Autonomous driving route selection method, device, medium and system

Abstract

The application provides an automatic driving route selection method, device, medium and system. In a case where the movement mode of a vehicle is single-point movement, a plurality of first preset driving routes are generated based on the current vehicle information and a first terminal position according to an automatic driving system, and a first target driving route is determined according to the curvature and the curvature change rate of each first preset driving route. Compared with the prior art, the curvature and the curvature change rate of the preset driving route are considered, so that the reliability of the route generated by the application is improved compared with the prior art, the control efficiency of automatic driving is improved, and the problem that the plurality of predicted route forms generated by the vehicle automatic driving system in the prior art cannot be reasonably arranged, thereby resulting in low automatic driving control efficiency is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to an automatic driving route selection method, device, medium and system. BACKGROUND

[0002] In the driving of an unmanned vehicle, when encountering an edge scene such as temporary road closure, road construction, sudden change of road environment such as detour, damage, etc. that cannot drive along the original route, the vehicle automatic driving system will stop driving for safety consideration and request remote assistance personnel to help the vehicle get out of trouble.

[0003] However, the existing scheme cannot reasonably arrange the multiple predicted form routes generated by the vehicle automatic driving system, thereby resulting in low automatic driving control efficiency. SUMMARY

[0004] The main purpose of the present application is to provide an automatic driving route selection method, device, medium and system to at least solve the problem that the existing scheme cannot reasonably arrange the multiple predicted form routes generated by the vehicle automatic driving system, thereby resulting in low automatic driving control efficiency.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, an automatic driving route selection method is provided, which comprises:

[0006] obtaining current vehicle information, the current vehicle information comprising a position where the vehicle is located and a vehicle head direction of the vehicle;

[0007] in a case where it is determined that the moving manner of the vehicle is single-point moving, obtaining a first terminal position, and based on the current vehicle information and the first terminal position, generating, by an automatic driving system, multiple first preset driving routes;

[0008] determining a first target driving route according to at least a size of a curvature and a curvature change rate of each of the first preset driving routes, the curvature of the first preset driving route representing a curvature of the vehicle in the process of driving along the first preset driving route.

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

[0010] in a case where 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 the first target driving route as the first preset driving route;

[0011] In a case where the curvature of the first preset driving route is not within the preset range of curvature and the curvature change rate of the first preset driving route is not within the preset range of curvature change rate, the first preset driving route is determined as a non-target driving route.

[0012] Optionally, the first target driving route is determined according to at least the curvature and the curvature change rate of each of the first preset driving routes.

[0013] In a case where the curvature of the first preset driving route is within the preset range of curvature, the curvature change rate of the first preset driving route is within the preset range of curvature change rate, and the shift frequency of the first preset driving route is within the preset range of shift frequency, the first target driving route is determined as the first preset driving route.

[0014] In a case where the curvature of the first preset driving route is not within the preset range of curvature, the curvature change rate of the first preset driving route is not within the preset range of curvature change rate, and the shift frequency of the first preset driving route is not within the preset range of shift frequency, the first preset driving route is determined as a non-target driving route.

[0015] Optionally, in a case where the movement mode of the vehicle is determined as multi-point movement, the method further comprises:

[0016] An intermediate point position and a second terminal point position are obtained, and a plurality of second preset driving routes are generated based on the automatic driving system according to the current vehicle information and the intermediate point position, the intermediate point position representing a position point between the position of the vehicle and the second terminal point position;

[0017] A second target driving route is determined according to at least the curvature and the curvature change rate of each of the second preset driving routes.

[0018] A plurality of third preset driving routes are generated based on the automatic driving system according to the current vehicle information and the second terminal point position;

[0019] A third target driving route is determined according to at least the curvature and the curvature change rate of each of the third preset driving routes.

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

[0021] The intermediate point position is deleted in response to a first preset operation.

[0022] A new intermediate point position is obtained.

[0023] The processing step is performed again, and the processing step includes determining a second target driving route according to at least the size of the curvature and the curvature change rate of the second preset driving route, and generating a plurality of third preset driving routes based on the automatic driving system according to the current vehicle information and the second end position, and determining a third target driving route according to at least the size of the curvature and the curvature change rate of the third preset driving route.

