Racing track path planning method, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a racing track path planning method, electronic equipment and a vehicle. The method comprises the following steps: acquiring racing track positioning information, acquiring vehicle positioning information in real time, and determining whether a vehicle needs to be subjected to racing track path planning according to the racing track positioning information and the vehicle positioning information acquired in real time; if it is determined that the vehicle needs to be subjected to racing track path planning, vehicle course angle information and racing track basic information within the preset length in front of the vehicle are obtained in real time, and a planned path within the preset length in front of the vehicle is determined and displayed in real time according to the obtained vehicle course angle information and racing track basic information within the preset length in front of the vehicle. The method is used for achieving the effect of improving the accuracy of track path planning.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a race track path planning method, electronic equipment, and a vehicle. Background Art

[0002] With the development of vehicle technology, track driving has gone from being exclusive to professional racing drivers to becoming increasingly popular among ordinary drivers. During track driving, providing drivers with real-time guidance on the best route has become increasingly important in enhancing their track fun and helping to improve their driving skills.

[0003] In the prior art, the optimal route of the track calculated before the race is pre-stored in the cloud or the vehicle controller, and after entering the track, it is displayed through the vehicle information display system.

[0004] However, in the prior art, the planning and display of the optimal route are fixed, thus causing the problem of inaccurate planning. Summary of the invention

[0005] The embodiments of the present application provide a method, an electronic device, and a vehicle for planning a race track path, so as to achieve the effect of improving the accuracy of race track path planning.

[0006] In a first aspect, an embodiment of the present application provides a method for track path planning, comprising:

[0007] Acquire track positioning information, acquire vehicle positioning information in real time, and determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information acquired in real time;

[0008] If it is determined that the vehicle needs to plan a track path, the vehicle heading angle information and basic track information within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and basic track information within the preset length in front of the vehicle.

[0009] In a possible implementation, based on the acquired vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, a planned path within the preset length in front of the vehicle is determined and displayed in real time, including: based on the dynamic programming principle, and the acquired vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, a plurality of candidate planned paths within the preset length in front of the vehicle are determined; based on a numerical method, from the plurality of candidate planned paths determined within the preset length in front of the vehicle, a candidate planned path with the shortest time is screened, and the candidate planned path is determined as the planned path within the preset length in front of the vehicle; and the determined planned path within the preset length in front of the vehicle is presented to the user in real time.

[0010] In a possible implementation, the method further includes: acquiring vehicle speed information and driver ability boundary information in real time, and correcting the planned path within a preset length in front of the vehicle based on the vehicle speed information and driver ability boundary information; wherein the driver ability boundary information refers to information that can characterize the driver's driving ability.

[0011] In a possible implementation manner, the driver capability boundary information includes a lateral acceleration threshold and a longitudinal acceleration threshold of the driver.

[0012] In a possible implementation, the method further includes: acquiring in real time track status information within a preset length in front of the vehicle, and correcting the planned path within the preset length in front of the vehicle according to the track status information.

[0013] In a possible implementation manner, the track status information includes: track dryness and wetness status information, and / or track obstacle status information.

[0014] In a possible implementation, the method further includes: acquiring vehicle battery power information in real time, and correcting a planned path within a preset length in front of the vehicle according to the vehicle battery power information.

[0015] In a possible implementation, determining whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information acquired in real time includes: determining a track range based on the track positioning information; wherein the track range refers to a preset range determined based on the track positioning information; based on the vehicle positioning information acquired in real time, if it is determined that the vehicle is within the track range and exceeds a preset time period, then determining that the vehicle needs to perform track path planning, otherwise, determining that the vehicle does not need to perform track path planning.

[0016] In a possible implementation, the basic information of the track within a preset length in front of the vehicle includes edge line information, center line information, and curvature information at multiple preset track points; the planned path within the preset length in front of the vehicle includes position information, target vehicle speed information, and target time information at multiple preset path points.

[0017] In a possible implementation, the method further includes: generating and displaying acceleration and deceleration prompt information based on vehicle speed information acquired in real time and target speed information at the first preset path point among multiple preset path points included in a planned path within a preset length in front of the vehicle.

[0018] In a possible implementation, the method further includes: obtaining time delay information of track path planning, and obtaining vehicle speed information in real time; and clipping the planned path within a preset length in front of the vehicle according to the time delay information of the track path planning and the vehicle speed information obtained in real time, to obtain a clipped planned path within the preset length in front of the vehicle.

[0019] In a second aspect, an embodiment of the present application provides a device for track path planning, including:

[0020] A determination module, used to obtain track positioning information, obtain vehicle positioning information in real time, and determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time;

[0021] The planning module is used to obtain the vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle in real time if it is determined that the vehicle needs to plan the track path, and determine and display the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle.

