driven, and the vehicle's driving route in the preset structured area, determine the global planning route corresponding to the unstructured area and the preset structured area.

[0075] In this step, the entrance 2 and exit 1 corresponding to the target road m are taken as the location points corresponding to the target road. Then, based on the location information, the point C is determined to be the dashed line part formed by entrance 2-C-exit 1.

[0076] The route formed by the vehicle's driving path in the preset structured area (the line segments with arrows in the two preset structured areas indicate the vehicle's driving path) A-Entrance 2, Exit 1-B, and Entrance 2-C-Exit 1 is then used as the global planning route.

[0077] To achieve more accurate path planning, the process of "determining multiple location points based on the connection between unstructured regions and preset structured regions; determining the road to be traveled based on these multiple location points; and selecting the road closest to the received location information of the nodes to be traveled as the target road" can be implemented in the following ways:

[0078] By using the center point of the unstructured area as one of the location points, and determining multiple routes to be traveled based on the exit, entrance, and center point, the route closest to the current location information is selected as the target route. This method of forming a preliminary route plan by adding a center point allows for more detailed and accurate route planning.

[0079] Furthermore, to perform more accurate route planning, the travel cost of each road to be traveled can be determined, as follows:

[0080] The distance values ​​for each road as an upstream road and as a downstream road are determined, and the cost of traveling on each road, i.e., the distance traveled on each road, is determined based on the average of these distance values. The method for determining upstream and downstream roads is as follows:

[0081] like Figure 3As shown, the arrows indicate the vehicle's direction of travel: from road DA in the pre-defined structured area (outside the unstructured area) to road AB in the unstructured area, and finally to road BC out of the unstructured area. Roads AB and BC are the planned roads to be traveled. Road AB, between the center point B of the unstructured area and its entrance A, is designated as the first road, which is upstream of the center point; this first road can also serve as the downstream road of road DA. Road BC, between the center point B and the exit of the unstructured area, is designated as the second road, which is downstream of the center point; this second road can also serve as the upstream road between exit C and subsequent roads CE in other structured areas. For the first road, the specific road length may differ depending on whether it is used as an upstream or downstream road. In this case, the average of the upstream and downstream road lengths can be used as the cost from AB.

[0082] In this invention, when there are multiple target roads to choose from, the road with the lowest cost can be selected for global path planning.

[0083] The determination of road cost value can also be based on factors such as road conditions and time.

[0084] This invention provides a global path planning method that can plan paths within unstructured regions based on location points and driving routes. Then, a globally planned route is formed based on the paths within the unstructured and structured regions. This method can be used for global path planning in mixed unstructured and structured regions.

[0085] like Figure 4 As shown, this embodiment of the invention also provides a global path planning device, the device comprising:

[0086] The determination module 41 is used to determine the unstructured area based on the coordinate information of the area to be driven; determine multiple location points based on the connection between the unstructured area and the preset structured area; and determine the road to be driven based on the multiple location points.

[0087] The target module 42 is used to select the road closest to the location information of the node to be driven as the target road to be driven based on the received location information of the node to be driven.

[0088] The planning module 43 is used to determine the global planning route corresponding to the unstructured area and the preset structured area based on the location point, location information, the road to be driven, and the driving route of the vehicle in the preset structured area.

[0089] The determination module is specifically used to: acquire the coordinate information of the edge of the area to be driven; use coordinate information not included in the preset map information as target coordinate information; and define the area determined by the target coordinate information as an unstructured area. The point corresponding to the connection between the unstructured area and the preset structured area is designated as the exit or entrance; the point corresponding to the midpoint of the unstructured area is designated as the midpoint; and the exit, entrance, and midpoint are designated as location points. The roads formed between the exit and the midpoint, and between the midpoint and the entrance, are designated as the roads to be driven. A perpendicular line is drawn from the location information to each road to be driven; the road with the shortest distance to the perpendicular line is designated as the target driving road.

[0090] Specifically, the planning module is used as follows: when the location point corresponding to the target road to be driven is an exit or an entrance, it uses the route map formed by the entrance and location information, and the road between the location information and the exit, as an intermediate planned route; and uses the route traveled by the vehicle in the preset structured area and the intermediate planned route as the global planned route. When the location point corresponding to the target road to be driven is an entrance and a point determined by location information, it uses the route map formed by the road between the entrance and the point determined by location information, and the road between the point determined by location information and the exit, as an intermediate planned route; and uses the route traveled by the vehicle in the preset structured area and the intermediate planned route as the global planned route.

