Data processing method and path planning method for moving objects

Abstract

The embodiments of the present application provide a data processing method and a path planning method for a moving object. In this data processing method, the final state lateral displacement data and the moving state adjustment safety duration data of the moving object are calculated in each frame. Further, the lateral offset step data of the current frame is obtained, and then, in combination with the target lateral offset data of the previous frame, the target lateral offset data corresponding to the current frame is obtained. The target lateral offset data corresponding to the current frame is the lateral displacement data of the end point of the path planned for the moving object in the current frame relative to the initial moving reference line. Therefore, by adjusting the target lateral offset data of the end point of the path planned for the moving object in the current frame frame by frame, the numerical change process between the target lateral offset data corresponding to two adjacent frames is relatively smooth, so that the moving object can smoothly bypass the object to be bypassed.

Description

Technical Field

[0001] This application relates to the field of computer data processing, and in particular, to a data processing method, apparatus, electronic device, and storage medium. This application also relates to another data processing method, apparatus, electronic device, and storage medium. This application also relates to another data processing method, apparatus, electronic device, and storage medium. This application also relates to a path planning method, apparatus, electronic device, and storage medium for a moving object. This application also relates to another path planning method, apparatus, electronic device, and storage medium for a moving object. Background Art

[0002] During the movement of a moving object, it may encounter an object to be bypassed, and at this time, it is necessary to bypass the object to be bypassed. In the prior art, the moving object moves through the boundary of the object to be bypassed to bypass the object to be bypassed, and this situation easily causes the moving object to be unable to smoothly bypass the object to be bypassed during this process. Therefore, how to enable the moving object to relatively smoothly bypass the object to be bypassed is a problem that needs to be solved. Summary of the Invention

[0003] Embodiments of this application provide a data processing method to enable a moving object to relatively smoothly bypass an object to be bypassed. This application also relates to another data processing method, apparatus, electronic device, and storage medium. This application also relates to another data processing method, apparatus, electronic device, and storage medium. This application also relates to a path planning method, apparatus, electronic device, and storage medium for a moving object. This application also relates to another path planning method, apparatus, electronic device, and storage medium for a moving object.

[0004] An embodiment of the present application provides a data processing method, including: obtaining the final-state lateral displacement data determined for a moving object in the current frame, where the final-state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point in the expected final state, the expected final state is the expected state in which the moving object needs to reach for bypassing the object to be bypassed and has a lateral safety space from the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to pass through for bypassing the object to be bypassed; obtaining the moving-state adjustment safety duration data determined for the moving object in the current frame, where the moving-state adjustment safety duration data is the expected available duration data from the current frame for the moving object to adjust its moving state to avoid collision with the object to be bypassed; obtaining the lateral offset step data corresponding to the current frame according to the final-state lateral displacement data and the moving-state adjustment safety duration data; adjusting the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame, where the target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous-frame target position point determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, the previous-frame target position point is the end point of the travel path planned for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the current-frame target position point and the initial moving reference line used by the moving object at the initial position point, and the current-frame target position point is the end point of the travel path planned for the moving object in the current frame.

[0005] Another data processing method provided by an embodiment of the present application includes: obtaining the moving speed data of a moving object in a current frame; obtaining the lateral offset step data corresponding to the current frame according to the moving speed data of the moving object in the current frame and the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range; adjusting the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame; wherein, the target lateral offset data corresponding to the previous frame is the lateral displacement data between the target position point of the previous frame determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, the target position point of the previous frame is the end point of the travel path planned for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial moving reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the travel path planned for the moving object in the current frame.

[0006] Another data processing method provided by an embodiment of the present application includes: obtaining the final state lateral displacement data determined for a moving object in a current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point in an expected final state, the expected final state is an expected state in which the moving object needs to reach a lateral safety space with respect to the object to be bypassed to bypass the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed; obtaining the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data, where the expected final state moving reference line offset data is the lateral displacement data between the expected final state moving reference line and the initial moving reference line, and the expected final state moving reference line is the moving reference line determined for the moving object in the current frame in the expected final state.

[0007] An embodiment of the present application further provides a path planning method for a moving object, including: obtaining target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame, where the target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point in the current frame and the initial movement reference line used by the moving object at the initial position point, the target position point in the current frame is the end point of the travel path planned for the moving object in the current frame, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed; obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame.

[0008] An embodiment of the present application further provides another path planning method for a moving object, including: obtaining the final state lateral displacement data determined for the moving object in the current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point in the expected final state, the expected final state is the expected state in which the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed; obtaining the expected final state movement reference line offset data of the moving object according to the final state lateral displacement data, where the expected final state movement reference line offset data is the lateral displacement data between the expected final state movement reference line and the initial movement reference line, and the expected final state movement reference line is the movement reference line determined for the moving object in the current frame to be used in the expected final state; obtaining the travel path data planned for the moving object in the current frame according to the expected final state movement reference line offset data.

[0009] Compared with the prior art, the embodiments of the present application have the following advantages:

[0010] In the data processing method provided by the embodiments of the present application, during the process of a moving object bypassing an object to be bypassed, the final state lateral displacement data of the moving object and the moving state adjustment safety duration data are calculated for each frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line in the expected final state, that is, the lateral displacement data between the position point of the moving object when it reaches the expected state of bypassing the object to be bypassed and the initial movement reference line. The moving state adjustment safety duration data is the duration data during which the moving object can perform a movement operation from the position where it is located in the current frame to the position where it is located in the expected final state. Therefore, this method can timely adjust the changes in the final state lateral displacement data and the moving state adjustment safety duration data for each frame. Further, according to the final state lateral displacement data and the moving state adjustment safety duration data corresponding to the current frame, the lateral offset step data of the current frame is obtained, and then, in combination with the target lateral offset data of the previous frame, the target lateral offset data corresponding to the current frame is obtained. Based on the change in the lateral offset step data of the current frame, the target lateral offset data corresponding to the current frame also changes. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the path planned for the moving object in the current frame. That is to say, for each frame, the lateral displacement data of the end point of the path planned for the moving object relative to the initial movement reference line is calculated, that is, the displacement data by which the end point of this path is laterally offset relative to the initial movement reference line. Therefore, by adjusting the target lateral offset data of the end point position of the path planned for the moving object frame by frame, the numerical change process between the target lateral offset data corresponding to two adjacent frames is relatively smooth, so as to enable the moving object to smoothly bypass the object to be bypassed.

[0011] Another data processing method provided by the embodiments of the present application. During the process of a moving object bypassing an object to be bypassed, in each frame, the lateral offset step data corresponding to the current frame is obtained by combining the moving speed data of the moving object in the current frame and the corresponding relationship between the moving speed data range and the single-frame offset step data range. In other words, if the current moving speed data of the moving object in the current frame changes, the lateral offset step data corresponding to the current frame also changes, and it is possible to adjust the change value of the lateral offset step data in a timely manner according to the change of the moving speed data of the moving object in each frame. Furthermore, the lateral offset step data corresponding to the current frame is combined with the target lateral offset data corresponding to the previous frame to obtain the target lateral offset step data corresponding to the current frame. That is, in each frame, the target lateral offset data corresponding to the current frame is adjusted in a timely manner according to the corresponding lateral offset step data, that is, the target lateral offset data of the end position of the travel path planned for the moving object in the current frame is adjusted frame by frame, so that the numerical change process between the target lateral offset data corresponding to two adjacent frames is relatively smooth, thereby enabling the moving object to smoothly bypass the object to be bypassed.

[0012] Another data processing method provided by the embodiments of the present application. In each frame, the final state lateral displacement data of the moving object is determined. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point when the moving object is in the expected final state. The expected final state is the expected state in which the moving object needs to reach a lateral safety space from the object to be bypassed in order to bypass the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed. According to the final state lateral displacement data, the expected final state moving reference line offset data of the moving object is obtained, that is, the lateral displacement data between the expected final state moving reference line determined for the moving object in the current frame and the initial moving reference line. In this process, the initial moving reference line is the moving reference line used by the moving object before starting to bypass the object to be bypassed, and the object to be bypassed is located at a position relatively close to the initial moving reference line. Therefore, the final state lateral displacement data changes due to the change of the position of the object to be bypassed. If the object to be bypassed has a lateral offset, the final state displacement data changes accordingly. Correspondingly, the expected final state moving reference line offset data changes due to the change of the position of the object to be bypassed. In addition, in the method provided by the embodiments of the present application, the moving object needs to move as close as possible to the position of the expected final state moving reference line, so that the moving object is as far away as possible from the object to be bypassed and is not easily affected by the boundary jitter of the object to be bypassed.

[0013] The path planning method for a moving object provided by an embodiment of the present application calculates the target lateral offset data corresponding to the current frame in each frame, and obtains the path data of the travel route planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the travel route planned for the moving object in the current frame, and the initial position point is the initial position point of the travel route that the moving object needs to travel around the object to be bypassed. In other words, in each frame, a travel route for the moving object to bypass the object to be bypassed is planned, and the target lateral offset data corresponding to the current frame is used as the lateral displacement data between the end point of the travel route and the initial movement reference line. By adjusting the target lateral offset data of the end position of the travel route planned for the moving object in the current frame frame by frame, the numerical change process between the target lateral offset data corresponding to two adjacent frames is relatively smooth, so that the change trend between the travel routes planned for the moving object frame by frame also tends to be stable, realizing that the moving object can smoothly bypass the object to be bypassed.

[0014] The path planning method for a moving object provided by an embodiment of the present application obtains the final state lateral displacement data determined for the moving object in the current frame, obtains the expected final state movement reference line offset data of the moving object according to the final state lateral displacement data, and obtains the path data of the travel route planned for the moving object in the current frame according to the expected final state movement reference line offset data. In this process, the final state lateral displacement data changes due to the change in the position of the object to be bypassed. If the object to be bypassed undergoes a lateral offset, the final state displacement data changes accordingly. Correspondingly, the expected final state movement reference line offset data changes due to the change in the position of the object to be bypassed. Therefore, the final state lateral displacement data and the expected final state movement reference line offset data determined in each frame can be adjusted in a timely manner according to the change in the position of the object to be bypassed. In addition, in the method provided by the embodiment of the present application, the moving object needs to move as close as possible to the position close to the expected final state movement reference line, so that the moving object is as far away as possible from the object to be bypassed and is not easily affected by the boundary jitter of the object to be bypassed. Therefore, the path data of the travel route planned for the moving object is also greater than a preset distance threshold from the position of the object to be bypassed. When the moving object bypasses the object to be bypassed according to the path data of the travel route generated, it will also have a certain distance from the boundary of the object to be bypassed and will not be affected by the boundary jitter or position change of the object to be bypassed, realizing that the moving object can smoothly bypass the object to be bypassed. Description of the Drawings

[0015] Figure 1ASchematic diagram of path planning for an autonomous vehicle provided by an embodiment of the present application to bypass an obstacle on the left side of the obstacle.

[0016] Figure 1B Schematic diagram of path planning for an autonomous vehicle provided by an embodiment of the present application to bypass an obstacle on the right side of the obstacle.

[0017] Figure 2A Schematic diagram of the travel path planned for a moving object in the starting frame (frame 0) provided by an embodiment of the present application.

[0018] Figure 2B Schematic diagram of the travel path planned for a moving object in the first frame provided by an embodiment of the present application.

[0019] Figure 2C Schematic diagram of the travel path planned for a moving object in the (n - 2)-th frame provided by an embodiment of the present application.

[0020] Figure 2D Schematic diagram of the travel path planned for a moving object in the (n - 1)-th frame provided by an embodiment of the present application.

[0021] Figure 3 Flowchart of the path planning method provided by an embodiment of the present application.

[0022] Figure 4 Flowchart of a data processing method provided by the first embodiment of the present application.

[0023] Figure 5 Schematic diagram of a data processing device provided by the second embodiment of the present application.

[0024] Figure 6 Flowchart of another data processing method provided by the third embodiment of the present application.

[0025] Figure 7 Schematic diagram of another data processing device provided by the fourth embodiment of the present application.

[0026] Figure 8 Flowchart of another data processing method provided by the fifth embodiment of the present application.

[0027] Figure 9 Schematic diagram of another data processing device provided by the sixth embodiment of the present application.

[0028] Figure 10 Flowchart of a path planning method for a moving object provided by the seventh embodiment of the present application.

[0029] Figure 11 Schematic diagram of a path planning device for a moving object provided by the eighth embodiment of the present application.

[0030] Figure 12 This is a flowchart of another path planning method for a moving object provided in the ninth embodiment of the present application.

[0031] Figure 13 This is a schematic diagram of another path planning device for a moving object provided in the tenth embodiment of the present application. Detailed implementation manners

[0032] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementations disclosed below. The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The descriptive methods used in the present application and the appended claims, such as "a", "first", and "second", etc., are not intended to limit the quantity or the order of precedence, but are used to distinguish information of the same type from each other. To solve the above problems proposed in the background art, the present application provides multiple embodiments. The various embodiments provided by the present application are introduced below respectively.

