Path planning method for vehicle and related device

Abstract

The invention relates to a path planning method for a vehicle and a related device. The path planning method for the vehicle comprises the following steps: acquiring initial pose information and target pose information of the vehicle; acquiring track information of a road through which the vehicle can pass; based on the initial pose information, the target pose information and the trajectory information, determining an initial path segmentation point and a target path segmentation point respectively; taking the initial path segmentation point as a current path segmentation point; under the condition that the current path segmentation point is the target path segmentation point, all path segments from the initial path segmentation point to the target path segmentation point through the selected path segmentation points in sequence are included in the planned path, or under the condition that the current path segmentation point is not the target path segmentation point, all path segments are included in the planned path; and according to the path search tree of the current path break point, selecting a path break point in adjacent path break points of the current path break point, and updating the selected path break point as the current path break point.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and more particularly, to a path planning method for a vehicle, a vehicle path planning system, an electronic device, a non-transitory storage medium, and a computer program product. Background Art

[0002] As a cutting-edge field that intersects multiple disciplines such as artificial intelligence, the Internet of Things, and traffic engineering, autonomous driving technology has made remarkable progress in recent years. As a key part of autonomous driving technology, path planning is responsible for generating a safe and efficient driving path from a starting point to a target point in a complex dynamic environment. Path planning needs to comprehensively consider the motion characteristics of the vehicle, traffic rules, environmental constraints, and obstacle interference to ensure driving safety and comfort. The performance of the path planning algorithm directly determines the intelligent level and application scope of the autonomous driving system. Summary of the Invention

[0003] A brief overview of the present disclosure is given below to provide a basic understanding of some aspects of the present disclosure. However, it should be understood that this overview is not an exhaustive overview of the present disclosure. It is not intended to identify the key or important parts of the present disclosure, nor is it intended to limit the scope of the present disclosure. Its purpose is only to present some concepts of the present disclosure in a simplified form as a prelude to the more detailed description given later.

[0004] According to a first aspect of the present disclosure, there is provided a path planning method for a vehicle, including: obtaining starting pose information and target pose information of the vehicle, the starting pose information including a starting position and a starting attitude of the vehicle, and the target pose information including a target position and a target attitude of the vehicle; obtaining trajectory information of a road that the vehicle can pass through, the trajectory information including path points along the road, path points located at intersections of the road and path points located at ends of the road form path segmentation points, path points between adjacent path segmentation points form path segments, and each path segmentation point is configured with a path search tree, the path search tree including path segments from the path segmentation point to each adjacent path segmentation point of the path segmentation point; determining a starting path segmentation point and a target path segmentation point respectively based on the starting pose information, the target pose information, and the trajectory information of the vehicle; taking the starting path segmentation point as the current path segmentation point; in a case where the current path segmentation point is the target path segmentation point, including all path segments from the starting path segmentation point passing through the selected respective path segmentation points to the target path segmentation point in a planned path of the vehicle from the starting position to the target position, or in a case where the current path segmentation point is not the target path segmentation point, selecting a path segmentation point among adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, and updating the selected path segmentation point as the current path segmentation point.

[0005] According to a second aspect of the present disclosure, there is provided an electronic device, including: a processor; and a memory storing computer-executable instructions, which when executed by the processor cause the processor to execute the path planning method for a vehicle according to the first aspect of the present disclosure.

[0006] According to a third aspect of the present disclosure, there is provided a non-transitory storage medium storing computer-executable instructions, which when executed by a computer cause the computer to execute the path planning method for a vehicle according to the first aspect of the present disclosure.

[0007] According to a fourth aspect of the present disclosure, there is provided a computer program product, which includes instructions that, when executed by a processor, implement the path planning method for a vehicle according to the first aspect of the present disclosure.

