Path planning method and device, electronic equipment and storage medium

Abstract

The invention provides a path planning method and device, electronic equipment and a storage medium. According to the method provided by the embodiment of the invention, the following vehicle in the vehicle formation determines the path according to the historical position point information of the preceding vehicle. According to the invention, the following vehicle path can be determined without using a high-precision map or visual lane line assistance, and formation vehicle control is realized.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a path planning method, device, electronic device and storage medium. Background Art

[0002] With the development of autonomous driving technology and assisted driving technology, vehicle platooning has been more widely used. Vehicle platooning refers to multiple vehicles traveling in a longitudinal queue, with the distance between two vehicles in the queue being much lower than the distance between regular vehicles. For vehicle platoons running on open roads, due to the extremely low distance between vehicles and platooning cooperative driving based on vehicle-to-vehicle (V2V) communication technology, the air resistance of the platoon members can be greatly reduced when running at high speeds, which has the beneficial effects of energy saving and emission reduction, increasing road capacity, improving road safety, reducing the burden on the driver of the following vehicle, and even eliminating the driver of the following vehicle.

[0003] A vehicle formation usually consists of a pilot vehicle and one or more following vehicles. The pilot vehicle is driven by an operator, and the following vehicles follow the pilot vehicle and / or the leading vehicle at a certain distance for assisted driving or automatic driving. However, the driving path planning of the following vehicles mostly relies on high-precision maps, high-precision positioning or visual lane lines for path cruising, which not only has high development costs, but also involves the drawing of high-precision maps or the debugging of camera detection of visual lane lines, with high processing complexity and low path planning efficiency. At the same time, the camera occlusion caused by the small distance between vehicles will lead to inaccurate positioning and inability to recognize lane lines, causing errors in the automatic driving path planning of the following vehicles, affecting the safe driving of the vehicle formation. Summary of the invention

[0004] In view of this, the present disclosure provides a path planning method, device, electronic device and storage medium.

[0005] According to a first aspect of the present disclosure, a path planning method is provided, which is applied to a following vehicle in a vehicle formation, and the method comprises:

[0006] receiving a first message, wherein the first message carries historical position information of a preceding vehicle;

[0007] Determining a path of the vehicle according to the historical position point information of the preceding vehicle;

[0008] The self-vehicle is any following vehicle in the vehicle formation, and the leading vehicle is a vehicle in the vehicle formation that is located in front of the self-vehicle and is closest to the self-vehicle.

[0009] In some implementations of the first aspect of the present disclosure, the historical position point information of the preceding vehicle includes positioning information of a plurality of preceding vehicle position points recorded in real time over a previous predetermined period of time.

[0010] In some embodiments of the first aspect of the present disclosure, the historical position point information of the preceding vehicle includes the UTM coordinate system coordinates of multiple preceding vehicle position points recorded in real time over a predetermined period of time; before determining the path of the own vehicle based on the historical position point information of the preceding vehicle, it also includes: obtaining the current position information of the own vehicle, the current position information of the own vehicle includes the UTM coordinate system coordinates of the own vehicle at the current moment; using the UTM coordinate system coordinates of the own vehicle at the current moment to perform coordinate conversion on the UTM coordinate system coordinates of each of the preceding vehicle position points, so as to obtain the coordinates of each of the preceding vehicle position points in the own vehicle body coordinate system.

[0011] In some implementations of the first aspect of the present disclosure, determining the path of the vehicle according to the historical position point information of the preceding vehicle includes one of the following:

[0012] Connect the preceding vehicle position points recorded in real time for the last predetermined time in sequence to form the next vehicle path for the next predetermined time;

[0013] The positioning information of each preceding vehicle position point recorded in real time during the last predetermined time period is fitted to obtain the vehicle path for the next predetermined time period.

[0014] In some implementations of the first aspect of the present disclosure, the method further comprises:

[0015] Record the historical location information of the vehicle in real time during its driving process; and

[0016] Sending a second message to the following vehicle, wherein the second message carries historical position information of the own vehicle, so that the following vehicle determines its path according to the historical position information of the own vehicle;

[0017] The following vehicle is a vehicle in the vehicle formation that is located behind the own vehicle and is closest to the own vehicle.