[0033] The application scenario of the data processing method provided in the embodiments of the present application is described below. The data processing method provided by the present application can be applied to the field of autonomous driving, where the moving object is an autonomous driving vehicle and the object to be bypassed is an obstacle. During the process of the autonomous driving vehicle bypassing the obstacle, the autonomous driving system determines the target lateral offset data corresponding to the current frame for the autonomous driving vehicle in the current frame. The data processing method provided by the present application can also be applied to the field of logistics distribution, where the moving object is a rider and the object to be bypassed is an obstacle that appears in the rider's delivery route. The rider carries a device with this data processing function. During the process of delivering the goods to the receiving address, if an obstacle appears during the delivery process, in order to enable the rider to smoothly bypass the obstacle, this data processing method is used to determine the target lateral offset data corresponding to the current frame for the rider in each frame. Among them, the above-mentioned moving object can also be a robot with a delivery function, and the robot includes a system with this data processing function. In addition, the obstacle can be a static obstacle, for example, a car parked by the roadside, or a dynamic obstacle, for example, a car slowly driving in front of the road where the moving object is located, or a region formed by a pool of slowly flowing water in the area in front of the road where the moving object is located, or a region formed by a pool of oil formed by a leaking fuel tank truck. The application process of this method is specifically described below with the moving object being an autonomous driving vehicle and the object to be bypassed being an obstacle.

[0034] The data processing method provided by the embodiments of the present application divides the process of an autonomous vehicle bypassing an obstacle into multiple stages for separate data processing, and each stage is called a frame. In each frame, the final state lateral displacement data between the autonomous vehicle at the expected final state and the initial movement reference line is calculated respectively, and the expected available duration data for the autonomous vehicle to bypass from the current position to the expected final state is calculated. According to the final state lateral displacement data and the expected available duration data, the lateral offset step data corresponding to this frame is obtained. According to the lateral offset step data corresponding to this frame and the target lateral offset data corresponding to the previous frame of this frame, the target lateral offset data corresponding to this frame is obtained. According to the final state lateral displacement data, the expected final state lateral displacement parameter offset data between the movement reference line of the expected final state planned for the autonomous vehicle in this frame and the initial movement reference line is obtained. The expected final state lateral displacement parameter offset data is used as the value of the movement reference line lateral displacement parameter in the objective function. The target lateral offset data corresponding to this frame is used as the value of the lateral displacement parameter of the final state position point in the objective function. The lateral movement parameter value of the position point in the travel path planned for the autonomous vehicle in this frame is obtained through the objective function. Based on the above process, the travel path data of the travel path planned for the autonomous vehicle in this frame is obtained, and then the travel path is generated. The travel path is the bypass path for the autonomous vehicle to bypass the obstacle planned in this frame. The objective function is used to calculate the cost function value corresponding to the travel path. In this process, the target lateral offset data corresponding to this frame is the lateral displacement data of the end point of the travel path planned for the autonomous vehicle in this frame relative to the initial movement reference line. By adjusting the lateral displacement data corresponding to the end point of the travel path planned for the autonomous vehicle frame by frame, the numerical change process between the target lateral offset data corresponding to adjacent frames is relatively smooth. In addition, by determining the final state lateral displacement data frame by frame, and then determining the expected final state movement reference line offset data of each frame as the value of the movement reference line lateral displacement parameter in the objective function. When calculating the cost function value of the travel path planned for this frame frame by frame, the lateral displacement data of the end point of the travel path gradually increases, and the absolute value of the difference between the lateral displacement data of the end point of the travel path and the value of the movement reference line lateral displacement parameter gradually decreases, reducing the calculation amount of the objective function.

[0035] The following specifically describes the detailed process of the data processing method provided by the present application in combination with application scenarios.

[0036] I. Dynamic final state offset strategy:

[0037] For each frame, calculate the target lateral offset step data corresponding to that frame, so as to incrementally increase the lateral displacement data between the end point of the travel path planned for the moving object and the initial movement reference line frame by frame. Finally, the target lateral offset data obtained in the last frame can reach the end-state lateral displacement data of the expected end state. This process is the dynamic end-state offset strategy.

[0038] The following specifically describes the dynamic end-state offset strategy: Step 1: The end-state lateral displacement data determined for the moving object in the current frame is determined as follows: Identify the obstacles that the autonomous vehicle needs to bypass in the current frame. According to the information of the obstacles, calculate the end-state lateral displacement data when the autonomous vehicle reaches the expected end state after bypassing the obstacles, so as to determine the position of the autonomous vehicle in the expected end state.

[0039] Calculate the end-state lateral displacement data corresponding to the expected end state of the autonomous vehicle according to Formula 1 or Formula 2 below .

[0040] Bypass on the left side of the obstacle: Formula 1

[0041] Bypass on the right side of the obstacle: Formula 2

[0042] Among them, Formula 1 is used to calculate the end-state lateral displacement data of the autonomous vehicle when it bypasses the obstacle on the left side of the obstacle . represents the lateral displacement data between the autonomous vehicle in the expected end state and the original lane reference line used at the starting position point of the autonomous vehicle when bypassing the obstacle, as shown in Figure 1A in . represents the lateral displacement data between the left boundary of the obstacle and the original lane reference line, as shown in Figure 1A in . represents the half-body distance data of the autonomous vehicle. represents the adjustable parameter between the right boundary of the autonomous vehicle and the left boundary of the obstacle. Formula 2 is used to calculate the end-state lateral displacement data of the autonomous vehicle when it bypasses the obstacle on the right side of the obstacle . represents the lateral displacement data between the autonomous vehicle in the expected end state and the original lane reference line used at the starting position point of the autonomous vehicle when bypassing the obstacle. represents the lateral displacement data between the right boundary of the obstacle and the original lane reference line, as shown in Figure 1B in . Represents the half-body distance data of an autonomous vehicle. Represents an adjustable parameter between the left boundary of the autonomous vehicle and the right boundary of the obstacle.

[0043] Please refer to Figure 1A and Figure 1B , Figure 1A FIG. Figure 1B is a schematic path planning diagram for an autonomous vehicle to bypass an obstacle on the left side of the obstacle provided by an embodiment of the present application.

[0044] In Figure 1A , the autonomous vehicle bypasses the obstacle from the left side. Therefore, in Formula 1 is a positive value. Add the sum of the half-body distance data of the autonomous vehicle and the adjustable parameter to to obtain the final-state lateral displacement data of the autonomous vehicle in the expected final state. In Figure 1B , the autonomous vehicle bypasses the obstacle from the right side. Therefore, in Formula 2 is a negative value. Subtract the sum of the half-body distance data of the autonomous vehicle and the adjustable parameter from to obtain the final-state lateral displacement data of the autonomous vehicle in the expected final state.

[0045] The above is the process of determining the final-state lateral displacement data of the autonomous vehicle in the expected final state in the current frame. The following describes the process of obtaining the target lateral offset data of the current frame: Step 2: Obtain the target lateral offset data corresponding to the current frame. Obtain the longitudinal driving speed of the autonomous vehicle, the longitudinal distance between the autonomous vehicle and the obstacle, such as Figure 1A the distance difference in the S-axis direction between the starting position of the autonomous vehicle in the vehicle body coordinate system and the obstacle in

[0046] Please refer to Figures 2A to 2D , which Figure 2A is a schematic diagram of the travel path planned for the moving object at the starting frame (frame 0) provided by an embodiment of the present application. Figure 2B is a schematic diagram of the travel path planned for the moving object at the first frame provided by an embodiment of the present application. Figure 2C is a schematic diagram of the travel path planned for the moving object at the (n - 2)-th frame provided by an embodiment of the present application. Figure 2D is a schematic diagram of the travel path planned for the moving object at the (n - 1)-th frame provided by an embodiment of the present application. By Figures 2A to 2D describing the planned path for the moving object to reach the expected final state from the initial position and the actual offset process of the moving object during the process of bypassing the object to be bypassed. Here, the moving object is taken as an example of an autonomous driving vehicle, and the object to be bypassed is taken as an example of a static obstacle for introduction. The entire process of the autonomous driving vehicle bypassing the obstacle is carried out through multiple segmented steps, and each segment is one frame. For each frame, a travel path for the autonomous driving vehicle to bypass the obstacle within a preset time duration is planned. The autonomous driving vehicle moves with reference to this travel path. When entering the next frame, a new travel path within the preset time duration is re-planned for the autonomous driving vehicle, and so on. After the travel paths planned through multiple frames, the autonomous driving vehicle reaches the position of the expected final state. The time for each frame is 0.1 s, and at each interval of 0.1 s, the autonomous driving system re-plans a travel path for the autonomous driving vehicle.

[0047] Figure 2A represents the travel path planned for the autonomous driving vehicle to bypass the obstacle at the starting frame (frame 0). Specifically, a vehicle body coordinate system is established with the initial position point of the autonomous driving vehicle bypassing the obstacle as the origin, the tangent direction of the original lane reference line used by the autonomous driving vehicle is used to establish the longitudinal coordinate axis S, and the normal direction of the original lane reference line is used to establish the transverse coordinate axis L. The lateral displacement data or lateral offset data involved in the following description refers to the lateral movement parameter values on the L axis.

[0048] At the starting frame, a section of travel path within a preset time duration (for example, 7 s) is planned for the autonomous driving vehicle. According to the current longitudinal driving speed of the autonomous driving vehicle and the preset time duration, the current frame longitudinal distance data of the autonomous driving vehicle traveling longitudinally within the preset time duration is obtained . The current frame longitudinal distance data is set with multiple path position points at a preset distance interval , such as Figure 2A which contains S 0-0 , S 0-1 , S 0-2 , S 0-3 , S 0-4 , S 0-5 , S0-6 , S 0-7 There are a total of seven position points.

[0049] First, according to the target lateral offset data determined for the autonomous vehicle at the starting frame , obtain the lateral displacement data of the position at the end state in the planned travel path for the moving object at the starting frame, that is, the lateral movement parameter value of the moving object at the (n - 1)-th path position point S 0-7 is , therefore, is equal to . For example, the lateral offset step data corresponding to the starting frame is 0.07 meters, and there is no previous frame for the starting frame. Therefore, the target lateral offset data corresponding to the starting frame is the lateral offset step data corresponding to the starting frame, 0.07 meters. The lateral movement parameter value of the moving object at the (n - 1)-th path position point S 0-7 is 0.07 meters.

[0050] Next, obtain the lateral movement parameter values of the position points in the travel path through the objective function. Assign corresponding lateral movement parameter values to other path position points. The lateral movement parameter values include at least one of the parameter values of lateral displacement value, lateral speed value, lateral acceleration value, and lateral jerk value.

[0051] For example, the initial position point Cheqi0 of the autonomous vehicle at the starting frame is the origin position of the vehicle body coordinate system, and its corresponding lateral displacement value is , which is 0. At S 0-1 the corresponding lateral displacement value is , at S 0-2 the corresponding lateral displacement value is , at S 0-3 the corresponding lateral displacement value is , at S 0-4 the corresponding lateral displacement value is , at S 0-5 the corresponding lateral displacement value is , at S 0-6 the corresponding lateral displacement value is . Then, solve the first derivative (lateral speed value) and the second derivative (lateral acceleration value) for the lateral displacement values assigned to each path position point.

[0052] The lateral displacement values, lateral speed values, and lateral acceleration values corresponding to the above-planned 8 path position points are called a set of lateral movement parameter variables, such as X = { , , ……, , , , ……, , , , ……, } is input into the objective function to obtain the cost function value cost. Among them, in the process of assigning the lateral movement parameter values to the above path position points, the other 7 path position points can be assigned multiple lateral movement parameter values respectively. For example, can be 0.01, 0.02 or 0.03.

[0053] For the different lateral movement parameter values assigned to each path position point respectively, multiple sets of lateral movement parameter variables are obtained. The cost function values cost corresponding to the multiple sets of lateral movement parameter variables are solved according to the objective function. The target lateral movement parameter variables are obtained according to the cost values. According to the target lateral movement parameter values corresponding to each path position point, the driving path data planned for the autonomous vehicle with the starting frame as the starting point is generated, thereby generating the driving path. The above is the description process of planning the driving path for the moving object in the starting frame.

[0054] The autonomous vehicle moves according to the driving path planned with reference to the starting frame (the 0th frame). When moving to the next frame, that is, the first frame, a new plan is made for the autonomous vehicle in the first frame. Among them, the driving path planned for the autonomous vehicle in the starting frame (the 0th frame) is not the actual driving path of the autonomous vehicle in this frame. There may be a deviation between the actual driving path of the autonomous vehicle during the actual movement and the driving path planned in the starting frame. After the autonomous vehicle moves a certain distance from the initial position point in the 0th frame, it reaches the first frame. In the first frame, the starting position point vehicle start 1 of the autonomous vehicle is the actual position point it reaches after moving a certain distance in the 0th frame. This position point can be a position point on the driving path planned for the autonomous vehicle in the 0th frame. If the autonomous vehicle does not move according to the planned driving path in the 0th frame, the lateral movement parameter of the starting position point vehicle start 1 of the autonomous vehicle can be other values and is not necessarily on the driving path planned in the starting frame. Refer to Figure 2B , which describes the new driving path planned for the autonomous vehicle in the first frame. In the first frame, the driving path within a preset duration is planned for the autonomous vehicle, and the autonomous vehicle moves with reference to this driving path.

