Automatic driving path planning method based on high-precision positioning traffic cone

Abstract

The invention discloses an automatic driving path planning method based on high-precision positioning traffic cones, which belongs to the technical field of automatic driving, and is technically characterized by comprising the following steps of: 1, arranging the traffic cones with high-precision positioning in a road traffic state change area according to a preset rule; 2, starting a high-precision positioning terminal of the traffic cone, and transmitting synchronous high-precision position information to a data processing platform in real time; 3, the data processing platform receives the high-precision position information, processes the high-precision position information in combination with a high-precision map, and then generates precise coordinates of the non-driving area; 4, the data processing platform transmits the generated accurate coordinates as real-time road condition data to the autonomous vehicle; and 5, according to the received accurate coordinate information, the autonomous vehicle combines the position of the autonomous vehicle with a high-precision map to dynamically optimize a driving path or carry out lane change in advance, and the method has the advantage of ensuring safe and smooth driving of the autonomous vehicle.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving path planning method based on high-precision positioning of traffic cones. Background Art

[0002] technology Autonomous driving vehicles need to rely on various sensors to detect and identify pedestrians, vehicles, obstacles and other target objects around the vehicle. The detection accuracy, precision and timeliness have a direct impact on the driving path planning of the autonomous driving system. With the continuous development of deep learning and sensor technology, combined with high-precision maps and positioning technology, autonomous driving systems have been able to achieve perception, decision-making and control in most road scenarios.

[0003] However, faced with complex and ever-changing road traffic environments, especially in scenarios of temporary changes, such as traffic control, road construction, traffic accidents, road damage, etc., since the period of existence on the road is too short, traffic cones are usually deployed around the above-mentioned areas to close them off. They are used to temporarily block or separate traffic and guide traffic. They often do not appear in high-precision maps. At this time, the autonomous driving vehicle itself needs to perform detection and identification.

[0004] The current autonomous driving perception technology mainly uses a fusion of vision and lidar to detect small targets such as traffic cones. However, occlusion, shadows, backgrounds with similar colors, damaged or tilted cones, and cones of different colors and styles will affect the accuracy and precision of the perception algorithm's recognition, and may even lead to missed detections and false detections.

[0005] In addition, the current layout of traffic cones is based on standards that can be recognized by the driver's eye. The manual placement is based on visual inspection and feeling, which is relatively arbitrary and not standardized. Drivers can understand and respond correctly based on experience, thereby taking measures such as slowing down, avoiding, and detouring to adjust their driving path.

[0006] However, for autonomous vehicles, the above problems will make it difficult to detect and identify traffic cones, and the autonomous driving system has limited reaction time and space, making it impossible to ensure that the vehicle can safely and smoothly bypass the traffic cone barrier area. Summary of the invention

[0007] In view of the deficiencies in the prior art, an embodiment of the present invention aims to provide an autonomous driving path planning method based on high-precision positioning of traffic cones to solve the problems in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions: An automatic driving path planning method based on high-precision positioning of traffic cones comprises the following steps: Step 1: Deploy traffic cones with high-precision positioning in the area where the road traffic status changes according to preset rules; Step 2: Start the high-precision positioning terminal of the traffic cone to transmit the synchronized high-precision position information to the data processing platform in real time; Step 3: The data processing platform receives the high-precision location information, combines it with the high-precision map, and generates the precise coordinates of the non-drivable area after processing; Step 4: The data processing platform transmits the generated precise coordinates as real-time road condition data to the autonomous driving vehicle; Step 5: Based on the precise coordinate information received, the autonomous vehicle combines its own position with the high-precision map to dynamically optimize the driving path or change lanes in advance.

[0009] As a further solution of the present invention, the high-precision positioning traffic cone in step 1 has a high-precision positioning function, including but not limited to a high-precision positioning module, a communication module, a battery module and a traffic cone body.

[0010] As a further solution of the present invention, the location information of the high-precision positioned traffic cones is uploaded to the data processing platform via wireless communication technology, and the communication technology includes but is not limited to the fifth generation mobile communication technology or other vehicle-road cooperative communication technology.

[0011] As a further solution of the present invention, the high-precision positioning traffic cones are deployed in construction areas, traffic control areas, accident sites or road damaged areas to mark non-drivable areas.

[0012] As a further solution of the present invention, in step 2, the data processing platform generates the precise boundary of the non-drivable area based on the matching of the high-precision map and the traffic cone position data.

