Method and device for automatically planning path in vehicle driving process

Abstract

The invention relates to the technical field of vehicle control, and particularly discloses a method and device for automatically planning a path in a vehicle driving process, and the method comprises the steps: determining the coordinates of a target actual position where a vehicle needs to drive based on the collected current actual position coordinates of the vehicle and the current driving item of the vehicle; the method can improve the determination accuracy of the coordinates of the target actual position where the vehicle needs to run, generates the path planning curve of the vehicle according to the coordinates of the current actual position of the vehicle and the coordinates of the target actual position of the vehicle, and automatically drives the vehicle when it is judged that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle. If the minimum turning radius limit is met, the automatic driving data of the vehicle is generated according to the path planning curve, the generation accuracy of the automatic driving data of the vehicle can be improved, the accuracy of automatic driving planning of the vehicle can be improved, and therefore the convenience and safety of vehicle teaching are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method and device for automatically planning a path during vehicle driving. Background Art

[0002] Existing driving training subjects, whether it is subject two or subject three, need to be taught at checkpoints and must be accompanied by an instructor. When the student is unable to complete the current operation, the instructor will get off the car and go to the main driver's seat or operate the vehicle from the co-pilot seat to complete it. However, this teaching method is inconvenient to operate and may even endanger safety.

[0003] Therefore, it is urgent to propose a new vehicle teaching method to improve the convenience and safety of vehicle teaching. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for automatically planning a path during vehicle driving, which can improve the convenience and safety of vehicle teaching.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for automatically planning a path during vehicle driving, the method comprising:

[0006] Collecting current state parameters of the vehicle, wherein the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle;

[0007] Determining the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle;

[0008] Generating a path planning curve for the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle;

[0009] Determining whether the generated path planning curve satisfies a predetermined automatic driving condition of the vehicle, and when the determination result is yes, generating automatic driving data of the vehicle according to the path planning curve, wherein the automatic driving data of the vehicle is used for the vehicle to perform an automatic driving operation;

[0010] Among them, the automatic driving conditions of the vehicle include a predetermined minimum turning radius condition corresponding to the vehicle and a reservoir edge obstruction condition or a line-crossing condition of the driving item in which the vehicle is currently located.

[0011] As an optional implementation manner, in the first aspect of the present invention, determining the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle includes:

[0012] Acquiring a project map matching the driving project currently in which the vehicle is located from a predetermined map database;

[0013] Determine a local map corresponding to the current actual position coordinates of the vehicle according to the project map corresponding to the vehicle and the current actual position coordinates of the vehicle, the project map corresponding to the vehicle being larger than the local map corresponding to the vehicle;

[0014] Determine the coordinate origin of the local map corresponding to the vehicle according to the local map corresponding to the vehicle, and convert the current actual position coordinates of the vehicle into the current virtual position coordinates of the same coordinate system as the local map based on the coordinate origin of the local map corresponding to the vehicle;

[0015] The actual position coordinates of the target to which the vehicle needs to travel are determined according to the current virtual position coordinates of the vehicle and the local map.

[0016] As an optional implementation, in the first aspect of the present invention, determining the actual position coordinates of the target to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle and the local map includes:

[0017] Determining, in the local map, target virtual position coordinates to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle;

[0018] Based on the coordinate origin of the local map corresponding to the vehicle, the target virtual position coordinates of the vehicle are converted into actual position coordinates in the same coordinate system as the current actual position coordinates of the vehicle as the target actual position coordinates to which the vehicle needs to travel.

[0019] As an optional implementation, in the first aspect of the present invention, determining the target virtual position coordinates to which the vehicle needs to travel in the local map according to the current virtual position coordinates of the vehicle includes:

[0020] Collecting environmental data of the vehicle in an actual environment according to the current actual position coordinates of the vehicle;

[0021] The collected environmental data is divided into first environmental data and second environmental data with the current actual position coordinates of the vehicle as a dividing point, wherein the first environmental data is environmental data of an area that the vehicle has traveled in the current driving project of the vehicle, and the second environmental data is environmental data of an area that the vehicle will need to travel in the current driving project of the vehicle;

[0022] The first environmental data and the second environmental data are analyzed to obtain an environmental analysis result, and based on the environmental analysis result, the coordinates of the target virtual position to which the vehicle needs to travel are determined in the local map.

[0023] As an optional implementation, in the first aspect of the present invention, the determining whether the generated path planning curve satisfies a predetermined automatic driving condition of the vehicle includes:

[0024] Calculating the minimum turning radius of the path planning curve, and determining whether the minimum turning radius of the path planning curve is greater than or equal to a predetermined minimum turning radius corresponding to the vehicle;

[0025] When it is determined that the minimum turning radius of the path planning curve is greater than or equal to the minimum turning radius corresponding to the vehicle, it is determined whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the vehicle traveling along the path planning curve;

[0026] When the judgment result is yes, it is determined that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle.

[0027] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0028] When it is determined that the minimum turning radius of the path planning curve is smaller than the minimum turning radius corresponding to the vehicle, calculating the radius difference between the minimum turning radius corresponding to the vehicle and the minimum turning radius of the path planning curve;

[0029] The path planning curve is corrected according to the radius difference to obtain the corrected path planning curve, and the operation of judging whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item where the vehicle is located or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item where the vehicle is located during the driving of the vehicle along the path planning curve is triggered.

[0030] As an optional implementation, in the first aspect of the present invention, generating the path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle includes:

[0031] Determining a path planning order for performing path planning calculation according to the current actual position coordinates of the vehicle and the current driving item of the vehicle;

[0032] A polynomial path planning calculation operation of the path planning order is performed on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle to obtain a path planning curve of the vehicle.

