Global path planning method and device of vehicle, unmanned vehicle and cloud control platform

Abstract

The invention discloses a global path planning method and device of a vehicle, an unmanned vehicle and a cloud control platform, and belongs to the field of vehicle control. The method comprises the steps that a target business scene of a target vehicle is acquired, the business scene corresponds to a planning strategy, the planning strategy comprises a path division strategy and a parameter selection strategy, the path division strategy is used for determining road section division when a global path is planned, and the parameter selection strategy is used for selecting the global path; the road section division is used for at least dividing a global path into a starting point section, an end point section and / or a middle section, and the parameter selection strategy is used for determining a parameter type and / or a parameter value adopted when the global path is planned; determining a target planning strategy corresponding to the target business scene; and planning a global path of the target vehicle based on the target planning strategy.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular, to a vehicle global path planning method and device, an unmanned vehicle, and a cloud control platform. Background Art

[0002] Global path planning is an important part of the vehicle driving process. Global path planning refers to planning the optimal path from the starting point to the end point for an unmanned vehicle or a manned vehicle based on known environmental map information. The purpose is to provide a safe and collision-free path for the vehicle. A high-quality global trajectory will be of great help to the vehicle's decision-making planning. Summary of the invention

[0003] In order to overcome the deficiencies of the related art, the present application provides a global path planning method and device for a vehicle, an unmanned vehicle and a cloud control platform.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] In a first aspect, a global path planning method for a vehicle is provided, comprising:

[0006] Obtaining a target business scenario of the target vehicle, wherein the business scenario corresponds to a planning strategy, the planning strategy including a path division strategy and a parameter selection strategy, the path division strategy is used to determine a road segment division when planning a global path, the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine a parameter type and / or a parameter value used when planning the global path;

[0007] Determine the target planning strategy corresponding to the target business scenario;

[0008] A global path of the target vehicle is planned based on the target planning strategy.

[0009] Furthermore, the determining of the target planning strategy corresponding to the target business scenario includes:

[0010] Determine a target scenario type corresponding to the target business scenario;

[0011] Determine a target decision dimension corresponding to the target scenario type; wherein each scenario type has its own corresponding decision dimension, and the decision dimension includes at least any one of the following: road segment division, road segment distance, road segment safety distance, whether the road segment ignores the map boundary, the curvature constraint of the road segment, and the acceleration constraint of the road segment;

[0012] Based on the target decision dimension corresponding to the target scenario type, a target planning strategy corresponding to the target business scenario is obtained.

[0013] Furthermore, the determining of the target planning strategy corresponding to the target business scenario includes:

[0014] Determine a target scenario type corresponding to the target business scenario;

[0015] When the target scenario type corresponding to the target business scenario is a first business scenario, determining a first target safety distance of a target road section in the first business scenario, wherein the first target safety distance is smaller than a safety distance of the target road section corresponding to a preset business scenario;

[0016] Among them, the preset business scenario is used to indicate that there is no preset obstacle in the target road section, the first business scenario is used to indicate that the preset obstacle exists in the target road section, the target road section includes at least one of the following: a starting section, an intermediate section and an end section, and the preset obstacle is an obstacle that does not affect the driving of the vehicle.

[0017] Furthermore, the determining of the target planning strategy corresponding to the target business scenario includes:

[0018] Determine a target scenario type corresponding to the target business scenario;

[0019] When the target scenario type corresponding to the target business scenario is a second business scenario, determining a second target safety distance of the target road section in the second business scenario, wherein the second target safety distance is greater than a safety distance of the target road section corresponding to the preset business scenario;

[0020] Among them, the preset business scenario is used to indicate that the first preset area does not exist in the target section, and the second business scenario is used to indicate that the first preset area exists in the target section, and the target section includes at least one of the following: a starting section, an intermediate section, and an end section.

[0021] Furthermore, the determining of the target planning strategy corresponding to the target business scenario includes:

[0022] Determine a target scenario type corresponding to the target business scenario;

[0023] When the target scenario type corresponding to the target business scenario is a third business scenario, the map boundary is ignored in the planning of the target road section;

[0024] Among them, the third business scenario is used to indicate that the vehicle receives a preset instruction when it is located near the map boundary, and the preset instruction is used to instruct the vehicle to adjust the position and the position adjustment amount is less than the specified adjustment amount, and the target road section includes at least one of the following: a starting section, an intermediate section, and an end section.

