Route generation method, device, equipment, computer readable medium and program product

Abstract

The embodiment of the invention discloses a route generation method, device and equipment, a computer readable medium and a program product. One specific embodiment of the method comprises the following steps: determining at least one piece of dynamic obstacle information corresponding to a target object; determining an obstacle movement route of each piece of dynamic obstacle information to obtain at least one obstacle movement route; in response to the existence of the route conflict, determining drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route; generating route value information corresponding to each object movement change route according to the drivable area information and the at least one obstacle movement route; and obtaining an object movement change route of which the corresponding route value information meets a preset condition, and taking the object movement change route as a to-be-moved route corresponding to the target object. The implementation mode is related to intelligent driving, and the to-be-driven route can be accurately generated under the condition that deceleration avoidance is avoided, so that efficient and safe movement of the target object is realized.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of computer technology, and in particular to a route generation method, apparatus, device, computer-readable medium, and program product. Background Art

[0002] At present, with the continuous development of obstacle avoidance technology, the determination of the movement path of a moving object (e.g., a driving vehicle) in scenes with various obstacles has become one of the main research directions. For the obstacle avoidance movement of the target object, the method usually adopted is: without changing the existing route of the target object, the speed of the target object is dynamically adjusted to achieve the avoidance effect for various obstacles.

[0003] However, the inventors have found that when the above method is used for obstacle avoidance driving, the following technical problems often occur:

[0004] Although dynamic adjustment of the speed of the target object can avoid collisions with various obstacles, it will lead to inefficient object movement. Similarly, if the speed of the object is not adjusted in time, there is a greater probability of traffic accidents.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the invention

[0006] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0007] Some embodiments of the present disclosure propose route generation methods, devices, electronic devices, computer-readable media, and program products to solve the technical problems mentioned in the above background technology section.

[0008] In a first aspect, some embodiments of the present disclosure provide a route generation method, comprising: determining at least one dynamic obstacle information corresponding to a target object; determining the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in a target future time period to obtain at least one obstacle movement route; in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determining, according to the at least one obstacle movement route, drivable area information and at least one object movement change route corresponding to the target object; generating, according to the drivable area information and the at least one obstacle movement route, route value information corresponding to each object movement change route in the at least one object movement change route; obtaining, from the at least one object movement change route, an object movement change route whose corresponding route value information satisfies a preset condition as the to-be-moved route corresponding to the target object.

[0009] Optionally, the obstacle motion route in the above-mentioned at least one obstacle motion route includes: the obstacle motion position sequence corresponding to the above-mentioned target future time period, and the above-mentioned original motion route includes: the object motion position sequence corresponding to the above-mentioned target future time period; and the above-mentioned method also includes: in response to determining that there is no route conflict between the above-mentioned at least one obstacle motion route and the above-mentioned original motion route, generating position comparison information for at least one obstacle motion position sequence and the above-mentioned object motion position sequence; based on the above-mentioned position comparison information, generating the above-mentioned route to be moved.

[0010] Optionally, the above-mentioned generation of position comparison information for at least one obstacle motion position sequence and the above-mentioned object motion position sequence includes: for each future moment in the above-mentioned target future time period, executing the following first generation step: determining the object motion position corresponding to the above-mentioned future moment in the above-mentioned object motion position sequence as the target object motion position; determining the obstacle motion position corresponding to the above-mentioned future moment in the above-mentioned at least one obstacle motion position sequence as the first obstacle motion position, and obtaining at least one first obstacle motion position; performing a longitudinal motion position comparison between the above-mentioned at least one first obstacle motion position and the above-mentioned target object motion position to generate comparison information; and generating the above-mentioned position comparison information according to the obtained comparison information sequence.

[0011] Optionally, generating the route to be moved based on the position comparison information includes: in response to determining that the position comparison information indicates the existence of a dynamic obstacle with the same longitudinal movement position as the target object, adjusting the original movement route according to the drivable area information to generate the route to be moved.

[0012] Optionally, the above-mentioned determining the drivable area information corresponding to the above-mentioned target object and at least one object movement change route based on the above-mentioned at least one obstacle movement route includes: determining the lateral movement space information of each obstacle movement route in the above-mentioned at least one obstacle movement route within the above-mentioned target future time period to obtain at least one lateral movement space information; determining the above-mentioned drivable area information based on the above-mentioned at least one lateral movement space information.

[0013] Optionally, the above-mentioned determination of the lateral motion spatial information of each obstacle motion route in the above-mentioned at least one obstacle motion route within the above-mentioned target future time period includes: for each future moment in the above-mentioned target future time period, executing the following second generation step: determining the obstacle motion position in the above-mentioned obstacle motion route corresponding to the above-mentioned future moment as the second obstacle motion position; determining the lateral position motion spatial information corresponding to the above-mentioned second obstacle motion position; and generating the lateral motion spatial information based on the obtained lateral position motion spatial information sequence.

[0014] Optionally, the above-mentioned determining the drivable area information corresponding to the above-mentioned target object and at least one object movement change route based on the above-mentioned at least one obstacle movement route also includes: for each future moment in the above-mentioned target future time period, executing the following third generation step: determining the lateral position movement space information in the above-mentioned drivable area information corresponding to the above-mentioned future moment; filtering out a predetermined number of spatial points from the above-mentioned lateral position movement space information to obtain a spatial point set; and generating the above-mentioned at least one vehicle movement change position sequence based on the obtained spatial point set sequence.

[0015] Optionally, the above-mentioned route value information corresponding to each object motion change route in the at least one object motion change route is generated based on the above-mentioned drivable area information and the above-mentioned at least one obstacle motion route, including: determining the obstacle movement distance information between the above-mentioned at least one obstacle motion route and the above-mentioned object motion change route; determining the motion steering angle information corresponding to the above-mentioned object motion change route; generating the route value information corresponding to the above-mentioned object motion change route based on the above-mentioned obstacle movement distance information, the above-mentioned motion steering angle information and the above-mentioned drivable area information.