[0033] A second aspect of the present invention discloses a device for automatically planning a path during vehicle travel, the device comprising:

[0034] A collection module, used for collecting current state parameters of the vehicle, wherein the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle;

[0035] A determination module, used to determine the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle;

[0036] A generating module, used for generating a path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle;

[0037] A judgment module, used to judge whether the generated path planning curve meets the predetermined automatic driving condition of the vehicle;

[0038] The generating module is further configured to generate the autonomous driving data of the vehicle according to the path planning curve when the result of the determination is yes, wherein the autonomous driving data of the vehicle is used for the vehicle to perform the autonomous driving operation;

[0039] Among them, the automatic driving conditions of the vehicle include a predetermined minimum turning radius condition corresponding to the vehicle and a reservoir edge obstruction condition or a line-crossing condition of the driving item in which the vehicle is currently located.

[0040] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle includes:

[0041] Acquiring a project map matching the driving project currently in which the vehicle is located from a predetermined map database;

[0042] Determine a local map corresponding to the current actual position coordinates of the vehicle according to the project map corresponding to the vehicle and the current actual position coordinates of the vehicle, the project map corresponding to the vehicle being larger than the local map corresponding to the vehicle;

[0043] Determine the coordinate origin of the local map corresponding to the vehicle according to the local map corresponding to the vehicle, and convert the current actual position coordinates of the vehicle into the current virtual position coordinates of the same coordinate system as the local map based on the coordinate origin of the local map corresponding to the vehicle;

[0044] The actual position coordinates of the target to which the vehicle needs to travel are determined according to the current virtual position coordinates of the vehicle and the local map.

[0045] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the actual position coordinates of the target to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle and the local map includes:

[0046] Determining, in the local map, target virtual position coordinates to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle;

[0047] Based on the coordinate origin of the local map corresponding to the vehicle, the target virtual position coordinates of the vehicle are converted into actual position coordinates in the same coordinate system as the current actual position coordinates of the vehicle as the target actual position coordinates to which the vehicle needs to travel.

[0048] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the target virtual position coordinates to which the vehicle needs to travel in the local map according to the current virtual position coordinates of the vehicle includes:

[0049] Collecting environmental data of the vehicle in an actual environment according to the current actual position coordinates of the vehicle;

[0050] The collected environmental data is divided into first environmental data and second environmental data with the current actual position coordinates of the vehicle as a dividing point, wherein the first environmental data is environmental data of an area that the vehicle has traveled in the current driving project of the vehicle, and the second environmental data is environmental data of an area that the vehicle will need to travel in the current driving project of the vehicle;

[0051] The first environmental data and the second environmental data are analyzed to obtain an environmental analysis result, and based on the environmental analysis result, the coordinates of the target virtual position to which the vehicle needs to travel are determined in the local map.

[0052] As an optional implementation, in the second aspect of the present invention, the specific manner in which the judgment module judges whether the generated path planning curve meets the predetermined automatic driving condition of the vehicle includes:

[0053] Calculating the minimum turning radius of the path planning curve, and determining whether the minimum turning radius of the path planning curve is greater than or equal to a predetermined minimum turning radius corresponding to the vehicle;

[0054] When it is determined that the minimum turning radius of the path planning curve is greater than or equal to the minimum turning radius corresponding to the vehicle, it is determined whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the vehicle traveling along the path planning curve;

[0055] When the judgment result is yes, it is determined that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle.

[0056] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0057] a calculation module, configured to calculate a radius difference between the minimum turning radius corresponding to the vehicle and the minimum turning radius of the path planning curve when it is determined that the minimum turning radius of the path planning curve is smaller than the minimum turning radius corresponding to the vehicle;

[0058] A correction module is used to correct the path planning curve according to the radius difference to obtain the corrected path planning curve, and trigger the judgment module to execute the operation of judging whether the body of the vehicle will not cover the edge of the library of the driving item currently located by the vehicle or whether the wheels of the vehicle will not press the edge of the library of the driving item currently located by the vehicle during the process of the vehicle traveling along the path planning curve.

[0059] As an optional implementation, in the second aspect of the present invention, the specific manner in which the generation module generates the path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle includes:

[0060] Determining a path planning order for performing path planning calculation according to the current actual position coordinates of the vehicle and the current driving item of the vehicle;

[0061] A polynomial path planning calculation operation of the path planning order is performed on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle to obtain a path planning curve of the vehicle.

[0062] The third aspect of the present invention discloses another device for automatically planning a path during vehicle driving, the device comprising:

[0063] A memory storing executable program code;

[0064] a processor coupled to the memory;

[0065] The processor calls the executable program code stored in the memory to execute the method for automatically planning a path during vehicle driving disclosed in the first aspect of the present invention.

[0066] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the method for automatically planning a path during vehicle driving disclosed in the first aspect of the present invention.

[0067] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0068] In an embodiment of the present invention, the target actual position coordinates to which the vehicle needs to travel are determined based on the collected current actual position coordinates of the vehicle and the driving item to which the vehicle is currently located, which can improve the accuracy of determining the target actual position coordinates to which the vehicle needs to travel, and generate a path planning curve for the vehicle based on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle. When it is judged that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle, such as meeting the minimum turning radius limit, etc., the automatic driving data of the vehicle is generated according to the path planning curve, which can improve the accuracy of generating the automatic driving data of the vehicle, which is conducive to improving the accuracy of the vehicle's automatic driving planning, thereby improving the convenience and safety of vehicle teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0070] Figure 1 It is a flow chart of a method for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention;

[0071] Figure 2 It is a schematic diagram of a path planning for reversing into a garage disclosed in an embodiment of the present invention;

[0072] Figure 3 It is a structural schematic diagram of a device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention;

[0073] Figure 4 It is a structural schematic diagram of another device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention;

[0074] Figure 5It is a structural schematic diagram of another device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0077] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0078] The present invention discloses a method and device for automatically planning a path during vehicle driving. Based on the collected current actual position coordinates of the vehicle and the driving project the vehicle is currently in, the target actual position coordinates to which the vehicle needs to travel are determined, which can improve the accuracy of determining the target actual position coordinates to which the vehicle needs to travel, and generate a path planning curve for the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle, and when it is judged that the generated path planning curve meets the predetermined vehicle automatic driving conditions, such as meeting the minimum turning radius limit, etc., the vehicle automatic driving data is generated according to the path planning curve, which can improve the accuracy of the generation of the vehicle's automatic driving data, which is conducive to improving the accuracy of the vehicle's automatic driving planning, thereby improving the convenience and safety of vehicle teaching. The following are detailed descriptions.

