Lane changing path planning method, device and equipment for watering cart and storage medium

Abstract

A lane changing path planning method, apparatus and device for a sprinkler, and a storage medium, relate to the technical field of sprinklers, and comprise: determining a target lane according to acquired road condition information or boundary attributes of the left side of a road, the road condition information comprising intersection steering information, and the boundary attributes comprising entity boundary attributes and water passing boundary attributes; determining whether lane changing is needed or not according to the target lane and a preset driving route; if it is determined that lane changing is needed, the lane changing path is calculated according to the target lane, and the problems that in the related technology, the operation requirement that a watering cart needs to cover all target road surfaces with the small water amount as much as possible and the short driving distance as much as possible is not considered, and the workload cannot be reduced to the maximum extent, and water resources cannot be saved to the maximum extent are solved. The workload of the watering cart can be reduced to a greater extent, and water resources can be saved.

Description

Technical Field

[0001] The present application relates to the technical field of sprinkler trucks, and in particular to a lane change path planning method, device, equipment and storage medium for a sprinkler truck. Background Art

[0002] With the development of artificial intelligence technology, the intelligent level of sanitation products is getting higher and higher. High-tech products such as automatic cleaning robots and unmanned sanitation vehicles have emerged. Related technologies use high-precision maps to plan the path of sprinkler trucks. This path planning method is applicable to a large number of vehicle models. However, conventional path planning methods do not take into account the need for sprinkler trucks to cover all target roads with as little water as possible and a shorter driving distance, and cannot minimize the workload and save water resources. Therefore, there is an urgent need for a method to reduce the workload of sprinkler trucks and save water resources consumed during the work of sprinkler trucks. Summary of the invention

[0003] The present application provides a lane change path planning method, device, equipment and storage medium for a sprinkler truck, which can solve the technical problems in the prior art that the sprinkler truck needs to cover all target road surfaces with as little water as possible and a shorter driving distance, and cannot minimize the workload and save water resources.

[0004] In a first aspect, an embodiment of the present application provides a lane change path planning method for a sprinkler truck, the lane change path planning method for the sprinkler truck comprising:

[0005] Determine the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes;

[0006] Determining whether a lane change is required according to the target lane and a preset driving route;

[0007] If it is determined that a lane change is required, a lane change path is calculated according to the target lane.

[0008] In combination with the first aspect, in one implementation, calculating the lane change path according to the target lane includes:

[0009] Determine the coordinates of the first position and the coordinates of the second position according to the acquired current lane and the target lane of the sprinkler truck;

[0010] A lane change path is calculated according to the coordinates of the first position and the coordinates of the second position.

[0011] In combination with the first aspect, in one implementation, after calculating the lane change path according to the target lane, the method further includes:

[0012] According to a preset sampling ratio, a reference lateral offset of each sampling interval point on the lane change path is obtained;

[0013] constructing an evaluation function according to the reference lateral offset, the preset weight coefficient and the preset lateral offset;

[0014] By presetting the P matrix and the Q matrix, the evaluation function is converted into a standard evaluation function;

[0015] The standard evaluation function is solved using the osqp solver to calculate a smooth lane change path.

[0016] In combination with the first aspect, in one implementation, determining the target lane according to the acquired road condition information or the boundary attribute on the left side of the road includes:

[0017] Determine whether there is an intersection within the first preset distance in front of the sprinkler truck;

[0018] If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, determining the target lane according to the acquired boundary attributes of the left side of the road;

[0019] If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined according to the obtained intersection turning information.

[0020] In combination with the first aspect, in one implementation, determining the target lane according to the acquired boundary attribute of the left side of the road includes:

[0021] If the acquired boundary attribute of the left side of the road is a physical boundary attribute, the middle lane is determined to be the target lane;

[0022] If the acquired boundary attribute of the left side of the road is a water-passing boundary attribute, the first lane on the left side is determined to be the target lane.