[0018] In some embodiments of the first aspect of the present disclosure, the first message carries the vehicle identification of the preceding vehicle, and the vehicle identification is related to the vehicle formation sequence number of the preceding vehicle; before determining the path of the own vehicle based on the historical position point information of the preceding vehicle, the method further includes: verifying whether the sender of the first message is the preceding vehicle based on the vehicle identification carried in the first message.

[0019] In some embodiments of the first aspect of the present disclosure, the method also includes: issuing an alarm to remind the driver to take over control of the vehicle when one of the following conditions is met: no historical location point information is received from the leading vehicle within a predetermined time period; pedestrians or obstacles are detected within a predetermined range around the vehicle.

[0020] According to a second aspect of the present disclosure, a path planning device is provided, comprising: a receiving unit, configured to receive a first message, the first message carrying historical position point information of a preceding vehicle; a path determination unit, configured to determine a path of a self-vehicle according to the historical position point information of the preceding vehicle; wherein the self-vehicle is any following vehicle in a vehicle formation, and the preceding vehicle is a vehicle in the vehicle formation that is located in front of the self-vehicle and is closest to the self-vehicle.

[0021] According to a third aspect of the present disclosure, an electronic device is provided, comprising: one or more processors and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the above method.

[0022] According to a fourth aspect of the present disclosure, a computer-readable storage medium storing a program is provided, wherein the program includes instructions, which, when executed by one or more processors of a computing device, cause the computing device to execute the above method.

[0023] It can be seen from the above technical solution that through the disclosed embodiment, the following vehicle in the vehicle formation can determine its own vehicle path based on the actual driving position information of the preceding vehicle in the previous predetermined period of time, without the need to use a high-precision map or visual lane line assistance. At the same time, it can also avoid path planning errors caused by the camera being blocked by the preceding vehicle, thereby reducing development costs while improving the path planning efficiency of the following vehicles and the driving safety of the entire vehicle formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of a highway scene applicable to the embodiments of the present disclosure;

[0026] Figure 2 A schematic diagram of a process flow of a path planning method provided by an embodiment of the present disclosure;

[0027] Figure 3 A schematic diagram of the structure of a path planning device provided in an embodiment of the present disclosure;

[0028] Figure 4 A schematic structural block diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0030] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0031] As used herein, the words "if," "if," and the like may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0032] Terminology explanation:

[0033] Assisted driving: that is, assisting the driver in driving the vehicle; the assisted driving of the disclosed embodiment includes one or more of the following: adaptive cruise control (i.e., automatically adjusting the vehicle speed to maintain a safe distance from the vehicle in front), lane keeping assist (i.e., helping the driver keep the vehicle in the lane by slightly adjusting the steering wheel), lane departure warning (i.e., issuing a warning when the vehicle unintentionally deviates from the lane), automatic emergency braking (i.e., automatically activating the brakes when a potential collision is detected to avoid or mitigate an accident), pedestrian detection (i.e., identifying pedestrians and warning the driver, and even automatically braking when necessary). Assisted driving technology helps to improve driving safety, comfort, and efficiency while reducing the driver's operational burden.

[0034] Autonomous driving: enables vehicles to complete driving tasks autonomously without driver intervention.

[0035] Front vehicle: The front vehicle involved in the embodiments of the present disclosure refers to the vehicle in the vehicle formation to which the self-vehicle belongs, which is located in front of the self-vehicle and closest to the self-vehicle. The vehicle can be a leading vehicle in the vehicle formation or a following vehicle in the vehicle formation.

[0036] Self-vehicle: The self-vehicle involved in the embodiments of the present disclosure refers to any following vehicle in the vehicle formation.

[0037] The following vehicle: The leading vehicle involved in the embodiments of the present disclosure refers to the vehicle that is located behind the vehicle and closest to the vehicle in the vehicle formation to which the vehicle belongs. The vehicle is the following vehicle in the vehicle formation.