[0022] In a possible implementation, the planning module is specifically used to determine multiple candidate planning paths within a preset length in front of the vehicle based on the dynamic planning principle, and the acquired vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle; based on the numerical method, from the multiple candidate planning paths determined within the preset length in front of the vehicle, the candidate planning path with the shortest time is screened, and it is determined as the planning path within the preset length in front of the vehicle; and the determined planning path within the preset length in front of the vehicle is presented to the user in real time.

[0023] In a possible implementation, the planning module is further specifically used to obtain vehicle speed information and driver ability boundary information in real time, and to correct the planned path within a preset length in front of the vehicle based on the vehicle speed information and driver ability boundary information; wherein the driver ability boundary information refers to information that can characterize the driver's driving ability.

[0024] In a possible implementation manner, the driver capability boundary information includes a lateral acceleration threshold and a longitudinal acceleration threshold of the driver.

[0025] In a possible implementation manner, the planning module is further specifically configured to obtain in real time track status information within a preset length in front of the vehicle, and to correct the planned path within the preset length in front of the vehicle based on the track status information.

[0026] In a possible implementation manner, the track status information includes: track dryness and wetness status information, and / or track obstacle status information.

[0027] In a possible implementation manner, the planning module is further specifically used to obtain vehicle battery power information in real time, and to correct the planned path within a preset length in front of the vehicle according to the vehicle battery power information.

[0028] In a possible implementation, the determination module is specifically used to determine the track range according to the track positioning information; wherein the track range refers to a preset range determined based on the track positioning information; based on the vehicle positioning information acquired in real time, if it is determined that the vehicle is within the track range and exceeds a preset time period, it is determined that the vehicle needs to perform track path planning, otherwise, it is determined that the vehicle does not need to perform track path planning.

[0029] In a possible implementation, the basic information of the track within a preset length in front of the vehicle includes edge line information, center line information, and curvature information at multiple preset track points; the planned path within the preset length in front of the vehicle includes position information, target vehicle speed information, and target time information at multiple preset path points.

[0030] In a possible implementation, the planning module is further specifically used to generate and display acceleration and deceleration prompt information based on the vehicle speed information acquired in real time and the target speed information at the first preset path point among multiple preset path points included in the planned path within a preset length in front of the vehicle.

[0031] In a possible implementation, the planning module is further specifically used to obtain time delay information of track path planning and obtain vehicle speed information in real time; based on the time delay information of the track path planning and the vehicle speed information obtained in real time, the planned path within a preset length in front of the vehicle is clipped to obtain the clipped planned path within the preset length in front of the vehicle.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0033] The memory stores computer-executable instructions;

[0034] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0037] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an electronic device that implements the first aspect above and / or various possible implementations of the first aspect.

[0038] The present application obtains track positioning information, obtains vehicle positioning information in real time, and determines whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. If it is determined that the vehicle needs to perform track path planning, the vehicle heading angle information and basic information of the track within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle. After it is determined that the vehicle needs to perform track path planning, the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, which can improve the accuracy of track path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 Schematic diagram of the process of the track path planning method provided in this application Figure 1 ;

[0041] Figure 2 Schematic diagram of the process of the track path planning method provided in this application Figure 2 ;

[0042] Figure 3 Schematic diagram of the process of the track path planning method provided in this application Figure 3 ;

[0043] Figure 4 A schematic diagram of the structure of the device for track path planning provided in this application;

[0044] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0045] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] In the prior art, the optimal route of the track calculated before the race is pre-stored in the cloud or the vehicle controller, and is displayed through the vehicle information display system after entering the track. However, in the prior art, the planning and display of the optimal route are fixed, which may cause the problem of inaccurate planning.

[0048] The method for track path planning provided by the present application obtains track positioning information, obtains vehicle positioning information in real time, and determines whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. If it is determined that the vehicle needs to perform track path planning, the vehicle heading angle information and basic information of the track within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle. After it is determined that the vehicle needs to perform track path planning, the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, which can improve the accuracy of track path planning.

[0049] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0050] Figure 1 Schematic diagram of the process of the track path planning method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0051] Step S101, obtaining track positioning information, obtaining vehicle positioning information in real time, and determining whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time.

[0052] Specifically, track positioning information may be obtained. The track positioning information refers to information that can characterize the determined position of the track of the racing field. The present application does not limit the track positioning information. Any information that can characterize the determined position of the track of the racing field may be used as the track positioning information provided by the present application. Optionally, it may be map information of the track, for example, high-precision map information of the track.

[0053] Specifically, the vehicle positioning information can be obtained in real time. The vehicle positioning information refers to information that can characterize the vehicle's position. The present application does not limit the vehicle positioning information. Any information that can characterize the vehicle's position can be used as the vehicle positioning information provided by the present application. Optionally, it can be high-precision vehicle positioning information.