[0013] As a further solution of the present invention, in step four, the autonomous driving system decision model of the autonomous driving vehicle adjusts the vehicle's driving path in real time according to the precise coordinates and driving tasks, optimizes the path selection or prompts lane changes in advance.

[0014] As a further solution of the present invention, in step five, the autonomous driving vehicle receives real-time traffic data sent by the data processing platform through the on-board terminal and performs dynamic path planning.

[0015] In summary, compared with the prior art, the embodiments of the present invention have the following beneficial effects: The present invention arranges high-precision positioning traffic cones according to preset rules in areas where road traffic conditions change, and uses the high-precision location information uploaded in real time by these traffic cones. The data processing platform obtains, processes and sends the information to the autonomous driving vehicle, ensuring that the autonomous driving vehicle can obtain accurate road status information in advance and perform path planning optimization based on the information.

[0016] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of an automatic driving path planning method based on high-precision positioning of traffic cones in the present invention.

[0018] Figure 2 The present invention is a schematic diagram of the system framework of an automatic driving path planning method based on high-precision positioning of traffic cones.

[0019] Figure 3 The present invention is a schematic diagram of a high-precision positioning traffic cone.

[0020] Figure 4 A schematic diagram of high-precision positioning traffic cone deployment rules according to an embodiment of the present invention.

[0021] Figure 5 A schematic diagram of another high-precision positioning traffic cone deployment rule according to an embodiment of the present invention.

[0022] Figure 6 A schematic diagram of another high-precision positioning traffic cone deployment rule according to an embodiment of the present invention.

[0023] Figure numerals: 1-high-precision positioning traffic cone; 2-high-precision positioning terminal; 3-traffic cone body; 4-ordinary traffic cone; 5-road damage. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0026] In one embodiment, an automatic driving path planning method based on high-precision positioning of traffic cones 1 is provided. Figure 1-Figure 6 , including the following steps: Step 1: Deploy high-precision positioning traffic cones 1 in the area where the road traffic status changes according to preset rules; Step 2: Start the high-precision positioning terminal 2 of the traffic cone to transmit the synchronized high-precision position information to the data processing platform in real time; Step 3: The data processing platform receives the high-precision location information, combines it with the high-precision map, and generates the precise coordinates of the non-drivable area after processing; Step 4: The data processing platform transmits the generated precise coordinates as real-time road condition data to the autonomous driving vehicle; Step 5: Based on the precise coordinate information received, the autonomous vehicle combines its own position with the high-precision map to dynamically optimize the driving path or change lanes in advance.

[0027] For further information, see Figure 1-Figure 6 In the step 1, the high-precision positioning traffic cone 1 has a high-precision positioning function, including but not limited to a high-precision positioning module, a communication module, a battery module and a traffic cone body 3.

[0028] For further information, see Figure 1-Figure 6 The location information of the high-precision positioning traffic cone 1 is uploaded to the data processing platform through wireless communication technology, and the communication technology includes but is not limited to the fifth generation mobile communication technology or other vehicle-road cooperative communication technology.

[0029] For further information, see Figure 1-Figure 6 The high-precision positioning traffic cone 1 is deployed in the construction area, traffic control area, accident site or road damage area 5 to mark the non-drivable area.

[0030] For further information, see Figure 1-Figure 6 In step 2, the data processing platform generates the precise boundary of the non-drivable area based on the high-precision map and traffic cone position data matching.

[0031] For further information, see Figure 1-Figure 6 In step 4, the autonomous driving system decision model of the autonomous driving vehicle adjusts the vehicle's driving path in real time according to the precise coordinates and driving tasks, optimizes the path selection or prompts lane changes in advance.

[0032] For further information, see Figure 1-Figure 6 In step five, the autonomous driving vehicle receives real-time traffic data sent by the data processing platform through the on-board terminal and performs dynamic path planning.

[0033] In this embodiment, the deployment of high-precision positioning traffic cones 1 is as follows: In areas with temporary traffic conditions such as construction, accidents or road damage, traffic cones with high-precision positioning functions are deployed according to preset rules. These traffic cones can collect and upload their location information in real time. In this way, not only can the non-drivable areas be accurately marked, but also accurate real-time road condition information can be provided to autonomous vehicles.

[0034] Collection and transmission of high-precision location information of traffic cones: The traffic cone has a built-in high-precision positioning terminal 2, which can collect its high-precision location information. This information is transmitted to the data processing platform in the cloud via a wireless communication network. This real-time data transmission enables autonomous vehicles to obtain the latest road traffic status in complex traffic scenarios.