[0091] This invention also provides an electronic device, including: one or more processors; and one or more machine-readable media storing instructions thereon; when the instructions are executed by one or more processors, the processors perform the global path planning method.

[0092] A computer-readable storage medium stores a computer program that, when executed by a processor, implements the global path planning method. Those skilled in the art will further appreciate that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0093] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0094] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. 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 global path planning method, characterized in that, The method includes: Based on the coordinate information of the area to be driven, the unstructured area is determined; Based on the location where the unstructured region connects to the preset structured region, multiple location points are determined; Based on the multiple location points, the road to be traveled is determined; Based on the received location information of the node to be driven, the road closest to the location information is selected as the target road to be driven; Based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area, a global planning route corresponding to the unstructured area and the preset structured area is determined. The step of determining whether the area to be driven is an unstructured area based on the coordinate information of the area to be driven includes: Obtain the coordinate information of the edge of the area to be driven; Coordinate information that is not included in the preset map information will be used as target coordinate information; The region determined by the target coordinate information is considered an unstructured region; Among them, the determination of multiple location points based on the connection between the unstructured region and the preset structured region includes: The point corresponding to the location where the unstructured region connects to the preset structured region is taken as the exit or entrance; The point corresponding to the middle position of the unstructured region is taken as the middle point; The exit, the entrance, and the intermediate point are respectively designated as the location points; The step of determining the road to be traveled based on the multiple location points includes: The roads formed between the exit and the midpoint, and between the midpoint and the entrance, are respectively designated as the roads to be traveled.

2. The method as described in claim 1, characterized in that, The step of selecting the road closest to the received location information of the node to be driven as the target road to be driven, based on the received location information of the node to be driven, includes: Draw perpendicular lines from the location information to each road to be traveled; The road to be traveled that is closest to the vertical line is taken as the target road.

3. The method as described in claim 1, characterized in that, The step of determining a globally planned route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area includes: When the location point corresponding to the target road to be driven is the exit and the entrance, the route map formed by the entrance and the location information, and the road between the location information and the exit, is used as the intermediate planned route. The route taken by the vehicle in the preset structured area and the route taken by the intermediate planned route are used as the global planned route.

4. The method as described in claim 1, characterized in that, The step of determining a globally planned route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the vehicle's driving route in the preset structured area includes: When the location point corresponding to the target road to be driven is the point determined by the entrance and the location information, the route map formed by the road between the entrance and the point determined by the location information, and the road between the point determined by the location information and the exit, is used as the intermediate planned route. The route taken by the vehicle in the preset structured area and the route taken by the intermediate planned route are used as the global planned route.

5. A global path planning apparatus, executing the global path planning method according to any one of claims 1-4, characterized in that, The device includes: The determination module is used to determine an unstructured area based on the coordinate information of the area to be driven; determine multiple location points based on the connection between the unstructured area and a preset structured area; and determine the road to be driven based on the multiple location points. The determining module is specifically used to obtain the coordinate information of the edge of the area to be driven; Coordinate information that is not included in the preset map information will be used as target coordinate information; The region determined by the target coordinate information is considered an unstructured region; Specifically, it is also used to use the point corresponding to the position where the unstructured area is connected to the preset structured area as an exit or an entrance; The point corresponding to the middle position of the unstructured region is taken as the middle point; The exit, the entrance, and the intermediate point are respectively designated as the location points; Specifically, it is also used to take the roads formed between the exit and the midpoint, and between the midpoint and the entrance, as the roads to be traveled; The target module is used to select the road closest to the received location information of the node to be driven as the target road to be driven, based on the received location information of the node to be driven. The planning module is used to determine a global planning route corresponding to the unstructured area and the preset structured area based on the location point corresponding to the target road to be driven, the location information, the road to be driven, and the driving route of the vehicle in the preset structured area.

6. An electronic device, characterized in that, include: One or more processors; and One or more machine-readable media on which instructions are stored; When the instruction is executed by the one or more processors, the processor performs the global path planning method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the global path planning method as described in any one of claims 1-4.

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