[0054] Specifically, after obtaining the track positioning information and the vehicle positioning information in real time, it is possible to determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. Among them, the present application does not limit the process of determining whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. Any process that can determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time can be used as the process provided by the present application to determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. Optionally, the track range can be determined based on the track positioning information, and then based on the vehicle positioning information obtained in real time, if it is determined that the vehicle is within the track range and exceeds the preset time period, it is determined that the vehicle needs to perform track path planning, otherwise, it is determined that the vehicle does not need to perform track path planning.

[0055] Step S102: If it is determined that the vehicle needs to plan a track path, the vehicle heading angle information and basic track information within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and basic track information within the preset length in front of the vehicle.

[0056] Specifically, according to the judgment in step S101, if it is determined that the vehicle needs to plan the track path, the vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle are obtained in real time. Among them, the vehicle heading angle information refers to the angle between the vehicle's center of mass speed and the horizontal axis in the ground coordinate system. The heading angle is the absolute direction of the vehicle relative to the geographic north, which is a global positioning angle. Among them, the basic information of the track within the preset length in front of the vehicle refers to the basic information of the track within the preset length in front of the current position of the vehicle. Among them, the preset length is not limited in this application. Optionally, the preset length can be calibrated based on the accuracy of the planned path determined according to the basic information of the track within the preset length. For example, the preset length can be 100m. Among them, the basic information of the track is not limited in this application. Any basic information of the track that can be combined with the vehicle heading angle information to determine the planned path can be used as the basic information of the track provided by this application.

[0057] Specifically, after obtaining the vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle in real time, the planned path within the preset length in front of the vehicle can be determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle. Among them, the planned path refers to the driving path planned by the vehicle in the track, and the planned path within the preset length in front of the vehicle refers to the driving path planned by the vehicle in the track within the preset length in front of the current position. For example, as described above, if the preset length is 100m, the planned path within the preset length in front of the vehicle refers to the driving path planned by the vehicle in the track within 100m in front of the current position. Among them, the present application does not limit the process of determining and displaying the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle. Any process that can determine and display the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle can be used as the process of determining and displaying the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle provided by the present application. Optionally, multiple candidate planned paths within the preset length in front of the vehicle can be determined based on the principle of dynamic programming, the vehicle heading angle information obtained in real time, the basic information of the track within the preset length in front of the vehicle, and the driver's ability boundary information, and then based on the numerical method, from the multiple candidate planned paths determined within the preset length in front of the vehicle, the candidate planned path with the shortest time is screened and determined as the planned path within the preset length in front of the vehicle, and then the determined planned path within the preset length in front of the vehicle is displayed to the user in real time.

[0058] Specifically, according to the judgment in step S101, if it is determined that the vehicle does not need to perform track path planning, it can be determined whether the vehicle needs to perform track path planning based on the vehicle positioning information and track positioning information obtained in real time. Among them, the present application does not limit the time for re-determining whether the vehicle needs to perform track path planning based on the vehicle positioning information and track positioning information obtained in real time. Optionally, it can be determined whether the vehicle needs to perform track path planning based on the vehicle positioning information and track positioning information obtained in real time in a preset time period. For example: after a preset time period after it is determined that the vehicle does not need to perform track path planning based on the vehicle positioning information and track positioning information obtained in real time, for example, 1 minute later, it is determined whether the vehicle needs to perform track path planning based on the vehicle positioning information and track positioning information obtained in real time.

[0059] The method for track path planning provided in the embodiment of the present application obtains track positioning information, obtains vehicle positioning information in real time, and determines whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time. If it is determined that the vehicle needs to perform track path planning, the vehicle heading angle information and basic information of the track within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle. After it is determined that the vehicle needs to perform track path planning, the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, which can improve the accuracy of track path planning.

[0060] Figure 2 Schematic diagram of the process of the track path planning method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a process of determining and displaying a planned path within a preset length in front of the vehicle in real time according to the acquired vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle is described in detail. The method includes:

[0061] Step S201: Based on the dynamic programming principle, the acquired vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle, a plurality of candidate planning paths within a preset length in front of the vehicle are determined.

[0062] Specifically, multiple candidate planning paths within a preset length in front of the vehicle can be determined based on the dynamic programming principle, the obtained vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle. Among them, the dynamic programming principle (DP for short) is a method used in mathematics, computer science and economics to solve complex problems by decomposing the original problem into relatively simple sub-problems. Among them, the candidate planning path refers to the candidate driving path planned by the vehicle in the track before determining the planning path described above, and the multiple candidate planning paths within the preset length in front of the vehicle refer to the candidate driving paths planned in the track within the preset length in front of the current position of the vehicle. For example: as described above, if the preset length is 100m, the candidate planning path within the preset length in front of the vehicle refers to the candidate driving path planned in the track within 100m in front of the current position of the vehicle. Among them, the present application does not limit the number of candidate planned paths within the preset length in front of the vehicle. Any number of candidate planned paths within the preset length in front of the vehicle determined based on the dynamic programming principle, the acquired vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle can be used as the number of candidate planned paths within the preset length in front of the vehicle provided by the present application.