[0079] Embodiment 1

[0080] See also Figure 1 , Figure 11 is a flow chart of a method for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention. Figure 1 The method for automatically planning a path during vehicle driving described above can be applied to any vehicle driving scenario that requires vehicle path planning, such as a driving training school scenario. Figure 1 As shown, the method for automatically planning a path during vehicle driving may include the following operations:

[0081] 101. Collect current state parameters of the vehicle, where the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle.

[0082] In the embodiment of the present invention, the vehicle's current driving item may include one of the items in subject 2 or one of the items in subject 3. The items corresponding to subject 2 include one of reverse parking, parallel parking, S-bend, fixed-point uphill, left turn, right turn, and side parking, and the items corresponding to subject 3 include one of lane change, meeting, overtaking, and fixed-point parking. For subject 3, it should be noted that this technical solution is applicable when the number of vehicles on the road it is currently driving on is less than or equal to the preset number of vehicles.

[0083] In the embodiment of the present invention, optionally, the current position coordinates of the vehicle can be located by the vehicle's own GPS positioning system, or can be determined based on an image captured by an image collector of the environment in which the vehicle is located at the current position coordinates, or can be located by a terminal device of a user in the vehicle, or by any other positioning method, which is not limited by the embodiment of the present invention.

[0084] 102. Determine the target actual position coordinates to which the vehicle needs to travel according to the current state parameters of the vehicle; and generate a path planning curve for the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle.

[0085] In the embodiment of the present invention, optionally, generating a path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle includes:

[0086] Determine the path planning order for performing path planning calculation according to the current actual position coordinates of the vehicle and the current driving project of the vehicle;

[0087] A polynomial path planning calculation operation of a path planning order is performed on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle to obtain a path planning curve of the vehicle.

[0088] In the embodiment of the present invention, the path planning order can be predetermined, such as the fifth order, that is, the polynomial used is predetermined. It can also be re-determined according to the current actual position coordinates of the vehicle and the current driving item of the vehicle, such as the seventh order.

[0089] It can be seen that the embodiment of the present invention determines the corresponding order according to the current actual position coordinates of the vehicle and the current driving project of the vehicle, thereby improving the accuracy and reliability of generating the path planning curve of the vehicle.

[0090] 103. Determine whether the generated path planning curve meets the predetermined vehicle automatic driving conditions.

[0091] In an embodiment of the present invention, optionally, when it is determined that the path planning does not meet the predetermined automatic driving conditions of the vehicle, a vehicle driving prompt is generated according to the current position coordinates of the vehicle and the current driving project to prompt the corresponding personnel of the vehicle, such as a coach, to perform driving operations on the vehicle. The automatic driving conditions of the vehicle include the predetermined minimum turning radius conditions corresponding to the vehicle and the storage edge blocking conditions or line pressing conditions of the driving project in which the vehicle is currently located.

[0092] 104. When the result of the judgment is yes, the automatic driving data of the vehicle is generated according to the path planning curve, and the automatic driving data of the vehicle is used for the vehicle to perform automatic driving operations.

[0093] It should be noted that after the current driving item is completed, if there is a subsequent driving item, the vehicle will continue to drive to the next item.

[0094] It can be seen that the implementation of the present invention determines the target actual position coordinates to which the vehicle needs to travel based on the collected current actual position coordinates of the vehicle and the driving item in which the vehicle is currently located, which can improve the accuracy of determining the target actual position coordinates to which the vehicle needs to travel, and generate a path planning curve for the vehicle based on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle, and when it is judged that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle, such as meeting the minimum turning radius limit, etc., the automatic driving data of the vehicle is generated according to the path planning curve, which can improve the accuracy of the generation of the automatic driving data of the vehicle, which is conducive to improving the accuracy of the vehicle's automatic driving planning, thereby improving the convenience and safety of vehicle teaching.

[0095] In the embodiment of the present invention, optionally, determining the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle includes:

[0096] Acquire a project map matching the current driving project of the vehicle from a predetermined map database;

[0097] Determine a local map corresponding to the current actual position coordinates of the vehicle according to the project map corresponding to the vehicle and the current actual position coordinates of the vehicle, wherein the project map corresponding to the vehicle is larger than the local map corresponding to the vehicle;

[0098] According to the local map corresponding to the vehicle, the coordinate origin of the local map corresponding to the vehicle is determined, and based on the coordinate origin of the local map corresponding to the vehicle, the current actual position coordinates of the vehicle are converted into the current virtual position coordinates of the same coordinate system as the local map;

[0099] Based on the vehicle's current virtual position coordinates and the local map, the actual position coordinates of the target to which the vehicle needs to travel are determined.

[0100] In the embodiment of the present invention, the map database is used to store the project maps corresponding to all items in subject 2 or subject 3, and the matching project maps are obtained from the map data according to the type of driving project. Figure 2 is a schematic diagram of a path planning for reversing into a garage disclosed in an embodiment of the present invention, such as Figure 2 As shown in the figure, it is a local map for reversing into a parking space, point A is the midpoint of the parking space, the midpoint of the parking space corresponding to the exit is the coordinate origin of the local map, the current actual position coordinates of the vehicle are mapped to the local map, and the current virtual position coordinates are obtained by conversion, so as to determine the corresponding target virtual position coordinates, and then determine the corresponding target actual position coordinates.