[0016] Optionally, the obstacle movement distance information is the obstacle distance between at least one dynamic obstacle and the target object at each future moment, the movement steering angle information is the movement steering angle at each future moment, and the drivable area information is the drivable sub-area information at each future moment; and the route value information corresponding to the object movement change route is generated based on the obstacle movement distance information, the movement steering angle information and the drivable area information, including: for each of the above future moments, executing the following fourth generation step: determining the obstacle distance, movement steering angle and drivable sub-area information corresponding to the above future moment; generating the value information corresponding to the above future moment based on the obstacle distance, the movement steering angle and the drivable sub-area information; generating the above route value information based on the obtained value information sequence.

[0017] In a second aspect, some embodiments of the present disclosure provide a route generation device, comprising: a first determination unit, configured to determine at least one dynamic obstacle information corresponding to a target object; a second determination unit, configured to determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in a target future time period to obtain at least one obstacle movement route; a third determination unit, configured to determine, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, drivable area information and at least one object movement change route corresponding to the target object according to the at least one obstacle movement route; a generation unit, configured to generate route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route; an acquisition unit, configured to acquire, from the at least one object movement change route, an object movement change route whose corresponding route value information satisfies a preset condition as the to-be-moved route corresponding to the target object.

[0018] Optionally, the obstacle motion route in the above-mentioned at least one obstacle motion route includes: the obstacle motion position sequence corresponding to the above-mentioned target future time period, and the above-mentioned original motion route includes: the object motion position sequence corresponding to the above-mentioned target future time period; and the step also includes: in response to determining that there is no route conflict between the above-mentioned at least one obstacle motion route and the above-mentioned original motion route, generating position comparison information for at least one obstacle motion position sequence and the above-mentioned object motion position sequence; based on the above-mentioned position comparison information, generating the above-mentioned route to be moved.

[0019] Optionally, the steps also include: for each future moment in the above-mentioned target future time period, executing the following first generation step: determining the object motion position corresponding to the above-mentioned future moment in the above-mentioned object motion position sequence as the target object motion position; determining the obstacle motion position corresponding to the above-mentioned future moment in the above-mentioned at least one obstacle motion position sequence as the first obstacle motion position, and obtaining at least one first obstacle motion position; performing a longitudinal motion position comparison between the above-mentioned at least one first obstacle motion position and the above-mentioned target object motion position to generate comparison information; and generating the above-mentioned position comparison information based on the obtained comparison information sequence.

[0020] Optionally, the step further includes: in response to determining that the above-mentioned position comparison information indicates the existence of a dynamic obstacle with the same longitudinal movement position as the above-mentioned target object, adjusting the above-mentioned original movement route according to the above-mentioned drivable area information to generate a route to be moved.

[0021] Optionally, the third determination unit can be configured to: determine the lateral motion space information of each obstacle motion route in the above-mentioned at least one obstacle motion route within the above-mentioned target future time period, and obtain at least one lateral motion space information; determine the above-mentioned drivable area information based on the above-mentioned at least one lateral motion space information.

[0022] Optionally, the third determination unit can be configured to: for each future moment in the above-mentioned target future time period, perform the following second generation step: determine the obstacle movement position corresponding to the above-mentioned future moment in the above-mentioned obstacle movement route as the second obstacle movement position; determine the lateral position movement space information corresponding to the above-mentioned second obstacle movement position; generate lateral movement space information based on the obtained lateral position movement space information sequence.

[0023] Optionally, the third determination unit can be configured to: for each future moment in the above-mentioned target future time period, execute the following third generation step: determine the lateral position motion spatial information in the above-mentioned drivable area information corresponding to the above-mentioned future moment; filter out a predetermined number of spatial points from the above-mentioned lateral position motion spatial information to obtain a spatial point set; and generate the above-mentioned at least one vehicle motion change position sequence based on the obtained spatial point set sequence.

[0024] Optionally, the generation unit can be configured to: determine the obstacle movement distance information between the above-mentioned at least one obstacle movement route and the above-mentioned object movement change route; determine the movement steering angle information corresponding to the above-mentioned object movement change route; and generate the route value information corresponding to the above-mentioned object movement change route based on the above-mentioned obstacle movement distance information, the above-mentioned movement steering angle information and the above-mentioned drivable area information.

[0025] Optionally, the obstacle movement distance information is the obstacle distance between at least one dynamic obstacle and the target object at each future moment, the movement steering angle information is the movement steering angle at each future moment, and the drivable area information is the drivable sub-area information at each future moment; and the generation unit can be configured to: for each of the above-mentioned future moments, execute the following fourth generation step: determine the obstacle distance, movement steering angle and drivable sub-area information corresponding to the above-mentioned future moment; generate the value information corresponding to the above-mentioned future moment according to the above-mentioned obstacle distance, the above-mentioned movement steering angle and the above-mentioned drivable sub-area information; generate the above-mentioned route value information according to the obtained value information sequence.

[0026] In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner in the first aspect.

[0027] In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner in the first aspect is implemented.

[0028] In a fifth aspect, some embodiments of the present disclosure provide a computer program product, including a computer program, which implements the method described in any implementation manner in the above-mentioned first aspect when executed by a processor.