[0008] According to a fifth aspect of the present disclosure, there is provided a vehicle path planning system, including: a user interface configured to receive target pose information of a vehicle and send the target pose information to a processing device, the target pose information including a target position and a target attitude of the vehicle, wherein the vehicle is configured to collect starting pose information of the vehicle via sensors of the vehicle and send the starting pose information to the processing device, the starting pose information including a starting position and a starting attitude of the vehicle; a processing device configured to: obtain the starting pose information and the target pose information of the vehicle, obtain trajectory information of roads that the vehicle can pass through, the trajectory information including path points along the roads, path points located at intersections of the roads and path points located at ends of the roads form path segmentation points, path points between adjacent path segmentation points form path segments, each path segmentation point is configured with a path search tree, the path search tree including path segments from the path segmentation point to each adjacent path segmentation point of the path segmentation point, based on the starting pose information, the target pose information and the trajectory information of the vehicle, respectively determine a starting path segmentation point and a target path segmentation point, use the starting path segmentation point as the current path segmentation point, in a case where the current path segmentation point is the target path segmentation point, include all path segments from the starting path segmentation point passing through the selected path segmentation points in sequence to the target path segmentation point in the planned path of the vehicle from the starting position to the target position, or in a case where the current path segmentation point is not the target path segmentation point, select a path segmentation point among adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, update the selected path segmentation point as the current path segmentation point, and send the planned path to a scheduling device; and a scheduling device configured to obtain the planned path and cause the vehicle to reach the target position from the starting position along the planned path with the starting attitude and the target attitude. Description of the Drawings

[0009] The foregoing and other features and advantages of the present disclosure will become apparent from the following description of the embodiments of the present disclosure shown in the accompanying drawings. The accompanying drawings are incorporated herein and form a part of the specification, further explaining the principles of the present disclosure and enabling those skilled in the art to make and use the present disclosure. Among them:

[0010] Figure 1 A flowchart of a path planning method for a vehicle according to some embodiments of the present disclosure is shown;

[0011] Figure 2 An exemplary road schematic diagram according to some embodiments of the present disclosure is shown;

[0012] Figure 3 A flowchart of a non-limiting implementation manner of a path planning method for a vehicle according to some embodiments of the present disclosure is shown;

[0013] Figure 4 A schematic block diagram of an electronic device according to some embodiments of the present disclosure is shown;

[0014] Figure 5 A schematic block diagram of a vehicle path planning system according to some embodiments of the present disclosure is shown;

[0015] Figure 6 A schematic block diagram of a computer system on which embodiments of the present disclosure can be implemented is shown.

[0016] Note that in the embodiments described below, sometimes the same reference numerals are used commonly between different drawings to denote the same parts or parts having the same functions, and their repeated descriptions are omitted. In some cases, similar reference numerals and letters are used to denote similar items. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0017] For ease of understanding, the positions, sizes, ranges, etc. of the various structures shown in the accompanying drawings and the like sometimes do not represent the actual positions, sizes, ranges, etc. Therefore, the present disclosure is not limited to the positions, sizes, ranges, etc. disclosed in the accompanying drawings and the like. Detailed Embodiments

[0018] Various exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0019] The following description of at least one exemplary embodiment is merely illustrative and is in no way a limitation on the present disclosure, its application, or its use. That is, the structures and methods herein are shown in an exemplary manner to illustrate different embodiments of the structures and methods in the present disclosure. However, those skilled in the art will understand that they merely illustrate exemplary ways in which the present disclosure can be implemented, rather than exhaustive ways. In addition, the drawings are not necessarily drawn to scale, and some features may be enlarged to show details of specific components.

[0020] In addition, technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the specification.

[0021] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0022] In the related art, path planning algorithms commonly used in autonomous driving, such as the hybrid astar algorithm, have problems such as long path planning time, poor real-time performance, and poor practicality of the planned paths. For example, for a scenario with a long distance, if a short expansion length is used, the planning time will be too long. Or, the planned path is likely to be close to obstacles or boundaries, resulting in low passing efficiency of the vehicle and poor practicality of the planned path. Or, the same cost parameters are used for different scenarios, making the generated planned path not suitable for the current scenario and having poor practicality.