[0101] In an embodiment of the present invention, a local map corresponding to the current actual position coordinates of the vehicle is determined based on the project map corresponding to the vehicle and the current actual position coordinates of the vehicle. Specifically, a circular area can be determined in the project map corresponding to the vehicle with the current actual position coordinates of the vehicle as the origin and a preset distance as the radius, as the local map corresponding to the current actual position coordinates of the vehicle. The preset distance can be determined by the length of the vehicle body. The longer the length of the vehicle body, the longer the corresponding preset distance, and the larger the local map formed. In this way, by taking the length of the vehicle body as the basis for considering the preset distance, the accuracy and reliability of the determination of the local map can be improved, so that no matter what state the vehicle is in at the current position coordinates, it is conducive to improving the probability of determining a precise planned path for it, thereby further improving the accuracy of the vehicle's automatic driving planning.

[0102] In the embodiment of the present invention, further optionally, determining the actual position coordinates of the target to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle and the local map includes:

[0103] According to the current virtual position coordinates of the vehicle, the target virtual position coordinates to which the vehicle needs to travel are determined in the local map;

[0104] Based on the coordinate origin of the local map corresponding to the vehicle, the target virtual position coordinates of the vehicle are converted into actual position coordinates in the same coordinate system as the current actual position coordinates of the vehicle as the actual position coordinates of the target to which the vehicle needs to travel.

[0105] It can be seen that the embodiment of the present invention combines the current actual position coordinates of the vehicle with the project map of the driving project in which the vehicle is currently located, and converts the actual position and the virtual position into each other, so as to improve the accuracy and efficiency of determining the actual position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0106] In the embodiment of the present invention, further optionally, determining the target virtual position coordinates to which the vehicle needs to travel in the local map according to the current virtual position coordinates of the vehicle includes:

[0107] According to the current actual position coordinates of the vehicle, collect environmental data of the vehicle in the actual environment;

[0108] Taking the current actual position coordinates of the vehicle as the dividing point, the collected environmental data are divided into first environmental data and second environmental data, wherein the first environmental data is environmental data of the area that the vehicle has traveled in the current driving project of the vehicle, and the second environmental data is environmental data of the area that the vehicle will need to travel in the current driving project of the vehicle;

[0109] The first environment data and the second environment data are analyzed to obtain an environment analysis result, and according to the environment analysis result, the coordinates of the target virtual position to which the vehicle needs to travel are determined in the local map.

[0110] In the embodiment of the present invention, the environmental data of the vehicle in the actual environment includes but is not limited to one or more of all environmental data such as the ground, fences, vehicles, pedestrians, etc. If the environmental analysis result indicates that there is a vehicle, a person, or an obstacle in front of the vehicle that prevents the vehicle from moving forward, the virtual position coordinates corresponding to a certain position behind the current virtual position coordinates of the vehicle (such as the previous checkpoint) are determined as the target virtual position coordinates; if the environmental analysis result indicates that there is a vehicle or a person behind the vehicle that prevents the vehicle from moving backward, the virtual position coordinates corresponding to a certain position forward (the next checkpoint) of the current virtual position coordinates of the vehicle are determined as the target virtual position coordinates.

[0111] It can be seen that the embodiments of the present invention can also combine the current virtual position coordinates of the vehicle with the environmental data of the vehicle in the actual environment to determine a certain position of the vehicle backward or forward, which is the target virtual position to which the vehicle needs to travel, that is, the environmental parameters are taken into account, thereby improving the accuracy and efficiency of the actual target position coordinates to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0112] In the embodiment of the present invention, further optionally, the method may further include the following steps:

[0113] For a certain position backward or forward, when the environmental analysis result indicates that there is a vehicle in the target direction, it is defined as the target vehicle, the current actual position coordinates of the target vehicle are determined, the first distance value between the current actual position coordinates of the target vehicle and the current actual position coordinates of the vehicle is calculated, and the second distance value that the vehicle needs to move to complete the current driving item is obtained;

[0114] Calculate the target distance difference between the first distance value and the second distance value, and determine whether the target distance difference is greater than or equal to the preset distance value. When it is determined that it is less than or equal to the preset distance value, the virtual coordinates corresponding to a certain position in the opposite direction of the target are still determined as the target virtual position coordinates; when it is determined that it is greater than the preset distance value, the virtual coordinates corresponding to a certain position in the target direction are determined as the target virtual position coordinates.

[0115] The target direction is a direction that the vehicle intends to go, and is the forward direction or the backward direction of the current actual position coordinates of the vehicle.

[0116] Further optionally, when it is judged that the distance is less than or equal to a preset distance value, it is judged whether the target vehicle is moving in the opposite direction of the vehicle requiring path planning. When the judgment result is no, the virtual coordinates corresponding to a certain position in the opposite direction of the target direction are still determined as the target virtual position coordinates. When the judgment result is yes, the moving speed of the target vehicle is determined, and it is judged whether the speed difference between the moving speed of the target vehicle and the moving speed required for the vehicle requiring path planning is less than or equal to the preset speed. When it is judged that it is less than or equal to the preset speed, the virtual coordinates corresponding to a certain position in the opposite direction of the target direction are still determined as the target virtual position coordinates. When it is judged that the speed is greater than the preset speed, the virtual coordinates corresponding to a certain position in the target direction are determined as the target virtual position coordinates.

[0117] It can be seen that the embodiments of the present invention can also determine a certain position where the vehicle needs to retreat or a certain position forward based on the positions and moving speeds of other vehicles in the current actual environment, as the target virtual position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of the coordinates of the actual target position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0118] In the embodiment of the present invention, the automatic driving condition of the vehicle in step 103 may optionally include a predetermined minimum turning radius condition corresponding to the vehicle and a storage edge blocking condition or a line pressing condition of the current driving project of the vehicle, which may be specifically as follows:

[0119] Determining whether the generated path planning curve meets the predetermined automatic driving condition of the vehicle includes:

[0120] Calculating the minimum turning radius of the path planning curve, and determining whether the minimum turning radius of the path planning curve is greater than or equal to a predetermined minimum turning radius corresponding to the vehicle;

[0121] When it is determined that the minimum turning radius of the path planning curve is greater than or equal to the minimum turning radius corresponding to the vehicle, it is determined whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the process of the vehicle traveling along the path planning curve;

[0122] When the judgment result is yes, it is determined that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle.