[0035] Dynamic processing of data processing platform: After receiving the location information uploaded by the high-precision positioning traffic cone 1, the data processing platform processes the location information in combination with the high-precision map to generate the precise coordinates or boundaries of the impassable area. The platform will monitor this data in real time to ensure the dynamic update of the road traffic status and quickly generate effective area boundary information.

[0036] Information sent to the autonomous vehicle: The data processing platform sends the processed precise coordinates as real-time traffic data to the autonomous driving vehicle. The vehicle receives the real-time information transmitted by the platform. This information includes the precise coordinates of the impassable area, allowing the vehicle to know the changes in the road conditions ahead in advance.

[0037] Path planning adjustment for autonomous driving vehicles: After receiving precise coordinates, the autonomous driving system will adjust the current driving path in a timely manner based on its real-time location and high-precision map information. Based on road conditions, the vehicle can choose to change lanes, slow down, or take a detour to avoid entering inaccessible areas. This dynamic path adjustment mechanism ensures that autonomous vehicles can complete driving tasks safely and efficiently in complex and temporary road scenarios.

[0038] Combination Figure 2 The framework of the system involved in the present invention is introduced. Figure 2 As shown, the system composition of the autonomous driving path planning method based on the high-precision positioning traffic cone 1 includes: high-precision positioning traffic cone 1, a data processing platform and an autonomous driving car.

[0039] High-precision positioning traffic cone 1: Based on the signal data and correction data of the global satellite navigation system and the base station, it obtains its own centimeter-level position information and then uploads it to the cloud control platform.

[0040] First, let’s introduce traffic cones: In road traffic management, in response to different road traffic events, such as traffic control, traffic accidents, road damage5, and temporary and sudden situations such as road occupation and construction, traffic control, road administration departments or construction units will place traffic cones outside the above areas to block or separate traffic, guide traffic, and ensure vehicle safety. The conventional traffic cones currently used are mostly made of simple plastic or rubber materials, including a base, a cone and a reflective surface. There is usually a round hole with a diameter of about 4 cm on the top for easy manual picking.

[0041] Next, combine Figure 3 The high-precision positioning traffic cone 1 of the present invention is introduced as follows: The high-precision positioning traffic cone 1 defined in the present invention is based on the existing ordinary traffic cone 4, and a detachable high-precision positioning terminal 2 is added to form a high-precision positioning traffic cone 1. This can realize the transformation of the existing stock of traffic cones and reduce the purchase cost of the high-precision positioning traffic cone 1. The high-precision positioning terminal 2 and the traffic cone body 3 are detachable, which does not affect the stacking and storage of traffic cones on the one hand, and is also convenient for the storage, storage and charging of the high-precision positioning terminal 2 on the other hand.

[0042] The high-precision positioning terminal 2 includes a high-precision positioning module, a communication module and a battery module. The high-precision positioning module obtains the centimeter-level position data of the terminal through the global satellite navigation system and real-time dynamic carrier phase differential technology. The communication module is responsible for transmitting the position data to the data processing platform, and the battery module provides continuous power supply for the terminal operation.

[0043] Specifically, the method of using high-precision positioning traffic cone 1 is combined with Figure 4 , Figure 5 , Figure 6 Three usage scenarios of high-precision positioning traffic cones 1 are used to further illustrate.

[0044] like Figure 4 As shown, the usage scenario is that a traffic accident or road construction causes a certain length of a lane to be undriveable. Traffic cones are placed outside the area to block traffic and guide traffic. Among them, four high-precision positioning traffic cones 1 are required to be placed at the four vertices of the trapezoidal area to ensure that the data processing platform can accurately identify the shape and precise range of the area, and conventional traffic cones are placed at the rest of the locations to facilitate visual identification and judgment by the driver of a manned vehicle.

[0045] like Figure 5 As shown, the usage scenario is that when a road surface is damaged 5 or road obstacles cannot be handled in time, causing vehicles to pass directly and being dangerous, traffic cones are set to warn vehicles to detour. Due to the small range, only one high-precision positioning traffic cone 1 is needed, and the data processing platform can determine that it is not allowed to drive within a certain range of the location based on the precise position of a single traffic cone.

[0046] like Figure 6 As shown in the figure, the usage scenario is that under traffic control, the traffic control department closes some road entrances and exits to ensure the normal passage of traffic on the main road. Vehicles can only be discovered when they are near the ramp entrance, resulting in the original driving route of the vehicle being blocked and having to temporarily detour or re-plan the route. By deploying high-precision positioning traffic cones 1 at the ramp entrance, the data processing platform determines that vehicles are prohibited from passing through the location based on the precise location of the traffic cones.

