Automatic driving route selection method, device, medium and system

Abstract

The invention provides an automatic driving route selection method, device, medium and system. Generating a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first final position under the condition that the movement mode of the vehicle is determined to be single-point movement, and determining a first target driving route at least according to the curvature and the curvature change rate of each first preset driving route, compared with an existing scheme, the curvature and the curvature change rate of the preset driving route are considered, so that compared with the existing scheme, the reliability of the generated route is improved, and the control efficiency of automatic driving is improved; therefore, the problem that the automatic driving control efficiency is low due to the fact that a plurality of prediction form routes generated by the vehicle automatic driving system cannot be reasonably arranged in an existing scheme at present is solved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to an autonomous driving route selection method, device, medium and system. Background Art

[0002] When an unmanned vehicle is driving, when it encounters an edge scenario, such as a temporary road closure, road construction, or a sudden change in the road environment such as a diversion or damage that prevents it from traveling along the original route, the vehicle's automatic driving system will stop for safety reasons and request remote assistance to help the vehicle out of trouble.

[0003] However, the current existing solutions cannot make a reasonable arrangement for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency. Summary of the invention

[0004] The main purpose of this application is to provide an autonomous driving route selection method, device, medium and system, so as to at least solve the problem that the current existing solutions cannot make a more reasonable arrangement for multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

[0005] In order to achieve the above objective, according to one aspect of the present application, a method for selecting an automatic driving route is provided, the method comprising:

[0006] Acquire current vehicle information, the current vehicle information including the location of the vehicle and the front direction of the vehicle;

[0007] When it is determined that the movement mode of the vehicle is single-point movement, obtaining a first terminal position, and generating a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first terminal position;

[0008] The first target driving route is determined at least according to the curvature and the curvature change rate of each of the first preset driving routes, and the curvature of the first preset driving route represents the curvature of the vehicle during the process of driving along the first preset driving route.

[0009] Optionally, determining the first target driving route at least according to the curvature and the curvature change rate of each of the first preset driving routes includes:

[0010] When the curvature of the first preset driving route is within a preset curvature range, and the curvature change rate of the first preset driving route is within a preset curvature change rate range, determining that the first target driving route is the first preset driving route;

[0011] When the curvature of the first preset driving route is not within the preset curvature range and the curvature change rate of the first preset driving route is not within the preset curvature change rate range, the first preset driving route is determined to be a non-target driving route.

[0012] Optionally, determining the first target driving route at least according to the curvature and the curvature change rate of each of the first preset driving routes includes:

[0013] When the curvature of the first preset driving route is within a preset curvature range, the curvature change rate of the first preset driving route is within a preset curvature change rate range, and the gear shifting frequency of the first preset driving route is within a preset gear shifting frequency range, determining that the first target driving route is the first preset driving route;

[0014] When the curvature of the first preset driving route is not within the preset curvature range, the curvature change rate of the first preset driving route is not within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is not within the preset gear shifting frequency range, the first preset driving route is determined to be a non-target driving route.

[0015] Optionally, when it is determined that the movement mode of the vehicle is multi-point movement, the method further includes:

[0016] Acquire an intermediate point position and a second terminal position, and generate a plurality of second preset driving routes based on the automatic driving system according to the current vehicle information and the intermediate point position, wherein the intermediate point position represents a position point between the position of the vehicle and the second terminal position;

[0017] determining a second target driving route based at least on the curvature and the curvature change rate of the second preset driving route;

[0018] generating a plurality of third preset driving routes based on the automatic driving system according to the current vehicle information and the second destination position;

[0019] The third target driving route is determined at least based on the curvature and the curvature change rate of the third preset driving route.

[0020] Optionally, in the process of determining the second target driving route at least according to the curvature and the curvature change rate of the second preset driving route, the method further includes:

[0021] receiving and deleting the intermediate point position in response to a first preset operation;

[0022] Obtain a new position of the intermediate point;

[0023] Execute the processing steps again, the processing steps including determining the second target driving route at least based on the curvature and the curvature change rate of the second preset driving route, generating multiple third preset driving routes based on the automatic driving system according to the current vehicle information and the second terminal position, and determining the third target driving route at least based on the curvature and the curvature change rate of the third preset driving route.