[0123] In the embodiment of the present invention, the predetermined minimum turning radius may be determined according to the conditions of different vehicles, such as the vehicle body length, and the predetermined minimum turning radius is the minimum radius that a vehicle of a corresponding type can turn and make a U-turn.

[0124] In the embodiment of the present invention, it is determined whether the vehicle body will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the vehicle driving along the path planning curve, specifically:

[0125] Determine the first target point on the path planning curve at which the minimum turning radius of the path planning curve is located, and intercept paths of a preset length (e.g., 1 m) before and after the first target point on the path planning curve to obtain a target path (e.g., 2 m);

[0126] Determine a number of second target points on the target path (such as determined in an equidistant manner or in an unequally spaced manner), and calculate the vertical distance between each second target point and the side of the storage edge close to the vehicle, and determine whether there is a second target point whose corresponding vertical distance is greater than the first preset vertical distance among all the second target points based on the vertical distances corresponding to all the second target points. When the result of the determination is negative, determine that the body of the vehicle will not cover the storage edge of the driving item currently located by the vehicle during the vehicle traveling along the path planning curve. When it is determined that there is a second target point whose corresponding vertical distance is greater than the first preset vertical distance among all the second target points, determine that the body of the vehicle will cover the storage edge of the driving item currently located by the vehicle during the vehicle traveling along the path planning curve.

[0127] When it is determined that there is no second target point whose corresponding vertical distance is greater than the first preset vertical distance among all the second target points, for any second target point, the vertical distance corresponding to the second target point is subtracted from the preset distance to obtain the target vertical distance corresponding to the second target point, wherein the preset distance is determined by the horizontal width of the side of the vehicle's wheel in contact with the ground, such as half of the horizontal width;

[0128] According to the target vertical distances corresponding to all the second target points, determining whether there is a second target point among all the second target points whose corresponding target vertical distance is greater than a second preset vertical distance, wherein the first preset vertical distance is greater than the second preset vertical distance;

[0129] When it is determined that there is no second target point among all the second target points whose corresponding target vertical distance is greater than the second preset vertical distance, it is determined that the wheels of the vehicle will not press against the edge of the library of the driving item currently located by the vehicle during the vehicle traveling along the path planning curve; when it is determined that there is a second target point among all the second target points whose corresponding target vertical distance is greater than the second preset vertical distance, it is determined that the wheels of the vehicle will press against the edge of the library of the driving item currently located by the vehicle during the vehicle traveling along the path planning curve.

[0130] It can be seen that the embodiments of the present invention can also improve the accuracy and reliability of the judgment that the path planning curve meets the vehicle's automatic driving conditions by determining that the calculated path planning curve meets the vehicle's automatic driving conditions when it is determined that the minimum turning radius corresponding to the path planning curve is large and the vehicle body will not block the edge of the reservoir or the wheels will not press the edge of the reservoir, thereby facilitating the generation of accurate automatic driving data with accurate and reliable path planning curves, and further facilitating the further improvement of the accuracy and efficiency of the vehicle's automatic driving planning; and by determining the (pointing) point corresponding to the minimum turning radius on the path planning curve, and intercepting a section of the path on the path planning curve based on the point, thereby calculating the point on the path and the edge of the reservoir. The vertical distance between the two paths is calculated and compared with the preset vertical distance, so as to achieve accurate judgment on whether the vehicle body will block the edge of the library, and further analyze the vertical distance between the intercepted path and the edge of the library in combination with the horizontal width of the bottom of the wheel and another preset vertical distance, which can improve the accurate judgment on whether the wheel will press against the edge of the library, and by intercepting a small section of the path corresponding to the minimum turning radius for distance calculation and comparison, that is, reducing the amount of data while ensuring accuracy, which is conducive to improving the judgment efficiency of whether the vehicle body will block the edge of the library and whether the wheel will press against the edge of the library, so as to ensure that the path planning curve used is accurate and reliable, and further conducive to further improving the accuracy of automatic driving data generation.

[0131] In an optional embodiment, the method may further include the following steps:

[0132] When it is determined that the minimum turning radius of the path planning curve is smaller than the minimum turning radius corresponding to the vehicle, calculating the radius difference between the minimum turning radius corresponding to the vehicle and the minimum turning radius of the path planning curve;

[0133] The path planning curve is corrected according to the radius difference to obtain a corrected path planning curve, and the above-mentioned operation of judging whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item where the vehicle is located or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item where the vehicle is located during the process of the vehicle traveling along the path planning curve is triggered.

[0134] In this optional embodiment, specifically, the point on the path planning curve where the minimum turning radius of the path planning path is determined, and with this point as the center, based on the radius difference, the turning radii corresponding to all points whose distance value from this point is a preset distance value are corrected, that is, the turning radii of all points are added with the radius difference to obtain new points, and the new points are drawn to obtain a corrected path planning path.

[0135] It can be seen that if this optional embodiment determines that the path planning curve does not meet the required minimum turning radius, the aforementioned generated path planning curve is corrected based on the minimum turning radius of the path planning curve and the required minimum turning radius to increase the probability of obtaining an accurate and reliable path planning curve, thereby further improving the accuracy and efficiency of the vehicle's automatic driving path planning.