[0025] Furthermore, the determining of the target planning strategy corresponding to the target business scenario includes:

[0026] Determine a target scenario type corresponding to the target business scenario;

[0027] When the target scenario type corresponding to the target business scenario is a fourth business scenario, determining a target section distance of a target section in the fourth business scenario, wherein the target section distance is greater than a section distance of a target section corresponding to a preset business scenario;

[0028] The fourth business scenario is used to indicate that the vehicle needs to enter or exit a second preset area, the second preset area includes at least one of an unloading area, a parking space, and a refueling station, and the target road segment includes at least one of the following: a starting segment and an end segment;

[0029] Preferably, the path trajectory corresponding to the target road section includes at least one straight trajectory.

[0030] Furthermore, it also includes:

[0031] In the case where the target business scenario is a collaborative operation scenario, when the target vehicle reaches the end point according to the planned global path, a notification message sent by the collaborative terminal is received; wherein the collaborative operation scenario is a scenario where the target vehicle and the collaborative terminal work together, and the notification message is triggered when it is determined that the position of the target vehicle needs to be adjusted;

[0032] The planned global path is adjusted or a new global path is planned according to the notification message.

[0033] Further, the adjusting the planned global path or planning a new global path according to the notification message includes:

[0034] Determine a third preset area according to the notification message;

[0035] Adjusting the terminal segment of the planned global path includes a straight path that ignores map boundaries, or planning a straight path from the terminal segment to the third preset area that ignores map boundaries.

[0036] In a second aspect, a global path planning device for a vehicle is provided, comprising:

[0037] A target business scenario acquisition module, used to acquire a target business scenario of a target vehicle, wherein the business scenario corresponds to a planning strategy, the planning strategy includes a path division strategy and a parameter selection strategy, the path division strategy is used to determine the road segment division when planning a global path, the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine the parameter type and / or parameter value used when planning the global path;

[0038] A target planning strategy determination module is used to determine the target planning strategy corresponding to the target business scenario;

[0039] The vehicle global path planning module is used to plan the global path of the target vehicle based on the target planning strategy.

[0040] In a third aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored, and when the computer program or instruction is executed by a processor, the steps of the global path planning method for the vehicle provided by the technical solution of the first aspect are implemented.

[0041] In a fourth aspect, an unmanned vehicle is provided, comprising:

[0042] at least one processor and at least one memory;

[0043] The memory stores executable instructions of the processor;

[0044] The processor is configured to execute the global path planning method for the vehicle provided by the technical solution of the first aspect.

[0045] In a fifth aspect, a cloud control platform is provided, including:

[0046] at least one processor and at least one memory;

[0047] The memory stores executable instructions of the processor;

[0048] The processor is configured to execute the global path planning method for the vehicle provided by the technical solution of the first aspect.

[0049] Beneficial effects:

[0050] The present application provides a global path planning method and its device, an unmanned vehicle and a cloud control platform; after obtaining the target business scenario of the target vehicle, the target planning strategy corresponding to the target business scenario is determined, and finally the global path of the target vehicle is planned based on the target planning strategy. Since the business scenario corresponds to the planning strategy, and the planning strategy includes a path division strategy and a parameter selection strategy, when facing different business scenarios, the present application can adopt different planning logics and parameters for global path planning, so that no matter what the business scenario is, a global path with excellent quality can be provided for the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 It is a flow chart of a global path planning method for a vehicle provided in an embodiment of the present application;

[0053] Figure 2 is a flow chart of another vehicle global path planning method provided in an embodiment of the present application;

[0054] Figure 3 It is a structural schematic diagram of a global path planning device for a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0056] Traditional global path planning uses a set of planning logic and parameters, so the only parameters required are the starting and ending points. However, in mining scenarios, due to the complex road conditions, the global path planning generated according to a set of planning logic and parameters cannot meet the needs of vehicles in different business scenarios. The global path generated according to a set of logic and parameters requires relevant personnel to adjust it again in most business scenarios, which is time-consuming and labor-intensive. In some business scenarios, the global path cannot even be generated according to a set of planning logic and parameters.