[0024] Optionally, the current vehicle information further includes an initial vehicle surrounding frame, and generating a plurality of first preset driving routes based on the automatic driving system according to the current vehicle information and the first end position includes:

[0025] According to a preset expansion width and a preset expansion length, the initial vehicle surrounding frame is expanded to obtain a current vehicle surrounding frame;

[0026] The automatic driving system generates a plurality of first preset driving routes according to the position of the vehicle in the current vehicle information, the heading of the vehicle, the current vehicle surrounding frame, and the first end position.

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

[0028] Receiving and responding to a second preset operation, the first target driving route is used to control the vehicle to travel;

[0029] Receiving and responding to a third preset operation, a third end position is obtained, and the automatic driving system generates a plurality of fourth preset driving routes according to the current vehicle information and the third end position, and determines a fourth target driving route according to at least the size of the curvature and the curvature change rate of each fourth preset driving route.

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

[0031] A first obtaining unit is configured to obtain current vehicle information, and the current vehicle information includes a position of a vehicle and a heading of the vehicle;

[0032] A second obtaining unit is configured to obtain a first end position in a case where the moving manner of the vehicle is single-point moving, and the automatic driving system generates a plurality of first preset driving routes according to the current vehicle information and the first end position;

[0033] A first determining unit is configured to determine a first target driving route according to at least the size of the curvature and the curvature change rate of each first preset driving route, and the curvature of the first preset driving route represents the curvature of the vehicle during traveling along the first preset driving route.

[0034] According to another aspect of the present application, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein the computer-readable storage medium is caused to perform any of the methods described when the program is run.

[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 configured to be executed by the one or more processors, and the one or more programs comprise instructions for performing any of the methods described.

[0036] The technical solution of the present application is used to determine the movement mode of the vehicle as single-point movement, and based on the current vehicle information and the first terminal position, the autonomous driving system generates a plurality of first preset driving routes, and at least according to the curvature and curvature change rate of each first preset driving route, a first target driving route is determined. Compared with the prior art, 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 prior art, and the control efficiency of autonomous driving is improved, thereby solving the problem that the plurality of predicted route lines generated by the vehicle autonomous driving system in the prior art cannot be reasonably arranged, thereby causing the control efficiency of autonomous driving to be low. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings accompanying the specification of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof 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 flowchart of an autonomous driving route selection method according to an embodiment of the present application is shown;

[0039] Figure 2 A flowchart of another autonomous driving route selection method according to an embodiment of the present application is shown;

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

[0041] It should be noted that the embodiments and features in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0042] In order to better understand the present application by those skilled in the art, 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 a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present 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 do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] As introduced in the background, when an unmanned vehicle is driving, when encountering edge scenes such as temporary road closure, road construction, sudden change of road environment such as detour, damage, etc. and cannot drive along the original route, the vehicle automatic driving system will stop driving for safety consideration and request remote assistance personnel to help the vehicle get out of trouble. In order to solve the problem that the existing scheme cannot make a more reasonable arrangement for the multiple predicted forms of routes generated by the vehicle automatic driving system, thereby 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 application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

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

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

[0048] Step S101: Obtain current vehicle information, including the vehicle's location and the direction the vehicle is facing.

[0049] In the interactive options, select fuzzy matching or precise matching. Fuzzy matching is the default; users can choose between fuzzy and precise matching by interacting with the touchscreen. During point selection, the allowed lateral, longitudinal, and angular errors of the target point (i.e., the vehicle's location) are determined, and feedback is provided on whether a route exists. Under fuzzy matching, a longitudinal deviation of 2.5 meters, a lateral deviation of 1 meter, and a frontal angle of 10 degrees are allowed between the actual vehicle route and the target point, suitable for common obstacle avoidance situations. Under precise matching, only a lateral deviation of 40 centimeters, a longitudinal deviation of 1 meter, and a frontal angle of 4 degrees are allowed. This is suitable for situations requiring precise target positioning, such as stopping between two objects or driving close to an edge.