[0038] As mentioned above, the following vehicles in a vehicle formation are usually assisted driving or automatic driving, and the following vehicles follow the pilot vehicle and / or the preceding vehicle at a certain distance for assisted driving or automatic driving. However, the driving path planning of the following vehicles mostly relies on high-precision maps, high-precision positioning or visual lane lines for path cruising, which not only has high development costs, but also involves the drawing of high-precision maps or the debugging of camera detection of visual lane lines, which has high processing complexity and low path planning efficiency. At the same time, the camera occlusion caused by the small distance between vehicles will lead to inaccurate positioning and inability to recognize lane lines, causing errors in the automatic driving path planning of the following vehicles, affecting the safe driving of the vehicle formation.

[0039] In view of this, the embodiments of the present disclosure provide the following path planning method, device, electronic device and storage medium, by which a following vehicle in a vehicle formation can determine the path of its own vehicle based on the actual driving position information of the preceding vehicle in the previous predetermined period of time, without the need for a high-precision map, without the aid of a camera, and without the assistance of visual lane lines. At the same time, path planning errors caused by the camera being blocked by the preceding vehicle can be avoided, thereby reducing development costs while improving the path planning efficiency of the following vehicle and the driving safety of the entire vehicle formation.

[0040] The embodiments of the present disclosure may be applied to, but not limited to, scenes such as ports, highways, logistics, mines, closed parks or urban transportation, or other scenes involving vehicle formations. In particular, the embodiments of the present disclosure are particularly suitable for scenes on highways, by applying the embodiments of the present disclosure to the following vehicles of a vehicle formation on a highway.

[0041] Figure 1 A schematic diagram of a highway scene to which the embodiments of the present disclosure are applicable is shown. In the highway scene, a vehicle formation travels in a longitudinal queue along the rightmost lane. The longitudinal queue of the vehicle formation includes, from front to back, a pilot car, a follower car 1, a follower car 2, and a follower car 4. The pilot car travels under the control of the driver. The follower car 1 can travel along the path traveled by the pilot car through the method of the embodiments of the present disclosure. The follower car 2 can travel along the path traveled by the follower car 1 through the method of the embodiments of the present disclosure. The follower car 3 can travel along the path traveled by the follower car 2 through the method of the embodiments of the present disclosure. The follower car 4 can travel along the path traveled by the follower car 32 through the method of the embodiments of the present disclosure. The follower cars 1 to 4 can all perform assisted driving or automatic driving without the use of high-definition maps and visual lane line assistance.

[0042] In the disclosed embodiments, the vehicles in the vehicle formation may be, but are not limited to: multiple wheeled mobile robots, wheeled mobile robots, mobile robots, passenger cars, commercial vehicles (e.g., trucks, buses, vans, etc.), special-purpose vehicles (e.g., ambulances, fire trucks, engineering vehicles, rescue vehicles, etc.), agricultural and industrial vehicles (e.g., harvesters, forklifts, etc.), transportation and logistics vehicles (e.g., container trucks, refrigerated trucks, etc.), new energy vehicles (e.g., electric vehicles, hybrid vehicles), and special vehicles (e.g., garbage trucks, sprinkler trucks, etc.).

[0043] The specific implementation of the embodiment of the present disclosure is described in detail below.

[0044] Figure 2 FIG. 1 is a flow chart of a path planning method provided by an embodiment of the present disclosure. Figure 1 The path planning method of the embodiment of the present disclosure may include the following steps:

[0045] Step 201, receiving a first message, the first message carrying historical position information of a preceding vehicle;

[0046] The historical position point information of the preceding vehicle includes the positioning information of multiple position points of the preceding vehicle recorded in real time in the last predetermined time period. That is, the historical position point information of the preceding vehicle includes the positioning information of multiple position points on the actual driving path of the preceding vehicle in the last predetermined time period.

[0047] In a specific application, the predetermined duration can be flexibly set as needed, and the number of location points included in the historical location point information or the duration of their intervals can also be flexibly set as needed.

[0048] For example, assuming that the predetermined time is set to 10 seconds, and the real-time recording is set to be performed at a time interval of 0.1 seconds, the on-board unit or domain controller in the leading vehicle records the positioning information of the leading vehicle position point every 0.1 seconds during the driving process of the leading vehicle, and the on-board unit in the leading vehicle sends the positioning information of each leading vehicle position point recorded in real time within the last 10 seconds to the self-vehicle through the first message every time the timing reaches 10 seconds. Here, the positioning information of the position point can be collected in real time by sensors such as GPS mounted on the leading vehicle.