[0055] According to the current longitudinal driving speed and the preset duration of the autonomous vehicle, the current frame longitudinal distance data of the autonomous vehicle driving longitudinally within this preset duration is obtained , and the current frame longitudinal distance data is set with multiple path position points at a preset distance interval , such as Figure 2B contains S 1-0 , S 1-1 , S1-2 , S 1-3 , S 1-4 , S 1-5 , S 1-6 There are a total of six position points. The target horizontal offset data corresponding to the first frame is the sum of the horizontal offset step data of the first frame and the target horizontal offset data corresponding to the 0th frame. According to the target horizontal offset data corresponding to the first frame , the horizontal displacement data of the end state in the travel path planned for the moving object in the first frame is obtained, that is, the horizontal movement parameter value of the moving object at the (n - 1)th path position point S 1-6 is . And Figure 2A similarly, horizontal movement parameter values are assigned to other path position points in the first frame to obtain a set of horizontal state variables X = { , , ……, , , , ……, , , , ……, }, which is input into the objective function to obtain the cost function value cost. According to the cost value, the horizontal movement parameter values corresponding to S 1-0 , S 1-1 , S 1-2 , S 1-3 , S 1-4 , S 1-5 are obtained, thereby generating the travel path data planned for the autonomous vehicle in the first frame.

[0056] Correspondingly, Figure 2C the travel path obtained is the travel path planned for the moving object in the (n - 2)th frame, and the target horizontal offset data determined in the (n - 2)th frame is the horizontal movement parameter value of the end state position point of this travel path. The specific process of generating this travel path is similar to the steps of the first frame. In the (n - 2)th frame, the starting position point of the autonomous vehicle, vehicle_start(n - 2), is the end point obtained after the actual movement of the autonomous vehicle in the (n - 3)th frame. Correspondingly, after the autonomous vehicle moves a certain distance in the (n - 2)th frame, it reaches the (n - 1)th frame. Among them, the method of planning the travel path for the moving object in the (n - 1)th frame is Figure 2A and Figure 2B similar, and will not be described in detail here. In the (n - 1)th frame, after the autonomous vehicle moves for a period of time referring to the planned travel path, it reaches the actual end position where the object to be bypassed can be successfully bypassed, such as Figure 2DThe end of the vehicle (n - 1). The actual end position may be the same as the end state position point (the vehicle end target) of the expected end state determined in this frame, or there may be a certain deviation between the two, as long as the condition of avoiding collision between the autonomous vehicle and obstacles can be achieved.

[0057] Through Figures 2A to 2D As described above, in the embodiments of the present application, the travel path of the moving object around the object to be bypassed is planned frame by frame for the moving object. The lateral movement parameter value corresponding to the end state of the moving object in the current frame is determined by the target lateral offset data corresponding to the current frame. Then, the lateral movement parameter values of the moving object at other path position points are obtained through the objective function, and the travel path data of the moving object planned for this frame is obtained. The lateral movement parameter values of the end state position points of the travel path planned for the moving object frame by frame increase frame by frame until, in the last frame, the lateral movement parameter value of the end state position point planned for the moving object reaches the end state lateral displacement data of the moving object in the expected end state. Planning the travel path of the moving object frame by frame takes into account the coordinate values of the starting position point of the moving object in each frame and the difference in the longitudinal distance data between the starting position point and the object to be bypassed, and also makes the lateral movement parameter values of the end state position points planned frame by frame increase smoothly, making the actual path of the moving object finally bypassing the object to be bypassed smooth, reducing the mutation of the path, and realizing the smooth bypass of the moving object around the object to be bypassed.

[0058] In addition, the present application can also obtain the target lateral offset data of the current frame in the following manner: Determine the driving speed data of the autonomous vehicle in the current frame and the corresponding relationship between the driving speed data range and the single-frame lateral offset step data range; Obtain the single-frame lateral offset step data determined by the autonomous vehicle in the current frame according to the driving speed data of the autonomous vehicle and the corresponding relationship between the driving speed data range and the single-frame lateral offset step data range; Obtain the target lateral offset data corresponding to the current frame according to the single-frame lateral offset step data corresponding to the current frame in combination with the target lateral offset data of the previous frame. The driving speed data range is 3 m / s to 8 m / s, and the single-frame lateral offset step data range is 0.06 m to 0.1 m.

[0059] Therefore, the corresponding relationship between the driving speed data range and the single-frame lateral offset step data range is a linear relationship, specifically, . Wherein, represents the single-frame lateral offset step data determined for the moving object in the current frame; Represents the driving speed data of the moving object in the current frame. In the current frame, if the driving speed data of the autonomous driving vehicle is less than 3 m / s, it is calculated as 3 m / s; if the driving speed data of the autonomous driving vehicle is greater than 8 m / s, it is calculated as 8 m / s. Obtain the target lateral offset data corresponding to the current frame according to Formula 3 as follows:

[0060] Formula 3

[0061] Wherein, Represents the target lateral offset data determined for the moving object in the current frame; Represents the target lateral offset data determined for the moving object in the previous frame, and is used as the target lateral offset data corresponding to the previous frame; Represents the lateral offset step data determined for the moving object in the current frame; Represents the final state lateral displacement data determined for the moving object in the current frame.

[0062] It can be seen from Formula 3 that if the sum of the target lateral offset data and the lateral offset step corresponding to the previous frame is less than or equal to the final state lateral displacement data, the target lateral offset data corresponding to the current frame is the sum of the target lateral offset data and the lateral offset step data corresponding to the previous frame; if the sum of the target lateral offset data and the lateral offset step data corresponding to the previous frame is greater than the final state lateral displacement data, the target lateral offset data corresponding to the current frame is the final state lateral displacement data.

[0063] II. Dynamic reference line strategy:

[0064] In the embodiments of the present application, the final state lateral displacement data is determined for the autonomous driving vehicle in each frame. According to the final state lateral displacement data, the expected final state moving reference line offset data determined for the autonomous driving vehicle in the current frame is obtained. According to the expected final state moving reference line offset data, the final state moving reference line of the autonomous driving vehicle at the expected final state is generated. For example, Figure 1A In the figure, the autonomous driving vehicle bypasses the obstacle from the left side of the obstacle and bypasses from the original lane to the overtaking lane.

[0065] Wherein, in the (n - 1)th frame, the final state lateral displacement data of the autonomous driving vehicle at the expected final state is determined as . Wherein, the final state lateral displacement data Is the lateral displacement data of the autonomous driving vehicle at the expected final state relative to the original lane reference line used by the autonomous driving vehicle at the initial position point. Therefore, the expected final state moving reference line offset data corresponding to the autonomous driving vehicle is .

[0066] The final state moving reference line of the autonomous driving vehicle is Figure 1A The final state reference line in the figure.Figure 1A The end - state moving reference line determined for the autonomous vehicle in the (n - 1)-th frame is described. The method described in this application realizes determining the end - state moving reference line for the autonomous vehicle in each frame during the process of the autonomous vehicle bypassing an obstacle.

[0067] Compared with using the original lane reference line in the prior art, in the embodiments of this application, after obtaining the dynamic reference line in each frame, the difference between the target lateral offset corresponding to each frame and the offset of the end - state moving reference line is reduced, thereby reducing the computational amount of calculating the cost function value of the candidate path for the autonomous vehicle to bypass the obstacle. Among them, Formula 4 is the objective function:

[0068] Formula 4

[0069] Among them, cost represents the cost function value. In the embodiments of this application, the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame is obtained through the objective function; represents the lateral displacement data of each path position point in the travel path, represents the first - order derivative value of the lateral displacement data, the lateral velocity data, represents the second - order derivative value of the lateral displacement data, the lateral acceleration data, jerk represents the rate of change of the lateral acceleration data with time, the lateral jerk data, which is obtained by the difference calculation of the lateral acceleration data: , is a constant; represents the weight value of the lateral displacement data; represents the weight value of the lateral velocity data; represents the weight value of the lateral acceleration data; represents the weight value of the lateral jerk; represents the lateral displacement data of the end - state moving reference line; represents the weight value of the difference between the lateral displacement data of each path position point in the travel path and the lateral displacement data of the end - state moving reference line; In order to increase the weights of the lateral displacement data, lateral velocity data, and lateral acceleration data at the (n - 1)-th position, for an additional penalty coefficient is added, for an additional penalty coefficient is added, for an additional penalty coefficient is added.

[0070] (1) Boundary constraints:

[0071]

[0072]

[0073]

[0074]

[0075] Among them, represents the lower boundary of the lateral displacement data of each path position point, such as Figure 1A the lower boundary in , which represents the minimum value of the lateral displacement data; represents the upper boundary of the lateral displacement data of each path position point, such as Figure 1A the upper boundary in , which represents the maximum value of the lateral displacement data; in other words, the lateral displacement data of each path position point takes values within the range of the lower boundary of the lateral displacement data and the upper boundary of the lateral displacement data. represents the lower boundary of the lateral velocity data of each path position point, which represents the minimum value of the lateral velocity data; represents the upper boundary of the lateral velocity data of each path position point, which represents the maximum value of the lateral velocity data; that is to say, the lateral velocity data of each path position point takes values within the range of the lower boundary of the lateral velocity data and the upper boundary of the lateral velocity data. represents the lower boundary of the lateral acceleration data of each path position point, which represents the minimum value of the lateral acceleration data; represents the upper boundary of the lateral acceleration data of each path position point, which represents the maximum value of the lateral acceleration data; in other words, the lateral acceleration data of each path position point takes values within the range of the lower boundary of the lateral acceleration data and the upper boundary of the lateral acceleration data. represents the lower boundary of the acceleration difference data between two adjacent path position points, represents the upper boundary of the acceleration difference data between two adjacent path position points; in other words, the acceleration difference between two adjacent path position points takes values within the range of the lower boundary of the acceleration difference data and the upper boundary of the acceleration difference data.

[0076] (2) Continuity constraint: It includes velocity continuity constraint and displacement continuity constraint.

[0077] Formula 5

[0078] Among them, Formula 5 represents the velocity continuity constraint relationship between the lateral velocity data of two adjacent path position points. represents the lateral velocity data of the (i + 1)-th path position point, represents the lateral velocity data of the i-th path position point; represents the lateral acceleration data of the i-th path position point, Represents the lateral acceleration data of the (i + 1)-th path position point; Represents the time interval from to for the autonomous vehicle, and this time interval is relatively short (e.g., 0.1 s). Therefore, Formula 5 represents that the change gap of the lateral velocity data between two adjacent path position points within the time interval is less than the preset velocity difference threshold.

[0079] Formula 6

[0080] Among them, Formula 6 represents the displacement continuity constraint relationship between the lateral displacement data of two adjacent path position points. Represents the lateral displacement data of the (i + 1)-th path position point, Represents the lateral displacement data of the i-th path position point; Represents the lateral velocity data of the i-th path position point, Represents the lateral acceleration data of the i-th path position point, Represents the lateral acceleration data of the (i + 1)-th path position point; Represents the time interval from to for the autonomous vehicle, and this time interval is relatively short (e.g., 0.1 s). Therefore, Formula 6 represents that the change gap of the lateral displacement data between two adjacent path position points within the time interval is less than the preset displacement difference threshold.

[0081] In summary, Formula 5 and Formula 6 represent that the change difference of the lateral velocity data between two adjacent path position points in the target travel path is less than the preset velocity difference threshold, and the change difference of the lateral displacement data is less than the preset displacement difference threshold. Therefore, the path curve of the target travel path is a smooth curve, and there is no jump or mutation between two adjacent path position points.

[0082] (3) Initial condition constraint: ; ; . In the initial condition constraint here, Represents the lateral displacement data between the position of the autonomous vehicle in the current frame and the reference line of the original lane. Correspondingly, Represents that the current speed data of the autonomous vehicle in the current frame is the initial set speed data, Represents that the current acceleration data of the autonomous vehicle in the current frame is the initial set acceleration data.

[0083] The above is the process of determining the expected final state moving reference line offset data for an autonomous vehicle in the current frame. Based on the expected final state moving reference line offset data, the moving reference line of the moving object at the expected final state determined in the current frame can be generated. Then, the driving path data planned for the moving object in the current frame is obtained through the objective function.

[0084] Please refer to Figure 3 , which is the flowchart of the path planning method provided by the embodiment of the present application. S301: Define the path planning state variables, objective function, and constraint conditions. In this step, the obtained path planning state variable is the above-mentioned lateral state variable X, and its obtaining method is as described above, which will not be elaborated here. The objective function is the cost function value described by Formula 4, and the constraint conditions include boundary constraints, continuity constraints, and initial condition constraints.

[0085] S302: Dynamic final state offset. The autonomous vehicle pre-determines the target lateral offset data in each frame , and takes the target lateral offset data of the current frame as the lateral movement parameter value of the final state in the driving path in the objective function .

[0086] The autonomous vehicle moves a certain distance by referring to the driving path planned for each frame, enters the next frame, and then repeats the above operations. The lateral movement parameter value of the autonomous vehicle at the final state is increased frame by frame until it finally reaches the position of the expected final state, completing the process of bypassing the obstacle. In this process, the final state lateral displacement data, expected available duration data, and lateral offset step data are calculated for each frame respectively, and finally the target lateral offset data corresponding to this frame is obtained. The target lateral offset data corresponding to this frame is increased frame by frame, so that a smooth driving path is obtained for each frame, and thus the autonomous vehicle can smoothly bypass the obstacle.