[0057] Therefore, in order to solve the above technical problems, an embodiment of the present application provides a global path planning method for a vehicle, which is applied to a vehicle or a cloud control platform, wherein the cloud control platform communicates with at least one vehicle. It is understandable that when applied to a vehicle, the decision module of the vehicle applies the method of the present application to perform global path planning, and the generated global path is used directly. When applied to a cloud control platform, the cloud control platform obtains the target business scenario of the target vehicle, and the cloud control platform applies the method of the present application to perform global path planning for the target vehicle, and then sends the global path to the target vehicle.

[0058] Reference Figure 1 , the method global path planning includes:

[0059] S11: Obtain a target business scenario of a target vehicle, wherein the business scenario corresponds to a planning strategy, the planning strategy includes a path division strategy and a parameter selection strategy, the path division strategy is used to determine the road segment division when planning a global path, the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine the parameter type and / or parameter value used when planning the global path;

[0060] In one embodiment, the target business scenario of the target vehicle is obtained through the task instruction received by the target vehicle, wherein the task instruction includes the task that the vehicle needs to perform, such as going to the unloading area, going to the loading area, etc. In some cases, the business scenario includes the task of the vehicle, or is related to the task. Therefore, after receiving the task instruction, the task of generating the global path is automatically triggered, and the business scenario is obtained according to the task of the vehicle in the task instruction.

[0061] In another embodiment, the target business scenario of the target vehicle is obtained through the path generation instruction received by the target vehicle (i.e., in this embodiment, the target vehicle will not receive the task instruction, but will receive the path generation instruction), wherein the path generation instruction includes the end point position (the starting point position is the current position of the vehicle, which can be obtained by the target vehicle). In this case, it is necessary to obtain the types of the starting point and the end point, such as the unloading area or the loading area. The business scenario is determined according to the type of the starting point and / or the end point. For example, if the type of the starting point is a parking lot, the target business scenario is to leave the parking lot, and if the type of the end point is a loading area, the target business scenario is to go to the loading area.

[0062] In addition, the correspondence between business scenarios and planning strategies means that a planning strategy is set for each business scenario. In this way, when the vehicle has different business scenario requirements, it only needs to change the path division strategy and / or parameter selection strategy in the planning strategy corresponding to the business scenario based on the requirements when configuring the planning strategy corresponding to the business scenario.

[0063] The starting segment is a path from the starting position to the first preset position. It should be noted that the first preset position is not the end point. Optionally, the starting segment is divided into the global path to ensure that the vehicle can start safely and quickly.

[0064] The terminal segment is a path from the second preset position to the terminal. It should be noted that the second preset position is not the starting point. Optionally, the purpose of dividing the terminal segment in the global path is to ensure that the vehicle can reach the terminal safely and accurately.

[0065] It should be noted that the first preset position and the second preset position may be the same or different. Optionally, when the first preset position and the second preset position are the same, there is no middle section; when the first preset position and the second preset position are different, there is a middle section.

[0066] Therefore, the middle segment refers to the path from the first preset position to the second preset position. Optionally, whether the middle segment exists is determined according to the path length from the starting point to the end point. When the path length from the starting point to the end point is greater than a threshold, the middle segment exists. When the path length from the starting point to the end point is less than or equal to the threshold, the middle segment does not exist.

[0067] In addition, due to different vehicle requirements in different business scenarios, the parameters used in different road sections may be different. For example, in most business scenarios, map boundaries cannot be ignored, but in some business scenarios, if map boundaries are not ignored when planning a path, it is impossible to generate a global path, or the generated global path is too long. Therefore, map boundaries can be ignored in some business scenarios. Therefore, different business scenarios may also use different parameter types when planning a path.

[0068] For parameter values, taking safety distance as an example, the safety distance in most business scenarios is the default value, and in order to ensure safety, the default value is generally larger. However, in a mining scenario, during the loading and unloading process, soil and rocks may fall on the ground in the unloading area and the loading area. In this way, obstacles are displayed in both the unloading area and the loading area on the map. The applicant found that if the default value is used, it will result in the inability to generate road sections in the unloading area and the loading area. In the embodiment of the present application, it is proposed that the corresponding safety distance value in the business scenarios related to the unloading area and the loading area be set to be less than the default value.