[0049] Step 202, determining the path of the vehicle according to the historical position point information of the preceding vehicle, so as to control the vehicle to perform assisted driving or automatic driving based on the path.

[0050] In the disclosed embodiment, after step 202 , the vehicle can be controlled to perform assisted driving or automatic driving along the path determined in step 202 .

[0051] As can be seen from the above, the method of the embodiment of the present disclosure only requires the historical position point information of the preceding vehicle to complete the path planning of the vehicle itself, without the need for a high-definition map or the assistance of visual lane lines. This can reduce development costs while improving the path planning efficiency and driving safety of the following vehicles in the vehicle formation.

[0052] If the vehicle is not the last vehicle in the vehicle formation, the path planning method of the disclosed embodiment may further include: recording the historical position point information of the vehicle in real time during the driving process of the vehicle; and sending a second message to the following vehicle once, the second message carrying the historical position point information of the vehicle, so that the following vehicle determines its path according to the historical position point information of the vehicle. If the vehicle is the last vehicle in the vehicle formation, this step may not be performed.

[0053] Similarly, the historical position point information of the vehicle may include: the positioning information of multiple vehicle positions recorded in real time during the last predetermined period of time. That is, the positioning information of multiple positions on the actual driving path of the vehicle during the last predetermined period of time. The recording and sending method of the historical position point information of the vehicle is the same as the recording and sending method of the historical position point information of the preceding vehicle, and will not be repeated here.

[0054] In some examples, the historical position point information of the preceding vehicle may include the Universal Transverse Mercator Grid System (UTM) coordinate system coordinates of multiple preceding vehicle position points recorded in real time for the last predetermined period of time. Furthermore, before step 202, it may also include: obtaining the current position information of the own vehicle, the current position information of the own vehicle includes the UTM coordinate system coordinates of the own vehicle at the current moment; and, using the UTM coordinate system coordinates of the own vehicle at the current moment, performing coordinate conversion on the UTM coordinate system coordinates of each preceding vehicle position point to obtain the coordinates of each preceding vehicle position point in the body coordinate system of the own vehicle. The historical position point information of the preceding vehicle can be converted to the body coordinate system of the own vehicle through coordinate conversion, so as to determine the path of the own vehicle in the body coordinate system of the own vehicle.

[0055] In the disclosed embodiment, the UTM coordinate system coordinates of the position point (including the position point of the preceding vehicle, the position point of the own vehicle, the current position of the own vehicle, etc.) may include but are not limited to the X-axis coordinate, Y-axis coordinate and heading angle of the position point in the UTM coordinate system.

[0056] Specifically, the coordinate transformation can be achieved by the following equations (1) to (5):

[0057] x_offset=point_UTM_x-self_UTM_x (1)

[0058] y_offset=point_UTM_y-self_UTM_y (2)

[0059] veh_x=x_offset*cos(self_UTM_theta)+y_offset*sin(self_UTM_theta) (3)

[0060] veh_y=y_offset*cos(self_UTM_theta)-x_offset*sin(self_UTM_theta) (4)

[0061] veh_theta=point_UTM_theta-self_UTM_theta (5)

[0062] In formulas (1) to (5), point_UTM_x is the X-axis coordinate of a point on the actual driving path of the preceding vehicle for a predetermined time in the UTM coordinate system; point_UTM_y is the Y-axis coordinate of a point on the actual driving path of the preceding vehicle for a predetermined time in the UTM coordinate system; point_UTM_theta is the heading angle of a point on the actual driving path of the preceding vehicle for a predetermined time in the UTM coordinate system; self_UTM_x is the X-axis coordinate of the self-vehicle at the current moment in the UTM coordinate system, and self _UTM_y is the Y-axis coordinate of the self-vehicle in the UTM coordinate system at the current moment, self_UTM_theta is the heading angle of the self-vehicle in the UTM coordinate system at the current moment, veh_x is the X-axis coordinate of a position point on the actual driving path of the preceding vehicle for a predetermined time in the self-vehicle body coordinate system, veh_y is the Y-axis coordinate of a position point on the actual driving path of the preceding vehicle for a predetermined time in the self-vehicle body coordinate system, and veh_theta is the heading angle of a position point on the actual driving path of the preceding vehicle for a predetermined time in the self-vehicle body coordinate system. "*" indicates multiplication.