[0063] Step S202: Based on the numerical method, select the candidate planned path with the shortest time from the multiple candidate planned paths within the preset length in front of the vehicle, and determine it as the planned path within the preset length in front of the vehicle.

[0064] Specifically, after determining multiple candidate planned paths within a preset length in front of the vehicle as described in step S201, the candidate planned path with the shortest time can be screened from the multiple candidate planned paths within the preset length in front of the vehicle based on a numerical method, and determined as the planned path within the preset length in front of the vehicle. Among them, the present application does not limit the process of screening the candidate planning path with the shortest time from multiple candidate planning paths within a preset length in front of the vehicle based on the numerical method. Optionally, if each candidate planning path within the preset length in front of the vehicle includes position information, target vehicle speed information, and target time information at multiple preset candidate path points, then based on the numerical method, the process of screening the candidate planning path with the shortest time from multiple candidate planning paths within the preset length in front of the vehicle can include: first, based on the numerical method and the position information, target vehicle speed information, and target time information at multiple preset candidate path points included in each candidate planning path in the preset length in front of the vehicle, determine the time length used by the vehicle to travel on each candidate planning path; then, from the time length used by the vehicle to travel on each candidate planning path, extract the candidate planning path with the shortest time, that is, the candidate planning path corresponding to the time length used by the vehicle to travel on the candidate planning path is the shortest time length.

[0065] Step S203: Display the planned path within a preset length in front of the vehicle to the user in real time.

[0066] Specifically, the planned path within the preset length in front of the vehicle determined in step S201 can be displayed to the user in real time. The present application does not limit the process of displaying the planned path within the preset length in front of the vehicle to the user in real time. Optionally, the planned path within the preset length in front of the vehicle can be sent to the vehicle display system in real time, so that the planned path within the preset length in front of the vehicle can be displayed to the user through the vehicle display system. The present application does not limit the vehicle display system. Optionally, it can be a vehicle head up display (HUD).

[0067] The embodiment of the present application provides a process for determining and displaying a planned path within a preset length in front of a vehicle in real time based on the acquired vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle. Based on the dynamic programming principle and the acquired vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle, multiple candidate planned paths within the preset length in front of the vehicle are determined. Based on the numerical method, the candidate planned path with the shortest time is screened from the multiple candidate planned paths determined within the preset length in front of the vehicle, and it is determined as the planned path within the preset length in front of the vehicle. By combining the dynamic programming principle and the numerical method, the accuracy of the planned path determined within the preset length in front of the vehicle can be improved, and the accuracy of the track path planning can be improved.

[0068] In a possible embodiment, the basic information of the track within the preset length in front of the vehicle includes edge line information, center line information, and curvature information at a plurality of preset track points. Specifically, the preset track point refers to a track point preset in the track within the preset length described in step S102, wherein the present application does not limit the preset track point. Optionally, the number of preset track points in the preset length may be calibrated based on the accuracy of the planned path determined according to the basic information of the track within the preset length. For example, if the preset length is 100m and the number of preset track points in the preset length is 10, the preset track points included in the preset length may be track points at 10m, 20m, 30m, 40m, 50m, 60m, 70m, 80m, 90m, and 100m from the current position of the vehicle in the track within the preset length. Among them, the sideline information refers to the information of the positions of the two sidelines of the track at the preset track point, the centerline information refers to the information of the position of the centerline of the track at the preset track point, and the curvature information refers to the information of the curvature of the track at the preset track point.

[0069] In a possible embodiment, the planned path within a preset length in front of the vehicle includes position information, target speed information, and target time information at multiple preset path points. Specifically, the preset path point refers to a preset path point in the planned path within the preset length, wherein the present application does not limit the preset path point. Optionally, if the number of preset track points within the calibrated preset length is 10, the number of preset path points within the preset length can be calibrated to 10. Among them, the position information at the preset path point represents the location of the preset path point, the target speed information represents the target speed of the vehicle when it travels to the preset path point, and the target time information represents the target time for the vehicle to travel to the preset path point.