[0087] S303: Generate a dynamic target reference line. This step is to obtain the expected final state moving reference line offset data for the autonomous vehicle in the current frame according to the final state lateral displacement data determined for the autonomous vehicle in the current frame. Based on the expected final state moving reference line offset data, the moving reference line used by the autonomous vehicle at the expected final state determined in the current frame is obtained, that is, the dynamic target reference line, such as Figure 1A the final state reference line in. In this process, the expected final state moving reference line offset data corresponding to each frame is calculated, and the moving reference line used at the expected final state corresponding to this frame is obtained. Thus, during the process of the autonomous vehicle bypassing the obstacle, its moving direction gradually approaches the final state reference line and moves away from the original lane reference line, avoiding collisions between the autonomous vehicle and the object to be bypassed. After the autonomous vehicle reaches the position of the expected final state from the starting position, the process of the autonomous vehicle bypassing the obstacle is completed, as Figure 1AThe middle autonomous vehicle reaches the end position of the vehicle from the starting position, completing the bypass process. In addition, setting the dynamic target reference line can also have the following effects. When the autonomous vehicle returns to the original lane reference line from the end position of the vehicle, the method provided in this application can also be used to return to the original lane reference line by adjusting the target lateral offset data frame by frame. During the process of returning to the original vehicle-to-reference line, it is expected that the offset data of the moving reference line at the end state is 0, and the moving reference line at the expected end state is the original lane reference line. Moreover, before returning to the original vehicle-to-reference line, it will also be determined when to return to the original lane reference line based on whether there are other obstacles on the lane where the autonomous vehicle is located at the end position of the vehicle.

[0088] S304: Initialize and solve the quadratic programming solver. QP (Quadratic Programming): Quadratic programming is a special type of mathematical optimization problem. It involves minimizing a quadratic function subject to linear equality and inequality constraints. Such problems have extensive applications in fields such as engineering, economics, and operations research. Quadratic programming can only converge to the optimal solution when the cost function is a convex function. Therefore, it is required that the P matrix is a positive semi-definite matrix. So the solution space of the path planning algorithm is a convex space, so that quadratic programming can converge to an optimal path. In this step, at the current frame, the target lateral offset data is used as the lateral movement parameter value of the end state position point in the target function, and the offset data of the moving reference line at the expected end state is used as the lateral movement parameter value of the moving reference line at the end state in the target function. The lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame is obtained through the target function of Formula 4, and then the travel path data planned for the moving object in the current frame is generated.

[0089] S305: Obtain the optimized path; the optimized path in this step is to generate an optimized travel path based on the travel path data calculated according to the above target function. As Figure 1A shown, when the autonomous vehicle bypasses from the original lane to the overtaking lane, the travel path for bypassing obstacles planned for the autonomous vehicle. S306: Return the path. This step is after assigning the lateral movement parameter of the position point of the travel path planned for the current frame, and when the target cost function value cannot be obtained in the target function, it means that the travel path data planned for the moving object in the current frame has not been generated, so the travel path of the current frame has not been obtained.

[0090] The first embodiment

[0091] Figure 4 is a flowchart of a data processing method provided by the first embodiment of this application. The following combines Figure 4 to describe in detail the data processing method provided by the first embodiment of this application. Figure 4The data processing method shown includes steps S401 to S404. Among them, the data processing method provided in the first embodiment corresponds to the above-mentioned scenario embodiment, and specific reference can be made to the scenario embodiment, which will not be elaborated here. The first embodiment of this application is to determine the target lateral offset data corresponding to the current frame for a moving object. Specifically, the process of the moving object orbiting the object to be orbited is divided into multiple stages step by step. One stage is called one frame. In each frame, the target lateral offset data corresponding to the current frame is determined for the moving object, that is, the lateral displacement data of the target position point that the moving object can reach during the process of orbiting the object to be orbited in the current frame relative to the initial moving reference line. By determining the target lateral offset data corresponding to each frame, the target lateral displacement data corresponding to each frame changes relatively smoothly, so that the moving object can smoothly bypass the object to be orbited. Among them, the moving object can be an autonomous driving vehicle, a robot, an intelligent device used by a rider, etc., and the object to be orbited can be an obstacle. Obstacles can be divided into static obstacles and dynamic obstacles. A dynamic obstacle can be another vehicle moving slowly in front of the autonomous driving vehicle.

[0092] Step S401: Obtain the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point when the moving object is in the expected final state. The expected final state is the expected state in which the moving object needs to reach a lateral safety space from the object to be orbited for orbiting the object to be orbited, and the initial position point is the initial position point of the travel path that the moving object needs to travel through for orbiting the object to be orbited.

[0093] This step is used to determine, in the current frame, the lateral displacement data between the position of the moving object when it reaches the expected final state and the object to be orbited for the moving object, which is called the final state lateral displacement data. Among them, the lateral displacement data refers to that, with the reverse tangent direction of the initial moving reference line used by the moving object as the longitudinal direction and the normal direction of the initial moving reference line as the lateral direction, the lateral direction and the longitudinal direction are perpendicular to each other, and the displacement data between the moving object and the initial moving reference line in this lateral direction. Such as Figure 1AAmong them, the lateral displacement data between the vehicle end of the position where the autonomous vehicle is located at the expected final state and the object to be bypassed. According to the obtained final state lateral displacement data, combined with the mobile object that can be operated obtained in step S402, the lateral offset step data corresponding to the mobile object in the current frame is determined, and then the target lateral offset data corresponding to the current frame is obtained. The expected final state means that the mobile object has reached the state of successfully bypassing the object to be bypassed. The specific meaning of the lateral safety space between the mobile object and the object to be bypassed is that when the mobile object bypasses to the expected final state, the lateral distance between it and the object to be bypassed can prevent the mobile object from colliding with the object to be bypassed. For example, when the autonomous vehicle bypasses to the expected final state, it is in a state parallel to the obstacle. For example, the obstacle is a stationary object, the body length of the autonomous vehicle is greater than the longitudinal length of the obstacle, and the autonomous vehicle bypasses the obstacle from the left side of the obstacle. When it bypasses to a state parallel to the obstacle, the autonomous vehicle reaches the expected final state, that is, it has successfully bypassed the obstacle.

[0094] For another example, when the autonomous vehicle bypasses to the expected final state, the position it is in belongs to the state where it exceeds half of the longitudinal length of the obstacle. For example, the obstacle is a truck with a body length of 11 meters, and the autonomous vehicle is a car with a body length of 4 meters. The car starts from the center line of the original lane on the left side of the truck and bypasses the truck. When it bypasses to the center line of the overtaking lane on the left side of the original lane (the moving reference line for the expected final state), the front of the car is located at the position of half of the longitudinal body length of the truck. At this time, the lateral displacement data between the car and the truck is the final state lateral displacement data corresponding to the expected final state. However, the car still needs to maintain this lateral distance and move forward for a certain distance until the rear of the car is in front of the head of the truck before the process of bypassing the truck is completed. The lateral safety space refers to the lateral distance between the position where the mobile object is located when it reaches the expected final state and the object to be bypassed, which can prevent the mobile object from colliding with the object to be bypassed. Among them, the process of obtaining the final state lateral displacement data in this step can be achieved in the following way: The obtaining of the final state lateral displacement data determined for the mobile object in the current frame includes: obtaining the lateral displacement data of the object to be bypassed, where the lateral displacement data of the object to be bypassed is the lateral displacement data between the bypassed side boundary of the object to be bypassed and the initial moving reference line; obtaining the lateral buffer data of the mobile object in the expected final state, where the lateral buffer data is used to represent the lateral safety space between the mobile object and the object to be bypassed in the expected final state; and obtaining the final state lateral displacement data according to the lateral displacement data of the object to be bypassed and the lateral buffer data.

[0095] The initial moving reference line is the reference line used by the mobile object when it moves in the original lane before bypassing the object to be bypassed, such as Figure 1AThe original lane reference line in it. The lateral displacement data between the bypassed side boundary of the bypassed object and the initial movement reference line, such as Figure 1A in . This step determines the final-state lateral displacement data, that is, determines the lateral displacement data between the position where the moving object is located and the initial movement reference line when the moving object reaches the expected final state. In order to improve the accuracy of the lateral displacement data between the position where the moving object is located at the expected final state and the initial movement reference line, if the lateral width data of the bypassed object itself is large, it is necessary to obtain the lateral displacement data between the bypassed side boundary of the bypassed object and the initial movement reference line.

[0096] The lateral buffer data is used to represent the lateral safety space between the moving object and the bypassed object at the expected final state, such as Figure 1A the adjustable parameter in Figure 1A . As shown in

[0097] , if the distance between the left boundary of the obstacle and the left boundary of the original lane is less than the first preset distance threshold, and the distance between the right boundary of the autonomous driving vehicle at the expected final state and the right boundary of the overtaking lane (that is, the left boundary of the original lane) is less than the second preset distance threshold, it may cause a collision between the autonomous driving vehicle and the obstacle at the expected final state. Therefore, it is necessary to set the lateral buffer data to ensure that the autonomous driving vehicle can drive safely and bypass the obstacle at the expected final state. Figure 1AAs shown, the moving object is an autonomous vehicle. When the autonomous vehicle travels to the end position of the vehicle, it travels along the end-state reference line, and the end-state reference line is located at the center line of the passing lane. Therefore, when calculating the end-state lateral displacement data, it is necessary to consider the lateral displacement data corresponding to the left boundary of the obstacle, the lateral buffer data, and the lateral width data of the moving object.

[0098] The obtaining of the end-state lateral displacement data according to the lateral displacement data of the object to be bypassed, the lateral buffer data, and the lateral width data includes: obtaining the sum value between the lateral displacement data of the object to be bypassed, the lateral buffer data, and the preset ratio of the lateral width data as the end-state lateral displacement data. The preset ratio of the lateral width data of the moving object can be, for example, half of the lateral width data of the moving object. The obtaining of the sum value between the lateral displacement data of the object to be bypassed, the lateral buffer data, and the preset ratio of the lateral width data can refer to Formula 1. When the moving object bypasses the object to be bypassed from the left side of the object to be bypassed, and the left boundary of the object to be bypassed is located on the left side of the initial moving reference line, it can be stipulated that the displacement data located on the left side of the initial moving reference line is positive, and the lateral buffer data and the lateral width data are actual values without direction. Therefore, the end-state lateral displacement data is calculated as the sum value between the lateral displacement data of the object to be bypassed, the lateral buffer data, and the preset ratio of the lateral width data. In addition, it can also be stipulated that the displacement data located on the right side of the initial moving reference line is positive. When the moving object bypasses the object to be bypassed from the right side of the object to be bypassed, and the bypassed side boundary of the object to be bypassed is the right boundary located on the right side of the initial moving reference line. The end-state lateral displacement data is still calculated as the sum value between the lateral displacement data of the object to be bypassed, the lateral buffer data, and the preset ratio of the lateral width data.

[0099] The above process describes the specific determination method for determining the final state lateral displacement data of a moving object in the current frame. In the embodiments of the present application, the final state lateral displacement data will be determined for each frame. Since the final state lateral displacement data is related to the bypassed side boundary of the object to be bypassed, if the bypassed side boundary of the object to be bypassed moves in the lateral direction between two adjacent frames, the final state lateral displacement data will also be affected. Specifically as follows: Determine whether the bypassed side boundary of the object to be bypassed has a lateral offset in the current frame relative to the previous frame; if the bypassed side boundary of the object to be bypassed has a lateral offset in the current frame relative to the previous frame, then determine whether the lateral offset data of the bypassed side boundary of the object to be bypassed in the current frame relative to the previous frame exceeds the preset boundary lateral offset data threshold; if the lateral offset data of the bypassed side boundary of the object to be bypassed in the current frame relative to the previous frame does not exceed the preset boundary lateral offset data threshold, then use the final state lateral displacement data determined for the moving object in the previous frame as the final state lateral displacement data determined for the moving object in the current frame; the obtaining of the lateral displacement data of the object to be bypassed includes: if the lateral offset data of the bypassed side boundary of the object to be bypassed in the current frame relative to the previous frame exceeds the preset boundary lateral offset data threshold, then obtain the lateral displacement data of the object to be bypassed.

[0100] Continue to take Figure 1A as an example for illustration. If the lateral displacement data corresponding to the left boundary of the obstacle in the previous frame is 4, and the lateral displacement data of the left boundary of the obstacle in the current frame is 4.8, that is, the lateral offset data of the obstacle moving to the left in the lateral direction in the current frame relative to the previous frame is 0.8. If the preset boundary lateral offset data threshold is 0.5 and 0.8 is greater than 0.5, then it is necessary to obtain the lateral displacement data corresponding to the left boundary of the obstacle in the current frame, that is, obtain the lateral displacement data of the object to be bypassed. This improves the accuracy of the final state lateral displacement data determined for the moving object in the current frame. Another example, the obstacle can be an object whose boundary changes at any time. For example, there is an obstacle in front of the original road where the moving object is located, which is an area formed by a slow-flowing pool of water, or the obstacle is an area formed by a pool of oil from a leaking fuel tank truck. The moving object intends to bypass this area and drive. In this area, the water or oil flows at any time, increasing the area of this area, and the boundary of this area will also change. In this case, it is necessary to calculate the value of the lateral offset of the boundary of the obstacle in each frame. If the lateral offset data exceeds the preset boundary lateral offset data threshold, then it is necessary to recalculate and obtain the lateral displacement data of the bypassed side boundary of the obstacle in the current frame.

[0101] Step S402: Obtain the moving state adjustment safety duration data determined for the moving object in the current frame. The moving state adjustment safety duration data is the expected available duration data for the moving object to adjust its moving state to avoid collision with the object to be bypassed starting from the current frame. This step is used to obtain the moving state adjustment safety duration data, that is, the duration data for the moving object to adjust its moving state from the position in the current frame before colliding with the object to be bypassed. Among them, the moving object adjusting its moving state includes the process of the moving object moving longitudinally and laterally respectively.