[0023] In combination with the first aspect, in one implementation, determining the target lane according to the acquired intersection turning information includes:

[0024] If the obtained intersection turning information is a left turn, the left turn lane is determined as the target lane;

[0025] If the obtained intersection turning information is a right turn, the target lane is determined to be a right turn lane;

[0026] If the obtained intersection turning information is straight ahead, the target lane is determined to be a straight ahead lane;

[0027] If the obtained intersection turning information is a U-turn, the target lane is determined to be a U-turn lane.

[0028] In combination with the first aspect, in one implementation, calculating the lane change path according to the coordinates of the first position and the coordinates of the second position includes:

[0029] The coordinates of the first position are taken as the coordinates of the starting point of the lane changing path, the coordinates of the second position are taken as the coordinates of the end point of the lane changing path, and the lane changing path is calculated by using a preset high-precision map and a preset path planning algorithm.

[0030] In a second aspect, an embodiment of the present application provides a lane change path planning device for a sprinkler truck, the lane change path planning device for the sprinkler truck comprising:

[0031] A first determination module is used to determine the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes;

[0032] A second determination module, used to determine whether a lane change is required according to the target lane and a preset driving route;

[0033] The calculation module is used to calculate a lane change path according to the target lane if it is determined that a lane change is required.

[0034] In the third aspect, an embodiment of the present application provides a lane change path planning device for a sprinkler truck, characterized in that the lane change path planning device for the sprinkler truck comprises a processor, a memory, and a lane change path planning program for the sprinkler truck stored on the memory and executable by the processor, wherein when the lane change path planning program for the sprinkler truck is executed by the processor, the steps of the lane change path planning method for the sprinkler truck as described above are implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that a lane changing path planning program for a sprinkler truck is stored on the computer-readable storage medium, wherein when the lane changing path planning program for the sprinkler truck is executed by a processor, the steps of the lane changing path planning method for the sprinkler truck as described above are implemented.

[0036] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least: determining the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes; determining whether a lane change is required according to the target lane and the preset driving route; if it is determined that a lane change is required, calculating the lane change path according to the target lane, solving the technical problem that the related art does not take into account the need for the sprinkler truck to cover all target roads with as little water as possible and a shorter driving distance, and cannot minimize the workload and save water resources. The present application provides a lane change path planning method for a sprinkler truck, which can greatly reduce the workload of the sprinkler truck and save water resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flow chart of an embodiment of a lane change path planning method for a sprinkler truck of the present application;

[0038] Figure 2 For this application Figure 1 A detailed flow chart of step S10;

[0039] Figure 3 This is a functional module diagram of an embodiment of a lane change path planning device for a sprinkler truck of the present application;

[0040] Figure 4 This is a schematic diagram of the hardware structure of the lane change path planning device for the sprinkler truck involved in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0043] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0044] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0045] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0046] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0048] In a first aspect, an embodiment of the present application provides a lane change path planning method for a sprinkler truck.

[0049] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the lane change path planning method for a sprinkler truck in this application. Figure 1 As shown, the lane change path planning method of the sprinkler truck includes:

[0050] Step S10: determining the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes;

[0051] Exemplarily, if an intersection is detected within a preset distance in front of the sprinkler truck, the target lane is determined according to the intersection turn information, and if no intersection is detected within the preset distance in front of the sprinkler truck, the target lane is determined according to the boundary attributes on the left side of the road. The road condition information can be obtained from the image information obtained by the preset vehicle camera, and the boundary attributes on the left side of the road can be obtained from the image information obtained by the preset camera on the left side of the sprinkler truck.

[0052] Step S20: determining whether lane change is required according to the target lane and the preset driving route;

[0053] If the target lane is consistent with the preset driving route, it is determined that no lane change is required. If the target lane is consistent with the preset driving route, it is determined that a lane change is required.

[0054] Step S30: If it is determined that a lane change is required, a lane change path is calculated according to the target lane.

[0055] The starting point of the lane changing path is determined according to the lane where the sprinkler truck is currently located, the end point of the lane changing path is determined according to the target lane, and then the lane changing path is calculated according to the starting point and the end point of the lane changing path.