[0070] In a possible embodiment, the method for track path planning also includes: acquiring vehicle speed information and driver ability boundary information in real time, and correcting the planned path within a preset length in front of the vehicle according to the vehicle speed information and the driver ability boundary information. Wherein, the driver ability boundary information refers to information that can characterize the driver's driving ability. Wherein, the present application does not limit the driver ability boundary information, and any information that can characterize the driver's driving ability can be used as the driver ability boundary information provided by the present application. Optionally, the driver ability boundary information may include the driver's lateral acceleration threshold and longitudinal acceleration threshold, wherein the lateral acceleration threshold is used to characterize the driver's lateral acceleration ability boundary, that is, the maximum lateral acceleration that can be achieved, and the longitudinal acceleration threshold is used to characterize the driver's longitudinal acceleration ability boundary, that is, the maximum longitudinal acceleration that can be achieved. Optionally, the driver's ability boundary can be an envelope diagram composed of lateral and longitudinal accelerations.

[0071] Among them, the present application does not limit the process of obtaining the driver's ability boundary information in real time. Optionally, if it is determined for the first time that the vehicle needs to perform track path planning, the preset initial driver's ability boundary information can be obtained, wherein the preset initial driver's ability boundary information includes the preset initial driver's lateral acceleration threshold and longitudinal acceleration threshold. Optionally, if it is not the first time to determine that the vehicle needs to perform track planning, the preset initial driver's ability boundary information can be updated based on the information of the vehicle's actual driving on the track, and the preset initial driver's ability boundary information after the update is determined as the acquired driver's ability boundary information, wherein the present application does not limit the cycle of updating the preset initial driver's ability boundary information, and optionally, the preset initial driver's ability boundary information can be updated after the vehicle completes a lap on the track.

[0072] Among them, the present application does not limit the process of correcting the planned path within the preset length in front of the vehicle according to the vehicle speed information and the driver's ability boundary information. Optionally, it can be determined based on the vehicle speed information whether the planned path within the preset length in front of the vehicle exceeds the information of the driver's driving ability represented by the driver's ability information, wherein, if it is determined based on the vehicle speed information that the planned path within the preset length in front of the vehicle is information that exceeds the driver's driving ability represented by the driver's ability information, then the planned path within the preset length in front of the vehicle can be corrected, so that according to the vehicle speed information, the planned path within the preset length in front of the vehicle after correction does not exceed the information of the driver's driving ability represented by the driver's ability information, wherein, if it is determined based on the vehicle speed information that the planned path within the preset length in front of the vehicle does not exceed the information of the driver's driving ability represented by the driver's ability information, then the planned path within the preset length in front of the vehicle may not be corrected.

[0073] For example: according to the above description of the planned path within the preset length in front of the vehicle, if the planned path within the preset length in front of the vehicle includes position information at multiple preset path points, target speed information, and target time information, the target lateral acceleration and target longitudinal acceleration of the vehicle passing through the preset path point can be determined according to the vehicle speed information and the position information, target speed information, and target time information at multiple preset path points included in the planned path within the preset length in front of the vehicle, and then the determined target lateral acceleration and target longitudinal acceleration of the vehicle passing through the preset path point are compared with the lateral acceleration threshold and longitudinal acceleration threshold included in the driver's ability boundary information, wherein, if the target lateral acceleration is greater than the lateral acceleration threshold, and / or the target longitudinal acceleration is greater than the longitudinal acceleration threshold, it is determined that the planned path within the preset length in front of the vehicle is information that exceeds the driver's driving ability represented by the driver's ability information. For example: if it is determined that the planned path within the preset length in front of the vehicle exceeds the driver's driving ability represented by the driver's ability information, one or more of the position information, target speed information, and target time information at multiple preset path points included in the planned path within the preset length in front of the vehicle can be corrected.

[0074] Among them, the planned path within a preset length in front of the vehicle is corrected according to the vehicle speed information and the driver's ability boundary information, which can improve the accuracy of the planned path within the preset length in front of the vehicle and further improve the accuracy of track path planning.

[0075] In a possible embodiment, the method for track path planning also includes: obtaining track state information within a preset length in front of the vehicle in real time, and correcting the planned path within the preset length in front of the vehicle according to the track state information. Among them, the present application does not limit the track state information, and any information that can characterize the track state can be used as the track state information provided by the present application. Optionally, the track state information includes: track dryness and humidity state information, and / or track obstacle state information. Among them, the present application does not limit the process of obtaining the track state information within the preset length in front of the vehicle. Optionally, the track state information can be obtained according to the corresponding vehicle sensor. Optionally, if the track state information is track dryness and humidity state information, the track dryness and humidity state information can be obtained according to the humidity sensor. Optionally, if the track state information is track obstacle state information, the track obstacle state information can be obtained according to the obstacle sensor. Among them, the obstacle sensor refers to a sensor that can obtain obstacle information. The present application does not limit the obstacle sensor. Optionally, it can be one or more sensors such as a laser radar sensor, a millimeter wave radar sensor, and a video acquisition sensor.