[0069] S12: Determine the target planning strategy corresponding to the target business scenario;

[0070] Wherein, determining the target planning strategy corresponding to the target business scenario includes:

[0071] Determine the target scenario type corresponding to the target business scenario; that is, determine the specific type of the target business scenario. It is understandable that one target business scenario may correspond to multiple different business scenario types.

[0072] Determine the target decision dimension corresponding to the target scenario type; wherein each scenario type has its own corresponding decision dimension, and the decision dimension includes at least one of the following: road segment division, road segment distance, road segment safety distance, whether the road segment ignores the map boundary, the curvature constraint of the road segment, and the acceleration constraint of the road segment; based on the target decision dimension corresponding to the target scenario type, obtain the target planning strategy corresponding to the target business scenario.

[0073] As a preferred implementation method of the present application, a corresponding decision dimension is configured in advance for each scene type. When the target scene type is determined, the target decision dimension of the target scene type is directly matched, thereby improving processing efficiency.

[0074] As another implementation method of the present application, a preset scenario type and its corresponding planning strategy are configured. The planning strategy corresponding to the preset scenario type is equivalent to a standard template for a business scenario without special requirements. Then configure decision dimensions that are different from other scenario types and preset scenario types. After the target scenario type is determined, obtain its decision dimensions that are different from the preset scenario type. Then, by adjusting these different decision dimensions in the planning strategy of the preset scenario, the target decision dimensions of the target scenario type can be obtained. In this way, there is no need to configure the decision dimensions separately for each scenario type. You only need to configure the planning strategy of the preset scenario type, as well as the decision dimensions that are different from other scenario types and the preset scenario type.

[0075] The target planning strategy corresponding to the target business scenario is described in detail below:

[0076] In one embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0077] Determine a target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is a first business scenario, determine a first target safety distance of a target road section in the first business scenario, wherein the first target safety distance is less than a safety distance of the target road section corresponding to a preset business scenario;

[0078] Among them, the preset business scenario is used to indicate that there is no preset obstacle in the target road section, the first business scenario is used to indicate that the preset obstacle exists in the target road section, the target road section includes at least one of the following: a starting section, an intermediate section and an end section, and the preset obstacle is an obstacle that does not affect the driving of the vehicle.

[0079] When the target scenario type corresponding to the target business scenario is the first business scenario, it indicates that the vehicle will pass through a road section with preset obstacles. Although the preset obstacles will be identified as obstacles, they will not affect the vehicle's driving, such as soil and rocks falling from the loading or unloading area. During the loading and unloading process, soil and rocks will inevitably fall. If the safety distance in the preset business scenario is used for planning, the path of the road section may not be obtained at all, so a smaller safety distance is required. It should be noted that only a smaller safety distance is used to plan the route on the target road section, and a larger safety distance is still used to plan the route on other roads. While ensuring driving safety on other roads, a planned path can also be generated on the target road section.

[0080] For example, when the target business scenario is to go to the unloading area, there will be map glitches such as falling rocks in the unloading area. Therefore, when performing global path planning for it, a smaller value will be used for the safety distance.

[0081] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0082] Determine a target scenario type corresponding to the target business scenario; and when the target scenario type corresponding to the target business scenario is a second business scenario, determine a second target safety distance of the target road section in the second business scenario, wherein the second target safety distance is greater than a safety distance of the target road section corresponding to the preset business scenario;

[0083] Among them, the preset business scenario is used to indicate that the first preset area does not exist in the target section, and the second business scenario is used to indicate that the first preset area exists in the target section, and the target section includes at least one of the following: a starting section, an intermediate section, and an end section.

[0084] When the target scenario type corresponding to the target business scenario is the second business scenario, it indicates that the vehicle will pass through a road section with a first preset area. If the vehicle is close to the first preset area, the vehicle safety risk is high, so a larger safety distance is required during path planning. The first preset area is used to indicate that the vehicle has a higher safety risk when approaching the area. For example, the first preset interval includes but is not limited to cliffs, pits, waters, and hillsides or earth slopes prone to rockfall.

[0085] For example, when the target business scenario is to collect retaining walls, a larger value is used for the safety distance in global path planning. The retaining wall is a wall set between the first preset area and the normal driving area.