[0024] Optionally, the current vehicle information further includes an initial vehicle bounding box, and the automatic driving system generates a plurality of first preset driving routes according to the current vehicle information and the first terminal position, including:

[0025] Expanding the initial vehicle enclosing frame according to a preset expansion width and a preset expansion length to obtain a current vehicle enclosing frame;

[0026] Based on the automatic driving system, a plurality of the first preset driving routes are generated according to the position of the vehicle, the front direction of the vehicle, the current vehicle bounding box and the first terminal position in the current vehicle information.

[0027] Optionally, after determining the first target driving route, the method further includes:

[0028] receiving and responding to a second preset operation, controlling the vehicle to travel using the first target travel route;

[0029] Receive and respond to a third preset operation, obtain a third destination position, generate multiple fourth preset driving routes based on the automatic driving system according to the current vehicle information and the third destination position, and determine a fourth target driving route based at least on the curvature and curvature change rate of each of the fourth preset driving routes.

[0030] According to another aspect of the present application, there is provided an automatic driving route selection device, the device comprising:

[0031] A first acquisition unit is used to acquire current vehicle information, wherein the current vehicle information includes a location of the vehicle and a front direction of the vehicle;

[0032] A second acquisition unit is used to acquire a first terminal position when it is determined that the movement mode of the vehicle is single-point movement, and generate a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first terminal position;

[0033] The first determination unit is used to determine a first target driving route at least based on the curvature and curvature change rate of each of the first preset driving routes, wherein the curvature of the first preset driving route represents the curvature of the vehicle during driving along the first preset driving route.

[0034] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0035] According to another aspect of the present application, an autonomous driving route selection system is provided, the system comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0036] By applying the technical solution of the present application, when it is determined that the vehicle's movement mode is single-point movement, a plurality of first preset driving routes are generated based on the automatic driving system according to the current vehicle information and the first terminal position, and a first target driving route is determined at least according to the curvature and the curvature change rate of each of the first preset driving routes. Compared with the existing scheme, the curvature and the curvature change rate of the preset driving routes are taken into account, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 A schematic diagram of a process of an automatic driving route selection method provided according to an embodiment of the present application is shown;

[0039] Figure 2 A schematic diagram of a process of another automatic driving route selection method provided according to an embodiment of the present application is shown;

[0040] Figure 3 A structural block diagram of an automatic driving route selection device provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] As introduced in the background technology, when an unmanned vehicle encounters an edge scenario during driving, such as temporary road closure, road construction, sudden changes in the road environment such as diversion, damage, etc., and cannot travel along the original route, the vehicle's automatic driving system will stop for safety reasons and request remote assistance personnel to help the vehicle out of trouble. In order to solve the problem that the current existing solutions cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle's automatic driving system, resulting in low automatic driving control efficiency, the embodiments of the present application provide an automatic driving route selection method, device, medium and system.

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0046] In this embodiment, an automatic driving route selection method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0047] Figure 1 FIG. 1 is a flow chart of an automatic driving route selection method provided according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0048] Step S101, obtaining current vehicle information, the current vehicle information including the location of the vehicle and the direction of the front of the vehicle;

[0049] Select fuzzy matching or precise matching in the interactive options. The default is fuzzy matching. Users can choose fuzzy matching or precise matching by interacting with the touch screen. During the point selection, the horizontal, vertical, and angular errors of the target point (i.e. the location of the vehicle) are determined, and then feedback is given on whether there is a route. Under fuzzy matching, the actual route of the vehicle is allowed to deviate from the target point by 2.5 meters in the vertical direction, 1 meter in the horizontal direction, and 10 degrees at the front angle, which is suitable for common escapes; under precise matching, only 40 centimeters in the horizontal direction, 1 meter in the vertical direction, and 4 degrees at the front angle are allowed. It is suitable for situations where the target position requires precision, such as parking between two objects or driving along the edge.

[0050] Step S102, when it is determined that the movement mode of the vehicle is single-point movement, a first terminal position is obtained, and a plurality of first preset driving routes are generated based on the automatic driving system according to the current vehicle information and the first terminal position;

[0051] After confirming the position and direction, according to the matching mode, feedback will be given within 200ms whether there is a route at the current position. If there is a route, the track between the current vehicle position and the target position will be connected with a red line to represent the track. Before submitting the operation, real-time calculation of whether there is a route for the green-framed point is still maintained. If there is no route, it needs to turn gray; if there is a route after turning gray, it needs to turn back to green, that is, the status is represented by color.