[0023] For this, the present disclosure provides a path planning method for a vehicle, which searches for applicable path segments according to the starting pose information and target pose information of the vehicle in combination with a specially constructed path search tree to determine the planned path of the vehicle from the starting position to the target position. Thus, when searching for path segments, only relevant path splitting points need to be searched, reducing the number of nodes to be searched, thereby improving the efficiency of path planning and reducing the computing power requirements. In addition, the path search tree is constructed based on the trajectory information of the roads that the vehicle can pass through, so the planned path generated in combination with the path search tree has better practicality. The present disclosure is advantageous when applied to path planning in a closed area, but the present disclosure is not limited thereto and can also be applied to path planning in semi-closed or open areas.

[0024] Next, a path planning method for a vehicle according to various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It can be understood that the actual path planning method for a vehicle may further include other steps, but to avoid obscuring the key points of the present disclosure, these other steps are not discussed herein and are not shown in the drawings.

[0025] Additionally, for reference purposes only, terms such as "first", "second", and the like may also be used in this document, and thus are not intended to be limiting. For example, unless the context clearly indicates otherwise, the terms "first", "second", and other such numerical terms related to structures or elements do not imply an order or sequence.

[0026] Figure 1 The flowchart of a path planning method 100 for a vehicle (hereinafter simply referred to as "method 100") according to some embodiments of the present disclosure is shown. As Figure 1 shown, method 100 includes step S102 to step S112.

[0027] At step S102, the starting pose information and the target pose information of the vehicle are obtained. Here, the starting pose information includes the starting position and the starting attitude of the vehicle, and the target pose information includes the target position and the target attitude of the vehicle.

[0028] In some embodiments, the starting pose information of the vehicle can be determined by the sensor data of the obtained vehicle. In some examples, sensors provided on the vehicle (such as an inertial measurement unit (IMU), a global positioning system (GPS) unit, etc.) can measure the current coordinate data of the vehicle in the global map and the current heading angle data of the vehicle, so that the starting position and the starting attitude of the vehicle can be determined based on these data.

[0029] In some embodiments, the target pose information of the vehicle can be determined based on the position that the vehicle is expected to reach and the attitude after parking, and can be represented by the target coordinate data and the target heading angle data of the vehicle in the global map.

[0030] At step S104, the trajectory information of the roads that the vehicle can pass through is obtained. Here, the trajectory information includes the path points along the road. Among these path points, the path points located at the intersections of the roads and the path points located at the ends of the roads constitute path segmentation points. The path points between adjacent path segmentation points constitute path segments. Each path segmentation point is configured with a path search tree, and the path search tree includes the path segments from this path segmentation point to each adjacent path segmentation point of this path segmentation point.

[0031] The construction of the path search tree can consider the driving trajectories of the driver driving the vehicle in actual production activities, so that the planned path determined based on the path search tree can absorb the driver's daily driving experience and have higher practicability.

[0032] In some embodiments, the road is a road in a closed area. Since the number of roads in the closed area is small, the number of path search trees to be constructed is also small and the scale of each path search tree is not too large, so that the search efficiency of path segmentation is relatively high.

[0033] In some embodiments, the trajectory information can be obtained through real vehicle tests. Therefore, the path points, path segmentation points, and path segments in the present disclosure all correspond to the roads in the actual site, and the directionality of the path segments can depend on the passable directions of the actual corresponding road segments (for example, one-way traffic, two-way traffic). Thus, the path search tree constructed based on the trajectory information of the road conforms to the actual scenario, and it can ensure that the planned path determined based on the path search tree can be applied to the actual driving of the vehicle, improving the practicability of method 100.

[0034] In some embodiments, each path point has position information and attitude information. For example, the path point can have its coordinate data and heading angle data in the global map.