[0102] Among them, the method for obtaining the moving state adjustment safety duration data includes: The obtaining the moving state adjustment safety duration data determined for the moving object in the current frame includes: obtaining the longitudinal moving speed data of the moving object in the current frame; obtaining the longitudinal distance data between the moving object and the object to be bypassed in the current frame; and obtaining the moving state adjustment safety duration data determined for the moving object in the current frame according to the longitudinal distance data and the longitudinal moving speed data. The longitudinal moving speed of the moving object in the current frame may vary according to the motion state of the object to be bypassed. If the object to be bypassed is a static obstacle, the longitudinal moving speed of the moving object in the current frame is the longitudinal speed data in the driving speed data of the moving object in the current frame. If the object to be bypassed is a dynamic obstacle, the longitudinal moving speed data of the moving object in the current frame is the difference between the longitudinal driving speed data of the moving object and the current moving speed data of the obstacle.

[0103] The longitudinal distance data between the moving object and the object to be bypassed in the current frame is specifically the longitudinal distance data between the position where the moving object is located in the current frame and the position where the object to be bypassed is located. Here, a global coordinate system can be established with the position where the moving object is located in the current frame as the origin, the coordinate points of the object to be bypassed in the global coordinate system are obtained, and the distance data between the moving object and the object to be bypassed is divided into lateral distance data and longitudinal distance data. What is needed here is the longitudinal distance data between the moving object and the object to be bypassed. For Figure 1A example, the position of the autonomous driving vehicle in the current frame is at the origin position of the vehicle body coordinate system, and the obstacle is at the position of S in the S-axis direction. 障 Calculate the data difference between the two positions on the S-axis respectively, which is the longitudinal distance data between the moving object and the object to be bypassed in the current frame. This step is used to combine with step S401 to obtain the target lateral offset step corresponding to the current frame.

[0104] Step S403: Adjust the safety duration data according to the final state lateral displacement data and the movement state to obtain the lateral offset step data corresponding to the current frame. This step is used to obtain the lateral offset step data corresponding to the current frame. Specifically, it can be the final state lateral displacement data divided by the movement state adjusted safety duration data to obtain the lateral offset step data that the moving object can offset in the current frame. For example, the final state lateral displacement data is 3 meters, and the movement state adjusted safety duration data is 5s. Among them, each frame is 0.1s, then the lateral offset step corresponding to the current frame is 0.06 meters.

[0105] Step S404: Adjust the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame, and use it as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the previous frame is the lateral displacement data between the target position point of the previous frame determined for the moving object in the previous frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the previous frame is the end point of the travel path planned for the moving object in the previous frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the current frame is the end point of the travel path planned for the moving object in the current frame. This step is used to obtain the target lateral offset data determined for the moving object in the current frame, that is, the lateral offset data that the end point of the travel path planned for the moving object to bypass the object to be bypassed in the current frame can offset relative to the initial movement reference line. The target lateral offset data corresponding to the current frame is the sum of the lateral offset data corresponding to the previous frame and the lateral offset step data of the current frame. Based on the change of the lateral offset step data of the current frame, the target lateral offset data corresponding to the current frame will also change. That is to say, in each frame, the lateral displacement data of the end point of the travel path planned for the moving object relative to the initial movement reference line will be calculated, that is, the displacement data offset laterally by the end point of the travel path relative to the initial movement reference line. Therefore, this method adjusts the target lateral offset data of the end point position of the travel path planned for the moving object frame by frame, so that the numerical change process between the target lateral offset data corresponding to adjacent two frames is relatively smooth, so as to realize that the moving object can smoothly bypass the object to be bypassed.

[0106] In addition, if the current frame is the starting frame, it further includes: if the current frame is the starting frame for the moving object to bypass the object to be bypassed, then use the lateral offset step data corresponding to the current frame as the target lateral offset data determined for the moving object in the current frame. Refer to Figure 2A, the current frame is the starting frame. Since there is no previous frame for the starting frame, the horizontal offset step data corresponding to the current frame is the target horizontal displacement data corresponding to the current frame. After obtaining the target horizontal offset data corresponding to the current frame in step S404, it may further include: obtaining the travel path data planned for the moving object in the current frame according to the target horizontal offset data corresponding to the current frame. Obtaining the travel path data planned for the moving object in the current frame according to the target horizontal offset data corresponding to the current frame. The travel path planned for the moving object in the current frame is the travel path of the moving object starting from its position in the current frame and moving for a preset duration. Because the target horizontal offset data corresponding to the current frame is the horizontal displacement data between the end point of the travel path planned for the moving object in the current frame and the initial movement reference line used by the moving object. Therefore, based on the change in the target horizontal offset data determined for the moving object for each frame, the horizontal displacement data between the end point of the corresponding travel path and the initial movement reference line will also change. Correspondingly, the horizontal offset data of other path position points of the travel path planned for the moving object for each frame will also change. By planning the travel path for the moving object frame by frame and gradually adjusting the horizontal displacement data between the end point of the travel path and the initial movement reference line, at the last frame, the horizontal displacement data corresponding to the end point of the travel path planned for the moving object may be equal to the final state horizontal displacement data of the moving object in the expected final state, so as to complete the process of the moving object orbiting the object to be orbited. The above method plans the travel path frame by frame and conditions the horizontal displacement data between the end point of the travel path and the initial movement reference line frame by frame, that is, increases the horizontal displacement data of the moving object in the final state frame by frame. This adjustment method makes the change value of the horizontal displacement data of the moving object in the final state obtained for each frame relatively small, and the movement state of the moving object is relatively stable. Therefore, the moving object can smoothly orbit the object to be orbited.

[0107] Such as Figures 2A to 2DDescription: Starting from the initial frame (frame 0) until frame N-1, an autonomous vehicle plans a travel path for each frame. The lateral offset data corresponding to the end points of the travel paths of every two adjacent frames gradually increases. Eventually, the lateral offset data corresponding to the end point of the travel path of frame N-1 is equal to the final state lateral displacement data of the moving object in the expected final state, thus enabling the autonomous vehicle to smoothly bypass the obstacle. Among them, according to the target lateral offset data corresponding to the current frame, the specific steps to obtain the travel path data planned for the moving object in the current frame are as follows: The obtaining of the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: taking the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The final state lateral displacement parameter is used to represent the lateral displacement between the position point at the final state in the travel path and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path. Take the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function.

[0108] According to the above formula 3, the target lateral offset data corresponding to the current frame is , and take it as the value of the final state lateral displacement reference in the objective function, such as in the cost function of formula 4 .

[0109] After determining the value of the final state lateral displacement parameter in the objective function, the lateral movement parameter values ​​of other position points in the travel path are obtained through the objective function. Specifically, the lateral movement parameters of other position points are assigned, and then the cost function value is obtained. According to the cost function value, it is determined whether the assigned data of the lateral movement parameters of other position points is appropriate data. If appropriate, the data is used as the lateral movement parameter value of other position points, thereby obtaining the travel path data. Among them, after assigning the horizontal line movement parameters of other position points, the calculated cost function value is located at the target cost function value, which means that the assigned data is appropriate, the target cost function value is less than other cost function values, and the lateral movement parameter values ​​of other position points meet the constraints, and the constraints are the constraints mentioned in the scenario embodiment. The calculated cost function value obtained by the objective function is used to obtain the lateral movement parameter values ​​at the position points in the travel path, thereby obtaining the travel path data, and then generating the travel path according to the travel path data. This process increases the value of the final state lateral displacement parameter of the moving object in the current frame frame by frame, so that the value of the final state lateral displacement parameter increases gradually and smoothly with each frame, and finally makes the generated path a smooth path, so that the moving object can smoothly bypass the bypassed object. In addition, the moving reference line in the above objective function can be an initial moving reference line or an expected final state moving reference line, which is not limited here.

[0110] In addition, in order to increase the accuracy of determining the travel path data based on the cost function value, an embodiment of the present application also includes adding a weight value of the lateral movement parameter value corresponding to the final state position point of the travel path, specifically including: obtaining the weight value of the final state lateral displacement parameter; obtaining the lateral movement parameter value of the position point in the travel path planned for the mobile object in the current frame through the objective function, including: using the weight value of the final state lateral displacement parameter as the weight value of the lateral movement parameter value of the final state lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the mobile object in the current frame, wherein the weight value of the final state lateral displacement parameter is different from the weight value of the lateral movement parameter of the non-final state position point, and the non-final state position point is other position points other than the end point in the travel path planned for the mobile object in the current frame.

[0111] Obtaining the weight value of the final state lateral displacement parameter includes: obtaining the weight value of the lateral movement parameter value of the non-final state position points in the travel path planned for the moving object in the current frame, adding the final state weight value for the final state position point to the weight value of the lateral movement parameter value of the non-final state position points, obtaining the weight value of the lateral movement parameter value of the final state position point, and using it as the weight value of the final state lateral displacement parameter. Using the weight value of the final state lateral displacement parameter as the weight value of the lateral movement parameter value of the final state lateral displacement parameter in the objective function, that is, using the weight value of the final state lateral displacement parameter as the weight value of the lateral movement parameter value of the final state position point in the objective function.

[0112] Combined with Formula 4, it can be seen that when calculating cost, the weight values of the lateral movement parameters of the non-final state position points of the travel path are respectively: The weight value of , The weight value of , The weight value of . Adding a weight value to the lateral movement parameter value of the final state position point of the travel path. Therefore, the weight value of the lateral movement parameter value of the final state position point is: The weight value of , The weight value of , The weight value of .

[0113] The above description obtains the target lateral offset data corresponding to the moving object in the current frame, and uses the target lateral offset data corresponding to the current frame as the lateral displacement data of the end point of the travel path relative to the initial movement reference line. In this process, the lateral displacement data of the end point of the travel path of the moving object relative to the initial movement reference line is adjusted frame by frame, so that the change trend of the lateral displacement data corresponding to the end points of the travel paths of adjacent two frames is relatively gentle, thereby realizing that the moving object gently bypasses the object to be bypassed.

[0114] After obtaining the final state lateral displacement data in step S401, it further includes: obtaining the expected final state movement reference line offset data of the moving object according to the final state lateral displacement data; wherein, the expected final state movement reference line offset data is the lateral displacement data between the expected final state movement reference line and the initial movement reference line, and the expected final state movement reference line is the movement reference line determined for the moving object in the current frame to be used in the expected final state.

[0115] The expected final state moving reference line offset data is the lateral displacement data between the moving reference line used at the expected final state determined for the moving object in the current frame and the initial moving reference line. In the embodiments of the present application, after calculating the final state lateral displacement data for each frame, the expected final state moving reference line offset data is generated according to the final state lateral displacement data to determine the position of the moving reference line of the moving object at the expected final state. The final state lateral displacement data is related to the lateral displacement data and the lateral buffer data of the object being bypassed. The lateral buffer data is a constant. If the lateral displacement data of the object being bypassed changes, the final state lateral displacement data will also change. Correspondingly, the expected final state moving reference line offset data will also change.

[0116] The expected final state moving reference line offset data is used to determine the moving reference line used at the expected final state for the moving object determined in the current frame, which is called the expected final state moving reference line, such as Figure 1A the final state reference line in. The lateral displacement data between it and the initial moving reference line is the expected final state moving reference line offset data. Therefore, during the process of the moving object bypassing the object being bypassed, the moving object will move as much as possible in the direction of the expected final state moving reference line, away from the initial moving reference line, and the object being bypassed is located at a preset distance position from the initial moving reference line. Therefore, during this bypassing process, the moving object can move away from the bypassed side boundary of the object being bypassed, realizing the smooth bypassing of the object being bypassed by the moving object.

[0117] After obtaining the expected final state moving reference line offset data, it further includes: obtaining the travel path data planned for the moving object in the current frame according to the expected final state moving reference line offset data. The obtaining the travel path data planned for the moving object in the current frame according to the expected final state moving reference line offset data includes: taking the expected final state moving reference line offset data as the value of the expected final state moving reference line lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The expected final state moving reference line lateral displacement parameter is used to represent the lateral displacement between the position point of the expected final state moving reference line and the initial moving reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

[0118] The above step takes the expected final state moving reference line offset data as the value of the expected final state moving reference line lateral displacement parameter in the objective function, that is, the in the cost function in Formula 4.

[0119] In the embodiments of the present application, the expected end-state moving reference line offset data is calculated for each frame, that is, the value of the expected end-state moving reference line lateral displacement parameter in the objective function. When calculating the objective function of Formula 4, the lateral movement parameter values of other position points in the traveled path obtained frame by frame gradually increase, and the absolute value of the difference between this value and the value of the expected end-state moving reference line lateral displacement parameter gradually decreases, which can reduce the computational amount of the cost function value. In addition, there are various ways to obtain the lateral movement parameter values of the path points in the traveled path planned for the moving object in this frame, and there is no limitation here.