[0029] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the route generation method of some embodiments of the present disclosure, the route to be moved can be accurately generated while avoiding the execution of deceleration and avoidance, so as to achieve efficient and safe movement of the target object. Specifically, the reason why the movement of the relevant target object is not efficient and safe is that although the dynamic adjustment of the speed of the target object can avoid conflicts with various obstacles, it will lead to low efficiency of object movement. Similarly, if the speed of the object is not adjusted in time, there is a greater probability of traffic accidents. Based on this, the route generation method of some embodiments of the present disclosure first determines at least one dynamic obstacle information corresponding to the target object, so as to facilitate the subsequent obstacle avoidance for the at least one dynamic obstacle information, so as to avoid accidents in the subsequent movement process. Then, the obstacle movement route of each dynamic obstacle information in the above-mentioned at least one dynamic obstacle information in the target future time period is determined to obtain at least one obstacle movement route. Here, by determining the obstacle movement route of each dynamic obstacle in the target future time period, under the dynamic grasp of the movement of each dynamic obstacle, the subsequent generated movement route can avoid the movement situation corresponding to the dynamic obstacle, avoiding the target object from adjusting the speed to avoid the occurrence of accidents, thereby greatly improving the object movement efficiency while reducing the adjustment speed. Then, in response to determining that there is a route conflict between the above-mentioned at least one obstacle movement route and the original movement route corresponding to the above-mentioned target object, according to the above-mentioned at least one obstacle movement route, the drivable area information corresponding to the above-mentioned target object and at least one object movement change route can be accurately determined. Here, by determining the drivable area information, the area situation where the target object can move can be effectively determined, and by determining at least one object movement change route, at least one movable route can be effectively determined under the condition of ensuring efficient movement. Furthermore, according to the above-mentioned drivable area information and the above-mentioned at least one obstacle movement route, the route value information corresponding to each object movement change route in the above-mentioned at least one object movement change route can be accurately generated to evaluate the value of each possible movement route, so as to facilitate the subsequent screening of the optimal movement route. Finally, the object movement change route whose corresponding route value information meets the preset conditions is obtained from the at least one object movement change route as the to-be-moved route corresponding to the target object. In summary, by accurately generating the route value information corresponding to each movable route, the route effectiveness of each movable route is evaluated, so that a more efficient and safe to-be-moved route can be obtained later. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0031] Figure 1 is a schematic diagram of an application scenario of a route generation method according to some embodiments of the present disclosure;

[0032] Figure 2 is a flow chart of some embodiments of the route generation method according to the present disclosure;

[0033] Figure 3 are flow charts of other embodiments of the route generation method according to the present disclosure;

[0034] Figure 4 is a schematic diagram of driving between an unmanned vehicle and an obstacle vehicle in some embodiments of the route generation method disclosed in the present invention;

[0035] Figure 5 is a schematic diagram of a trajectory conflict between an unmanned vehicle and an obstacle vehicle in some embodiments of the route generation method disclosed herein;

[0036] Figure 6 is a schematic diagram of the structure of some embodiments of the route generation device according to the present disclosure;

[0037] Figure 7 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0038] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0039] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0040] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0041] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0042] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0043] With regard to the collection, storage, and use of user personal information (such as obstacle information) involved in this disclosure, before performing the corresponding operations, the relevant organizations or individuals shall fulfill their obligations, including conducting personal information security impact assessments, fulfilling the obligation to inform the personal information subject, and obtaining the authorization and consent of the personal information subject in advance.

[0044] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0045] Figure 1 It is a schematic diagram of an application scenario of the route generation method according to some embodiments of the present disclosure.

[0046] exist Figure 1In the application scenario, first, the electronic device 101 can determine at least one dynamic obstacle information 103 corresponding to the target object 102. In this application scenario, the target object 102 can be "vehicle A". The at least one dynamic obstacle information 103 includes: dynamic obstacle information 1031, dynamic obstacle information 1032 and dynamic obstacle information 1033. Dynamic obstacle information 1031 can be "vehicle B". Dynamic obstacle information 1032 can be "vehicle C". Dynamic obstacle information 1033 can be "vehicle D". Then, the electronic device 101 can determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information 103 in the target future time period, and obtain at least one obstacle movement route 104. In this application scenario, the at least one obstacle movement route 104 includes: route B 1041 corresponding to vehicle B, route C 1042 corresponding to vehicle C and route D 1043 corresponding to vehicle D. Next, in response to determining that there is a route conflict between the at least one obstacle movement route 104 and the original movement route 105 corresponding to the target object 102, the electronic device 101 may determine the drivable area information 106 and at least one object movement change route 107 corresponding to the target object 102 according to the at least one obstacle movement route 104. In this application scenario, the original movement route 105 may be route A. As can be seen from the figure, there is a route conflict between route A and route B. The drivable area information 106 may be drivable area A. The at least one object movement change route 107 may include: a change route 1071, a change route 1072, and a change route 1073. Furthermore, the electronic device 101 may generate route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information 106 and the at least one obstacle movement route 107. In this application scenario, the route value information 1081 corresponding to the change route 1071 may be "45". The route value information 1082 corresponding to the change route 1072 may be "54". The route value information 1083 corresponding to the changed route 1073 may be "23". Finally, the electronic device 101 may obtain the object movement change route whose corresponding route value information meets the preset conditions from the at least one object movement change route 107 as the to-be-moved route corresponding to the target object 102. In this application scenario, the to-be-moved route may be the changed route B.

[0047] It should be noted that the electronic device 101 can be hardware or software. When the electronic device is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the electronic device is embodied as software, it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0048] It should be understood that Figure 1 The number of electronic devices in the embodiment is only for illustration. Any number of electronic devices may be provided according to implementation requirements.

[0049] Continue to refer Figure 2 , shows a process 200 of some embodiments of the route generation method according to the present disclosure. The route generation method comprises the following steps:

[0050] Step 201: Determine at least one dynamic obstacle information corresponding to the target object.

[0051] In some embodiments, the execution body of the above route generation method (for example Figure 1 The electronic device 101 shown in the figure can determine at least one dynamic obstacle information corresponding to the target object. Among them, the target object can be an object that is currently moving and whose movement route is to be determined. For driving scenarios, the target object can be a vehicle traveling on a road. For autonomous driving scenarios, the target object can be an unmanned vehicle equipped with an autonomous driving system. Dynamic obstacle information can be obstacle information of movable dynamic obstacles. For example, a dynamic obstacle can be a vehicle traveling or a pedestrian moving on the road. At least one dynamic obstacle corresponding to at least one dynamic obstacle information can be each dynamic obstacle moving on the same road as the target object. In practice, at least one dynamic obstacle information can be at least one moving object traveling on the same road as the target object and whose corresponding object distance is less than a predetermined distance. Obstacle information can represent the identity information of the obstacle. For example, the obstacle information can be the license plate number of the obstacle.

[0052] As an example, the above-mentioned execution entity can query the real-time road driving information to obtain at least one dynamic obstacle information moving on the moving road corresponding to the target object and with a driving distance less than 2km from the above-mentioned target object, so as to obtain at least one dynamic obstacle information.