[0052] Step S103, determining a first target driving route at least according to the curvature and curvature change rate of each of the first preset driving routes, wherein the curvature of the first preset driving route represents the curvature of the vehicle during driving along the first preset driving route.

[0053] In the above steps, when it is determined that the vehicle's movement mode is single-point movement, the automatic driving system generates multiple first preset driving routes based on the above current vehicle information and the above first terminal position, and determines the first target driving route at least based on the curvature and the curvature change rate of each of the above first preset driving routes. Compared with the existing scheme, the curvature and the curvature change rate of the preset driving route are taken into account, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the current existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency.

[0054] Step S103, i.e. determining the first target driving route at least according to the curvature and the curvature change rate of each of the above-mentioned first preset driving routes, has two specific embodiments;

[0055] The first specific embodiment takes into account the curvature and the curvature change rate:

[0056] When the curvature of the first preset driving route is within the preset curvature range, and the curvature change rate of the first preset driving route is within the preset curvature change rate range, determining the first target driving route to be the first preset driving route;

[0057] When the curvature of the first preset driving route is not within the preset curvature range and the curvature change rate of the first preset driving route is not within the preset curvature change rate range, the first preset driving route is determined to be a non-target driving route.

[0058] The second specific embodiment takes into account the curvature, curvature change rate and shift frequency:

[0059] When the curvature of the first preset driving route is within the preset curvature range, the curvature change rate of the first preset driving route is within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is within the preset gear shifting frequency range, determining that the first target driving route is the first preset driving route;

[0060] When the curvature of the first preset driving route is not within the preset curvature range, the curvature change rate of the first preset driving route is not within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is not within the preset gear shifting frequency range, the first preset driving route is determined to be a non-target driving route.

[0061] Specifically, since the second specific embodiment takes the gear shifting frequency into consideration more than the first specific embodiment, the first target driving route determined is a route that is easier for the vehicle to pass normally. The curvature is the steering angle of the steering wheel of the vehicle at each turn compared to before the turn. The curvature change rate is the change rate of the steering angle of the steering wheel. The gear shifting frequency is the total number of times the vehicle needs to switch to reverse gear when driving along the first preset driving route, that is, the number of reverse times.

[0062] The values ​​of the preset range of curvature change rate, the preset range of curvature, and the preset range of gear shift frequency are as follows:

[0063] The curvature change degree of the driving route is 0.05, that is, for every meter forward, the curvature change degree of the driving route is 5%, which is a relative change value. Any value less than this value is considered acceptable; if all route options are greater than this value or part of the route is greater than this value, then the one with the highest ratio of ≤0.05 is the best, that is, the preset range of curvature change rate and the value of the preset range of curvature can be set differently according to actual working conditions;

[0064] The gear shift frequency is 0, which means that there is no need to reverse when shifting gears. This also needs to be considered in combination with the route curvature. If the gear shift will make the entire route smooth, or only reversing can drive to the target location, then reversing will be allowed. Gear shifting does not require reversing, which means that the corresponding gear shift frequency preset range needs to be set according to the actual working conditions.

[0065] In one embodiment of the present application, when it is determined that the movement mode of the vehicle is multi-point movement, the method further includes:

[0066] Obtaining an intermediate point position and a second terminal position, and generating a plurality of second preset driving routes based on the automatic driving system according to the current vehicle information and the intermediate point position, wherein the intermediate point position represents a position point between the position of the vehicle and the second terminal position;

[0067] Specifically, the user can generate the intermediate point position by clicking on the touch screen. The autonomous driving system can generate the optimal driving route based on the pre-set starting and ending coordinates, map data and road condition information. The autonomous driving system will consider road conditions, traffic rules, and speed limits to ensure safe and efficient arrival at the destination. During driving, the autonomous driving system will make adjustments based on real-time traffic conditions to ensure the accuracy and smoothness of the route.

[0068] Determining a second target driving route at least according to the curvature and the curvature change rate of the second preset driving route;

[0069] The process is similar to the process of determining the first target driving route and will not be elaborated here.