[0063] In a specific application, the conversion operation of formulas (1) to (5) can be performed for each position point on the actual driving path of the preceding vehicle for a predetermined time, until all historical position points of the preceding vehicle are converted to the vehicle body coordinate system of the own vehicle. In the disclosed embodiment, the direction of the vehicle body coordinate system is defined as front-left-up, that is, the front is the X-axis, the left is the Y-axis, the top is the Z-axis, and the right-hand coordinate system.

[0064] In some embodiments, the messages for transmitting historical location point information between vehicles in a vehicle formation (i.e., the first message, the second message, the third message, the fourth message, etc. in this article) can be Robot Operating System (ROS) messages in vehicle-to-vehicle communication. ROS provides three basic communication mechanisms, including topic communication (i.e., publish-subscribe mode), service communication (i.e., request-response mode), and parameter server (i.e., parameter sharing mode). In the disclosed embodiment, messages can be transmitted between vehicles in a vehicle formation by means of topic communication, and the topic communication method allows vehicles to exchange data in the form of publishers and subscribers. ROS messages are defined by .msg files, which contain the type, fields, and data types of the message, allowing developers to customize the message structure as needed. Therefore, using ROS messages is more convenient for transmitting customized historical location point information.

[0065] In other implementations, the first message and the second message, that is, the message for transmitting historical position point information between vehicles in the vehicle formation, may also be, but not limited to, a Basic Safety Message (BSM), etc. This is not limited in the embodiments of the present disclosure.

[0066] In some embodiments, the message for transmitting historical position point information between vehicles in the vehicle formation (i.e., the first message, the second message, etc. in this article) may include a vehicle identification in addition to the historical position point information, and the vehicle identification is related to the vehicle formation sequence number. Before step 202, it is possible to verify whether the sender of the first message is the preceding vehicle based on the vehicle identification in the first message. If it is determined that the sender of the first message is the preceding vehicle, step 202 is continued to be executed. If it is found that the sender of the first message is not the preceding vehicle, the first message is discarded, step 202 is no longer executed, and the first message sent by other vehicles is continued to be waited until it is confirmed that the sender of the first message is the preceding vehicle, or an alarm may be issued in time to remind the driver to take over the control of the self-vehicle so that the self-vehicle can continue to travel under the control of the driver.

[0067] There are many ways to determine the vehicle path in step 202.

[0068] In some implementations, in step 202, the position points of the preceding vehicle recorded in real time for the last predetermined duration may be sequentially connected in time sequence to form the vehicle path of the next predetermined duration. Specifically, the position points of the preceding vehicle may be sequentially connected in time sequence using the coordinates of the position points of the preceding vehicle in the vehicle coordinate system to form the vehicle path. Assuming that n preceding vehicle position points P1, P2, ..., Pn were recorded in real time for the last predetermined duration, the vehicle path may be obtained by sequentially connecting these preceding vehicle position points with straight lines in time sequence.

[0069] In some implementations, in step 202, a predetermined algorithm may be used to fit the location information of each preceding vehicle position point recorded in real time for the last predetermined duration to obtain the vehicle path for the next predetermined duration. Here, the predetermined algorithm may be, but is not limited to, polynomial fitting and other algorithms, and the use of the fitting method helps to smooth the vehicle path and improve the safety and reliability of the vehicle performing assisted driving or automatic driving according to the path.

[0070] Specifically, the coordinates of the front vehicle position point in the self-vehicle coordinate system can be fitted with a polynomial to obtain the self-vehicle path. Assuming that n front vehicle position points P1, P2, ..., Pn are recorded in real time in the last predetermined time, a polynomial fitting method is used to fit these front vehicle position points to obtain a smooth curve, and the smooth curve is the self-vehicle path for the next predetermined time.