[0053] Step 202: determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period to obtain at least one obstacle movement route.

[0054] In some embodiments, the execution subject may determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period to obtain at least one obstacle movement route. The dynamic obstacle information may be the obstacle information corresponding to the dynamic obstacle. For example, the dynamic obstacle information may be the obstacle identification corresponding to the dynamic obstacle, or the license plate number of the obstacle vehicle. The target future time period may be a time period in a pre-set future situation. For example, the current time is 6 o'clock, and the target future time period may be [6 o'clock in the future, 10 o'clock in the future]. The obstacle movement route may be the predicted route of the dynamic obstacle in the target future time period.

[0055] As an example, the execution subject may use a motion trajectory prediction model to determine the obstacle motion route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period, and obtain at least one obstacle motion route. The motion trajectory prediction model may be a model for predicting the motion trajectory of an object in a future time period. For example, the motion trajectory prediction model may be a model based on a GAN (Generative Adversarial Networks) network.

[0056] Step 203, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determine the drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route.

[0057] In some embodiments, in response to determining that there is a route conflict between the at least one obstacle motion route and the original motion route corresponding to the target object, the execution subject may determine the drivable area information corresponding to the target object and at least one object motion change route based on the at least one obstacle motion route. The original motion route may represent the predicted route for the target object to move in the target future time period. Route conflict may be the intersection of at least two routes. The existence of a route conflict between at least one obstacle motion route and the original motion route corresponding to the target object indicates that there is a route intersection between the obstacle motion route and the original motion route in at least one obstacle motion route. The drivable area information may be the area information of the motion area where the target object can move. In practice, the drivable area information may be the area information in the form of a range. At least one object motion change route may be each route after the motion route is changed for at least one obstacle motion route. The object motion change route may be a route that does not have a route conflict with the original motion route.

[0058] As an example, first, the execution subject may obtain at least one safe driving area for each obstacle motion route in at least one obstacle motion route. Then, the at least one safe driving area is subjected to regional fusion to generate a fusion area. Finally, the fusion area is removed from the motion road area corresponding to the target object to generate drivable area information.

[0059] In addition, by using a route planning algorithm, the execution subject can automatically generate a plurality of drivable routes from within the area corresponding to the drivable area information as a route change for at least one object movement.

[0060] In some optional implementations of some embodiments, the execution subject may determine the drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route, including the following steps:

[0061] The first step is to determine the lateral motion space information of each obstacle motion route in the above-mentioned at least one obstacle motion route within the above-mentioned target future time period, and obtain at least one lateral motion space information. The lateral motion space information may be the motion space that the dynamic obstacle may occupy in the lateral direction during the movement along the obstacle motion route. The lateral motion space information may be information in the form of an area.

[0062] The second step is to determine the drivable area information based on the at least one lateral motion space information.

[0063] As an example, first, the execution subject may fuse the lateral motion spatial information in the at least one lateral motion spatial information to generate fused spatial information, and then remove the fused spatial information from the moving road area corresponding to the target object to generate the drivable area information.

[0064] Optionally, the determining of the lateral motion space information of each obstacle motion route in the at least one obstacle motion route within the target future time period may include the following steps:

[0065] In the first step, for each future moment in the above target future time period, the following second generation step is performed:

[0066] Sub-step 1, determining the obstacle motion position corresponding to the above-mentioned future moment in the above-mentioned obstacle motion route as the second obstacle motion position. The target future time period can be decomposed into various future moments, and the lateral motion space information is determined from each future moment. For example, the target future time period is [6 o'clock in the future, 10 o'clock in the future]. The corresponding future moments may include: 6 o'clock in the future, 6:30 in the future, 7 o'clock in the future, 7:30 in the future, ..., 10 o'clock in the future. The second obstacle motion position may be the motion position of the obstacle at a future moment in the obstacle motion route. In practice, the second obstacle motion position may be position information in the form of coordinates.

[0067] Sub-step 2, determining the lateral position motion space information corresponding to the above-mentioned second obstacle motion position. The lateral position motion space information may be lateral space information that does not affect the safe movement of the corresponding dynamic obstacle at the second obstacle motion position. The lateral position motion space information may be determined by the vehicle lateral motion safety distance. That is, according to the vehicle size in the lateral direction corresponding to the dynamic obstacle and / or the movement of the vehicle, the corresponding lateral position motion space information is determined by setting the corresponding lateral motion safety distance. For example, the vehicle size in the lateral direction corresponding to the dynamic obstacle vehicle is 1.5, and the corresponding vehicle lateral motion safety distance is 0.5 meters. Then, the lateral position motion space information corresponding to the dynamic obstacle vehicle may be a motion space with a width of 0.5 meters for left and right lateral movement. That is, the spatial width of the lateral position motion space information is 2.5 meters.

[0068] As an example, first, a lateral safety distance is obtained. Then, according to the lateral safety distance, the second obstacle movement position is expanded laterally to generate lateral position movement space information. The lateral safety distance here can be flexibly set based on the scene and the corresponding situation of the dynamic obstacle.

[0069] The second step is to generate lateral motion spatial information according to the obtained lateral position motion spatial information sequence.

[0070] As an example, the execution subject may connect and combine the individual lateral position motion space information in the lateral position motion space information sequence to generate the lateral motion space information corresponding to the dynamic obstacle.

[0071] In some optional implementations of some embodiments, the execution subject may determine the drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route, and further include the following steps:

[0072] In the first step, for each future moment in the above target future time period, the following third generation step is performed:

[0073] Sub-step 1: Determine the lateral position movement space information corresponding to the future moment in the drivable area information.

[0074] Sub-step 2: Filter a predetermined number of spatial points from the above-mentioned lateral position motion spatial information to obtain a spatial point set. The predetermined number may be preset. The spatial point may be a certain motion point in the motion space corresponding to the lateral position motion spatial information.

[0075] As an example, the execution subject may evenly divide the space corresponding to the lateral position motion space information to evenly determine a predetermined number of space points to obtain a space point set.