[0070] In one embodiment of the present application, in the process of determining the second target driving route at least according to the curvature and the curvature change rate of the second preset driving route, the method further includes:

[0071] receiving and responding to a first preset operation, deleting the intermediate point position;

[0072] Get a new position of the above middle point;

[0073] Execute the processing steps again, the processing steps including determining the second target driving route at least based on the curvature and the curvature change rate of the second preset driving route, generating multiple third preset driving routes based on the automatic driving system according to the current vehicle information and the second terminal position, and determining the third target driving route at least based on the curvature and the curvature change rate of the third preset driving route.

[0074] Specifically, when the user performs the first preset operation, that is, interacts with the touch screen to delete the middle point position, the middle point position is deleted, and then interacts again to generate a new middle point position.

[0075] Based on the above-mentioned automatic driving system, generating a plurality of third preset driving routes according to the above-mentioned current vehicle information and the above-mentioned second terminal position;

[0076] The third target driving route is determined at least based on the curvature and the curvature change rate of the third preset driving route.

[0077] Specifically, the process is the same as that of determining the first target driving route, and will not be elaborated here.

[0078] In one embodiment of the present application, the current vehicle information further includes an initial vehicle bounding box, and the automatic driving system generates a plurality of first preset driving routes according to the current vehicle information and the first terminal position, including:

[0079] According to a preset enlargement width and a preset enlargement length, the initial vehicle enclosing frame is enlarged to obtain a current vehicle enclosing frame;

[0080] Based on the automatic driving system, a plurality of the first preset driving routes are generated according to the position of the vehicle, the front direction of the vehicle, the current vehicle bounding box and the first terminal position in the current vehicle information.

[0081] Specifically, the preset expansion width and the preset expansion length may both be 1 m. By expanding the initial vehicle bounding box, the generated plurality of first preset driving routes can ensure that the vehicle can pass safely without any scratches.

[0082] In one embodiment of the present application, after determining the first target driving route, the method further includes:

[0083] receiving and responding to a second preset operation, controlling the vehicle to travel using the first target travel route;

[0084] Receive and respond to a third preset operation, obtain a third destination position, generate multiple fourth preset driving routes based on the automatic driving system according to the above-mentioned current vehicle information and the above-mentioned third destination position, and determine a fourth target driving route based on at least the curvature and the curvature change rate of each of the above-mentioned fourth preset driving routes.

[0085] Specifically, after the target driving route is determined, a pop-up window is generated, and the content of the pop-up window is whether to adopt the target driving route to control the driving of the above-mentioned vehicle. When the user selects yes, the second preset operation is received and responded to, and the above-mentioned first target driving route is adopted to control the driving of the above-mentioned vehicle. When the user selects no, the third preset operation is received and responded to, and the third terminal position is obtained. Based on the automatic driving system, multiple fourth preset driving routes are generated according to the above-mentioned current vehicle information and the above-mentioned third terminal position, and the fourth target driving route is determined at least based on the curvature and the curvature change rate of each of the above-mentioned fourth preset driving routes.

[0086] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the autonomous driving route selection method of the present application will be described in detail below in combination with specific embodiments.

[0087] This embodiment relates to a specific method for selecting an automatic driving route. Figure 2 As shown, the following steps are included:

[0088] Get the current vehicle information, including the vehicle's location and the vehicle's front direction;

[0089] When it is determined that the movement mode of the vehicle is single-point movement, obtaining a first end point position;

[0090] According to a preset enlargement width and a preset enlargement length, the initial vehicle enclosing frame is enlarged to obtain a current vehicle enclosing frame;

[0091] Based on the automatic driving system, a plurality of first preset driving routes are generated according to the vehicle position, the vehicle head direction, the current vehicle bounding box and the first terminal position in the current vehicle information;

[0092] When the curvature of the first preset driving route is within the preset curvature range, the curvature change rate of the first preset driving route is within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is within the preset gear shifting frequency range, the first target driving route is determined to be the first preset driving route, and the curvature of the first preset driving route represents the curvature of the vehicle during the process of driving along the first preset driving route;

[0093] When the curvature of the first preset driving route is not within the preset curvature range, the curvature change rate of the first preset driving route is not within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is not within the preset gear shifting frequency range, the first preset driving route is determined to be a non-target driving route.