[0086] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0087] Determining a target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is a third business scenario, ignoring a map boundary for planning of a target road section;

[0088] The third business scenario is used to indicate that the vehicle is located near the border of the map and receives a preset instruction, the preset instruction is used to instruct the vehicle to adjust its position and the position adjustment amount is less than the specified adjustment amount, and the target road segment includes at least one of the following: a starting segment, an intermediate segment, and an end segment. The vehicle is located near the border of the map means that the distance between the vehicle and the border of the map is less than the preset distance.

[0089] When the target scenario type corresponding to the target business scenario is the third business scenario, the vehicle is generally a vehicle operating at the map boundary, such as an excavator; when it is determined that the current position is not the target position and the distance between the current position and the target position is less than the threshold, fine-tuning is required. At this time, if the path is planned according to the map boundary, the planned global path is too long. Therefore, the map boundary can be ignored, so that it can be quickly adjusted to the target position.

[0090] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0091] Determine a target scenario type corresponding to the target business scenario; and when the target scenario type corresponding to the target business scenario is a fourth business scenario, determine a target section distance of a target section in the fourth business scenario, wherein the target section distance is greater than a section distance of a target section corresponding to a preset business scenario;

[0092] The fourth business scenario is used to indicate that the vehicle needs to enter or exit a second preset area, the second preset area includes at least one of an unloading area, a parking space, and a refueling station, and the target road segment includes at least one of the following: a starting segment and an end segment;

[0093] The second preset area is used to represent an area with a small space for vehicle adjustment, such as an unloading area, a parking space, and a refueling station. According to the conventional starting section and terminal section distance planning, the vehicle may not be able to fully enter the second preset area or completely exit the second preset area. Therefore, a larger section distance is required. In the fourth business scenario, this problem only exists in the starting section and the terminal section, so a larger section distance is only used in the starting section or the terminal section.

[0094] Preferably, the path trajectory corresponding to the target road section includes at least one straight track. For example, when the target business scenario is to move forward with the bucket lifted (i.e. when the mining truck is unloading, the bucket needs to be raised, and some unloading areas are provided with retaining walls, which makes it impossible for the bucket to be fully raised, so it needs to be raised while moving forward), it is necessary to add a straight track so that the bucket will not be blocked by the retaining wall when it is raised, and can be fully raised to unload the load in the bucket.

[0095] In another embodiment, when the target business scenario is a collaborative operation scenario, when the target vehicle reaches the end point according to the planned global path, a notification message sent by the collaborative terminal is received; wherein, the collaborative operation scenario is a scenario in which the target vehicle and the collaborative terminal work together, and the notification message is triggered when it is determined that the position of the target vehicle needs to be adjusted; it should be noted that the notification message can be manually triggered, that is, when a person finds that the target vehicle needs to be adjusted, the notification message is triggered through the collaborative terminal. In addition, the notification message can also be automatically triggered, that is, when the target vehicle reaches the end point, an arrival signal will be sent (which can be forwarded to the collaborative terminal through the cloud control platform or sent directly to the collaborative terminal). When the collaborative terminal receives the arrival signal of the target vehicle, it determines whether the target vehicle exists in the third preset area. If not, a notification message is sent.

[0096] The planned global path is adjusted or a new global path is planned according to the notification message.

[0097] As a preferred implementation of the present application, adjusting the planned global path or planning a new global path according to the notification message includes:

[0098] A third preset area is determined according to the notification message; wherein the notification message includes the location of the third preset area.

[0099] Adjusting the terminal segment of the planned global path includes a straight path that ignores the map boundary, and it should be noted that the path eventually reaches the third preset area. Or planning a straight path that ignores the map boundary from the terminal to the third preset area.

[0100] It should be noted that the solution of this embodiment solves the problem that the planned global path does not ignore the map boundary, resulting in the end point not being in the third preset area. Therefore, it is necessary to add a straight path that ignores the map boundary. For example, when the target vehicle is an unmanned mining truck, and the collaborative terminal is an excavator working outside the map boundary, it often happens that the unmanned mining truck does not stop in place after parking, and the excavator cannot load the unmanned mining truck. At this time, if the map boundary is not ignored, no matter how the global path is planned, the unmanned mining truck cannot reach the third preset area, which seriously affects the work efficiency. And because the excavator can rotate, the third preset area is actually a fan-shaped area or a circular area. Therefore, at this time, the unmanned mining truck only needs to drive straight out of the map boundary to reach the third area.