[0120] Second Embodiment

[0121] Corresponding to the embodiment corresponding to the application scenario of the data processing method provided by the present application and the data processing method provided by the first embodiment, the second embodiment of the present application further provides a data processing device. Since the device embodiment is basically similar to the embodiment corresponding to the application scenario and the first embodiment, the description is relatively simple, and for the relevant parts, refer to the partial descriptions of the embodiment corresponding to the application scenario and the first embodiment. The device embodiments described below are only illustrative. Please refer to Figure 5, which is a schematic diagram of a data processing device provided in the second embodiment of the present application. It includes: a first final state lateral displacement data acquisition unit 501, configured to acquire the final state lateral displacement data determined for the moving object in the current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point at the expected final state, the expected final state is the expected state that the moving object needs to reach for bypassing the object to be bypassed and having a lateral safety space from the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to travel for bypassing the object to be bypassed; a moving state adjustment safety duration data acquisition unit 502, configured to acquire the moving state adjustment safety duration data determined for the moving object in the current frame, where the moving state adjustment safety duration data is the expected available duration data for the moving object to adjust the moving state to avoid collision with the object to be bypassed starting from the current frame; a first lateral offset step size data obtaining unit 503, configured to obtain the lateral offset step size data corresponding to the current frame according to the final state lateral displacement data and the moving state adjustment safety duration data; a first target lateral offset data obtaining unit 504, configured to adjust the target lateral offset data corresponding to the previous frame according to the lateral offset step size data corresponding to the current frame, and obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame, where the target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous frame target position point determined for the moving object in the previous frame and the initial movement reference line used by the moving object at the initial position point, the previous frame target position point is the end point of the travel path planned for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the current frame target position point and the initial movement reference line used by the moving object at the initial position point, and the current frame target position point is the end point of the travel path planned for the moving object in the current frame.

[0122] Third Embodiment

[0123] Corresponding to the application scenario of the data processing method provided by the present application and the first embodiment of the data processing method provided by the present application, the third embodiment of the present application further provides another data processing method. The data processing method provided by the third embodiment of the present application corresponds to the scenario embodiment and the first embodiment. For the relevant parts, refer to the partial descriptions of the scenario embodiment and the first embodiment. The following description of the third embodiment is merely illustrative. Please refer to Figure 6 , which is a flowchart of another data processing method provided in the third embodiment of the present application. Figure 6The address information processing method shown includes steps S601 to S603. Step S601: Obtain the moving speed data of the moving object in the current frame. In this step, the moving speed data of the moving object in the current frame refers to the moving speed data of the moving object in the longitudinal direction. For example, Figure 2A in the case where the current frame is the starting frame and the moving object is an autonomous vehicle, the moving speed data of the autonomous vehicle in the starting frame is the moving speed data of the autonomous vehicle at the vehicle start 0. The purpose of this step is to obtain the lateral offset step data corresponding to the current frame based on the obtained moving speed data in step S602.

[0124] Step S602: Obtain the lateral offset step data corresponding to the current frame according to the moving speed data of the moving object in the current frame and the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range. This step obtains the lateral offset step data corresponding to the current frame according to the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range.

[0125] Among them, the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range is as described in the scenario embodiment . After obtaining the lateral offset step data corresponding to the current frame in this step, obtain the target lateral offset data corresponding to the current frame in step S603.

[0126] Step S603: Adjust the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame; wherein, the target lateral offset data corresponding to the previous frame is the lateral displacement data between the target position point of the previous frame determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, the target position point of the previous frame is the end point of the travel path planned for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial moving reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the travel path planned for the moving object in the current frame. The purpose of this step is to obtain the target lateral offset data corresponding to the current frame. This step corresponds to step S404 in the first embodiment. For the specific description, refer to the description of S404 and will not be elaborated here.

[0127] According to the method of steps S601 to S603, if the current moving speed data of the moving object in the current frame changes, the corresponding horizontal offset step data in the current frame also changes. It can be realized that the change value of the horizontal offset step data is adjusted in a timely manner according to the change of the moving speed data of the moving object in each frame. In each frame, the corresponding target horizontal offset data of the current frame is adjusted in a timely manner according to the corresponding horizontal offset step data of the current frame, that is, the target horizontal offset data of the end position of the travel path planned for the moving object in the current frame is adjusted frame by frame, so that the numerical change process between the target horizontal offset data corresponding to two adjacent frames is relatively smooth, so as to realize that the moving object can smoothly bypass the object to be bypassed.

[0128] Combined with the target horizontal offset data of the current frame obtained in steps S601 to S603, the target horizontal offset data can be applied to calculate the travel path data planned for the moving object in the current frame. This is the first way to obtain the travel path data: according to the target horizontal offset data corresponding to the current frame, obtain the travel path data planned for the moving object in the current frame; wherein, the obtaining of the travel path data planned for the moving object in the current frame according to the target horizontal offset data corresponding to the current frame includes: taking the target horizontal offset data corresponding to the current frame as the value of the end-state horizontal displacement parameter in the target function, and obtaining the horizontal movement parameter value of the position point in the travel path planned for the moving object in the current frame through the target function. The end-state horizontal displacement parameter is used to represent the horizontal displacement between the position point at the end state in the travel path and the initial movement reference line, and the target function is used to calculate the cost function value corresponding to the travel path. Take the target horizontal offset data corresponding to the current frame as the value of the end-state horizontal displacement parameter in the target function.

[0129] According to the above formula 3, the target horizontal offset data corresponding to the current frame is , take it as the value of the end-state horizontal displacement reference in the target function, such as the in the cost function of formula 4. The specific description process of the above first way to obtain the travel path data can refer to the further detailed explanation of step S404 in the first embodiment.

[0130] In addition, it may further include obtaining the expected final state moving reference line offset data determined for the moving object in the current frame. The specific process is as follows: Obtain the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point when in the expected final state. The expected final state is the expected state in which the moving object needs to reach a lateral safety space from the object to be bypassed when bypassing the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to travel along when bypassing the object to be bypassed; According to the final state lateral displacement data, obtain the expected final state moving reference line offset data of the moving object; where the expected final state moving reference line offset data is the lateral displacement data between the expected final state moving reference line and the initial moving reference line, and the expected final state moving reference line is the moving reference line used by the moving object in the expected final state determined in the current frame. The method for obtaining the final state lateral displacement data is similar to that in step S401 of the first embodiment, and reference can be made to the description of step S401, which will not be elaborated here.

[0131] The description process of obtaining the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data is similar to the explanation of the further added technical features in step S401 of the first embodiment. Here, reference can be made to the explanation of the further added technical features in step S401. The expected final state moving reference line offset data is used to determine the moving reference line used by the moving object in the expected final state determined in the current frame, which is called the expected final state moving reference line, such as Figure 1A the final state reference line in. The lateral displacement data between it and the initial moving reference line is the expected final state moving reference line offset data. Therefore, during the process of the moving object bypassing the object to be bypassed, the moving object will move as much as possible in the direction of the expected final state moving reference line, away from the initial moving reference line, and the object to be bypassed is located at a preset distance position from the initial moving reference line. Therefore, the moving object can move away from the bypassed side boundary of the object to be bypassed, realizing the smooth bypass of the object to be bypassed by the moving object.

[0132] In addition, after obtaining the offset data of the expected final state movement reference line, it may further include a second way to obtain the travel path data: specifically, according to the offset data of the expected final state movement reference line, obtain the travel path data planned for the moving object in the current frame; wherein, the step of obtaining the travel path data planned for the moving object in the current frame according to the offset data of the expected final state movement reference line includes: using the offset data of the expected final state movement reference line as the value of the lateral displacement parameter of the movement reference line in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The lateral displacement parameter of the movement reference line is used to represent the lateral displacement between the position point of the movement reference line and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path. In the embodiments of the present application, the offset data of the expected final state movement reference line will be calculated for each frame, that is, the value of the lateral displacement parameter of the expected final state movement reference line in the objective function. When calculating the objective function of formula 4, the lateral movement parameter values of other position points in the travel path obtained frame by frame gradually increase, and the absolute value of the difference between this value and the value of the lateral displacement parameter of the expected final state movement reference line gradually decreases, which can reduce the calculation amount of the cost function value. In addition, there are various ways to obtain the lateral movement parameter value of the path point in the travel path planned for the moving object in this frame, which is not limited here.

[0133] Fourth Embodiment

[0134] Corresponding to the embodiment corresponding to the application scenario of the data processing method provided by the present application and the data processing method provided by the third embodiment, the fourth embodiment of the present application further provides another data processing device. Since the device embodiments are basically similar to the embodiments corresponding to the application scenario and the third embodiment, the description is relatively simple. For the relevant parts, refer to the partial descriptions of the embodiments corresponding to the application scenario and the third embodiment. The device embodiments described below are only illustrative.

[0135] Please refer to Figure 7, which is a schematic diagram of another data processing device provided in the fourth embodiment of the present application. It includes: a moving speed data acquisition unit 701, configured to acquire the moving speed data of a moving object in the current frame; a second lateral offset step data acquisition unit 702, configured to obtain the lateral offset step data corresponding to the current frame according to the moving speed data of the moving object in the current frame and the correspondence between the moving speed data range and the single-frame lateral offset step data range; a second target lateral offset data acquisition unit 703, configured to adjust the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame, and obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame; wherein, the target lateral offset data corresponding to the previous frame is the lateral displacement data between the target position point of the previous frame determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, the target position point of the previous frame is the end point of the travel path planned for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial moving reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the travel path planned for the moving object in the current frame.

[0136] The fifth embodiment

[0137] Corresponding to the application scenario of the data processing method provided in the present application and the first embodiment, the fifth embodiment of the present application also provides another data processing method. The data processing method provided in the fifth embodiment of the present application corresponds to the scenario embodiment and the first embodiment. For the relevant parts, refer to the partial descriptions of the scenario embodiment and the first embodiment. The following description of the fifth embodiment is merely illustrative. Please refer to Figure 8 , which is a flowchart of another data processing method provided in the fifth embodiment of the present application. Figure 8The method for generating moving reference line offset data shown in the figure includes steps S801 to S802. Step S801: Obtain the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used at the initial position point when the moving object is in the expected final state. The expected final state is the expected state in which the moving object needs to bypass the object to be bypassed and has a lateral safety space with the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to travel through to bypass the object to be bypassed. This step is used to determine the final state lateral displacement data for the moving object in the current frame. This process is similar to step S401 of the first embodiment, and the detailed description of step S401 can be referred to. This step obtains the final state lateral displacement data, which is used to determine the moving reference line offset data of the moving object in the current frame according to the final state lateral displacement data in subsequent steps.

[0138] Step S802: Obtain the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data. Among them, the expected final state moving reference line offset data is the lateral displacement data between the expected final state moving reference line and the initial moving reference line. The expected final state moving reference line is the moving reference line used by the moving object in the expected final state determined in the current frame. This step is used to obtain the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data. The expected final state moving reference line offset data is the lateral displacement data between the moving reference line used by the moving object in the expected final state determined in the current frame and the initial moving reference line. In the embodiments of the present application, after calculating the final state lateral displacement data in each frame, the expected final state moving reference line offset data is generated according to the final state lateral displacement data to determine the position of the moving reference line of the moving object in the expected final state. The final state lateral displacement data is related to the lateral displacement data and lateral buffer data of the object to be bypassed. The lateral buffer data is a constant. If the lateral displacement data of the object to be bypassed changes, the final state lateral displacement data will also change. Correspondingly, the expected final state moving reference line offset data will also change.

[0139] The expected final state moving reference line offset data is used to determine the moving reference line used by the moving object in the expected final state determined in the current frame, which is called the expected final state moving reference line. For example, Figure 1AThe final state reference line in it. The lateral displacement data between it and the initial movement reference line is the expected final state movement reference line offset data. Therefore, during the process of the moving object orbiting the object to be orbited, the moving object will move as much as possible in the direction of the expected final state movement reference line, away from the initial movement reference line, and the object to be orbited is located at a preset distance position from the initial movement reference line. Therefore, during this orbiting process, the moving object can move away from the orbited side boundary of the object to be orbited, achieving a smooth orbit of the moving object around the object to be orbited.

[0140] In addition, after obtaining the expected final state movement reference line offset data, it further includes: obtaining the travel path data planned for the moving object in the current frame according to the expected final state movement reference line offset data. The obtaining the travel path data planned for the moving object in the current frame according to the expected final state movement reference line offset data includes: using the expected final state movement reference line offset data as the value of the lateral displacement parameter of the movement reference line in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The lateral displacement parameter of the movement reference line is used to represent the lateral displacement between the position point of the movement reference line and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

[0141] In the embodiments of the present application, the expected final state movement reference line offset data is calculated for each frame, that is, the value of the expected final state movement reference line lateral displacement parameter in the objective function. When calculating the objective function of Formula 4, the lateral movement parameter values of other position points in the travel path obtained frame by frame gradually increase, and the absolute value of the difference between this value and the value of the expected final state movement reference line lateral displacement parameter gradually decreases, which can reduce the calculation amount of the cost function value. In addition, there are various ways to obtain the lateral movement parameter value of the path point in the travel path planned for the moving object in this frame, which is not limited here.

[0142] In addition, in addition to obtaining the travel path data planned for the moving object in the current frame through the above method, the travel path data can also be obtained through the following method: obtaining the target lateral offset data corresponding to the current frame, where the target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point, and the target position point of the current frame is the end point of the travel path planned for the moving object in the current frame; obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame.