[0094] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0095] The embodiment of the present application also provides an automatic driving route selection device. It should be noted that the automatic driving route selection device of the embodiment of the present application can be used to execute the method for automatic driving route selection provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0096] The following is an introduction to the autonomous driving route selection device provided in an embodiment of the present application.

[0097] Figure 3 is a structural block diagram of an automatic driving route selection device provided according to an embodiment of the present application. Figure 3 As shown, the device comprises:

[0098] A first acquisition unit 31 is used to acquire current vehicle information, where the current vehicle information includes the location of the vehicle and the front direction of the vehicle;

[0099] A second acquisition unit 32 is used to acquire a first destination position when it is determined that the movement mode of the vehicle is single-point movement, and generate a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first destination position;

[0100] The first determination unit 33 is used to determine the first target driving route at least according to the curvature and curvature change rate of each of the above-mentioned first preset driving routes, and the curvature of the above-mentioned first preset driving routes represents the curvature of the above-mentioned vehicle during the process of driving along the above-mentioned first preset driving routes.

[0101] In the above-mentioned device, when it is determined that the vehicle's movement mode is single-point movement, based on the automatic driving system, multiple first preset driving routes are generated according to the above-mentioned current vehicle information and the above-mentioned first terminal position, and the first target driving route is determined at least according to the curvature and the curvature change rate of each of the above-mentioned first preset driving routes. Compared with the existing scheme, the curvature and the curvature change rate of the preset driving route are taken into account, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the current existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency.

[0102] In one embodiment of the present application, the first determining unit includes a first determining module and a second determining module.

[0103] The first determination module is used to determine that the first target driving route is the first preset driving route when the curvature of the first preset driving route is within the preset curvature range and the curvature change rate of the first preset driving route is within the preset curvature change rate range;

[0104] The second determination module is used to determine that the first preset driving route is a non-target driving route when the curvature of the first preset driving route is not within the preset curvature range and the curvature change rate of the first preset driving route is not within the preset curvature change rate range.

[0105] In one embodiment of the present application, the first determining unit includes a third determining module and a fourth determining module.

[0106] The third determination module is used to determine that the first target driving route is the first preset driving route when the curvature of the first preset driving route is within the preset curvature range, the curvature change rate of the first preset driving route is within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is within the preset gear shifting frequency range;

[0107] The fourth determination module is used to determine that the first preset driving route is a non-target driving route when the curvature of the first preset driving route is not within the preset curvature range, the curvature change rate of the first preset driving route is not within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is not within the preset gear shifting frequency range.

[0108] In one embodiment of the present application, the apparatus further includes a third obtaining unit, a second determining unit, a first processing unit and a third determining unit.

[0109] The third acquisition unit is used to acquire the intermediate point position and the second terminal position when it is determined that the movement mode of the vehicle is multi-point movement, and generate a plurality of second preset driving routes based on the automatic driving system according to the current vehicle information and the intermediate point position, wherein the intermediate point position represents a position point between the position of the vehicle and the second terminal position;

[0110] The second determination unit is used to determine the second target driving route according to at least the curvature and the curvature change rate of the second preset driving route;

[0111] The first processing unit is used to generate a plurality of third preset driving routes based on the automatic driving system according to the current vehicle information and the second terminal position;

[0112] The third determination unit is used to determine the third target driving route at least according to the curvature and the curvature change rate of the third preset driving route.

[0113] In one embodiment of the present application, the second determining unit includes a receiving module, an acquiring module and a first processing module.

[0114] The receiving module is used to receive and delete the intermediate point position in response to the first preset operation during the process of determining the second target driving route at least according to the curvature and the curvature change rate of the second preset driving route;

[0115] The acquisition module is used to obtain a new position of the above-mentioned intermediate point;

[0116] The first processing module is used to execute the processing steps again, and the above processing steps include determining the second target driving route at least based on the curvature and the curvature change rate of the above-mentioned second preset driving route, generating multiple third preset driving routes based on the above-mentioned automatic driving system according to the above-mentioned current vehicle information and the above-mentioned second terminal position, and determining the third target driving route at least based on the curvature and the curvature change rate of the above-mentioned third preset driving route.

[0117] In one embodiment of the present application, the current vehicle information further includes an initial vehicle bounding box, and the second acquisition unit includes a second processing module and a third processing module.