[0076] The second step is to generate at least one vehicle motion change position sequence based on the obtained spatial point set sequence.

[0077] As an example, the above execution subject may perform spatial point combination from each spatial point in each spatial point set in the spatial point set sequence to generate a vehicle motion change position sequence, thereby obtaining at least one vehicle motion change position sequence.

[0078] Step 204 : generating route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route.

[0079] In some embodiments, the execution entity may generate route value information corresponding to each object movement change route in the at least one object movement change route based on the drivable area information and the at least one obstacle movement route. The route value information may represent the route movement cost information corresponding to the object movement change route. The route travel cost information may be the cost required to move on the route. In practice, the route value information may be information in numerical form. The larger the numerical value, the greater the cost required to move.

[0080] As an example, first, the execution subject may extract at least one route feature information corresponding to the at least one object movement change route. Finally, the at least one route feature information and the drivable area information are input into the route value information generation model to generate the route value information corresponding to each drivable route. The route value information generation model may be a multi-layer series of convolutional layers + fully connected layers.

[0081] In some optional implementations of some embodiments, the execution entity may generate route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route, including the following steps:

[0082] The first step is to determine the obstacle movement distance information between the at least one obstacle movement route and the object movement change route. The obstacle movement distance information may represent the route distance between the at least one obstacle movement route and the object movement change route. The obstacle movement distance information may include: the route distance between each obstacle movement route and the object movement change route.

[0083] As an example, for each obstacle movement route, first, the execution subject may determine the position distance between the corresponding position of the corresponding dynamic obstacle and the corresponding position in the object movement change route at predetermined intervals to obtain a position distance sequence. Then, the median and the average corresponding to each position distance in the position distance sequence are determined as the route distance situation. The obtained at least one route distance situation is determined as the obstacle movement distance information.

[0084] The second step is to determine the motion steering angle information corresponding to the above-mentioned object motion change route. The motion steering angle information can represent the vehicle orientation angle of the target vehicle in the target future time period. For example, the motion steering angle can be the angle between the vehicle motion direction and the road driving direction.

[0085] As an example, first, the moving road information corresponding to the target object is determined. Then, at least one key section corresponding to the moving road information is determined. Next, the moving steering angle of the object moving route change in at least one key section is determined to obtain at least one moving steering angle. Finally, the at least one moving steering angle is determined as the moving steering angle information.

[0086] The third step is to generate route value information corresponding to the object movement change route based on the obstacle movement distance information, the movement steering angle information and the drivable area information.

[0087] As an example, the execution subject may input the obstacle movement distance information, the movement steering angle information and the drivable area information into the route value information generation model to generate the route value information corresponding to the object movement change route. In practice, the route value information generation model may be a pre-trained long short-term memory neural network for generating route value information.

[0088] In some optional implementations of some embodiments, the obstacle movement distance information is at least one obstacle distance between at least one dynamic obstacle and the target object at each future moment. The movement steering angle information is at least one movement steering angle at each future moment. The drivable area information is drivable sub-area information at each future moment. The drivable sub-area information may be area information corresponding to the target object movable at the future moment.

[0089] Optionally, the execution subject may generate the route value information corresponding to the object movement change route according to the obstacle movement distance information, the movement steering angle information and the drivable area information, comprising the following steps:

[0090] The first step is to execute the following fourth generation step for each of the above future moments:

[0091] Sub-step 1: determining at least one obstacle distance, motion steering angle, and drivable sub-area information corresponding to the future moment, wherein the obstacle distance in the at least one obstacle distance and the dynamic obstacle in the at least one dynamic obstacle have a one-to-one correspondence.

[0092] Sub-step 2, generating the value information corresponding to the above-mentioned future moment according to the above-mentioned at least one obstacle distance, the above-mentioned motion steering angle and the above-mentioned drivable sub-area information.

[0093] As an example, first, the execution subject may average each obstacle distance in at least one obstacle distance to obtain an average obstacle distance, and then perform weighted summation on the average obstacle distance, the motion steering angle, and the drivable sub-area information to generate the value information corresponding to the future moment.

[0094] The second step is to generate the above-mentioned route value information based on the obtained value information sequence.

[0095] As an example, the execution entity may add up the individual value information in the value information sequence to generate route value information.

[0096] Step 205 , obtaining an object movement change route whose corresponding route value information meets a preset condition from the at least one object movement change route as the to-be-moved route corresponding to the target object.

[0097] In some embodiments, the execution subject may obtain an object movement change route whose corresponding route value information satisfies a preset condition from the at least one object movement change route as the to-be-moved route corresponding to the target object. The preset value condition may be that the drivable route is the route with the smallest route value information.

[0098] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the route generation method of some embodiments of the present disclosure, the route to be moved can be accurately generated while avoiding the execution of deceleration and avoidance, so as to achieve efficient movement of the target object. Specifically, the reason for the inefficient movement of the relevant target object is that although the dynamic adjustment of the speed of the target object can avoid conflicts with various obstacles, it will lead to low efficiency of the object movement. Similarly, if the speed of the object is not adjusted in time, there is a greater probability of traffic accidents. Based on this, the route generation method of some embodiments of the present disclosure first determines at least one dynamic obstacle information corresponding to the target object, so as to facilitate the subsequent obstacle avoidance for at least one dynamic obstacle information to avoid subsequent accidents during the movement. Then, the obstacle movement route of each dynamic obstacle information in the above at least one dynamic obstacle information in the target future time period is determined to obtain at least one obstacle movement route. Here, by determining the obstacle movement route of each dynamic obstacle in the target future time period, under the dynamic grasp of the movement of each dynamic obstacle, the subsequent generated route to be moved can avoid the movement situation corresponding to the dynamic obstacle, avoiding the need for the target object to adjust the speed to avoid the occurrence of accidents, thereby greatly improving the object movement efficiency while reducing the adjustment speed. Next, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, the drivable area information and at least one object movement change route corresponding to the target object can be accurately determined according to the at least one obstacle movement route. Here, by determining the drivable area information, the area in which the target object can move can be effectively determined, and by determining at least one object movement change route, at least one movable route can be effectively determined while ensuring efficient movement. Furthermore, according to the drivable area information and the at least one obstacle movement route, the route value information corresponding to each object movement change route in the at least one object movement change route can be accurately generated to evaluate the value of each possible movement route, so as to facilitate the subsequent screening of the optimal movement route. Finally, the object movement change route whose corresponding route value information meets the preset conditions is obtained from the at least one object movement change route as the to-be-moved route corresponding to the target object. In summary, by accurately generating the route value information corresponding to each movable route, the route effectiveness evaluation is performed on each movable route, so that a more efficient to-be-moved route can be obtained later.