[0076] Among them, the present application does not limit the process of correcting the planned path within the preset length in front of the vehicle according to the track state information. Optionally, if the track state information includes track dryness and humidity state information, the current track dryness and humidity represented by the track dryness and humidity state information can be compared with the preset dryness and humidity threshold. If the current track dryness and humidity is greater than or equal to the preset dryness and humidity threshold, the position information at multiple preset path points included in the planned path within the preset length in front of the vehicle, the target vehicle speed information, and one or more of the target time information can be corrected. If the current track dryness and humidity is less than the preset dryness and humidity threshold, the planned path within the preset length in front of the vehicle is not corrected. Optionally, if the track state information includes track obstacle state information, it can be determined whether there is an obstacle in the track according to the track obstacle state information. If it is determined that there is an obstacle in the track, the position information at multiple preset path points included in the planned path within the preset length in front of the vehicle, the target vehicle speed information, and one or more of the target time information can be corrected. If it is determined that there is no obstacle in the track, the planned path within the preset length in front of the vehicle is not corrected.

[0077] Among them, according to the track status information, the planned path within a preset length in front of the vehicle is corrected, which can improve the accuracy of the planned path within the preset length in front of the vehicle and further improve the accuracy of track path planning.

[0078] In a possible embodiment, the method for track path planning further includes: acquiring vehicle battery power information in real time, and correcting the planned path within a preset length in front of the vehicle according to the vehicle battery power information.

[0079] Among them, the present application does not limit the process of correcting the planned path within a preset length in front of the vehicle based on the vehicle battery power information. Optionally, if the current vehicle battery power is less than a preset battery power threshold, one or more of the position information, target vehicle speed information, and target time information at multiple preset path points included in the planned path within the preset length in front of the vehicle can be corrected. For example: the target vehicle speed indicated by the target vehicle speed information is corrected to be less than the preset vehicle speed threshold. If the current vehicle battery power is greater than or equal to the preset battery power threshold, the planned path within the preset length in front of the vehicle is not corrected.

[0080] Among them, the planned path within a preset length in front of the vehicle is corrected according to the vehicle battery power information, which can improve the accuracy of the planned path within a preset length in front of the vehicle and further improve the accuracy of track path planning.

[0081] In a possible embodiment, the method for track path planning further includes: generating and displaying acceleration and deceleration prompt information according to the vehicle speed information acquired in real time and the target vehicle speed information at the first preset path point among the multiple preset path points included in the planned path within the preset length in front of the vehicle. Specifically, if the current vehicle speed information is greater than the speed indicated by the target vehicle speed information at the first preset path point, then the deceleration prompt information is generated and displayed; if the current vehicle speed information is less than the speed indicated by the target vehicle speed information at the first preset path point, then the acceleration prompt information is generated and displayed.

[0082] Among them, generating and displaying acceleration and deceleration prompt information can improve the user's driving experience based on the planned path.

[0083] In a possible embodiment, the method for track path planning further includes: first obtaining the time delay information of the track path planning, and obtaining the vehicle speed information in real time. Then, based on the time delay information of the track path planning and the vehicle speed information obtained in real time, the planned path within a preset length in front of the vehicle is clipped to obtain the clipped planned path within the preset length in front of the vehicle. Among them, the time delay information of the track path planning refers to the time delay caused by the vehicle in the process of track path planning. Specifically, if the time delay caused by the vehicle in the process of track path planning is not considered, the planned path within the preset length in front of the vehicle displayed will contain the planned path that has been traveled, which will cause inaccurate path planning. Among them, the present application does not limit the process of clipping the planned path within a preset length in front of the vehicle according to the delay information of the track path planning and the vehicle speed information obtained in real time to obtain the clipped planned path within the preset length in front of the vehicle. Optionally, the planned path to be clipped in the planned path within the preset length in front of the vehicle, that is, the planned path that has been traveled, can be determined according to the delay information of the track path planning and the vehicle speed information obtained in real time, and then the planned path within the preset length in front of the vehicle can be clipped according to the determined planned path to be clipped in the planned path within the preset length in front of the vehicle to obtain the clipped planned path within the preset length in front of the vehicle.

[0084] Among them, according to the delay information of the track path planning and the vehicle speed information obtained in real time, the planned path within the preset length in front of the vehicle is clipped, which can remove the influence of the track path planning delay on the planned path, making the planned path within the preset length in front of the vehicle after clipping more accurate, further improving the accuracy of track path planning.

[0085] Figure 3 Schematic diagram of the process of the track path planning method provided in this application Figure 3 ,like Figure 3 As shown, in this embodiment Figure 1 or Figure 2 Based on the illustrated embodiment, a process of determining whether a vehicle needs to perform track path planning based on vehicle positioning information and track positioning information is described in detail. The method includes:

[0086] Step S301: determine the track range according to the track positioning information.