[0101] It should be noted that the planned path can also be a curve, and the specific form can be set according to actual needs.

[0102] S13: Planning a global path of the target vehicle based on the target planning strategy.

[0103] The global path planning method for a vehicle provided in an embodiment of the present application first determines the target business scenario of the target vehicle, then determines the target planning strategy based on the target business scenario, and finally plans the global path based on the target planning strategy. It is possible to adopt different planning strategies for different business scenarios, meet the different needs of different business scenarios in mining scenarios, and improve mining operation efficiency.

[0104] like Figure 2 As shown, an embodiment of the present application provides another global path planning method for a vehicle. When a vehicle needs to perform a global path planning, the business scenario is first determined based on factors such as the current business purpose of the vehicle, and then the corresponding planning logic and parameter group are selected. Finally, the global path planning is performed under the business scenario and the global trajectory is output to the decision planning module.

[0105] For example, when a vehicle is loading, the business scenario will be set to "go to the unloading area" and global path planning will be performed under this business scenario. In this scenario, some unique planning logic will be performed. For example, to avoid the influence of map boundary glitches, the safety distance of the global trajectory starting segment is set to a smaller value. For example, the curvature and acceleration constraints of the vehicle under heavy load will be used during planning.

[0106] For example, when planning the global trajectory from the loading position to the unloading area, since falling soil and rocks will cause burrs on the map boundary, special processing must be performed at the starting point of the global trajectory to reduce the safety distance of the map boundary, otherwise the global trajectory may not be planned. For example, when the excavator finds that the vehicle has not stopped in place, the global path planning requested will also have many logical differences from the global path planning on the road. It will expect the vehicle to plan a straight reverse global path planning that ignores the map boundary.

[0107] For example, as shown in Table 1, a total of multiple business scenarios and the parameter types and parameter values ​​required for their planning are defined. In addition to the scenario defined by business purpose such as "going to the unloading position", there are also business scenarios with unique mining characteristics such as "fine-tuning the excavator" and "lifting the bucket and moving forward". This ensures that the required global trajectory can be planned in various special situations and facilitates the expansion of new business scenarios.

[0108] Table 1

[0109]

[0110] Another type of global path planning for vehicles provided in an embodiment of the present application, firstly, the planning logic under each business scenario is decoupled, thus avoiding the exponential growth of logic and making various planning functions easy to manage and maintain; secondly, the global planning under each business scenario can use a separate processing logic and parameter group, so as to achieve more accurate grasp and improve the quality of the global trajectory; finally, due to the reduction of planning logic, the planning time is also reduced, thereby improving the vehicle operation efficiency.

[0111] Based on the same inventive concept, Figure 3 As shown, the present application provides a global path planning device 30 for a vehicle, comprising:

[0112] A target business scenario acquisition module 31 is used to acquire a target business scenario of a target vehicle, wherein the business scenario corresponds to a planning strategy, and the planning strategy includes a path division strategy and a parameter selection strategy, wherein the path division strategy is used to determine the road segment division when planning a global path, and the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine the parameter type and / or parameter value used when planning the global path;

[0113] The target planning strategy determination module 32 is used to determine the target planning strategy corresponding to the target business scenario; wherein, determining the target planning strategy corresponding to the target business scenario includes: determining the target scenario type corresponding to the target business scenario; determining the target decision dimension corresponding to the target scenario type; wherein each scenario type has its own corresponding decision dimension, and the decision dimension includes at least one of the following: road section division, road section distance, road section safety distance, whether the road section ignores the map boundary, the curvature constraint of the road section, and the acceleration constraint of the road section; based on the target decision dimension corresponding to the target scenario type, the target planning strategy corresponding to the target business scenario is obtained.