[0071] Furthermore, the path planning method of the embodiment of the present disclosure may also include: issuing an alarm to remind the driver to take over the control of the vehicle in one of the following situations, so that the vehicle will be driven under the control of the driver for at least the next predetermined period of time, and no assisted driving or automatic driving will be performed: 1) No historical location point information is received from the preceding vehicle within the predetermined period of time; 2) Pedestrians or obstacles are detected within a predetermined range around the vehicle. It should be noted that the situations in which the alarm is issued are not limited to the aforementioned two situations, and can be added or adjusted as needed in a specific application. In this regard, the embodiment of the present disclosure does not impose any restrictions.

[0072] Therefore, the vehicle can exit assisted driving or automatic driving by issuing a timely warning, thereby further improving the reliability of vehicle platooning.

[0073] Below Figure 1 The specific implementation process of the embodiment of the present disclosure is illustrated as an example. Figure 1 In the scenario shown, in a vehicle formation, the leading vehicle drives under the control of the driver, while the following vehicles perform assisted driving or automatic driving. The vehicle formation consists of 5 vehicles, which can communicate with each other through the OBU. In a vehicle formation, the vehicle can send its own position, speed, accelerator brake, steering wheel angle and other information to the following vehicle through the OBU, so that the following vehicle can perform assisted driving or automatic driving based on this information.

[0074] The pilot car is driven by a driver. During the driving process of the pilot car, the positioning information of the pilot car's position point is recorded in real time at a predetermined time interval. Every time the timing reaches a predetermined time (for example, 10 seconds), the on-board unit of the pilot car sends a first message, and the first message contains the positioning information of the pilot car's position point in the past predetermined time.

[0075] The on-board unit of the following vehicle 1 receives the first message, and the domain controller in the following vehicle 1 confirms that the first message comes from the pilot vehicle, and determines the path of the following vehicle 2 for the next predetermined time period based on the location information of the location point carried therein, and controls the following vehicle 1 to perform assisted driving or automatic driving along the path. At the same time, during the driving process of the following vehicle 1, the location information of the location point of the following vehicle 1 is recorded in real time at a predetermined time interval, and the on-board unit of the following vehicle 1 sends a second message every time the timing reaches a predetermined time period (for example, 10 seconds), and the second message contains the location information of the location point of the following vehicle 1 for the past predetermined time period.

[0076] The on-board unit of the following vehicle 2 receives the second message, and the domain controller in the following vehicle 2 confirms that the second message comes from the following vehicle 1, and determines the path of the following vehicle 2 for the next predetermined time period based on the location point positioning information carried therein, and controls the following vehicle 2 to perform assisted driving or automatic driving along the path. At the same time, during the driving process of the following vehicle 2, the location point positioning information of the following vehicle 2 is recorded in real time at predetermined time intervals, and the on-board unit of the following vehicle 2 sends a third message every time the timing reaches a predetermined time period (for example, 10 seconds), and the third message contains the location point positioning information of the following vehicle 2 for the past predetermined time period.

[0077] Similarly, the following vehicle 3 determines a path according to the location information of the following vehicle 2 and performs assisted driving or automatic driving according to the path, and at the same time sends a fourth message to the following vehicle 4, where the fourth message includes the location information of the following vehicle 3 for a predetermined period of time in the past. The following vehicle 4 determines a path according to the location information of the following vehicle 3 and performs assisted driving or automatic driving according to the path.

[0078] It can be seen that through the method of the embodiment of the present disclosure, the following vehicles in the vehicle formation can determine the path according to the historical position point information of the front vehicle, that is, the formation control can be realized by transmitting the historical position point information of the vehicles in sequence according to the order of the vehicle formation, without the need for high-definition maps and visual lane line assistance and other measures.

[0079] In specific applications, the path planning method of the disclosed embodiment can be executed by the domain controller of the vehicle itself. The domain controller can communicate with the leading vehicle and the following vehicle through the on-board unit (OBU), obtain the historical location point information of the leading vehicle through the on-board unit and provide its own historical location point information to the following vehicle.

[0080] Figure 3 FIG. 1 is a schematic diagram showing the structure of a path planning device provided by an embodiment of the present disclosure. Figure 3 , the path planning device 300 of the embodiment of the present disclosure may include:

[0081] A receiving unit 301 is used to receive a first message, where the first message carries historical position information of a preceding vehicle;

[0082] The path unit 302 is used to determine the path of the vehicle according to the historical position point information of the preceding vehicle.