[0050] Step S102: If the vehicle's movement mode is determined to be single-point movement, the first destination position is obtained, and multiple first preset driving routes are generated based on the current vehicle information and the first destination position by the autonomous driving system.

[0051] After confirming the location and direction, based on the matching mode, feedback is given within 200ms whether there is a route at the current location. If there is a route, the trajectory between the current vehicle location and the target location should be connected with a red line. Before submitting the operation, the system continues to calculate in real time whether there is a route at the points already in the green box. If the points change to no route, they need to be turned gray; if a route appears after the points turn gray, they need to be turned back to green. In other words, the status is represented by color.

[0052] Step S103: Determine a first target driving route based at least on the curvature and rate of change of curvature of each of the first preset driving routes. The curvature of the first preset driving route represents the curvature of the vehicle during its journey along the first preset driving route.

[0053] In the above steps, when the vehicle's movement mode is determined to be single-point movement, the autonomous driving system generates multiple first preset driving routes based on the current vehicle information and the first destination position. Furthermore, the first target driving route is determined based at least on the curvature and rate of curvature change of each of the first preset driving routes. Compared to existing solutions, this approach considers the curvature and rate of curvature change of the preset driving routes, thereby improving the reliability of the routes generated by this application and enhancing the control efficiency of autonomous driving. This solves the problem that existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

[0054] Step S103, namely, determining the first target driving route based at least on the curvature and rate of change of curvature of each of the aforementioned first preset driving routes, has two specific embodiments;

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

[0056] If the curvature of the first preset driving route is within the curvature preset range, and the curvature change rate of the first preset driving route is within the curvature change rate preset range, then the first target driving route is determined to be the first preset driving route.

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

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

[0059] If the curvature of the first preset driving route is within the curvature preset range, the curvature change rate of the first preset driving route is within the curvature change rate preset range, and the shift frequency of the first preset driving route is within the shift frequency preset range, then the first target driving route is determined to be the first preset driving route.

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

[0061] Specifically, since the second embodiment takes into account the shift frequency more than the first embodiment, the determined first target driving route is a route that is easier for the vehicle to pass through normally. Curvature is the steering angle of the steering wheel when the vehicle turns each time compared to before the turn. The rate of change of curvature is the rate of change of the steering angle of the steering wheel. The shift frequency is the number of reverse gears that the vehicle needs to switch when driving along the first preset driving route, i.e., the number of reverse times.

[0062] Values ​​for the preset ranges of curvature change rate, curvature, and shift frequency:

[0063] The curvature change rate of the driving route is 0.05, meaning that for every meter of forward travel, the curvature of the driving route changes by 5%, which is a relative change value. Values ​​less than this are considered acceptable. If all route selections exceed this value or some paths exceed this value, then the option with the highest proportion of values ​​≤0.05 is considered optimal. In other words, the preset range of curvature change rate and the value of the preset curvature range can be set differently according to actual working conditions.

[0064] The shift frequency is set to 0, meaning no reversing is required. This also needs to be considered in conjunction with the curvature of the route. If shifting would make the entire route smoother, or if only reversing is possible to reach the target location, then reversing will be allowed. Shifting without reversing means that the corresponding preset range of shift frequency needs to be set according to the actual working conditions.

[0065] In one embodiment of this application, when the vehicle's movement mode is determined to be multi-point movement, the above method further includes:

[0066] The system obtains the intermediate point position and the second endpoint position, and generates multiple second preset driving routes based on the current vehicle information and the intermediate point position. The intermediate point position represents the position point between the vehicle's current position and the second endpoint position.

[0067] Specifically, the intermediate point can be generated by the user via a touchscreen. The autonomous driving system can then generate the optimal route based on pre-set start and end coordinates, using map data and road condition information. The system considers road conditions, traffic rules, and speed limits to ensure safe and efficient arrival at the destination. During the journey, the system adjusts its route based on real-time traffic conditions to guarantee accuracy and smooth traffic flow.

[0068] The second target driving route is determined at least based on the curvature and rate of change of curvature of the second preset driving route.

[0069] The process is similar to determining the route to the first target, so it will not be repeated here.