[0035] For non-limiting illustrative purposes, Figure 2 an exemplary road schematic diagram is shown. As Figure 2 shown, among the path points A to G, the path points A to E are all located at the intersections of the roads, and the path point F is located at the end of the road. Therefore, the path points A to F also constitute path segmentation points. Hereinafter, "x-y" is used to represent the path segment from path segmentation point x to path segmentation point y.

[0036] In some embodiments, the path segments may not have directionality. At this time, the adjacent path segmentation points of path segmentation point A include path segmentation points C and B, and the path search tree of path segmentation point A includes path segments A-C and A-B; the adjacent path segmentation points of path segmentation point B include path segmentation points A, C, D, E, and F, and the path search tree of path segmentation point B includes path segments B-A, B-C, B-D, B-E, and B-F; the adjacent path segmentation points of path segmentation point C include path segmentation points A, B, and D, and the path search tree of path segmentation point C includes path segments C-A, C-B, and C-D; the adjacent path segmentation points of path segmentation point D include path segmentation points C, B, and E, and the path search tree of path segmentation point D includes path segments D-C, D-B, and D-E; the adjacent path segmentation points of path segmentation point E include path segmentation points D and B, and the path search tree of path segmentation point E includes path segments E-D and E-B; the adjacent path segmentation points of path segmentation point F include path segmentation point B, and the path search tree of path segmentation point F includes path segment F-B.

[0037] In some embodiments, the path segments can be provided with directionality. In this case, the directionality of the path segments can be set according to whether the road is a one-way road or a two-way road. The directionality of the path segments affects the "adjacency" between path split points. A path split point located at one end of a path segment is considered adjacent to another path split point located at the other end of the path segment only if the other path split point can be accessed via the path segment.

[0038] For example, assume that the road segment corresponding to the path segment A - B is a one-way road from A to B, and the road segments corresponding to the remaining path segments are two-way roads. At this time, the adjacent path split points of the path split point A include the path split points C and B, and the path search tree of the path split point A includes the path segments A - C and A - B; while the adjacent path split points of the path split point B include the path split points C, D, E, F (i.e., no longer including the path split point A), and the path search tree of the path split point B includes B - C, B - D, B - E, B - F (i.e., no longer including the path segment B - A).

[0039] At step S106, based on the starting pose information, target pose information, and trajectory information of the vehicle, the starting path split point and the target path split point are determined respectively.

[0040] In some embodiments, determining the target path split point includes: in the case where the target position is at a path split point, determining the path split point where the target position is located as the target path split point; or in the case where the target position is not at a path split point but at a path point, determining the path split point with the minimum cost among the adjacent path split points of the path point where the target position is located as the target path split point; or in the case where the target position is neither at a path split point nor at a path point, determining the path point closest to the target position and determining the path split point with the minimum cost among the adjacent path split points of the closest path point as the target path split point.

[0041] In some embodiments, the cost of the adjacent path split points of a path point includes a third cost from the path point to the adjacent path split point, and the third cost is obtained through actual measurement.

[0042] In some examples, the third cost may include at least one of the following: the time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located; the time taken for the vehicle to turn or reverse at the path point towards the adjacent path segmentation point. For example, the time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located can be obtained through actual measurement, or can be determined according to the time taken for the vehicle to pass through the entire path segment where the path point is located and the ratio of the distance from the path point to the adjacent path segmentation point to the length of the path segment, that is, the time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located can be the product of the time taken for the entire path segment and the ratio.

[0043] Since the path planning algorithms in the related art usually use distance to evaluate the cost map, that is, use distance as the cost to evaluate the planned path to select the path with the shortest overall distance as the target planned path. However, the path with the shortest distance does not mean that the time taken for the vehicle to pass through is also the shortest, because it fails to consider various information in the actual road scenario, such as the directionality of the road, the time consumed by the vehicle for turning, reversing, accelerating, and decelerating on the road, etc. Therefore, the path planning algorithms in the related art cannot ensure that the generated path is the path with the highest passing efficiency of the vehicle. The present disclosure can determine the planned path starting from the actual scenario information by using the above various types of time obtained through actual measurement, so as to ensure that the vehicle can achieve the highest passing efficiency according to the planned path in the actual scenario, and is more applicable to scenarios that require the vehicle to respond quickly.