[0056] Specifically, calculating the lane change path according to the target lane includes: determining the coordinates of the first position and the coordinates of the second position according to the acquired current lane and the target lane of the sprinkler truck;

[0057] A lane change path is calculated according to the coordinates of the first position and the coordinates of the second position.

[0058] Exemplarily, if the target lane is determined based on the boundary attributes on the left side of the road, the position of the sprinkler truck at the moment the target lane is determined is taken as the first position, and the first position is the starting point of the lane change path. The coordinates of the first position are then obtained, and the coordinates of the first position include the lateral coordinate and the longitudinal coordinate of the first position. Afterwards, the lateral coordinate of the midpoint of the target lane is obtained, and the difference between the lateral coordinate of the first position and the lateral coordinate of the midpoint of the target lane is calculated. The difference is the lateral displacement distance of the sprinkler truck's lane change path. The preset steering angle θ of the sprinkler truck and the obtained lateral displacement distance d are then substituted into the first preset formula The longitudinal displacement distance L is calculated. The position in the target lane that is vertically and longitudinally away from the first position by the longitudinal displacement distance is the second position, and the second position is the end point of the lane change path, and the coordinates of the second position are obtained. Finally, the lane change path is obtained according to the path planning algorithm, the coordinates of the first position and the coordinates of the second position, and the path planning algorithm includes various existing path planning algorithms, such as the RRT algorithm and the A* algorithm.

[0059] If the target lane is determined based on the turning information of the intersection within a preset distance in front of the sprinkler truck, the position in the target lane that is the second preset distance behind the intersection is taken as the second position, and the second position is the end point of the lane change path. The coordinates of the second position are then obtained, and the coordinates of the second position include the horizontal coordinate and the vertical coordinate of the second position. Then, the difference between the horizontal coordinate of the midpoint of the lane where the sprinkler truck is currently located and the horizontal coordinate of the second position is calculated, and the difference is the lateral displacement distance. Then, the preset steering angle θ of the sprinkler truck and the obtained lateral displacement distance d are substituted into the first preset formula Calculate the longitudinal displacement distance L. The first position is the position of the longitudinal vertical distance of the second position longitudinal displacement distance in the lane where the sprinkler truck is currently located, and then obtain the coordinates of the first position. Finally, obtain the lane change path according to the path planning algorithm, the coordinates of the first position and the coordinates of the second position, and the path planning algorithm includes various existing path planning algorithms, such as RRT algorithm and A* algorithm. Changing lanes to the target lane according to the above method can allow the sprinkler truck to enter the target turning lane when approaching the intersection, that is, the sprinkler truck will not enter the target turning lane too early, resulting in the sprinkler truck being unable to cover the target road surface with water completely, and the sprinkler truck will not start changing lanes too late, resulting in the sprinkler truck being unable to complete the lane change before arriving at the preset intersection.

[0060] Specifically, after calculating the lane change path according to the target lane, the method further includes:

[0061] According to a preset sampling ratio, a reference lateral offset of each sampling interval point on the lane change path is obtained; an evaluation function is constructed according to the reference lateral offset, a preset weight coefficient and a preset lateral offset; the evaluation function is converted into a standard evaluation function through a preset P matrix and a preset Q matrix; the standard evaluation function is solved using an osqp solver to calculate a smooth lane change path.

[0062] According to the lane changing path, a reference lateral offset of each sampling interval point on the lane changing path is obtained; according to the reference lateral offset l k_ref , preset weight coefficient w, target lateral offset l k Construct an evaluation function, where the path evaluation function is cost = cost close +cost comfort +cost end , where the evaluation function of driving along the line is The comfort evaluation function is The evaluation function close to the end point is

[0063] cost end =w l_end (l k-1 -l k_ref ) 2 +wdl_end (l' k-1 -l l ' _end) ) 2 +w dll_end (l' k ' -1 -l l ” _end) ) 2 ; Then, construct the P matrix and Q matrix to transform the evaluation function into the evaluation function of the standard form of quadratic programming, and set the constraints; finally, use the osqp solver to solve the evaluation function of the standard form of quadratic programming to obtain a smooth lane change path.