[0070] In one embodiment of this application, in determining the second target driving route based at least on the curvature and rate of change of curvature of the second preset driving route, the method further includes:

[0071] Receive and respond to the first preset operation, delete the aforementioned intermediate point position;

[0072] Obtain a new position for the aforementioned intermediate point;

[0073] The processing steps are executed again. The above processing steps include determining a second target driving route based at least on the curvature and curvature change rate of the second preset driving route, generating multiple third preset driving routes based on the current vehicle information and the second endpoint position of the autonomous driving system, and determining a third target driving route based at least on the curvature and 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 midpoint position, the midpoint position is deleted, and then the interaction is performed again to generate a new midpoint position.

[0075] Based on the aforementioned autonomous driving system, multiple third preset driving routes are generated according to the aforementioned current vehicle information and the aforementioned second destination location;

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

[0077] Specifically, the process is similar to determining the route to the first target, and will not be repeated here.

[0078] In one embodiment of this application, the aforementioned current vehicle information further includes an initial vehicle bounding box. Based on the aforementioned current vehicle information and the aforementioned first destination location, the autonomous driving system generates multiple first preset driving routes, including:

[0079] Based on the preset expansion width and preset expansion length, the initial vehicle bounding box is expanded to obtain the current vehicle bounding box;

[0080] Based on the location of the vehicle, the direction the vehicle is facing, the current vehicle bounding box, and the first destination location in the above-mentioned current vehicle information, the autonomous driving system generates multiple of the above-mentioned first preset driving routes.

[0081] Specifically, the preset expansion width and preset expansion length can both be 1m. By expanding the initial vehicle enclosure, the generated multiple first preset driving routes can ensure that the vehicle can pass safely without collisions.

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

[0083] Receive and respond to the second preset operation, and control the vehicle to drive using the first target driving route;

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

[0085] Specifically, after determining the target driving route, a pop-up window is generated, indicating whether the target driving route should be used to control the vehicle's driving. If the user selects "yes," a second preset operation is received and responded to, using the first target driving route to control the vehicle's driving. If the user selects "no," a third preset operation is received and responded to, obtaining the third destination location. Based on the current vehicle information and the third destination location, the autonomous driving system generates multiple fourth preset driving routes, and at least based on the curvature and rate of curvature change of each of the fourth preset driving routes, the fourth target driving route is determined.

[0086] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the autonomous driving route selection method of this application will be described in detail below with reference to specific embodiments.

[0087] This embodiment relates to a specific method for autonomous driving route selection, such as... Figure 2 As shown, it includes the following steps:

[0088] Obtain current vehicle information, including the vehicle's location and the direction the vehicle is facing.

[0089] Given that the vehicle's movement is determined to be single-point movement, obtain the first endpoint position;

[0090] Expand the initial vehicle bounding box according to the preset expansion width and preset expansion length to obtain the current vehicle bounding box;

[0091] Based on the current vehicle information, the autonomous driving system generates multiple first preset driving routes according to the vehicle's current location, the vehicle's facing direction, the current vehicle bounding box, and the first destination location.

[0092] When the curvature of the first preset driving route is within the curvature preset range, the rate of change of curvature of the first preset driving route is within the curvature change rate preset range, and the shift frequency of the first preset driving route is within the shift frequency preset range, the first target driving route is determined as the first preset driving route. 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] If the curvature of the first preset driving route is not within the preset curvature range, the rate of change of curvature of the first preset driving route is not within the preset rate of change of curvature range, and the shift frequency of the first preset driving route is not within the preset shift frequency range, then 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 flowchart in 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 may be executed in a different order than that shown here.

[0095] This application also provides an autonomous driving route selection device. It should be noted that the autonomous driving route selection device of this application can be used to execute the autonomous driving route selection method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0096] The following describes the autonomous driving route selection device provided in the embodiments of this application.

[0097] Figure 3 This is a structural block diagram of an autonomous driving route selection device according to an embodiment of this application. Figure 3 As shown, the device includes:

[0098] The first acquisition unit 31 is used to acquire current vehicle information, including the vehicle's location and the vehicle's front orientation.