[0047] Data processing platform: The data processing platform can be an application module based on the existing intelligent connected vehicle cloud control platform, or it can be a completely independent system to receive, process and send high-precision positioning traffic cone 1 location data.

[0048] After receiving the location data from the high-precision positioning traffic cone 1, the data processing platform matches the location data with the high-precision map, determines the impassable area on the road according to the layout analysis of the traffic cone, and generates the precise range coordinates of the impassable area, which are then sent to the autonomous driving vehicle.

[0049] Self-driving cars: Self-driving cars are equipped with sensor kits and self-driving systems. The self-driving system is a comprehensive system that integrates perception, decision-making and control functions.

[0050] The perception system is responsible for collecting and processing information about the vehicle's surrounding environment. The decision-making system makes decisions based on the perception information and formulates corresponding vehicle control strategies. The control system controls the vehicle according to the decision results and ultimately realizes automatic driving of the vehicle.

[0051] After the autonomous driving car receives the precise range coordinates of the non-drivable area from the data processing platform, it will be used as the real-time road condition input of the decision-making system. The autonomous driving system will combine the perception data, its own position coordinates and high-precision map to determine the relative position of the autonomous driving vehicle and the non-drivable area, and perform path planning or trajectory planning to avoid the non-drivable area in advance.

[0052] Among them, path planning will re-plan the vehicle's route to avoid inaccessible or non-drivable areas, and the autonomous vehicle will drive along the new route. Trajectory planning controls the vehicle to execute lane change commands under appropriate conditions, and enter normal vehicles in advance to ensure that the vehicle's driving is not affected.

[0053] Compared with the method of relying on sensors (such as laser radar, cameras, etc.) to identify traffic cones to determine the non-drivable area, the present invention provides reliable road status information to the vehicle in advance through high-precision positioning of traffic cones 1 and data processing platform, further supplements the perception blind spots, and greatly improves the safety and response speed of the autonomous driving system. It ensures that the autonomous driving vehicle can optimize the driving path in advance in the case of traffic control, accidents, road construction, road damage 5, etc., to avoid driving jams or dangers.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic driving path planning method based on high-precision positioning of traffic cones, characterized in that: The following steps are involved: Step 1: Deploy traffic cones with high-precision positioning in the area where the road traffic status changes according to preset rules; Step 2: Start the high-precision positioning terminal of the traffic cone to transmit the synchronized high-precision position information to the data processing platform in real time; Step 3: The data processing platform receives the high-precision location information, combines it with the high-precision map, and generates the precise coordinates of the non-drivable area after processing; Step 4: The data processing platform transmits the generated precise coordinates as real-time road condition data to the autonomous driving vehicle; Step 5: Based on the precise coordinate information received, the autonomous vehicle combines its own position with the high-precision map to dynamically optimize the driving path or change lanes in advance.

2. The method for autonomous driving path planning based on high-precision positioning of traffic cones according to claim 1, characterized in that: The high-precision positioning traffic cone in step 1 has a high-precision positioning function, including but not limited to a high-precision positioning module, a communication module, a battery module and a traffic cone body.

3. The method for autonomous driving path planning based on high-precision positioning of traffic cones according to claim 2 is characterized in that: The location information of the high-precision positioned traffic cones is uploaded to the data processing platform via wireless communication technology, and the communication technology includes but is not limited to the fifth generation mobile communication technology or other vehicle-road cooperative communication technology.

4. The method for autonomous driving path planning based on high-precision positioning of traffic cones according to claim 3 is characterized in that: The high-precision positioning traffic cones are deployed in construction areas, traffic control areas, accident sites or road damage areas to mark non-drivable areas.

5. The method for automatic driving path planning based on high-precision positioning of traffic cones according to claim 4 is characterized in that: In the step 2, the data processing platform generates the precise boundary of the non-drivable area based on the high-precision map and the traffic cone position data matching.

6. The method for autonomous driving path planning based on high-precision positioning of traffic cones according to claim 5, characterized in that: In step 4, the autonomous driving system decision model of the autonomous driving vehicle adjusts the vehicle's driving path in real time according to the precise coordinates and driving tasks, optimizes the path selection or prompts lane changes in advance.

7. The method for autonomous driving path planning based on high-precision positioning of traffic cones according to claim 6, characterized in that: In step five, the autonomous driving vehicle receives real-time traffic data sent by the data processing platform through the on-board terminal and performs dynamic path planning.

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