[0064] Specifically, calculating the lane changing path based on the coordinates of the first position and the coordinates of the second position includes: taking the coordinates of the first position as the coordinates of the starting point of the lane changing path, and the coordinates of the second position as the coordinates of the end point of the lane changing path, and calculating the lane changing path through a preset high-precision map and a preset path planning algorithm.

[0065] For example, first you need to load the map data, parse it and process it. By parsing the map data, you can get the topological structure and attribute information of the road network. Select the starting point and end point of the lane change path in the map. The starting point of the lane change path is the first position, and the end point of the lane change path is the second position. These two points will become the key points of path planning. According to the starting point and the end point, use the search algorithm to find an optimal path in the map. The search algorithm can be selected according to different needs. Commonly used algorithms include A* algorithm and Dijkstra algorithm. After finding the optimal path, the path needs to be planned and optimized. The planning goal is to enable the vehicle to drive safely from the starting point to the end point and comply with traffic rules and restrictions, such as keeping a safe distance from the vehicle in front and behind when changing lanes, and discontinuous lane changes.

[0066] In this embodiment, the target lane is determined based on the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attribute information and water flow boundary attribute information; whether a lane change is required is determined based on the target lane and a preset driving route; if it is determined that a lane change is required, a lane change path is calculated based on the target lane, which solves the problem that the related technology does not take into account the operational requirement of a sprinkler truck to cover all target road surfaces with as little water and a shorter driving distance as possible, and is unable to minimize the workload and save water resources. This embodiment provides a method that can reduce the workload of a sprinkler truck and save water resources.

[0067] Further, in one embodiment, referring to Figure 2 , Figure 2 For this application Figure 1 Detailed flow chart of step S10 in FIG. Figure 2 As shown, the target lane is determined according to the acquired road condition information or the boundary attribute on the left side of the road, including:

[0068] Step S11: Determine whether there is an intersection within the first preset distance in front of the sprinkler truck;

[0069] Exemplarily, it is determined whether there is an intersection within a first preset distance ahead of the sprinkler truck based on the acquired road condition information, or it is determined whether there is an intersection within a first preset distance ahead of the sprinkler truck based on a preset driving route.

[0070] Step S12: if it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, determine the target lane according to the acquired boundary attributes of the left side of the road;

[0071] Exemplarily, if it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, and the boundary attribute on the left side of the road is a physical boundary attribute, the middle lane is determined as the target lane; if the boundary attribute on the left side of the road is a water-passing boundary attribute, the first lane on the left is determined as the target lane.

[0072] Specifically, determining the target lane according to the acquired boundary attribute of the left side of the road includes: if the acquired boundary attribute of the left side of the road is a physical boundary attribute, determining the middle lane as the target lane; if the acquired boundary attribute of the left side of the road is a water boundary attribute, determining the first lane on the left as the target lane.

[0073] For example, if the boundary attribute on the left side of the road is a solid boundary attribute, the sprinkler truck is driving in the middle lane, and the water spraying devices on both sides of the sprinkler truck can cover the forward lane with a lower water pressure. If the boundary attribute on the left side of the road is a water-passing boundary attribute, the sprinkler truck is driving in the first lane on the left. Since the left side of the road is a water-passing boundary, the sprinkler truck can directly spray water to the opposite lane and the forward lane without turning back twice to spray water on the opposite lane, which greatly saves the workload and water resources of the sprinkler truck.

[0074] Step S13: If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, a target lane is determined according to the obtained intersection turning information.

[0075] The intersection turning information can be obtained according to the preset driving route. If the obtained intersection turning information is a left turn, the target lane is the left turn lane. The target lane is determined according to the intersection turning information mainly to facilitate the subsequent turning operation of the sprinkler truck.