[0099] The second acquisition unit 32 is used to acquire the first destination position when the vehicle's movement mode is determined to be single-point movement, and to generate multiple first preset driving routes based on the current vehicle information and the first destination position of the autonomous driving system.

[0100] The first determining unit 33 is used to determine a first target driving route based at least on the curvature and the rate of change of curvature of each of the first preset driving routes, wherein 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.

[0101] In the aforementioned device, when the vehicle's movement mode is determined to be single-point movement, the autonomous driving system generates multiple first preset driving routes based on the current vehicle information and the first destination position. Furthermore, it determines the first target driving route based at least on the curvature and rate of curvature change of each of the first preset driving routes. Compared to existing solutions, this approach considers the curvature and rate of curvature change of the preset driving routes, thereby improving the reliability of the routes generated by this application and enhancing the control efficiency of autonomous driving. This solves the problem that existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

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

[0103] The first determining module is used to determine the first target driving route as the first preset driving route when the curvature of the first preset driving route is within the curvature preset range and the curvature change rate of the first preset driving route is within the curvature change rate preset range.

[0104] The second determining 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 this application, the first determining unit includes a third determining module and a fourth determining module.

[0106] The third determining module is used to determine the first target driving route as the first preset driving route when the curvature of the first preset driving route is within the curvature preset range, the curvature change rate of the first preset driving route is within the curvature change rate preset range, and the shift frequency of the first preset driving route is within the shift frequency preset range.

[0107] The fourth determining 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 rate of change of curvature of the first preset driving route is not within the preset rate of change of curvature range, and the shifting frequency of the first preset driving route is not within the preset shifting frequency range.

[0108] In one embodiment of this application, the above-described apparatus further includes a third acquisition unit, a second determination unit, a first processing unit, and a third determination unit.

[0109] The third acquisition unit is used to acquire the intermediate point position and the second endpoint position when it is determined that the vehicle's movement mode is multi-point movement. Based on the above-mentioned autonomous driving system, multiple second preset driving routes are generated according to the above-mentioned current vehicle information and the above-mentioned intermediate point position. The above-mentioned intermediate point position represents the position point between the position of the above-mentioned vehicle and the above-mentioned second endpoint position.

[0110] The second determining unit is used to determine the second target driving route based at least on the magnitude of the curvature and the rate of change of curvature of the second preset driving route.

[0111] The first processing unit is used to generate multiple third preset driving routes based on the above-mentioned autonomous driving system according to the above-mentioned current vehicle information and the above-mentioned second destination location;

[0112] The third determining unit is used to determine the third target driving route based at least on the curvature and rate of change of curvature of the aforementioned third preset driving route.

[0113] In one embodiment of this 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 respond to the first preset operation, and delete the intermediate point position, during the process of determining the second target driving route based at least on the curvature and rate of change of curvature of the second preset driving route.

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

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

[0117] In one embodiment of this application, the aforementioned 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 bounding box according to the preset expansion width and preset expansion length to obtain the current vehicle bounding box;

[0119] The third processing module is used to generate multiple first preset driving routes based on the autonomous driving system according to the vehicle's location, the vehicle's orientation, the current vehicle bounding box, and the first destination location in the current vehicle information.

[0120] In one embodiment of this application, the above-described apparatus further includes a first receiving unit and a second receiving unit.

[0121] The first receiving unit is used to receive and respond to the 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 destination position, generate multiple fourth preset driving routes based on the current vehicle information and the third destination position of the autonomous driving system, and determine the fourth target driving route based at least on the curvature and curvature change rate of each of the above-mentioned fourth preset driving routes.

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

[0124] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting kernel parameters, the current solutions for autonomous driving systems cannot make reasonable arrangements for multiple predicted routes generated by the system, resulting in low efficiency in autonomous driving control.

[0125] The memory may include non-permanent memory in computer-readable media, such as 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] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the autonomous driving route selection method.

[0127] This invention provides a processor for running a program, wherein the program executes the autonomous driving route selection method.