[0044] In some embodiments, when the target position is neither at the path segmentation point nor at the path point, the cost may further include the time taken for the target position to reach the nearest path point.

[0045] In some embodiments, when the target position is neither at the path segmentation point nor at the path point, a search algorithm such as a breadth-first algorithm can be used to determine the path point with the smallest Euclidean distance (for example, it can also be the straight-line distance between two points) from the target position as the path point closest to the target position. For example, referring to Figure 2 , the black quadrilateral indicates the target position of the vehicle, and the path point closest to the target position is the path segmentation point F, that is, the target path segmentation point is F.

[0046] In some embodiments, in the case where the target position is not at the path segmentation point, all the path points from the path point to the target path segmentation point on the path segment where the path point where the target position is located or the path point closest to the target position is located are included in the planned path of the vehicle.

[0047] In some embodiments, determining the starting path segmentation point includes: when the starting position is at a path segmentation point, determining the path segmentation point where the starting position is located as the starting path segmentation point; or when the starting position is not at a path segmentation point but at a path point, determining the path segmentation point with the minimum cost among the adjacent path segmentation points of the path point where the starting position is located as the starting path segmentation point; or when the target position is neither at a path segmentation point nor at a path point, determining the path point closest to the starting position, and determining the path segmentation point with the minimum cost among the adjacent path segmentation points of the closest path point as the starting path segmentation point.

[0048] In some embodiments, the cost of the adjacent path segmentation points of the path point includes: a fourth cost from the path point to the adjacent path segmentation point, which is obtained by actual measurement; and a fifth cost from the adjacent path segmentation point to the target path segmentation point, which is obtained by estimation and calculation.

[0049] In some examples, the fourth cost may include at least one of the following: the time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located, or the time taken for the vehicle to turn or reverse at the path point towards the adjacent path segmentation point. The fourth cost can be calculated with reference to an implementation similar to the aforementioned third cost.

[0050] In some examples, the fifth cost may include the time determined based on the distance from the adjacent path segmentation point to the target path segmentation point and the speed of the vehicle. For example, the fifth cost may be the ratio of the Euclidean distance from the adjacent path segmentation point to the target path segmentation point to the preset vehicle speed.

[0051] In some embodiments, when the starting position is not at a path segmentation point, all the path points from the path point to the starting path segmentation point on the path segment where the path point where the starting position is located or the path point closest to the starting position is located are included in the planned path of the vehicle. For example, referring to Figure 2 , the black triangle indicates the starting position of the vehicle, the target path segmentation point is F, the path point closest to the starting position is G, and the adjacent path segmentation points of the path point G are C and D. After comparing the costs, the path segmentation point C is selected as the starting path segmentation point. Then, the path segment from the path point G to the path segmentation point C is included in the planned path.

[0052] At step S108, the starting path segmentation point is used as the current path segmentation point.

[0053] At step S110, when the current path segmentation point is the target path segmentation point, all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position. Alternatively, at step S112, when the current path segmentation point is not the target path segmentation point, a path segmentation point among the adjacent path segmentation points of the current path segmentation point is selected according to the path search tree of the current path segmentation point, and the selected path segmentation point is updated as the current path segmentation point.

[0054] For example, continuing to refer to Figure 2 , assume that the target path segmentation point is F and the starting path segmentation point is C. The current path segmentation point C is not the target path segmentation point F. A path segmentation point among the adjacent path segmentation points A, B, and D of the current path segmentation point C can be selected according to the path search tree of the current path segmentation point C and updated as the current path segmentation point. In some examples, since the path segmentation point D has been excluded when determining the starting path segmentation point, when subsequently selecting an adjacent path segmentation point of the current path segmentation point C as the updated current path segmentation point, in order to prevent the vehicle from turning around at the current path segmentation point C and returning to the path segmentation point D (which will incur additional costs), D can be excluded and not participate in subsequent calculations, thereby reducing the computational amount. Of course, even if D is not actively excluded, D will not be selected due to the additional costs.