[0118] The second processing module is used to expand the initial vehicle enclosing frame according to a preset enlargement width and a preset enlargement length to obtain a current vehicle enclosing frame;

[0119] The third processing module is used to generate multiple first preset driving routes based on the automatic driving system according to the position of the vehicle in the current vehicle information, the front direction of the vehicle, the current vehicle bounding box and the first terminal position.

[0120] In one embodiment of the present application, the above-mentioned device further includes a first receiving unit and a second receiving unit.

[0121] The first receiving unit is used to receive and respond to a second preset operation after determining the first target driving route, and control the vehicle to drive using the first target driving route;

[0122] The second receiving unit is used to receive and respond to the third preset operation, obtain the third terminal position, generate multiple fourth preset driving routes based on the automatic driving system according to the above-mentioned current vehicle information and the above-mentioned third terminal position, and determine the fourth target driving route at least based on the curvature and curvature change rate of each of the above-mentioned fourth preset driving routes.

[0123] The above-mentioned automatic driving route selection device includes a processor and a memory, and the above-mentioned first acquisition unit, the first determination unit, the second determination unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0124] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's automatic driving system, resulting in low automatic driving control efficiency.

[0125] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0126] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the automatic driving route selection method.

[0127] An embodiment of the present invention provides a processor, which is used to run a program, wherein the automatic driving route selection method is executed when the program is running.

[0128] An embodiment of the present invention provides a device, the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements at least the following steps when executing the program: obtaining current vehicle information, the current vehicle information including the location of the vehicle and the direction of the front of the vehicle; obtaining the first terminal position when determining that the vehicle's movement mode is single-point movement, and generating multiple first preset driving routes based on the current vehicle information and the first terminal position based on the automatic driving system; determining the first target driving route based on at least the curvature and curvature change rate of each of the first preset driving routes, the curvature of the first preset driving route representing the curvature of the vehicle in the process of driving along the first preset driving route. The device in this article can be a server, PC, PAD, mobile phone, etc.

[0129] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with at least the following method steps: obtaining current vehicle information, the current vehicle information including the location of the vehicle and the direction of the front of the vehicle; when it is determined that the vehicle's movement mode is single-point movement, obtaining a first terminal position, and generating multiple first preset driving routes based on the automatic driving system according to the current vehicle information and the first terminal position; determining a first target driving route at least based on the curvature and curvature change rate of each of the first preset driving routes, the curvature of the first preset driving route representing the curvature of the vehicle during the process of driving along the first preset driving route.

[0130] The present application also provides an automatic driving route selection system, which includes: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for executing any of the above methods. In the case of determining that the vehicle's movement mode is single-point movement, based on the automatic driving system, multiple first preset driving routes are generated according to the current vehicle information and the first terminal position, and the first target driving route is determined at least according to the curvature and curvature change rate of each of the first preset driving routes. Compared with the existing scheme, the curvature and curvature change rate of the preset driving route are considered, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency.

[0131] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0132] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0133] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0134] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0136] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0137] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0138] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0139] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0140] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0141] 1) The automatic driving route selection method of the present application, when determining that the vehicle's movement mode is single-point movement, generates multiple first preset driving routes based on the automatic driving system according to the above-mentioned current vehicle information and the above-mentioned first terminal position, and determines the first target driving route at least according to the curvature and the curvature change rate of each of the above-mentioned first preset driving routes. Compared with the existing scheme, the curvature and curvature change rate of the preset driving route are taken into account, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the current existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency.

[0142] 2) The automatic driving route selection device of the present application, when determining that the vehicle's movement mode is single-point movement, generates multiple first preset driving routes based on the automatic driving system according to the above-mentioned current vehicle information and the above-mentioned first terminal position, and determines the first target driving route at least according to the curvature and the curvature change rate of each of the above-mentioned first preset driving routes. Compared with the existing scheme, the curvature and the curvature change rate of the preset driving route are taken into account, so that the reliability of the route generated by the present application is improved compared with the existing scheme, and the control efficiency of the automatic driving is improved, thereby solving the problem that the current existing scheme cannot make a more reasonable arrangement for the multiple predicted routes generated by the vehicle automatic driving system, resulting in low automatic driving control efficiency.