[0128] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: acquiring current vehicle information, including the vehicle's current position and its facing direction; if the vehicle's movement is determined to be single-point movement, acquiring a first destination position; and generating multiple first preset driving routes based on the current vehicle information and the first destination position using an autonomous driving system; and determining a first target driving route based at least on the curvature and rate of change of curvature of each of the first preset driving routes, wherein the curvature of the first preset driving route represents the curvature of the vehicle while traveling along the first preset driving route. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0129] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: obtaining current vehicle information, the current vehicle information including the vehicle's position and the vehicle's heading; if it is determined that the vehicle's movement mode is single-point movement, obtaining a first destination position; and generating multiple first preset driving routes based on the current vehicle information and the first destination position using an autonomous driving system; and determining a first target driving route based at least on the curvature and rate of change of curvature of each of the first preset driving routes, wherein the curvature of the first preset driving route characterizes the curvature of the vehicle during its travel along the first preset driving route.

[0130] This application also provides an autonomous driving route selection 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 configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the above-described methods. When the vehicle's movement mode is determined to be single-point movement, the autonomous driving system generates multiple first preset driving routes based on the current vehicle information and the first destination position, and determines a first target driving route based at least on the curvature and rate of curvature change of each of the first preset driving routes. Compared to existing solutions, this application considers the curvature and rate of curvature change of the preset driving routes, thereby improving the reliability of the routes generated by this application and increasing the control efficiency of autonomous driving. This solves the problem that existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

[0131] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0132] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process.Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0138] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0139] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0140] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0141] 1) The autonomous driving route selection method of this application, when the vehicle's movement mode is determined to be single-point movement, generates multiple first preset driving routes based on the current vehicle information and the first destination position of the autonomous driving system, and determines the first target driving route based at least on the curvature and curvature change rate of each of the first preset driving routes. Compared with the existing solutions, this method considers the curvature and curvature change rate of the preset driving routes, thereby improving the reliability of the routes generated by this application and improving the control efficiency of autonomous driving. This solves the problem that the existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

[0142] 2) The autonomous driving route selection device of this application, when determining that the vehicle's movement mode is single-point movement, generates multiple first preset driving routes based on the current vehicle information and the first destination position of the autonomous driving system, and determines the first target driving route based at least on the curvature and curvature change rate of each of the first preset driving routes. Compared with the existing solutions, this application considers the curvature and curvature change rate of the preset driving routes, thereby improving the reliability of the routes generated by this application and improving the control efficiency of autonomous driving. This solves the problem that the existing solutions cannot make reasonable arrangements for the multiple predicted routes generated by the vehicle's autonomous driving system, resulting in low autonomous driving control efficiency.

[0143] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An autonomous driving route selection method, characterized in that, include: Obtain current vehicle information, including the vehicle's current location and the direction the vehicle is facing; If the vehicle's movement mode is determined to be single-point movement, the first destination position is obtained, and the autonomous driving system generates multiple first preset driving routes based on the current vehicle information and the first destination position. A first target driving route is determined based at least on the curvature and rate of change of curvature of each of the first preset driving routes, wherein the curvature of the first preset driving route represents the curvature of the vehicle during its journey along the first preset driving route. When the vehicle's movement mode is determined to be multi-point movement, the method further includes: obtaining intermediate point positions and second endpoint positions; generating multiple second preset driving routes based on the current vehicle information and the intermediate point positions, wherein the intermediate point positions represent positions between the vehicle's current position and the second endpoint positions; determining a second target driving route based at least on the curvature and rate of curvature change of the second preset driving routes; generating multiple third preset driving routes based on the current vehicle information and the second endpoint positions; and determining a third target driving route based at least on the curvature and rate of curvature change of the third preset driving routes. In the process of determining the second target driving route based at least on the curvature and rate of curvature change of the second preset driving route, the method further includes: receiving and responding to a first preset operation to delete the intermediate point position; obtaining a new intermediate point position; and performing the processing steps again, the processing steps including determining the second target driving route based at least on the curvature and rate of curvature change of the second preset driving route, generating multiple third preset driving routes based on the current vehicle information and the second endpoint position by the autonomous driving system, and determining the third target driving route based at least on the curvature and rate of curvature change of the third preset driving routes.