[0136] Embodiment 2

[0137] See also Figure 3 , Figure 3 1 is a schematic diagram of a structure of a device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention. Figure 3 The device for automatically planning a path during vehicle driving can be applied to any vehicle driving scenario that requires vehicle path planning, such as a driving training school scenario. Figure 3 As shown, the device for automatically planning a path during vehicle driving may include:

[0138] The acquisition module 201 is used to acquire the current state parameters of the vehicle, and the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle;

[0139] The determination module 202 is used to determine the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle;

[0140] A generating module 203, for generating a path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle;

[0141] A judgment module 204 is used to judge whether the generated path planning curve meets the predetermined automatic driving conditions of the vehicle;

[0142] The generation module 203 is also used to generate the vehicle's automatic driving data according to the path planning curve when the judgment result is yes, and the vehicle's automatic driving data is used for the vehicle to perform automatic driving operations.

[0143] In an embodiment of the present invention, the automatic driving conditions of the vehicle include a predetermined minimum turning radius condition corresponding to the vehicle and a reservoir edge obstruction condition or a line-crossing condition of the driving item in which the vehicle is currently located.

[0144] It can be seen that the implementation Figure 3The described device determines the target actual position coordinates to which the vehicle needs to travel based on the collected current actual position coordinates of the vehicle and the driving item the vehicle is currently in, which can improve the accuracy of determining the target actual position coordinates to which the vehicle needs to travel, and generates a path planning curve for the vehicle based on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle. When it is judged that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle, such as meeting the minimum turning radius limit, etc., the automatic driving data of the vehicle is generated according to the path planning curve, which can improve the accuracy of generating the automatic driving data of the vehicle, which is conducive to improving the accuracy of the vehicle's automatic driving planning, thereby improving the convenience and safety of vehicle teaching.

[0145] In the embodiment of the present invention, optionally, the specific manner in which the generation module 203 generates the path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle includes:

[0146] Determine the path planning order for performing path planning calculation according to the current actual position coordinates of the vehicle and the current driving project of the vehicle;

[0147] A polynomial path planning calculation operation of a path planning order is performed on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle to obtain a path planning curve of the vehicle.

[0148] In the embodiment of the present invention, the path planning order can be predetermined, such as the fifth order, that is, the polynomial used is predetermined. It can also be re-determined according to the current actual position coordinates of the vehicle and the current driving item of the vehicle, such as the seventh order.

[0149] It can be seen that the implementation Figure 3 The described device can also determine the corresponding order according to the current actual position coordinates of the vehicle and the current driving item of the vehicle, thereby improving the accuracy and reliability of generating the path planning curve of the vehicle.

[0150] In the embodiment of the present invention, optionally, the specific manner in which the determination module 202 determines the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle includes:

[0151] Acquire a project map matching the current driving project of the vehicle from a predetermined map database;

[0152] Determine a local map corresponding to the current actual position coordinates of the vehicle according to the project map corresponding to the vehicle and the current actual position coordinates of the vehicle, wherein the project map corresponding to the vehicle is larger than the local map corresponding to the vehicle;

[0153] According to the local map corresponding to the vehicle, the coordinate origin of the local map corresponding to the vehicle is determined, and based on the coordinate origin of the local map corresponding to the vehicle, the current actual position coordinates of the vehicle are converted into the current virtual position coordinates of the same coordinate system as the local map;

[0154] Based on the vehicle's current virtual position coordinates and the local map, the actual position coordinates of the target to which the vehicle needs to travel are determined.

[0155] In the embodiment of the present invention, the map database is used to store project maps corresponding to all items in subject two or subject three, and to obtain matching project maps from the map data according to the type of driving project.

[0156] In the embodiment of the present invention, optionally, the specific manner in which the determination module 202 determines the actual position coordinates of the target to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle and the local map includes:

[0157] According to the current virtual position coordinates of the vehicle, the target virtual position coordinates to which the vehicle needs to travel are determined in the local map;

[0158] Based on the coordinate origin of the local map corresponding to the vehicle, the target virtual position coordinates of the vehicle are converted into actual position coordinates in the same coordinate system as the current actual position coordinates of the vehicle as the actual position coordinates of the target to which the vehicle needs to travel.

[0159] It can be seen that the implementation Figure 3 The described device can also convert the actual position and the virtual position into each other by combining the current actual position coordinates of the vehicle with the project map of the driving project in which the vehicle is currently located, so as to improve the accuracy and efficiency of determining the actual position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0160] In the embodiment of the present invention, optionally, the specific manner in which the determination module 202 determines the target virtual position coordinates to which the vehicle needs to travel in the local map according to the current virtual position coordinates of the vehicle includes:

[0161] According to the current actual position coordinates of the vehicle, collect environmental data of the vehicle in the actual environment;

[0162] Taking the current actual position coordinates of the vehicle as the dividing point, the collected environmental data are divided into first environmental data and second environmental data, wherein the first environmental data is environmental data of the area that the vehicle has traveled in the current driving project of the vehicle, and the second environmental data is environmental data of the area that the vehicle will need to travel in the current driving project of the vehicle;

[0163] The first environment data and the second environment data are analyzed to obtain an environment analysis result, and according to the environment analysis result, the coordinates of the target virtual position to which the vehicle needs to travel are determined in the local map.

[0164] In the embodiment of the present invention, the environmental data of the vehicle in the actual environment includes all environmental data such as the ground, fences, and vehicles. If the environmental analysis result indicates that there is a vehicle, a person, or an obstacle in front of the vehicle that prevents the vehicle from moving forward, a certain position of the vehicle backward (such as the previous checkpoint) is determined as the target virtual position coordinate; if the environmental analysis result indicates that there is a vehicle or a person behind the vehicle that prevents the vehicle from moving backward, a certain position of the vehicle forward (such as the next checkpoint) is determined as the target virtual position coordinate.