[0143] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic driving route selection method, characterized in that: include: Acquire current vehicle information, the current vehicle information including the location of the vehicle and the front direction of the vehicle; When it is determined that the movement mode of the vehicle is single-point movement, obtaining a first terminal position, and generating a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first terminal position; The first target driving route is determined at least according to the curvature and the curvature change rate of each of the first preset driving routes, and the curvature of the first preset driving route represents the curvature of the vehicle during the process of driving along the first preset driving route.

2. The method according to claim 1, characterized in that Determining a first target driving route at least according to the curvature and the curvature change rate of each of the first preset driving routes includes: When the curvature of the first preset driving route is within a preset curvature range, and the curvature change rate of the first preset driving route is within a preset curvature change rate range, determining that the first target driving route is the first preset driving route; When the curvature of the first preset driving route is not within the preset curvature range and the curvature change rate of the first preset driving route is not within the preset curvature change rate range, the first preset driving route is determined to be a non-target driving route.

3. The method according to claim 1, characterized in that Determining a first target driving route at least according to the curvature and the curvature change rate of each of the first preset driving routes includes: When the curvature of the first preset driving route is within a preset curvature range, the curvature change rate of the first preset driving route is within a preset curvature change rate range, and the gear shifting frequency of the first preset driving route is within a preset gear shifting frequency range, determining that the first target driving route is the first preset driving route; When the curvature of the first preset driving route is not within the preset curvature range, the curvature change rate of the first preset driving route is not within the preset curvature change rate range, and the gear shifting frequency of the first preset driving route is not within the preset gear shifting frequency range, the first preset driving route is determined to be a non-target driving route.

4. The method according to claim 1, characterized in that: When it is determined that the movement mode of the vehicle is multi-point movement, the method further includes: Acquire an intermediate point position and a second terminal position, and generate a plurality of second preset driving routes based on the automatic driving system according to the current vehicle information and the intermediate point position, wherein the intermediate point position represents a position point between the position of the vehicle and the second terminal position; determining a second target driving route based at least on the curvature and the curvature change rate of the second preset driving route; generating a plurality of third preset driving routes based on the automatic driving system according to the current vehicle information and the second destination position; The third target driving route is determined at least based on the curvature and the curvature change rate of the third preset driving route.

5. The method according to claim 4, characterized in that In the process of determining the second target driving route at least according to the curvature and the curvature change rate of the second preset driving route, the method further includes: receiving and deleting the intermediate point position in response to a first preset operation; Obtain a new position of the intermediate point; Execute the processing steps again, the processing steps including determining the second target driving route at least based on the curvature and the curvature change rate of the second preset driving route, generating multiple third preset driving routes based on the automatic driving system according to the current vehicle information and the second terminal position, and determining the third target driving route at least based on the curvature and the curvature change rate of the third preset driving route.

6. The method according to claim 1, characterized in that The current vehicle information also includes an initial vehicle bounding box, and the automatic driving system generates a plurality of first preset driving routes according to the current vehicle information and the first terminal position, including: Expanding the initial vehicle enclosing frame according to a preset expansion width and a preset expansion length to obtain a current vehicle enclosing frame; Based on the automatic driving system, a plurality of the first preset driving routes are generated according to the position of the vehicle, the front direction of the vehicle, the current vehicle bounding box and the first terminal position in the current vehicle information.

7. The method according to any one of claims 1 to 6, characterized in that After determining the first target driving route, the method further includes: receiving and responding to a second preset operation, controlling the vehicle to travel using the first target travel route; Receive and respond to a third preset operation, obtain a third destination position, generate multiple fourth preset driving routes based on the automatic driving system according to the current vehicle information and the third destination position, and determine a fourth target driving route based at least on the curvature and curvature change rate of each of the fourth preset driving routes.

8. An automatic driving route selection device, characterized in that: include: A first acquisition unit is used to acquire current vehicle information, wherein the current vehicle information includes a location of the vehicle and a front direction of the vehicle; A second acquisition unit is used to acquire a first terminal position when it is determined that the movement mode of the vehicle is single-point movement, and generate a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first terminal position; The first determination unit is used to determine a first target driving route at least based on the curvature and curvature change rate of each of the first preset driving routes, wherein the curvature of the first preset driving route represents the curvature of the vehicle during driving along the first preset driving route.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. An automatic driving route selection system, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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