2. The method according to claim 1, characterized in that, Determining the first target driving route based at least on the magnitude of the curvature and rate of change of curvature of each of the first preset driving routes includes: If the curvature of the first preset driving route is within the curvature preset range, and the curvature change rate of the first preset driving route is within the curvature change rate preset range, then the first target driving route is determined to be the first preset driving route. If the curvature of the first preset driving route is not within the preset curvature range, and the rate of change of curvature of the first preset driving route is not within the preset rate of change of curvature range, then 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 the first target driving route based at least on the magnitude of the curvature and rate of change of curvature of each of the first preset driving routes includes: If the curvature of the first preset driving route is within the curvature preset range, the rate of change of curvature of the first preset driving route is within the rate of change of curvature preset range, and the shifting frequency of the first preset driving route is within the shifting frequency preset range, then the first target driving route is determined to be the first preset driving route. If the curvature of the first preset driving route is not within the preset curvature range, the rate of change of curvature of the first preset driving route is not within the preset rate of change of curvature range, and the shift frequency of the first preset driving route is not within the preset shift frequency range, then the first preset driving route is determined to be a non-target driving route.

4. The method according to claim 1, characterized in that, The current vehicle information also includes an initial vehicle bounding box. Based on the current vehicle information and the first destination location, the autonomous driving system generates multiple first preset driving routes, including: The initial vehicle bounding box is expanded according to the preset expansion width and preset expansion length to obtain the current vehicle bounding box; Based on the current vehicle information, the autonomous driving system generates multiple first preset driving routes according to the vehicle's location, the vehicle's orientation, the current vehicle bounding box, and the first destination location.

5. The method according to any one of claims 1 to 4, characterized in that, After determining the first target driving route, the method further includes: Receive and respond to the second preset operation, and control the vehicle to drive using the first target driving route; Receive and respond to the third preset operation, obtain the third destination position, generate multiple fourth preset driving routes based on the current vehicle information and the third destination position, and determine the fourth target driving route based at least on the curvature and curvature change rate of each of the fourth preset driving routes.

6. An autonomous driving route selection device, characterized in that, include: The first acquisition unit is used to acquire current vehicle information, which includes the vehicle's location and the direction the vehicle is facing. The second acquisition unit is used to acquire the first destination position when the vehicle's movement mode is determined to be single-point movement, and to generate multiple first preset driving routes based on the current vehicle information and the first destination position by the autonomous driving system. The first determining unit is configured to determine a first target driving route based at least on the magnitude of the curvature and the rate of change of curvature of each of the first preset driving routes, wherein the curvature of the first preset driving route characterizes the curvature of the vehicle during the process of driving along the first preset driving route. The autonomous driving route selection device further includes a third acquisition unit, a second determination unit, a first processing unit, and a third determination unit. The third acquisition unit is used to acquire the intermediate point position and the second endpoint position when the vehicle's movement mode is determined to be multi-point movement. Based on the autonomous driving system, multiple second preset driving routes are generated according to the current vehicle information and the intermediate point position. The intermediate point position represents the position point between the vehicle's current position and the second endpoint position. The second determining unit is used to determine the second target driving route based at least on the curvature and the rate of change of curvature of the second preset driving route; the first processing unit is used to generate multiple third preset driving routes based on the current vehicle information and the second destination position of the autonomous driving system. The third determining unit is used to determine the third target driving route based at least on the magnitude of the curvature and the rate of change of curvature of the third preset driving route; The second determining unit includes a receiving module, an acquiring module, and a first processing module. The receiving module is used to receive and respond to a first preset operation to delete the intermediate point position during the process of determining the second target driving route based at least on the curvature and rate of curvature change of the second preset driving route. The acquiring module is used to acquire a new intermediate point position. The first processing module is used to execute the processing steps again. The processing steps include determining the second target driving route based at least on the curvature and rate of curvature change of the second preset driving route, generating multiple third preset driving routes based on the current vehicle information and the second endpoint position by the autonomous driving system, and determining the third target driving route based at least on the curvature and rate of curvature change of the third preset driving routes.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 5.

8. An autonomous 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 configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 5.

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