[0076] Specifically, determining the target lane according to the obtained intersection turning information includes: if the obtained intersection turning information is a left turn, determining the left turn lane as the target lane; if the obtained intersection turning information is a right turn, determining the target lane as the right turn lane; if the obtained intersection turning information is a straight ahead, determining the target lane as the straight ahead lane; if the obtained intersection turning information is a U-turn, determining the target lane as the U-turn lane.

[0077] Exemplarily, if the turning information obtained at the intersection is a left turn, then the lane changing path is planned with the left turn lane as the target lane, and the sprinkler truck drives into the left turn lane according to the lane changing path; if the turning information obtained at the intersection is a right turn, then the lane changing path is planned with the right turn lane as the target lane, and the sprinkler truck drives into the right turn lane according to the lane changing path; if the turning information obtained at the intersection is straight ahead, then the lane changing path is planned with the straight lane as the target lane, and the sprinkler truck drives into the straight lane according to the lane changing path; if the turning information obtained at the intersection is a U-turn, then the lane changing path is planned with the U-turn lane as the target lane, and the sprinkler truck drives into the U-turn lane according to the lane changing path.

[0078] In this embodiment, it is determined whether there is an intersection within the first preset distance in front of the sprinkler truck; if it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, the target lane is determined according to the acquired boundary attributes of the left side of the road; if it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined according to the acquired intersection turning information, which solves the problem that the related technology does not take into account the sprinkler truck's need to cover all target road surfaces with as little water and a shorter driving distance as possible, and is unable to minimize the workload and save water resources. This embodiment provides a method for determining the target lane of a sprinkler truck, which can reduce the workload of the sprinkler truck and save water resources.

[0079] In a second aspect, an embodiment of the present application also provides a lane change path planning device for a sprinkler truck.

[0080] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of a lane change path planning device for a sprinkler truck of the present application. Figure 3 As shown, the lane change path planning device of the sprinkler truck includes:

[0081] The first determination module 01 is used to determine the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes the intersection turning information, and the boundary attributes include the entity boundary attributes and the water boundary attributes;

[0082] A second determination module 02, used to determine whether a lane change is required according to the target lane and a preset driving route;

[0083] The calculation module 03 is used to calculate a lane change path according to the target lane if it is determined that a lane change is required.

[0084] Further, in one embodiment, the first determining module 01 is also used for:

[0085] Determine whether there is an intersection within the first preset distance in front of the sprinkler truck;

[0086] If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, determining the target lane according to the acquired boundary attributes of the left side of the road;

[0087] If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined according to the obtained intersection turning information.

[0088] Furthermore, in one embodiment, the calculation module 03 is used to:

[0089] Determine the coordinates of the first position and the coordinates of the second position according to the acquired current lane and the target lane of the sprinkler truck;

[0090] A lane change path is calculated according to the coordinates of the first position and the coordinates of the second position.

[0091] Among them, the functional implementation of each module in the above-mentioned lane change path planning device for the sprinkler truck corresponds to the various steps in the above-mentioned lane change path planning method embodiment for the sprinkler truck, and its functions and implementation processes will not be repeated here one by one.

[0092] In a third aspect, an embodiment of the present application provides a lane-changing path planning device for a sprinkler truck. The lane-changing path planning device for a sprinkler truck may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0093] Reference Figure 4 , Figure 4 The hardware structure diagram of the lane change path planning device of the watering truck involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the lane change path planning device of the watering truck may include a processor, a memory, a communication interface and a communication bus.

[0094] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0095] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the lane-changing path planning device of the water truck, and an interface used to interconnect the lane-changing path planning device of the water truck with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0096] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0097] The processor may be a general-purpose processor, and the general-purpose processor may call the lane change path planning program of the sprinkler truck stored in the memory, and execute the lane change path planning method of the sprinkler truck provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). Among them, the method executed when the lane change path planning program of the sprinkler truck is called may refer to the various embodiments of the lane change path planning method of the sprinkler truck of the present application, which will not be repeated here.

[0098] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0100] The readable storage medium of the present application stores a lane change path planning program for a sprinkler truck, wherein when the lane change path planning program for the sprinkler truck is executed by a processor, the steps of the lane change path planning method for the sprinkler truck as described above are implemented.