[0114] In one embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0115] Determine a target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is a first business scenario, determine a first target safety distance of a target section in the first business scenario, the first target safety distance being smaller than a safety distance of the target section corresponding to a preset business scenario; wherein the preset business scenario is used to indicate that there is no preset obstacle in the target section, the first business scenario is used to indicate that there is the preset obstacle in the target section, the target section includes at least one of the following: a starting section, an intermediate section, and an end section, and the preset obstacle is an obstacle that does not affect vehicle driving.

[0116] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0117] Determine a target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is a second business scenario, determine a second target safety distance of the target section in the second business scenario, the second target safety distance being greater than a safety distance of the target section corresponding to a preset business scenario; wherein the preset business scenario is used to indicate that a first preset area does not exist in the target section, the second business scenario is used to indicate that the first preset area exists in the target section, and the target section includes at least one of the following: a starting section, an intermediate section, and an end section.

[0118] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0119] Determine a target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is a third business scenario, ignore the map boundary for planning the target road section; wherein the third business scenario is used to indicate that a preset instruction is received when the vehicle is located near a map boundary, and the preset instruction is used to instruct the vehicle to adjust the position and the position adjustment amount is less than a specified adjustment amount, and the target road section includes at least one of the following: a starting segment, an intermediate segment, and an end segment.

[0120] In another embodiment, determining the target planning strategy corresponding to the target business scenario includes:

[0121] Determine the target scenario type corresponding to the target business scenario; when the target scenario type corresponding to the target business scenario is the fourth business scenario, determine the target section distance of the target section in the fourth business scenario, and the target section distance is greater than the section distance of the target section corresponding to the preset business scenario; wherein the fourth business scenario is used to indicate that the vehicle needs to enter or exit a second preset area, and the second preset area includes at least one of an unloading area, a parking space, and a gas station, and the target section includes at least one of the following: a starting section and an end section; preferably, the path trajectory corresponding to the target section includes at least one straight trajectory.

[0122] Additionally, it includes:

[0123] In the case where the target business scenario is a collaborative operation scenario, when the target vehicle reaches the end point according to the planned global path, a notification message sent by the collaborative terminal is received; wherein the collaborative operation scenario is a scenario in which the target vehicle and the collaborative terminal work together, and the notification message is triggered when it is determined that the position of the target vehicle needs to be adjusted; the planned global path is adjusted or a new global path is planned according to the notification message.

[0124] The adjusting the planned global path or planning a new global path according to the notification message includes:

[0125] Determine a third preset area according to the notification message; adjust the terminal segment of the planned global path to include a straight path that ignores map boundaries, or plan a straight path from the terminal to the third preset area that ignores map boundaries.

[0126] The vehicle global path planning module 33 is used to plan the global path of the target vehicle based on the target planning strategy.

[0127] Based on the same inventive concept, the present application provides a computer-readable storage medium having a computer program or instruction stored thereon, which, when executed by a processor, implements the steps of the global path planning method for a vehicle provided in any of the above embodiments.

[0128] Based on the same inventive concept, the present application provides an unmanned vehicle, comprising:

[0129] at least one processor and at least one memory;

[0130] The memory stores executable instructions of the processor;

[0131] The processor is configured to execute the global path planning method for the vehicle provided in any of the above embodiments.

[0132] Based on the same inventive concept, the present application provides a cloud control platform, including:

[0133] at least one processor and at least one memory;

[0134] The memory stores executable instructions of the processor;

[0135] The processor is configured to execute the global path planning method for the vehicle provided in any of the above embodiments.

[0136] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0137] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0138] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0139] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0140] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0141] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0142] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0143] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0144] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A global path planning method for a vehicle, characterized in that: include: Obtaining a target business scenario of the target vehicle, wherein the business scenario corresponds to a planning strategy, the planning strategy including a path division strategy and a parameter selection strategy, the path division strategy is used to determine a road segment division when planning a global path, the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine a parameter type and / or a parameter value used when planning the global path; Determine the target planning strategy corresponding to the target business scenario; A global path of the target vehicle is planned based on the target planning strategy.

2. The method according to claim 1, characterized in that Determining the target planning strategy corresponding to the target business scenario includes: Determine a target scenario type corresponding to the target business scenario; Determine a target decision dimension corresponding to the target scenario type; wherein each scenario type has its own corresponding decision dimension, and the decision dimension includes at least any one of the following: road segment division, road segment distance, road segment safety distance, whether the road segment ignores the map boundary, the curvature constraint of the road segment, and the acceleration constraint of the road segment; Based on the target decision dimension corresponding to the target scenario type, a target planning strategy corresponding to the target business scenario is obtained.