[0099] Further references Figure 3 , shows a process 300 of another embodiment of the route generation method according to the present disclosure. The route generation method comprises the following steps:

[0100] Step 301: Determine at least one dynamic obstacle information corresponding to the target object.

[0101] Step 302: determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period to obtain at least one obstacle movement route.

[0102] Step 303, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determine the drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route.

[0103] Step 304: Generate route value information corresponding to each object movement change route in the at least one object movement change route based on the drivable area information and the at least one obstacle movement route.

[0104] Step 305 , obtaining an object movement change route whose corresponding route value information meets a preset condition from the at least one object movement change route as the to-be-moved route corresponding to the target object.

[0105] In some embodiments, the specific implementation of steps 301-305 and the technical effects thereof can be referred to in Figure 2 The steps 201-205 in the corresponding embodiment are not described in detail here.

[0106] Step 306 : In response to determining that there is no route conflict between the at least one obstacle movement route and the original movement route, generating position comparison information for at least one obstacle movement position sequence and the object movement position sequence.

[0107] In some embodiments, in response to determining that there is no route conflict between the at least one obstacle movement route and the original movement route, the execution subject (eg Figure 1 The electronic device 101 shown can generate position comparison information for at least one obstacle motion position sequence and the above-mentioned object motion position sequence. Among them, the obstacle motion route in the above-mentioned at least one obstacle motion route includes: the obstacle motion position sequence corresponding to the above-mentioned target future time period. The above-mentioned original motion route includes: the object motion position sequence corresponding to the above-mentioned target future time period. The position comparison information can represent the comparison information of whether at least one dynamic obstacle is in the same position as the target object in the longitudinal direction.

[0108] As an example, for each at least one obstacle motion position in at least one obstacle motion position sequence, first, determine the vehicle motion original position corresponding to the at least one obstacle motion position as the target vehicle motion original position. Then, compare each obstacle motion position in the at least one obstacle motion position with the target object motion original position to generate position comparison sub-information. The obtained at least one position comparison sub-information sequence is determined as position comparison information.

[0109] In some optional implementations of some embodiments, the execution subject generates position comparison information for at least one obstacle motion position sequence and the object motion position sequence, including the following steps:

[0110] In the first step, for each future moment in the above target future time period, the following first generation step is performed:

[0111] Sub-step 1: determine the object motion position corresponding to the above-mentioned future moment in the above-mentioned object motion position sequence as the target object motion position.

[0112] Sub-step 2: determining the obstacle motion position corresponding to the future moment in the at least one obstacle motion position sequence as the first obstacle motion position, and obtaining at least one first obstacle motion position.

[0113] Sub-step 3, compare the longitudinal motion position of the at least one first obstacle with the target object to generate comparison information. The longitudinal motion position comparison may be a position comparison along the road travel direction, that is, a position comparison in the direction of the object movement.

[0114] The second step is to generate the above position comparison information based on the obtained comparison information sequence.

[0115] As an example, in response to determining that there is comparison information in the comparison information sequence indicating that a dynamic obstacle will be at the same longitudinal position as the target object at a future moment, comparison information indicating that at least one dynamic obstacle will be at the same longitudinal position as the target object is generated. In response to determining that there is no comparison information in the comparison information sequence indicating that a dynamic obstacle will be at the same longitudinal position as the target object at a future moment, comparison information indicating that at least one dynamic obstacle will not be at the same longitudinal position as the target object is generated.

[0116] Step 307: Generate the above-mentioned waiting movement route according to the above-mentioned position comparison information.

[0117] In some embodiments, the execution entity may generate the to-be-moved route based on the position comparison information.

[0118] As an example, in response to determining that the position comparison information represents that at least one dynamic obstacle does not have the same position as the target object in the longitudinal direction, the original motion route is determined as the route to be driven.

[0119] In some optional implementations of some embodiments, in response to determining that the above-mentioned position comparison information indicates the existence of a dynamic obstacle with the same longitudinal movement position as the above-mentioned target object, the above-mentioned execution entity may adjust the above-mentioned original movement route according to the above-mentioned drivable area information to generate a route to be moved.

[0120] As an example, the execution subject may adjust the original motion route so that the adjusted motion route is within the area corresponding to the drivable area information to generate a route to be driven. In practice, the specific route adjustment may include: speed adjustment and steering adjustment.

[0121] like Figure 4 As shown, a schematic diagram of the driving between the unmanned vehicle and the obstacle vehicle is shown.

[0122] like Figure 4 As shown, the target object is an unmanned vehicle, and the unmanned vehicle is driving in the area corresponding to the unmanned vehicle drivable area information, and the corresponding unmanned vehicle drivable area information is the drivable area information. The obstacle vehicle is a dynamic obstacle, and the corresponding obstacle vehicle drivable area information can be the lateral motion space information corresponding to the obstacle vehicle.

[0123] like Figure 5 As shown, a schematic diagram showing a trajectory conflict between the unmanned vehicle and the obstacle vehicle is shown.

[0124] There is a motion conflict between the original trajectory of the unmanned vehicle and the motion trajectory of the obstacle vehicle at t3-t4. And considering that the drivable area above the obstacle vehicle is getting smaller and smaller, and the drivable area below the obstacle vehicle is getting larger and larger. Therefore, the unmanned vehicle is recommended to make downward motion adjustments in advance to avoid motion conflicts with the obstacle vehicle between t3-t4, and the drivable space below is getting larger and larger, which is more beneficial to the driving of the unmanned vehicle.