[0101] Among them, the method implemented when the lane change path planning program of the sprinkler truck is executed can refer to the various embodiments of the lane change path planning method of the sprinkler truck of the present application, and will not be repeated here.

[0102] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0104] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A lane change path planning method for a sprinkler truck, characterized in that: The lane change path planning method of the sprinkler truck comprises: Determine the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes; Determining whether lane change is required according to the target lane and a preset driving route; If it is determined that a lane change is required, a lane change path is calculated according to the target lane.

2. The lane change path planning method for a sprinkler truck according to claim 1, characterized in that: The calculating the lane change path according to the target lane includes: Determine the coordinates of the first position and the coordinates of the second position according to the acquired current lane and the target lane of the sprinkler truck; A lane change path is calculated based on the coordinates of the first position and the coordinates of the second position.

3. The lane change path planning method for a sprinkler truck according to claim 1, characterized in that: After calculating the lane change path according to the target lane, the method further includes: According to a preset sampling ratio, a reference lateral offset of each sampling interval point on the lane change path is obtained; constructing an evaluation function according to the reference lateral offset, the preset weight coefficient and the preset lateral offset; By presetting the P matrix and the Q matrix, the evaluation function is converted into a standard evaluation function; The standard evaluation function is solved using the osqp solver to calculate a smooth lane change path.

4. The lane change path planning method for a sprinkler truck according to claim 1, characterized in that: Determining the target lane according to the acquired road condition information or the boundary attribute on the left side of the road includes: Determine whether there is an intersection within the first preset distance in front of the sprinkler truck; If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, determining the target lane according to the acquired boundary attributes of the left side of the road; If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined according to the obtained intersection turning information.

5. The lane change path planning method for a sprinkler truck as claimed in claim 4, characterized in that: The step of determining the target lane according to the acquired boundary attribute of the left side of the road includes: If the acquired boundary attribute of the left side of the road is a physical boundary attribute, the middle lane is determined to be the target lane; If the acquired boundary attribute of the left side of the road is a water-passing boundary attribute, the first lane on the left side is determined to be the target lane.

6. The lane change path planning method for a sprinkler truck as claimed in claim 4, characterized in that: Determining the target lane according to the obtained intersection turning information includes: If the obtained intersection turning information is a left turn, the left turn lane is determined as the target lane; If the obtained intersection turning information is a right turn, the target lane is determined to be a right turn lane; If the obtained intersection turning information is straight ahead, the target lane is determined to be a straight ahead lane; If the obtained intersection turning information is a U-turn, the target lane is determined to be a U-turn lane.

7. The lane change path planning method for a sprinkler truck as claimed in claim 2, characterized in that: The calculating the lane change path according to the coordinates of the first position and the coordinates of the second position includes: The coordinates of the first position are taken as the coordinates of the starting point of the lane changing path, the coordinates of the second position are taken as the coordinates of the end point of the lane changing path, and the lane changing path is calculated by using a preset high-precision map and a preset path planning algorithm.

8. A lane change path planning device for a sprinkler truck, characterized in that: The lane change path planning device of the sprinkler truck comprises: A first determination module is used to determine the target lane according to the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include entity boundary attributes and water boundary attributes; A second determination module, used to determine whether a lane change is required according to the target lane and a preset driving route; The calculation module is used to calculate a lane change path according to the target lane if it is determined that a lane change is required.

9. A lane change path planning device for a sprinkler truck, characterized in that: The lane change path planning device of the sprinkler truck includes a processor, a memory, and a lane change path planning program of the sprinkler truck stored in the memory and executable by the processor. When the lane change path planning program of the sprinkler truck is executed by the processor, the steps of the lane change path planning method of the sprinkler truck as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lane-changing path planning program for a sprinkler truck, wherein when the lane-changing path planning program for the sprinkler truck is executed by a processor, the steps of the lane-changing path planning method for a sprinkler truck as described in any one of claims 1 to 7 are implemented.

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