3. The method according to claim 1, characterized in that: Determining the target planning strategy corresponding to the target business scenario includes: Determine a target scenario type corresponding to the target business scenario; When the target scenario type corresponding to the target business scenario is a first business scenario, determining a first target safety distance of a target road section in the first business scenario, wherein the first target safety distance is smaller than a safety distance of the target road section corresponding to a preset business scenario; Among them, the preset business scenario is used to indicate that there is no preset obstacle in the target road section, the first business scenario is used to indicate that the preset obstacle exists in the target road section, the target road section includes at least one of the following: a starting section, an intermediate section and an end section, and the preset obstacle is an obstacle that does not affect the driving of the vehicle.

4. The method according to claim 1, characterized in that Determining the target planning strategy corresponding to the target business scenario includes: Determine a target scenario type corresponding to the target business scenario; When the target scenario type corresponding to the target business scenario is a second business scenario, determining a second target safety distance of the target road section in the second business scenario, wherein the second target safety distance is greater than a safety distance of the target road section corresponding to the preset business scenario; Among them, the preset business scenario is used to indicate that the first preset area does not exist in the target section, and the second business scenario is used to indicate that the first preset area exists in the target section, and the target section includes at least one of the following: a starting section, an intermediate section, and an end section.

5. The method according to claim 1, characterized in that Determining the target planning strategy corresponding to the target business scenario includes: Determine a target scenario type corresponding to the target business scenario; When the target scenario type corresponding to the target business scenario is a third business scenario, the map boundary is ignored in the planning of the target road section; Among them, the third business scenario is used to indicate that the vehicle receives a preset instruction when it is located near the map boundary, and the preset instruction is used to instruct the vehicle to adjust the position and the position adjustment amount is less than the specified adjustment amount, and the target road section includes at least one of the following: a starting section, an intermediate section, and an end section.

6. The method according to claim 1, characterized in that Determining the target planning strategy corresponding to the target business scenario includes: Determine a target scenario type corresponding to the target business scenario; When the target scenario type corresponding to the target business scenario is a fourth business scenario, determining a target section distance of a target section in the fourth business scenario, wherein the target section distance is greater than a section distance of a target section corresponding to a preset business scenario; The fourth business scenario is used to indicate that the vehicle needs to enter or exit a second preset area, the second preset area includes at least one of an unloading area, a parking space, and a refueling station, and the target road segment includes at least one of the following: a starting segment and an end segment; Preferably, the path trajectory corresponding to the target road section includes at least one straight trajectory.

7. The method according to claim 1, characterized in that Also includes: In the case where the target business scenario is a collaborative operation scenario, when the target vehicle reaches the end point according to the planned global path, a notification message sent by the collaborative terminal is received; wherein the collaborative operation scenario is a scenario where the target vehicle and the collaborative terminal work together, and the notification message is triggered when it is determined that the position of the target vehicle needs to be adjusted; The planned global path is adjusted or a new global path is planned according to the notification message.

8. The method according to claim 7, characterized in that The adjusting the planned global path or planning a new global path according to the notification message includes: Determine a third preset area according to the notification message; Adjusting the terminal segment of the planned global path includes a straight path that ignores map boundaries, or planning a straight path from the terminal segment to the third preset area that ignores map boundaries.

9. A global path planning device for a vehicle, characterized in that: include: A target business scenario acquisition module, used to acquire a target business scenario of a target vehicle, wherein the business scenario corresponds to a planning strategy, the planning strategy includes a path division strategy and a parameter selection strategy, the path division strategy is used to determine the road segment division when planning a global path, the road segment division is used to divide the global path into at least a starting segment, an end segment and / or an intermediate segment, and the parameter selection strategy is used to determine the parameter type and / or parameter value used when planning the global path; A target planning strategy determination module is used to determine the target planning strategy corresponding to the target business scenario; The vehicle global path planning module is used to plan the global path of the target vehicle based on the target planning strategy.

10. An unmanned vehicle, characterized in that: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 8.

11. A cloud control platform, characterized in that: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 8.

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