[0125] from Figure 3 It can be seen that Figure 2 Compared with the description of some corresponding embodiments, Figure 3 In the process 300 of the route generation method in some corresponding embodiments, by comparing the longitudinal position of the target vehicle with at least one dynamic obstacle at each future time, it can be effectively determined whether the target vehicle has a driving conflict with at least one dynamic obstacle at a future time, so that the route to be driven can be accurately obtained. Driving the vehicle according to the route to be driven can effectively avoid the occurrence of vehicle collision.

[0126] Further references Figure 6 As an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a route generation device. These device embodiments are similar to Figure 2 Corresponding to the method embodiments shown, the route generating device can be specifically applied to various electronic devices.

[0127] like Figure 6 As shown, a route generation device 600 includes: a first determination unit 601, a second determination unit 602, a third determination unit 603, a generation unit 604 and an acquisition unit 605. The first determination unit 601 is configured to determine at least one dynamic obstacle information corresponding to the target object; the second determination unit 602 is configured to determine the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period to obtain at least one obstacle movement route; the third determination unit 603 is configured to, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determine the drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route; the generation unit 604 is configured to generate route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route; the acquisition unit 605 is configured to acquire the object movement change route whose corresponding route value information meets the preset condition from the at least one object movement change route as the to-be-moved route corresponding to the target object.

[0128] In some optional implementations of some embodiments, the obstacle motion route in the at least one obstacle motion route includes: the obstacle motion position sequence corresponding to the target future time period, and the original motion route includes: the object motion position sequence corresponding to the target future time period; and the device 600 further includes: an information generation unit and a route generation unit (not shown in the figure). The information generation unit may be configured to: in response to determining that there is no route conflict between the at least one obstacle motion route and the original motion route, generate position comparison information for at least one obstacle motion position sequence and the object motion position sequence. The route generation unit may be configured to: generate the route to be moved according to the position comparison information.

[0129] In some optional implementations of some embodiments, the information generation unit may be configured to: for each future moment in the above-mentioned target future time period, perform the following first generation step: determine the object motion position corresponding to the above-mentioned future moment in the above-mentioned object motion position sequence as the target object motion position; determine the obstacle motion position corresponding to the above-mentioned future moment in the above-mentioned at least one obstacle motion position sequence as the first obstacle motion position, and obtain at least one first obstacle motion position; compare the longitudinal motion position of the above-mentioned at least one first obstacle motion position with the above-mentioned target object motion position to generate comparison information; and generate the above-mentioned position comparison information based on the obtained comparison information sequence.

[0130] In some optional implementations of some embodiments, the route generation unit may be configured to: in response to determining that the position comparison information indicates the presence of a dynamic obstacle with the same longitudinal movement position as the target object, adjust the original movement route according to the drivable area information to generate a route to be moved.

[0131] In some optional implementations of some embodiments, the above-mentioned third determination unit 603 can be further configured to: determine the lateral motion space information of each obstacle motion route in the above-mentioned at least one obstacle motion route within the above-mentioned target future time period, and obtain at least one lateral motion space information; determine the above-mentioned drivable area information based on the above-mentioned at least one lateral motion space information.

[0132] In some optional implementations of some embodiments, the above-mentioned third determination unit 603 can be further configured to: for each future moment in the above-mentioned target future time period, perform the following second generation step: determine the obstacle movement position corresponding to the above-mentioned future moment in the above-mentioned obstacle movement route as the second obstacle movement position; determine the lateral position movement space information corresponding to the above-mentioned second obstacle movement position; generate lateral movement space information based on the obtained lateral position movement space information sequence.

[0133] In some optional implementations of some embodiments, the above-mentioned third determination unit 603 can be further configured to: for each future moment in the above-mentioned target future time period, execute the following third generation step: determine the lateral position movement space information corresponding to the above-mentioned future moment in the above-mentioned drivable area information; filter out a predetermined number of spatial points from the above-mentioned lateral position movement space information to obtain a spatial point set; and generate the above-mentioned at least one vehicle movement change position sequence based on the obtained spatial point set sequence.

[0134] In some optional implementations of some embodiments, the above-mentioned generation unit 604 can be further configured to: determine the obstacle movement distance information between the above-mentioned at least one obstacle movement route and the above-mentioned object movement change route; determine the movement steering angle information corresponding to the above-mentioned object movement change route; and generate the route value information corresponding to the above-mentioned object movement change route based on the above-mentioned obstacle movement distance information, the above-mentioned movement steering angle information and the above-mentioned drivable area information.

[0135] In some optional implementations of some embodiments, the obstacle movement distance information is at least one obstacle distance between at least one dynamic obstacle and the target object at each future moment, the movement steering angle information is the movement steering angle at each future moment, and the drivable area information is the drivable sub-area information at each future moment; and the generation unit 604 can be further configured to: for each of the above future moments, perform the following fourth generation step: determine the obstacle distance, movement steering angle and drivable sub-area information corresponding to the above future moment; generate the value information corresponding to the above future moment according to the obstacle distance, the movement steering angle and the drivable sub-area information; generate the above route value information according to the obtained value information sequence. It can be understood that the units recorded in the route generation device 600 are the same as those in the reference. Figure 2 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the route generation device 600 and the units included therein, and will not be described in detail here.

[0136] Reference below Figure 7 , which shows an electronic device (eg, Figure 1 Schematic diagram of the structure of the electronic device 101)700. Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0137] like Figure 7 As shown, the electronic device 700 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory 702 or a program loaded from a storage device 708 into a random access memory 703. Various programs and data required for the operation of the electronic device 700 are also stored in the random access memory 703. The processing device 701, the read-only memory 702, and the random access memory 703 are connected to each other via a bus 704. An input / output interface 705 is also connected to the bus 704.