[0165] It can be seen that the implementation Figure 3 The described device can also combine the current virtual position coordinates of the vehicle with the environmental data of the vehicle in the actual environment to determine a certain position of the vehicle backward or forward as the target virtual position to which the vehicle needs to travel, that is, taking the environmental parameters into account, thereby improving the accuracy and efficiency of the actual target position coordinates to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0166] In the embodiment of the present invention, optionally, the specific manner in which the determination module 202 determines the actual position coordinates of the target to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle and the local map further includes:

[0167] For a certain position backward or forward, when the environmental analysis result indicates that there is a vehicle in the target direction, it is defined as the target vehicle, the current actual position coordinates of the target vehicle are determined, the first distance value between the current actual position coordinates of the target vehicle and the current actual position coordinates of the vehicle is calculated, and the second distance value that the vehicle needs to move to complete the current driving item is obtained;

[0168] Calculate the target distance difference between the first distance value and the second distance value, and determine whether the target distance difference is greater than or equal to the preset distance value. When it is determined that it is less than or equal to the preset distance value, the virtual coordinates corresponding to a certain position in the opposite direction of the target are still determined as the target virtual position coordinates; when it is determined that it is greater than the preset distance value, the virtual coordinates corresponding to a certain position in the target direction are determined as the target virtual position coordinates.

[0169] The target direction is the forward direction or the backward direction of the current actual position coordinates of the vehicle.

[0170] Further optionally, when it is judged that the distance is less than or equal to a preset distance value, it is judged whether the target vehicle is moving in the opposite direction of the vehicle requiring path planning. When the judgment result is no, the virtual coordinates corresponding to a certain position in the opposite direction of the target are still determined as the target virtual position coordinates. When the judgment result is yes, the moving speed of the target vehicle is determined, and it is judged whether the speed difference between the moving speed of the target vehicle and the moving speed required for the vehicle requiring path planning is less than or equal to the preset speed. When it is judged that it is less than or equal to the preset speed, the virtual coordinates corresponding to a certain position in the opposite direction of the target are still determined as the target virtual position coordinates. When it is judged that it is greater than the pre-examination speed, the virtual coordinates corresponding to a certain position in the target direction are determined as the target virtual position coordinates.

[0171] It can be seen that the implementation Figure 3 The described device can also determine a certain position to which the vehicle needs to retreat or a certain position to which the vehicle needs to move forward based on the positions and moving speeds of other vehicles in the current actual environment, as the target virtual position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of the coordinates of the actual target position to which the vehicle needs to travel, thereby improving the accuracy and efficiency of generating the path planning curve, and further improving the accuracy and efficiency of the vehicle's automatic path planning.

[0172] In the embodiment of the present invention, optionally, the specific manner in which the judgment module 204 judges whether the generated path planning curve meets the predetermined automatic driving condition of the vehicle includes:

[0173] Calculating the minimum turning radius of the path planning curve, and determining whether the minimum turning radius of the path planning curve is greater than or equal to a predetermined minimum turning radius corresponding to the vehicle;

[0174] When it is determined that the minimum turning radius of the path planning curve is greater than or equal to the minimum turning radius corresponding to the vehicle, it is determined whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the process of the vehicle traveling along the path planning curve;

[0175] When the judgment result is yes, it is determined that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle.

[0176] It can be seen that the implementation Figure 3 The described device can also determine that the calculated path planning curve meets the vehicle's automatic driving conditions when it is judged that the minimum turning radius corresponding to the path planning curve is large and the vehicle body will not block the edge of the garage or the wheels will not press the edge of the garage. This can improve the accuracy and reliability of the judgment that the path planning curve meets the vehicle's automatic driving conditions, thereby helping to further improve the accuracy and efficiency of the vehicle's automatic driving planning.

[0177] In an optional embodiment, if Figure 4 As shown, Figure 4 is a schematic diagram of the structure of another device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention, such as Figure 4 As shown, the device also includes:

[0178] A calculation module 205, configured to calculate a radius difference between the minimum turning radius corresponding to the vehicle and the minimum turning radius of the path planning curve when it is determined that the minimum turning radius of the path planning curve is smaller than the minimum turning radius corresponding to the vehicle;

[0179] The correction module 206 is used to correct the path planning curve according to the radius difference to obtain the corrected path planning curve, and trigger the judgment module 204 to execute the above-mentioned judgment on whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item where the vehicle is located or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item where the vehicle is located when the vehicle is driving along the path planning curve.

[0180] In this optional embodiment, specifically, the point on the path planning curve where the minimum turning radius of the path planning path is determined, and with this point as the center, based on the radius difference, the turning radii corresponding to all points whose distance value from this point is a preset distance value are corrected, that is, the turning radii of all points are added with the radius difference to obtain new points, and the new points are drawn to obtain a corrected path planning path.

[0181] It can be seen that the implementation Figure 4 The described device can, if it is determined that the path planning curve does not meet the required minimum turning radius, correct the aforementioned generated path planning curve based on the minimum turning radius of the path planning curve and the required minimum turning radius, so as to increase the probability of obtaining an accurate and reliable path planning curve, thereby further improving the accuracy and efficiency of the vehicle's automatic driving path planning.

[0182] Embodiment 3

[0183] See also Figure 5 , Figure 5 1 is a schematic diagram of the structure of another device for automatically planning a path during vehicle driving disclosed in an embodiment of the present invention. The device can be applied to any vehicle driving scenario that requires vehicle path planning, such as a driving training school scenario. Figure 5 As shown, the device for automatically planning a path during vehicle driving may include:

[0184] A memory 301 storing executable program codes;

[0185] a processor 302 coupled to the memory 301;

[0186] The processor 302 calls the executable program code stored in the memory 301 to execute the steps of the method for automatically planning a path during vehicle driving described in the first embodiment of the present invention.

[0187] Embodiment 4

[0188] An embodiment of the present invention discloses a computer-readable storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps of the method for automatically planning a path during vehicle driving described in the first embodiment of the present invention.

[0189] Embodiment 5

[0190] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the method for automatically planning a path during vehicle driving described in Example 1.