[0083] The historical position point information of the preceding vehicle includes the positioning information of a plurality of preceding vehicle position points recorded in real time during the last predetermined period of time.

[0084] The historical position point information of the preceding vehicle includes the UTM coordinate system coordinates of multiple preceding vehicle position points recorded in real time for the last predetermined period of time. The path planning device 300 may also include: a positioning unit 303 and a coordinate conversion unit 304; wherein the positioning unit is used to obtain the current position information of the vehicle, and the current position information of the vehicle includes the UTM coordinate system coordinates of the vehicle at the current moment; the coordinate conversion unit is used to use the UTM coordinate system coordinates of the vehicle at the current moment to convert the UTM coordinate system coordinates of each preceding vehicle position point to obtain the coordinates of each preceding vehicle position point in the vehicle body coordinate system.

[0085] Furthermore, the path unit 302 can be specifically used to determine the vehicle path in one of the following ways: 1) connecting the preceding vehicle position points recorded in real time for a predetermined period of time in sequence to form the vehicle path for the next predetermined period of time; 2) fitting the positioning information of the preceding vehicle position points recorded in real time for the previous predetermined period of time to obtain the vehicle path for the next predetermined period of time.

[0086] Furthermore, the path planning device 300 may also include: a recording unit 305 and a sending unit 306; the recording unit 305 is used to record the historical position point information of the vehicle in real time during the driving process of the vehicle, and the sending unit 306 is used to send a second message to the following vehicle, wherein the second message carries the historical position point information of the vehicle, so that the following vehicle can determine its path based on the historical position point information of the vehicle.

[0087] Furthermore, the first message carries the vehicle identification of the preceding vehicle, and the vehicle identification is related to the vehicle formation sequence number of the preceding vehicle. The path unit 302 can also be used to verify whether the sender of the first message is the preceding vehicle according to the vehicle identification carried in the first message, and when it is confirmed that the sender of the first message is the preceding vehicle, confirm the path of the vehicle according to the historical position point information of the preceding vehicle in the first message.

[0088] Furthermore, the path planning device 300 may also include: an alarm unit 307, which is used to issue an alarm to remind the driver to take over control of the vehicle when one of the following conditions is met: 1) no historical position point information is received from the preceding vehicle within a predetermined time period; 2) pedestrians or obstacles are detected within a predetermined range around the vehicle.

[0089] In a specific application, the path planning device 300 can be implemented by software, hardware or a combination of the two. For example, the path planning device 300 can be implemented as software running in the electronic device 600 described below.

[0090] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The program includes instructions, and when the instructions are executed by one or more processors of a computing device, the steps of the aforementioned path planning method are executed.

[0091] Figure 4 FIG. 1 is a schematic diagram showing the structure of an electronic device provided by an embodiment of the present disclosure. Figure 4 The electronic device 400 may include: one or more processors 401, and a memory 402 storing one or more programs, which are executed by the one or more processors 401 to implement the method flow shown in the above embodiments of the present disclosure and / or program units corresponding to each unit in the device.

[0092] The various components are interconnected using different buses and can be mounted on a common motherboard or otherwise as needed. The processor 401 can process instructions executed within the electronic device, including instructions stored in or on the memory to display graphical information of a user interface on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memories if desired.

[0093] Processor 401 may include one or more single-core processors or multi-core processors. Processor 401 may include any combination of general-purpose processors or dedicated processors (such as image processors, application processors, baseband processors, etc.).

[0094] The memory 402 is a computer-readable storage medium provided by the present disclosure, which can be used to store non-transient software programs, non-transient computer executable programs and units, such as the following in the embodiments of the present disclosure: Figure 2 The processor 401 executes the non-transient software programs, instructions and units stored in the memory 402, thereby executing the above method embodiments. Figure 1 The programs, instructions and units corresponding to the path planning method shown.