[0143] Obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: using the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The final state lateral displacement parameter is used to represent the lateral displacement between the position point at the final state in the travel path and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

[0144] Obtain the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame. The travel path planned for the moving object in the current frame is the travel path for the moving object to move for a preset duration starting from the position where the moving object is located in the current frame. Since the target lateral offset data corresponding to the current frame is the lateral displacement data between the end point of the travel path planned for the moving object in the current frame and the initial movement reference line used by the moving object. Therefore, based on the change of the target lateral offset data determined for the moving object in each frame, the lateral displacement data between the end point of the corresponding travel path and the initial movement reference line will also change. Correspondingly, the lateral offset data of other path position points of the travel path planned for the moving object in each frame will also change. By planning the travel path for the moving object frame by frame, gradually adjusting the lateral displacement data between the end point of the travel path and the initial movement reference line, at the last frame, the lateral displacement data corresponding to the end point of the travel path planned for the moving object may be equal to the final state lateral displacement data of the moving object in the expected final state, so as to complete the process of the moving object bypassing the object to be bypassed. The above method plans the travel path frame by frame and adjusts the lateral displacement data between the end point of the travel path and the initial movement reference line frame by frame, that is, gradually increasing the lateral displacement data of the moving object in the final state. This adjustment method makes the change value of the final state lateral displacement data obtained by the moving object in each frame relatively small, and the moving state of the moving object is relatively stable. Therefore, the moving object can smoothly bypass the object to be bypassed.

[0145] Sixth Embodiment

[0146] Corresponding to the application scenario of the data processing method provided by this application and the other data processing method provided by the fifth embodiment, the sixth embodiment of this application also provides another data processing device. Since the device embodiment is basically similar to the embodiment corresponding to the application scenario and the fifth embodiment, the description is relatively simple. For the relevant parts, refer to the partial descriptions of the embodiment corresponding to the application scenario and the fifth embodiment. The device embodiments described below are only illustrative.

[0147] Please refer to Figure 9, which is a schematic diagram of another data processing device provided in the sixth embodiment of the present application. It includes: a second final state lateral displacement data acquisition unit 901, configured to acquire the final state lateral displacement data determined for the moving object in the current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point when in the expected final state, the expected final state is the expected state that the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to travel through to bypass the object to be bypassed; a first movement reference line offset data acquisition unit 902, configured to acquire the expected final state movement reference line offset data of the moving object according to the final state lateral displacement data, where the expected final state movement reference line offset data is the lateral displacement data between the expected final state movement reference line and the initial movement reference line, and the expected final state movement reference line is the movement reference line used by the moving object in the expected final state determined in the current frame.

[0148] Seventh Embodiment

[0149] Corresponding to the application scenario of the data processing method provided in the present application, the data processing method provided in the first embodiment, and the data processing method provided in the second embodiment, the seventh embodiment of the present application further provides a path planning method for a moving object. The path planning method for a moving object provided in the seventh embodiment of the present application corresponds to the scenario embodiment, the first embodiment, and the second embodiment. For the relevant parts, refer to the partial descriptions of the scenario embodiment, the first embodiment, and the second embodiment. The following description of the seventh embodiment is only illustrative. Please refer to Figure 10 , which is a flowchart of a path planning method for a moving object provided in the seventh embodiment of the present application, including: step S1001 to step S1002.

[0150] Step S1001: Acquire the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the current frame target position point and the initial movement reference line used by the moving object at the initial position point. The current frame target position point is the end point of the travel path planned for the moving object in the current frame, and the initial position point is the initial position point of the travel path that the moving object needs to travel through to bypass the object to be bypassed. This step is used to acquire the target lateral offset data determined for the moving object in the current frame, so that the travel path data planned for the moving object in the current frame can be acquired in step S1002. Among them, there are at least two ways to determine the target lateral offset data, which are described separately below:

[0151] The first method for determining the target lateral offset data: Obtaining the target lateral offset data determined for the moving object in the current frame includes: obtaining the final-state lateral displacement data determined for the moving object in the current frame, where the final-state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point in the expected final state, and the expected final state is the expected state in which the moving object needs to reach a lateral safety space from the object to be bypassed for bypassing the object to be bypassed; obtaining the moving state adjustment safety duration data determined for the moving object in the current frame, where the moving state adjustment safety duration data is the expected available duration data starting from the current frame for the moving object to adjust its moving state to avoid collision with the object to be bypassed; obtaining the lateral offset step data corresponding to the current frame according to the final-state lateral displacement data and the moving state adjustment safety duration data; and adjusting the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame, where the target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous-frame target position point determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, and the previous-frame target position point is the end point of the travel path planned for the moving object in the previous frame. Among them, the first method for determining the target lateral offset data is similar to the descriptions of steps S401 to S404 in the first embodiment, and the detailed explanations of steps S401 to S404 can be referred to.

[0152] The second method for determining the target lateral offset data: obtaining the target lateral offset data determined for the moving object in the current frame includes: obtaining the moving speed data of the moving object in the current frame; obtaining the lateral offset step data corresponding to the current frame according to the moving speed data of the moving object in the current frame and the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range; adjusting the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame, and using it as the target lateral offset data corresponding to the current frame; wherein, the target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous frame target position point determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, and the previous frame target position point is the end point of the travel path planned for the moving object in the previous frame. Among them, the second method for determining the target lateral offset data is similar to the descriptions of steps S601 to S603 in the second embodiment, and the detailed explanations of steps S601 to S603 can be referred to.

[0153] Step S1002: Obtain the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame. In this step, according to the target lateral offset data corresponding to the current frame, the travel path data planned for the moving object in the current frame is obtained. According to the target lateral offset data corresponding to the current frame, the travel path data planned for the moving object in the current frame is obtained. The travel path planned for the moving object in the current frame is the travel path of the moving object starting from its position in the current frame and moving for a preset duration. Since the target lateral offset data corresponding to the current frame is the lateral displacement data between the end point of the travel path planned for the moving object in the current frame and the initial movement reference line used by the moving object. Therefore, based on the change in the target lateral offset data determined for the moving object for each frame, the lateral displacement data between the end point of the corresponding travel path and the initial movement reference line will also change. Correspondingly, the lateral offset data of other path position points of the travel path planned for the moving object for each frame will also change. By planning the travel path for the moving object frame by frame, the lateral displacement data between the end point of the travel path and the initial movement reference line is gradually adjusted. At the last frame, the lateral displacement data corresponding to the end point of the travel path planned for the moving object may be equal to the final state lateral displacement data of the moving object in the expected final state, so as to complete the process of the moving object orbiting the object to be orbited. The above method plans the travel path frame by frame and conditions the lateral displacement data between the end point of the travel path and the initial movement reference line frame by frame, that is, increases the lateral displacement data of the moving object in the final state frame by frame. This adjustment method makes the change value of the lateral displacement data of the moving object in the final state obtained for each frame relatively small, and the movement state of the moving object is relatively stable. Therefore, the moving object can smoothly orbit the object to be orbited.

[0154] Among them, the obtaining of the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: taking the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the target function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the target function. The final state lateral displacement parameter is used to represent the lateral displacement between the position point in the final state of the travel path and the initial movement reference line, and the target function is used to calculate the cost function value corresponding to the travel path. Take the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the target function.

[0155] According to the above formula 3, it can be seen that the target lateral offset data corresponding to the current frame is , and take it as the value of the final state lateral displacement reference in the target function, such as the in the cost function of formula 4. The above process can refer to the further explanation of adding technical features in step S404.

[0156] In addition, in order to reduce the computational complexity of the objective function, it may further include: obtaining the final-state lateral displacement data determined for the moving object in the current frame, where the final-state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used at the initial position point of the moving object at the expected final state, and the expected final state is the expected state in which the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed; obtaining the expected final-state moving reference line offset data according to the final-state lateral displacement data, where the expected final-state moving reference line offset data is the lateral displacement data between the expected final-state moving reference line and the initial moving reference line, and the expected final-state moving reference line is the moving reference line used for the moving object at the expected final state determined in the current frame; using the expected final-state moving reference line offset data as the value of the moving reference line lateral displacement parameter in the objective function, where the moving reference line lateral displacement parameter is used to represent the lateral displacement between the position point of the moving reference line and the initial moving reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

[0157] In the embodiments of the present application, the expected final-state moving reference line offset data, that is, the value of the expected final-state moving reference line lateral displacement parameter in the objective function, is calculated for each frame. When calculating the objective function of formula 4, the lateral movement parameter values of other position points in the travel path obtained frame by frame gradually increase, and the absolute value of the difference between this value and the value of the expected final-state moving reference line lateral displacement parameter gradually decreases, which can reduce the computational complexity of the cost function value. In addition, there are various ways to obtain the lateral movement parameter values of the path points in the travel path planned for the moving object in this frame, which are not limited here.

[0158] Eighth Embodiment

[0159] Corresponding to the embodiment corresponding to the application scenario of the data processing method provided in the present application and the path planning method for a moving object provided in the seventh embodiment, the eighth embodiment of the present application further provides a path planning device for a moving object. Since the device embodiment is basically similar to the embodiment corresponding to the application scenario and the seventh embodiment, the description is relatively simple. For the relevant parts, refer to the partial descriptions of the embodiment corresponding to the application scenario and the seventh embodiment. Please refer to Figure 11, which is a schematic diagram of a path planning device for a moving object provided in the eighth embodiment of the present application. It includes: a third target lateral offset data acquisition unit 1101, configured to acquire the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point in the current frame and the initial moving reference line used by the moving object at the initial position point. The target position point in the current frame is the end point of the travel path planned for the moving object in the current frame, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed. A first travel path data acquisition unit 1102, configured to acquire the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame.

[0160] The ninth embodiment

[0161] Corresponding to the application scenarios of the data processing method provided by the present application, the data processing method provided by the first embodiment, and the data processing method provided by the second embodiment, the ninth embodiment of the present application further provides another path planning method for a moving object. The path planning method for a moving object provided by the ninth embodiment of the present application corresponds to the scenario embodiment, the first embodiment, and the second embodiment. For the relevant parts, refer to the partial descriptions of the scenario embodiment, the first embodiment, and the second embodiment. The following description of the ninth embodiment is merely illustrative. Please refer to Figure 12 , which is a flowchart of another path planning method for a moving object provided in the ninth embodiment of the present application. Figure 12 The path planning method for a moving object shown includes: steps S1201 to S1203.

[0162] Step S1201: Acquire the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point in the expected final state. The expected final state is the expected state in which the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed. This step is used to acquire the final state lateral displacement data determined for the moving object in the current frame. This process is similar to step S401 in the first embodiment, and for specific reference, please refer to the description of step S401.

[0163] The obtaining of the final state lateral displacement data determined for the moving object in the current frame includes: obtaining the lateral displacement data of the object being bypassed, where the lateral displacement data of the object being bypassed is the lateral displacement data between the bypassed side boundary of the object being bypassed and the initial movement reference line; obtaining the lateral buffer data of the moving object in the expected final state, where the lateral buffer data is used to represent the lateral safety space between the moving object and the object being bypassed in the expected final state; and obtaining the final state lateral displacement data based on the lateral displacement data of the object being bypassed and the lateral buffer data.

[0164] In addition, it further includes: obtaining the lateral width data of the moving object; and the obtaining of the final state lateral displacement data based on the lateral displacement data of the object being bypassed and the lateral buffer data includes: obtaining the final state lateral displacement data based on the lateral displacement data of the object being bypassed, the lateral buffer data, and the lateral width data.

[0165] The obtaining of the final state lateral displacement data based on the lateral displacement data of the object being bypassed, the lateral buffer data, and the lateral width data includes: obtaining the sum value between the lateral displacement data of the object being bypassed, the lateral buffer data, and the preset ratio of the lateral width data as the final state lateral displacement data.

[0166] It further includes: determining whether the bypassed side boundary of the object being bypassed has a lateral offset in the current frame relative to the previous frame; if the bypassed side boundary of the object being bypassed has a lateral offset in the current frame relative to the previous frame, then determining whether the lateral offset data of the bypassed side boundary of the object being bypassed in the current frame exceeds the preset boundary lateral offset data threshold; if the lateral offset data of the bypassed side boundary of the object being bypassed in the current frame does not exceed the preset boundary lateral offset data threshold, then using the final state lateral displacement data determined for the moving object in the previous frame as the final state lateral displacement data determined for the moving object in the current frame; and the obtaining of the lateral displacement data of the object being bypassed includes: if the lateral offset data of the bypassed side boundary of the object being bypassed in the current frame exceeds the preset boundary lateral offset data threshold, then obtaining the lateral displacement data of the object being bypassed. The specific description of the above-mentioned obtaining method of the final state lateral displacement data determined for the moving object in the current frame can refer to the further detailed description of step S401 in the first embodiment.

[0167] Step S1202: Obtain the expected final-state moving reference line offset data of the moving object according to the final-state lateral displacement data. The expected final-state moving reference line offset data is the lateral displacement data between the expected final-state moving reference line and the initial moving reference line. The expected final-state moving reference line is the moving reference line determined for the moving object at the expected final state in the current frame. This step is used to obtain the expected final-state moving reference line offset data of the moving object according to the final-state lateral displacement data. The expected final-state moving reference line offset data is used to determine the moving reference line used by the moving object at the expected final state determined in the current frame, which is called the expected final-state moving reference line, such as Figure 1A the final-state reference line in

[0168] When the moving object bypasses the object to be bypassed, the moving object will move as much as possible in the direction of the expected final-state moving reference line, away from the initial moving reference line, and the object to be bypassed is located at a preset distance position from the initial moving reference line. Therefore, during this bypassing process, the moving object can move away from the bypassed side boundary of the object to be bypassed, achieving a smooth bypass of the object to be bypassed by the moving object.