[0138] Typically, the following devices may be connected to the input / output interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 The electronic device 700 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 7 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0139] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from a network through a communication device 709, or installed from a storage device 708, or installed from a read-only memory 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0140] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0141] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0142] The computer-readable medium may be included in the electronic device; or it may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: determines at least one dynamic obstacle information corresponding to the target object; determines the obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in the target future time period, and obtains at least one obstacle movement route; in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determines the drivable area information and at least one object movement change route corresponding to the target object according to the at least one obstacle movement route; generates route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route; obtains the object movement change route whose corresponding route value information meets the preset conditions from the at least one object movement change route as the to-be-moved route corresponding to the target object.

[0143] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0145] The units described in some embodiments of the present disclosure may be implemented by software or by hardware. The described units may also be set in a processor, for example, may be described as: a processor includes a first determination unit, a second determination unit, a third determination unit, a generation unit and an acquisition unit. The names of these units do not constitute limitations on the units themselves in certain cases. For example, the acquisition unit may also be described as "a unit that obtains the object movement change route whose corresponding route value information meets the preset conditions from the at least one object movement change route as the object movement change route corresponding to the target object."

[0146] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0147] Some embodiments of the present disclosure further provide a computer program product, including a computer program, which implements any of the above-mentioned route generation methods when executed by a processor.

[0148] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A route generation method, comprising: Determining at least one dynamic obstacle information corresponding to the target object; Determine an obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in a target future time period to obtain at least one obstacle movement route; In response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, determining, according to the at least one obstacle movement route, drivable area information corresponding to the target object and at least one object movement change route; generating route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route; An object movement change route whose corresponding route value information meets a preset condition is obtained from the at least one object movement change route as the to-be-moved route corresponding to the target object.

2. The method according to claim 1, wherein: The obstacle motion route in the at least one obstacle motion route includes: an obstacle motion position sequence corresponding to the target future time period, and the original motion route includes: an object motion position sequence corresponding to the target future time period; and The method further comprises: In response to determining that there is no route conflict between the at least one obstacle motion route and the original motion route, generating position comparison information for at least one obstacle motion position sequence and the object motion position sequence; The to-be-moved route is generated according to the position comparison information.

3. The method according to claim 2, wherein: The generating of position comparison information for at least one obstacle motion position sequence and the object motion position sequence comprises: For each future moment in the target future time period, the following first generation step is performed: Determine the object motion position corresponding to the future moment in the object motion position sequence as the target object motion position; Determine an obstacle motion position corresponding to the future moment in the at least one obstacle motion position sequence as a first obstacle motion position, and obtain at least one first obstacle motion position; Comparing the longitudinal motion position of the at least one first obstacle motion position with the target object motion position to generate comparison information; The position comparison information is generated according to the obtained comparison information sequence.

4. The method according to claim 3, wherein: The step of generating the to-be-moved route according to the position comparison information comprises: In response to determining that the position comparison information indicates the presence of a dynamic obstacle at the same longitudinal motion position as that between the target objects, the original motion route is adjusted according to the drivable area information to generate a to-be-moved route.

5. The method according to claim 1, wherein: The determining, according to the at least one obstacle movement route, the drivable area information corresponding to the target object and at least one object movement change route comprises: Determine lateral motion spatial information of each obstacle motion route in the at least one obstacle motion route within the target future time period to obtain at least one lateral motion spatial information; The drivable area information is determined according to the at least one lateral motion space information.

6. The method according to claim 5, wherein: The determining of the lateral motion space information of each obstacle motion route in the at least one obstacle motion route within the target future time period includes: For each future moment in the target future time period, the following second generation step is performed: Determine an obstacle movement position corresponding to the future moment in the obstacle movement route as a second obstacle movement position; Determine the lateral position motion space information corresponding to the motion position of the second obstacle; The lateral motion spatial information is generated according to the obtained lateral position motion spatial information sequence.

7. The method according to claim 6, wherein: The determining, according to the at least one obstacle movement route, the drivable area information corresponding to the target object and at least one object movement change route, further includes: For each future moment in the target future time period, the following third generation step is performed: Determine the lateral position movement space information corresponding to the future time in the drivable area information; Filtering a predetermined number of spatial points from the lateral position motion spatial information to obtain a spatial point set; The at least one vehicle motion change position sequence is generated according to the obtained spatial point set sequence.

8. The method according to claim 1, wherein: The generating, according to the drivable area information and the at least one obstacle movement route, route value information corresponding to each object movement change route in the at least one object movement change route comprises: Determining obstacle movement distance information between the at least one obstacle movement route and the object movement change route; Determine the motion steering angle information corresponding to the object's motion change route; The route value information corresponding to the object movement change route is generated according to the obstacle movement distance information, the movement steering angle information and the drivable area information.

9. The method according to claim 8, wherein: The obstacle movement distance information is at least one obstacle distance between at least one dynamic obstacle and the target object at each future moment, the movement steering angle information is the movement steering angle at each future moment, and the drivable area information is the drivable sub-area information at each future moment; as well as The generating of the route value information corresponding to the object movement change route according to the obstacle movement distance information, the movement steering angle information and the drivable area information includes: For each of the future moments, the following fourth generation step is performed: Determining the obstacle distance, motion steering angle, and drivable sub-area information corresponding to the future moment; Generate value information corresponding to the future moment according to the obstacle distance, the motion steering angle and the drivable sub-area information; The route value information is generated according to the obtained value information sequence.

10. A route generating device, comprising: A first determining unit is configured to determine at least one dynamic obstacle information corresponding to the target object; a second determining unit configured to determine an obstacle movement route of each dynamic obstacle information in the at least one dynamic obstacle information in a target future time period to obtain at least one obstacle movement route; A third determining unit is configured to determine, in response to determining that there is a route conflict between the at least one obstacle movement route and the original movement route corresponding to the target object, drivable area information corresponding to the target object and at least one object movement change route according to the at least one obstacle movement route; a generating unit configured to generate route value information corresponding to each object movement change route in the at least one object movement change route according to the drivable area information and the at least one obstacle movement route; The acquisition unit is configured to acquire, from the at least one object movement change route, an object movement change route whose corresponding route value information meets a preset condition as the to-be-moved route corresponding to the target object.

11. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 9.

12. A computer readable medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

13. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 9.

Images