[0095] The electronic device 400 may further include: an input device 403 and an output device 404. The processor 401, the memory 402, the input device 403 and the output device 404 may be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0096] The input device 403 can receive input digital or character information, and generate signal input related to user settings and function control, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 404 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0097] The above-mentioned programs (also referred to as software, software applications, or codes) include machine instructions for programmable processors, and these computer programs can be implemented using object-oriented programming languages, assembly or machine languages.

[0098] With the development of time and technology, the meaning of medium is becoming more and more extensive, and the propagation path of computer programs is no longer limited to tangible media, and can also be downloaded directly from the network, etc. Any combination of one or more computer-readable storage media can be used. Computer-readable storage media can be used but not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by or in combination with instruction execution systems, devices or devices.

[0099] The technical solution provided by the present disclosure is described in detail above. The principles and implementation methods of the present disclosure are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present disclosure. At the same time, for those skilled in the art, according to the idea of ​​the present disclosure, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present disclosure.

[0100] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A path planning method, characterized in that: Applied to a following vehicle in a vehicle formation, the method comprises: receiving a first message, wherein the first message carries historical position information of a preceding vehicle; Determining a path of the vehicle according to the historical position point information of the preceding vehicle; The self-vehicle is any following vehicle in the vehicle formation, and the leading vehicle is a vehicle in the vehicle formation that is located in front of the self-vehicle and is closest to the self-vehicle.

2. The method according to claim 1, characterized in that The historical position point information of the preceding vehicle includes positioning information of a plurality of preceding vehicle position points recorded in real time over a predetermined period of time.

3. The method according to claim 1 or 2, characterized in that: The historical position point information of the preceding vehicle includes the UTM coordinate system coordinates of a plurality of preceding vehicle position points recorded in real time over a predetermined period of time; Before determining the path of the vehicle according to the historical position point information of the preceding vehicle, the method further includes: Obtaining the current position information of the vehicle, wherein the current position information of the vehicle includes the UTM coordinate system coordinates of the vehicle at the current moment; The UTM coordinate system coordinates of each of the preceding vehicle positions are transformed using the UTM coordinate system coordinates of the own vehicle at the current moment, so as to obtain the coordinates of each of the preceding vehicle positions in the own vehicle body coordinate system.

4. The method according to claim 1, characterized in that: Determining the path of the vehicle according to the historical position point information of the preceding vehicle includes one of the following: Connect the preceding vehicle position points recorded in real time for the last predetermined time in sequence to form the next vehicle path for the next predetermined time; The positioning information of each preceding vehicle position point recorded in real time during the last predetermined time period is fitted to obtain the vehicle path for the next predetermined time period.

5. The method according to claim 1, characterized in that The method further comprises: Record the historical location information of the vehicle in real time during its driving process; and Sending a second message to the following vehicle, wherein the second message carries historical position information of the own vehicle, so that the following vehicle determines its path according to the historical position information of the own vehicle; The following vehicle is a vehicle in the vehicle formation that is located behind the own vehicle and is closest to the own vehicle.

6. The method according to claim 1, characterized in that The first message carries the vehicle identification of the preceding vehicle, and the vehicle identification is related to the vehicle formation sequence number of the preceding vehicle; Before determining the path of the vehicle according to the historical position point information of the preceding vehicle, the method further includes: verifying whether the sender of the first message is the preceding vehicle according to the vehicle identification carried in the first message.

7. The method according to claim 1, characterized in that The method further includes: issuing an alarm to remind the driver to take over the control of the vehicle when one of the following conditions is met: The historical position point information from the preceding vehicle is not received within the scheduled time; Pedestrians or obstacles are detected within a predetermined range around the vehicle.

8. A path planning device, characterized in that: include: A receiving unit, configured to receive a first message, wherein the first message carries historical position information of a preceding vehicle; A path determination unit, used to determine the path of the vehicle according to the historical position point information of the preceding vehicle; The self-vehicle is any following vehicle in the vehicle formation, and the leading vehicle is a vehicle in the vehicle formation that is located in front of the self-vehicle and is closest to the self-vehicle.

9. An electronic device, characterized in that: include: One or more processors and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program, wherein the program comprises instructions, and when the instructions are executed by one or more processors of a computing device, the instructions cause the computing device to execute the method according to any one of claims 1 to 7.

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