[0169] In the embodiments of the present application, the expected final-state moving reference line offset data, that is, the value of the expected final-state moving reference line lateral displacement parameter in the objective function, will be calculated for each frame. When calculating the objective function in Formula 4, the lateral movement parameter values of other position points in the travel path obtained frame by frame gradually increase, and the absolute value of the difference between this value and the value of the expected final-state moving reference line lateral displacement parameter gradually decreases, which can reduce the calculation amount of the cost function value. In addition, there are various ways to obtain the lateral movement parameter values of the path points in the travel path planned for the moving object in this frame, which are not limited here.

[0170] To improve the smooth state of the moving object bypassing the object to be bypassed and enhance the accuracy of the cost function value of the calculation objective function by the value of the final state lateral displacement parameter, it further includes: obtaining the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial moving reference line used by the moving object at the initial position point. The target position point of the current frame is the end point of the travel path planned for the moving object in the current frame, and the initial position point is the initial position point of the travel path that the moving object needs to travel to bypass the object to be bypassed; using the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function, and the final state lateral displacement parameter is used to represent the lateral displacement between the position point of the final state in the travel path and the initial moving reference line. Using the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function. Through the calculation cost function value obtained by the objective function, the lateral movement parameter value at the position point in the travel path is obtained, so as to obtain the travel path data, and then the travel path is generated according to the travel path data. In this process, by gradually increasing the value of the final state lateral displacement parameter of the moving object in the current frame for each frame, the value of the final state lateral displacement parameter gradually and smoothly increases with each frame, and finally the generated travel path is a smooth path, realizing the smooth bypass of the object to be bypassed by the moving object. In addition, the moving reference line in the above objective function can be the initial moving reference line or the expected final state moving reference line, and there is no limitation here.

[0171] Tenth Embodiment

[0172] Corresponding to the application scenario of the data processing method provided by the present application and the path planning method of another moving object provided by the ninth embodiment, the tenth embodiment of the present application further provides another path planning device for a moving object. Since the device embodiment is basically similar to the embodiment corresponding to the application scenario and the ninth embodiment, the description is relatively simple. For the relevant parts, refer to the partial descriptions of the embodiment corresponding to the application scenario and the ninth embodiment. The device embodiments described below are only illustrative. Please refer to Figure 13, which is a schematic diagram of another path planning device for a moving object provided in the tenth embodiment of the present application. The path planning device for a moving object provided in the tenth embodiment of the present application includes: a third final state lateral displacement data acquisition unit 1301, configured to acquire the final state lateral displacement data determined for the moving object in the current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial moving reference line used by the moving object at the initial position point when the moving object is in the expected final state, the expected final state is the expected state that the moving object needs to reach for bypassing the object to be bypassed and having a lateral safety space from the object to be bypassed, and the initial position point is the initial position point of the travel path that the moving object needs to pass through for bypassing the object to be bypassed; a second moving reference line offset data obtaining unit 1302, configured to obtain the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data, where the expected final state moving reference line offset data is the lateral displacement data between the expected final state moving reference line and the initial moving reference line, and the expected final state moving reference line is the moving reference line used by the moving object in the expected final state determined in the current frame; a second travel path data acquisition unit 1303, configured to acquire the travel path data planned for the moving object in the current frame according to the expected final state moving reference line offset data.

[0173] The eleventh embodiment of the present application further provides an electronic device, including: a processor; and a memory for storing a computer program. After the electronic device is powered on and the computer program is run by the processor, the above method is executed. The twelfth embodiment of the present application further provides a computer storage medium, where the storage medium stores a computer program, and the computer program is run by a processor to execute the above method.

[0174] The above device embodiments, electronic device embodiments, and storage medium embodiments correspond to the above method embodiments, and reference may specifically be made to the method embodiments. Although this application is disclosed above in preferred embodiments, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the protection scope of this application should be determined by the scope defined by the claims of this application. In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. 1. Computer-readable media include both permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media do not include transitory media such as modulated data signals and carrier waves. 2. Those skilled in the art should understand that the embodiments of this application can be provided as a method, a system, or a computer program product. Therefore, this application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. It should be noted that the embodiments of this application may involve the use of user data. In actual applications, user-specific personal data can be used in the solutions described herein within the scope permitted by applicable laws and regulations (for example, with the user's explicit consent, giving the user a practical notice, etc.) in compliance with the requirements of applicable laws and regulations of the country where it is located.It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

Claims

1. A data processing method, characterized in that, Including: Obtaining the final state lateral displacement data determined for the moving object in the current frame, where the final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used at the initial position point when the moving object is in the expected final state. The expected final state is the expected state that the moving object needs to reach for bypassing the object to be bypassed and having a lateral safety space with the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to travel for bypassing the object to be bypassed; Obtaining the moving state adjustment safety duration data determined for the moving object in the current frame, where the moving state adjustment safety duration data is the expected available duration data for the moving object to adjust its moving state starting from the current frame to avoid collision with the object to be bypassed; Obtaining the lateral offset step data corresponding to the current frame according to the final state lateral displacement data and the moving state adjustment safety duration data; Adjusting the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the previous frame is the lateral displacement data between the target position point of the previous frame determined for the moving object in the previous frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the previous frame is the end point of the travel path planned for the moving object in the previous frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the current frame is the end point of the travel path planned for the moving object in the current frame.

2. The method according to claim 1, wherein The obtaining the final state lateral displacement data determined for the moving object in the current frame includes: obtaining the lateral displacement data of the object to be bypassed, where the lateral displacement data of the object to be bypassed is the lateral displacement data between the bypassed side boundary of the object to be bypassed and the initial movement reference line; obtaining the lateral buffer data of the moving object in the expected final state, where the lateral buffer data is used to represent the lateral safety space between the moving object and the object to be bypassed in the expected final state; obtaining a preset ratio of the lateral width data of the moving object; obtaining the sum value of the lateral displacement data of the object to be bypassed, the lateral buffer data, and the preset ratio of the lateral width data as the final state lateral displacement data; The method further includes: determining whether a lateral offset occurs in the wrapped side boundary of the object to be wrapped in the current frame relative to the previous frame; if a lateral offset occurs in the wrapped side boundary of the object to be wrapped in the current frame relative to the previous frame, determining whether the lateral offset data of the wrapped side boundary of the object to be wrapped in the current frame relative to the previous frame exceeds a preset boundary lateral offset data threshold; if the lateral offset data of the wrapped side boundary of the object to be wrapped in the current frame relative to the previous frame does not exceed the preset boundary lateral offset data threshold, using the final state lateral displacement data determined for the moving object in the previous frame as the final state lateral displacement data determined for the moving object in the current frame; obtaining the lateral displacement data of the object to be wrapped includes: if the lateral offset data of the wrapped side boundary of the object to be wrapped in the current frame relative to the previous frame exceeds the preset boundary lateral offset data threshold, obtaining the lateral displacement data of the object to be wrapped.

3. The method according to claim 1, wherein Further included is: obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame; wherein, obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: using the target lateral offset data corresponding to the current frame as the value of the final state lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function, the final state lateral displacement parameter is used to represent the lateral displacement between the position point at the final state in the travel path and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path; wherein, the method further includes: obtaining the weight value of the final state lateral displacement parameter; obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function includes: using the weight value of the final state lateral displacement parameter as the weight value of the lateral movement parameter value of the final state lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame, wherein the weight value of the final state lateral displacement parameter is different from the weight value of the lateral movement parameter of the non-final state position point, and the non-final state position point is other position points except the end point in the travel path planned for the moving object in the current frame.

4. The method according to claim 1, characterized in that Further included is: Obtain the expected final state moving reference line offset data of the moving object according to the final state lateral displacement data; obtain the planned travel path data for the moving object in the current frame according to the expected final state moving reference line offset data; wherein, the expected final state moving reference line offset data is the lateral displacement data between the expected final state moving reference line and the initial moving reference line, and the expected final state moving reference line is the moving reference line used by the moving object at the expected final state determined in the current frame; the step of obtaining the planned travel path data for the moving object in the current frame according to the expected final state moving reference line offset data includes: taking the expected final state moving reference line offset data as the value of the moving reference line lateral displacement parameter in the objective function, and obtaining the lateral movement parameter value of the position point in the planned travel path for the moving object in the current frame through the objective function, where the moving reference line lateral displacement parameter is used to represent the lateral displacement between the position point of the moving reference line and the initial moving reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

5. A data processing method, characterized in that, Including: Obtain the moving speed data of the moving object in the current frame; Obtain the corresponding lateral offset step data of the current frame according to the moving speed data of the moving object in the current frame and the corresponding relationship between the moving speed data range and the single-frame lateral offset step data range; Adjust the target lateral offset data corresponding to the previous frame according to the lateral offset step data corresponding to the current frame, and obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame; Wherein, the target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous frame target position point determined for the moving object in the previous frame and the initial moving reference line used by the moving object at the initial position point, the previous frame target position point is the end point of the planned travel path for the moving object in the previous frame, the target lateral offset data corresponding to the current frame is the lateral displacement data between the current frame target position point and the initial moving reference line used by the moving object at the initial position point, and the current frame target position point is the end point of the planned travel path for the moving object in the current frame; The method further includes: obtaining the planned travel path data for the moving object in the current frame according to the target lateral offset data corresponding to the current frame; the step of obtaining the planned travel path data for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: Use the target lateral offset data corresponding to the current frame as the value of the end-state lateral displacement parameter in the objective function, and obtain the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The end-state lateral displacement parameter is used to represent the lateral displacement between the position point at the end state in the travel path and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

6. A data processing method, characterized in that, It includes: Obtain the end-state lateral displacement data determined for the moving object in the current frame. The end-state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point at the expected end state. The expected end state is the expected state in which the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to pass through to bypass the object to be bypassed. According to the end-state lateral displacement data, obtain the expected end-state movement reference line offset data of the moving object. Among them, the expected end-state movement reference line offset data is the lateral displacement data between the expected end-state movement reference line and the initial movement reference line. The expected end-state movement reference line is the movement reference line used by the moving object at the expected end state determined in the current frame. The method further includes: Obtain the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the current frame is the end point of the travel path planned for the moving object in the current frame. According to the target lateral offset data corresponding to the current frame, obtain the travel path data planned for the moving object in the current frame. The obtaining the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame includes: Use the target lateral offset data corresponding to the current frame as the value of the end-state lateral displacement parameter in the objective function, and obtain the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The end-state lateral displacement parameter is used to represent the lateral displacement between the position point at the end state in the travel path and the initial movement reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

7. A path planning method for a moving object, characterized in that, It includes: Obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the target position point of the current frame and the initial movement reference line used by the moving object at the initial position point. The target position point of the current frame is the end point of the travel path planned for the moving object in the current frame. The initial position point is the initial position point of the travel path that the moving object needs to pass through to bypass the object to be bypassed. Obtain the travel path data planned for the moving object in the current frame according to the target lateral offset data corresponding to the current frame; Among them, the obtaining of the target lateral offset data determined for the moving object in the current frame includes: Obtain the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point at the expected final state. The expected final state is the expected state that the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to pass through to bypass the object to be bypassed; Obtain the moving state adjustment safety duration data determined for the moving object in the current frame. The moving state adjustment safety duration data is the expected available duration data starting from the current frame for the moving object to adjust its moving state to avoid collision with the object to be bypassed; According to the final state lateral displacement data and the moving state adjustment safety duration data, obtain the lateral offset step data corresponding to the current frame; According to the lateral offset step data corresponding to the current frame, adjust the target lateral offset data corresponding to the previous frame to obtain the target lateral offset data determined for the moving object in the current frame as the target lateral offset data corresponding to the current frame. The target lateral offset data corresponding to the previous frame is the lateral displacement data between the previous frame target position point determined for the moving object in the previous frame and the initial movement reference line used by the moving object at the initial position point. The previous frame target position point is the end point of the travel path planned for the moving object in the previous frame. The target lateral offset data corresponding to the current frame is the lateral displacement data between the current frame target position point and the initial movement reference line used by the moving object at the initial position point. The current frame target position point is the end point of the travel path planned for the moving object in the current frame.

8. A path planning method for a moving object, characterized in that, Include: Obtain the final state lateral displacement data determined for the moving object in the current frame. The final state lateral displacement data is the lateral displacement data of the moving object relative to the initial movement reference line used by the moving object at the initial position point at the expected final state. The expected final state is the expected state that the moving object needs to reach to bypass the object to be bypassed and has a lateral safety space from the object to be bypassed. The initial position point is the initial position point of the travel path that the moving object needs to pass through to bypass the object to be bypassed; According to the final state lateral displacement data, obtain the expected final state movement reference line offset data of the moving object. The expected final state movement reference line offset data is the lateral displacement data between the expected final state movement reference line and the initial movement reference line. The expected final state movement reference line is the movement reference line used by the moving object determined in the current frame at the expected final state; Move the reference line offset data according to the expected final state, and obtain the travel path data planned for the moving object in the current frame; Among them, the step of moving the reference line offset data according to the expected final state and obtaining the travel path data planned for the moving object in the current frame includes: using the reference line offset data of the expected final state as the value of the lateral displacement parameter of the reference line in the objective function, and obtaining the lateral movement parameter value of the position point in the travel path planned for the moving object in the current frame through the objective function. The lateral displacement parameter of the reference line is used to represent the lateral displacement between the position point of the reference line and the initial reference line, and the objective function is used to calculate the cost function value corresponding to the travel path.

9. An electronic device, comprising: Processor; And a memory for storing a computer program. After the electronic device is powered on and runs the computer program through the processor, the method according to any one of 1-8 is executed.

10. A computer storage medium storing a computer program, where the computer program is run by a processor to execute the method according to any one of 1-8.

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