[0087] Specifically, the track range can be determined based on the track positioning information. For the description of the track positioning information, reference can be made to the description in step S101, which will not be repeated here. The track range refers to a preset range determined based on the track positioning information, wherein the present application does not limit the track range, and any preset range determined based on the track positioning information can be used as the track range provided by the present application. Optionally, if the track positioning information is the map information of the track, the area range indicated by the map information of the track can be determined as the track range, or the preset area range centered on the area range indicated by the map information of the track can be determined as the track range.

[0088] Step S302: based on the vehicle positioning information obtained in real time, if it is determined that the vehicle is within the track range and exceeds a preset time period, it is determined that the vehicle needs to perform track path planning; otherwise, it is determined that the vehicle does not need to perform track path planning.

[0089] Specifically, based on the vehicle positioning information obtained in real time, if it is determined that the vehicle is within the track range determined in step S301 and exceeds a preset time period, it is determined that the vehicle needs to perform track path planning, otherwise, it is determined that the vehicle does not need to perform track path planning.

[0090] Among them, the present application does not limit the process of determining whether the vehicle is within the track range based on the vehicle positioning information obtained in real time. Optionally, the vehicle positioning information and the track range can be first processed with unified coordinates. For example, if the vehicle positioning information is longitude and latitude information, the longitude and latitude information can be converted to the coordinate system where the track range is located, and then based on the vehicle positioning information and the track range after the unified coordinate processing, it is determined whether the vehicle is within the track range.

[0091] Among them, the present application does not limit the preset time period, and any time period that can determine that the vehicle needs to perform track path planning can be used as the preset time period provided by the present application.

[0092] The embodiment of the present application provides a process for determining whether a vehicle needs to perform track path planning based on vehicle positioning information and track positioning information. The track range is determined based on the track positioning information. If it is determined that the vehicle is within the track range and exceeds a preset time period based on the vehicle positioning information acquired in real time, it is determined that the vehicle needs to perform track path planning. Otherwise, it is determined that the vehicle does not need to perform track path planning. According to the track range and the preset time period, it can be accurately determined whether the vehicle needs to perform track path planning, which can further improve the efficiency of track path planning.

[0093] Figure 4 A schematic diagram of the structure of the device for track path planning provided in this application, such as Figure 4As shown, the track path planning device 40 provided in this embodiment includes:

[0094] The determination module 401 is used to obtain track positioning information, obtain vehicle positioning information in real time, and determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time;

[0095] The planning module 402 is used to obtain the vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle in real time if it is determined that the vehicle needs to plan the track path, and determine and display the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle.

[0096] In a possible embodiment, the planning module 402 is specifically used to determine multiple candidate planning paths within a preset length in front of the vehicle based on the dynamic planning principle, the acquired vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle; based on the numerical method, from the multiple candidate planning paths determined within the preset length in front of the vehicle, the candidate planning path with the shortest time is screened and determined as the planning path within the preset length in front of the vehicle; and the determined planning path within the preset length in front of the vehicle is presented to the user in real time.

[0097] In a possible embodiment, the planning module 402 is also specifically used to obtain vehicle speed information and driver ability boundary information in real time, and to correct the planned path within a preset length in front of the vehicle based on the vehicle speed information and the driver ability boundary information; wherein the driver ability boundary information refers to information that can characterize the driver's driving ability.

[0098] In a possible embodiment, the driver capability boundary information includes the driver's lateral acceleration threshold and longitudinal acceleration threshold.

[0099] In a possible embodiment, the planning module 402 is further specifically configured to obtain track status information within a preset length in front of the vehicle in real time, and to correct the planned path within the preset length in front of the vehicle according to the track status information.

[0100] In a possible embodiment, the track status information includes: track dryness and wetness status information, and / or track obstacle status information.

[0101] In a possible embodiment, the planning module 402 is further specifically used to obtain vehicle battery power information in real time, and to correct the planned path within a preset length in front of the vehicle according to the vehicle battery power information.

[0102] In a possible embodiment, the determination module 401 is specifically used to determine the track range according to the track positioning information; wherein the track range refers to a preset range determined based on the track positioning information; based on the vehicle positioning information obtained in real time, if it is determined that the vehicle is within the track range and exceeds a preset time period, it is determined that the vehicle needs to perform track path planning, otherwise, it is determined that the vehicle does not need to perform track path planning.

[0103] In a possible embodiment, the basic information of the track within a preset length in front of the vehicle includes edge line information, center line information, and curvature information at multiple preset track points; the planned path within the preset length in front of the vehicle includes position information, target vehicle speed information, and target time information at multiple preset path points.