[0191] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0192] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0193] Finally, it should be noted that the method and device for automatically planning a path during vehicle driving disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically planning a path during vehicle driving, characterized in that: The method comprises: Collecting current state parameters of the vehicle, wherein the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle; Determining the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle; Generating a path planning curve for the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle; Determining whether the generated path planning curve satisfies a predetermined automatic driving condition of the vehicle, and when the determination result is yes, generating automatic driving data of the vehicle according to the path planning curve, wherein the automatic driving data of the vehicle is used for the vehicle to perform an automatic driving operation; Among them, the automatic driving conditions of the vehicle include a predetermined minimum turning radius condition corresponding to the vehicle and a reservoir edge obstruction condition or a line-crossing condition of the driving item in which the vehicle is currently located.

2. The method for automatically planning a path during vehicle driving according to claim 1, characterized in that: Determining the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle includes: Acquiring a project map matching the driving project currently in which the vehicle is located from a predetermined map database; Determine a local map corresponding to the current actual position coordinates of the vehicle according to the project map corresponding to the vehicle and the current actual position coordinates of the vehicle, the project map corresponding to the vehicle being larger than the local map corresponding to the vehicle; Determine the coordinate origin of the local map corresponding to the vehicle according to the local map corresponding to the vehicle, and convert the current actual position coordinates of the vehicle into the current virtual position coordinates of the same coordinate system as the local map based on the coordinate origin of the local map corresponding to the vehicle; The actual position coordinates of the target to which the vehicle needs to travel are determined according to the current virtual position coordinates of the vehicle and the local map.

3. The method for automatically planning a path during vehicle driving according to claim 2, characterized in that: The step of determining the actual position coordinates of the target to which the vehicle needs to travel based on the current virtual position coordinates of the vehicle and the local map includes: Determining, in the local map, target virtual position coordinates to which the vehicle needs to travel according to the current virtual position coordinates of the vehicle; Based on the coordinate origin of the local map corresponding to the vehicle, the target virtual position coordinates of the vehicle are converted into actual position coordinates in the same coordinate system as the current actual position coordinates of the vehicle as the target actual position coordinates to which the vehicle needs to travel.

4. The method for automatically planning a path during vehicle driving according to claim 3, characterized in that: The step of determining, in the local map, the target virtual position coordinates to which the vehicle needs to travel based on the current virtual position coordinates of the vehicle includes: Collecting environmental data of the vehicle in an actual environment according to the current actual position coordinates of the vehicle; The collected environmental data is divided into first environmental data and second environmental data with the current actual position coordinates of the vehicle as a dividing point, wherein the first environmental data is environmental data of an area that the vehicle has traveled in the current driving project of the vehicle, and the second environmental data is environmental data of an area that the vehicle will need to travel in the current driving project of the vehicle; The first environmental data and the second environmental data are analyzed to obtain an environmental analysis result, and based on the environmental analysis result, the coordinates of the target virtual position to which the vehicle needs to travel are determined in the local map.

5. The method for automatically planning a path during vehicle driving according to any one of claims 1 to 4, characterized in that: The determining whether the generated path planning curve meets a predetermined automatic driving condition of the vehicle includes: Calculating the minimum turning radius of the path planning curve, and determining whether the minimum turning radius of the path planning curve is greater than or equal to a predetermined minimum turning radius corresponding to the vehicle; When it is determined that the minimum turning radius of the path planning curve is greater than or equal to the minimum turning radius corresponding to the vehicle, it is determined whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item of the vehicle or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item of the vehicle during the vehicle traveling along the path planning curve; When the judgment result is yes, it is determined that the generated path planning curve meets the predetermined automatic driving conditions of the vehicle.

6. The method for automatically planning a path during vehicle driving according to claim 5, characterized in that: The method further comprises: When it is determined that the minimum turning radius of the path planning curve is smaller than the minimum turning radius corresponding to the vehicle, calculating the radius difference between the minimum turning radius corresponding to the vehicle and the minimum turning radius of the path planning curve; The path planning curve is corrected according to the radius difference to obtain the corrected path planning curve, and the operation of judging whether the body of the vehicle will not cover the edge of the storage area of ​​the current driving item where the vehicle is located or whether the wheels of the vehicle will not press the edge of the storage area of ​​the current driving item where the vehicle is located during the driving of the vehicle along the path planning curve is triggered.

7. The method for automatically planning a path during vehicle driving according to any one of claims 1 to 4 and 6, characterized in that: The step of generating a path planning curve for the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle comprises: Determining a path planning order for performing path planning calculation according to the current actual position coordinates of the vehicle and the current driving item of the vehicle; A polynomial path planning calculation operation of the path planning order is performed on the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle to obtain a path planning curve of the vehicle.

8. A device for automatically planning a path during vehicle travel, characterized in that: The device comprises: A collection module, used for collecting current state parameters of the vehicle, wherein the current state parameters of the vehicle include the current actual position coordinates of the vehicle and the current driving item of the vehicle; A determination module, used to determine the actual position coordinates of the target to which the vehicle needs to travel according to the current state parameters of the vehicle; A generating module, used for generating a path planning curve of the vehicle according to the current actual position coordinates of the vehicle and the target actual position coordinates of the vehicle; A judgment module, used to judge whether the generated path planning curve meets the predetermined automatic driving condition of the vehicle; The generating module is further configured to generate the autonomous driving data of the vehicle according to the path planning curve when the result of the determination is yes, wherein the autonomous driving data of the vehicle is used for the vehicle to perform the autonomous driving operation; Among them, the automatic driving conditions of the vehicle include a predetermined minimum turning radius condition corresponding to the vehicle and a reservoir edge obstruction condition or a line-crossing condition of the driving item in which the vehicle is currently located.

9. A device for automatically planning a path during vehicle travel, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for automatically planning a path during vehicle driving as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when called, are used to execute the method for automatically planning a path during vehicle driving as described in any one of claims 1-7.

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