[0104] In a possible embodiment, the planning module 402 is also specifically used to generate and display acceleration and deceleration prompt information based on the vehicle speed information obtained in real time and the target vehicle speed information at the first preset path point among multiple preset path points included in the planned path within a preset length in front of the vehicle.

[0105] In a possible embodiment, the planning module 402 is further specifically used to obtain the time delay information of the track path planning and the vehicle speed information in real time; based on the time delay information of the track path planning and the vehicle speed information obtained in real time, the planned path within a preset length in front of the vehicle is clipped to obtain the clipped planned path within the preset length in front of the vehicle.

[0106] The device for track path planning provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0107] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0108] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0109] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0110] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0111] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0112] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0113] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0114] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0115] The present application also provides a vehicle, comprising an electronic device for implementing the above method.

[0116] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0117] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0118] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0121] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0122] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0123] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for track path planning, characterized in that: include: Acquire track positioning information, acquire vehicle positioning information in real time, and determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information acquired in real time; If it is determined that the vehicle needs to plan a track path, the vehicle heading angle information and basic track information within a preset length in front of the vehicle are obtained in real time, and the planned path within the preset length in front of the vehicle is determined and displayed in real time based on the obtained vehicle heading angle information and basic track information within the preset length in front of the vehicle.

2. The method according to claim 1, characterized in that Based on the acquired vehicle heading angle information and basic information of the track within a preset length in front of the vehicle, the planned path within the preset length in front of the vehicle is determined and displayed in real time, including: Based on the dynamic programming principle, the obtained vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle, multiple candidate planning paths within the preset length in front of the vehicle are determined; Based on the numerical method, from the multiple candidate planned paths determined within the preset length in front of the vehicle, the candidate planned path with the shortest time is selected and determined as the planned path within the preset length in front of the vehicle; The planned path within a preset length in front of the vehicle is presented to the user in real time.

3. The method according to claim 1, characterized in that The method further comprises: The vehicle speed information and the driver's ability boundary information are acquired in real time, and the planned path within a preset length in front of the vehicle is corrected based on the vehicle speed information and the driver's ability boundary information; wherein the driver's ability boundary information refers to information that can characterize the driver's driving ability.

4. The method according to claim 3, characterized in that The driver capability boundary information includes the driver's lateral acceleration threshold and longitudinal acceleration threshold.

5. The method according to claim 1, characterized in that The method further comprises: The track status information within a preset length in front of the vehicle is acquired in real time, and the planned path within the preset length in front of the vehicle is corrected according to the track status information.

6. The method according to claim 5, characterized in that The track status information includes: track dryness and wetness status information, and / or track obstacle status information.

7. The method according to claim 1, characterized in that The method further comprises: The vehicle battery power information is acquired in real time, and the planned path within a preset length in front of the vehicle is corrected according to the vehicle battery power information.

8. The method according to claim 1, characterized in that: Determining whether the vehicle needs to perform track path planning according to the track positioning information and the vehicle positioning information obtained in real time, including: Determining a track range according to the track positioning information; wherein the track range refers to a preset range determined based on the track positioning information; According to the vehicle positioning information obtained in real time, if it is determined that the vehicle is within the track range and exceeds a preset time period, it is determined that the vehicle needs to perform track path planning, otherwise, it is determined that the vehicle does not need to perform track path planning.

9. The method according to claim 1, characterized in that: The basic information of the track within the preset length in front of the vehicle includes edge line information, center line information, and curvature information at multiple preset track points; the planned path within the preset length in front of the vehicle includes position information, target vehicle speed information, and target time information at multiple preset path points.

10. The method according to claim 9, characterized in that The method further comprises: Acceleration and deceleration prompt information is generated and displayed based on the vehicle speed information obtained in real time and the target vehicle speed information at the first preset path point among multiple preset path points included in the planned path within the preset length in front of the vehicle.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Obtain the time delay information of track path planning and obtain vehicle speed information in real time; According to the time delay information of the track path planning and the vehicle speed information obtained in real time, the planned path within a preset length in front of the vehicle is clipped to obtain the planned path within the preset length in front of the vehicle after clipping.

12. A device for track path planning, characterized in that: include: A determination module, used to obtain track positioning information, obtain vehicle positioning information in real time, and determine whether the vehicle needs to perform track path planning based on the track positioning information and the vehicle positioning information obtained in real time; The planning module is used to obtain the vehicle heading angle information and the basic information of the track within a preset length in front of the vehicle in real time if it is determined that the vehicle needs to plan the track path, and determine and display the planned path within the preset length in front of the vehicle in real time based on the obtained vehicle heading angle information and the basic information of the track within the preset length in front of the vehicle.

13. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 11 when executed by a processor.

15. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

16. A vehicle, characterized in that: The invention comprises an electronic device for implementing the method according to any one of claims 1 to 12.

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