[0055] In some embodiments, method 100 may include: when the updated current path segmentation point is the target path segmentation point, all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position; or when the updated current path segmentation point is not the target path segmentation point, a path segmentation point among the adjacent path segmentation points of the current path segmentation point is selected according to the path search tree of the current path segmentation point, and the selected path segmentation point is updated as the current path segmentation point. The current path segmentation point can be continuously iteratively searched and updated in this way until the updated current path segmentation point is the target path segmentation point, and all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position.

[0056] In some embodiments, selecting a path splitting point among the adjacent path splitting points of the current path splitting point according to the path search tree of the current path splitting point includes selecting the path splitting point with the minimum cost among the adjacent path splitting points of the current path splitting point. The cost of the adjacent path splitting points of the current path splitting point includes: a first cost from the current path splitting point to the adjacent path splitting point; and a second cost from the adjacent path splitting point to the target path splitting point. In some embodiments, the first cost is obtained through actual measurement, and the second cost is obtained through estimation and calculation.

[0057] In some examples, the first cost includes at least one of the following: the time taken by the vehicle to pass through the path segment from the current path splitting point to the adjacent path splitting point, or the time taken by the vehicle to turn or reverse at the current path splitting point towards the adjacent path splitting point; the second cost includes the time determined based on the distance from the adjacent path splitting point to the target path splitting point and the speed of the vehicle. For example, the first cost can be calculated by referring to an implementation similar to the aforementioned third cost and fourth cost, and the second cost can be calculated by referring to an implementation similar to the aforementioned fifth cost.

[0058] In some embodiments, selecting a path splitting point among the adjacent path splitting points of the current path splitting point according to the path search tree of the current path splitting point includes at least one of the following: in the case where the number of path segments in the path search tree of the current path splitting point is greater than 1, selecting the path splitting point with the minimum cost among the adjacent path splitting points of the current path splitting point; in the case where the number of path segments in the path search tree of the current path splitting point is not greater than 1, selecting the adjacent path splitting point of the current path splitting point. It can be understood that the number of path segments in the path search tree of the current path splitting point not being greater than 1 means that the current path splitting point has only one adjacent path splitting point. Therefore, the adjacent path splitting point can be directly selected without having to calculate the cost again, thereby reducing the computational amount and improving the planning efficiency.

[0059] For example, assume that the starting position of the vehicle is a black triangle, the target position is a black quadrilateral, the path point closest to the starting position is G, the path point closest to the target position is F, the starting path splitting point is C, and the target path splitting point is F. Since the current path splitting point C is not the target path splitting point F, the path splitting point B with the minimum cost among the adjacent path splitting points A, B, and D can be selected according to the path search tree of the current path splitting point C and updated as the current path splitting point. Since the updated current path splitting point B is not the target path splitting point F, the path splitting point F among the adjacent path splitting points A, C, D, E, and F can be selected according to the path search tree of the updated current path splitting point B and updated as the current path splitting point. Since the updated current path splitting point F is the target path splitting point, the path segments C - B and B - F are included in the planned path. In addition, all path points from path point G to the starting path splitting point C can also be included in the planned path. Thus, the planned path can include the path segments C - B, B - F, and the part of the path points from path point G to path splitting point C of the path segment D - C.

[0060] In some embodiments, method 100 may further include: after determining the planned path, causing the vehicle to reach the target position from the starting position along the planned path with the target pose in the starting pose.

[0061] Reference Figure 3 , which shows a flowchart of a non - limiting embodiment 200 of a path planning method for a vehicle according to some embodiments of the present disclosure. As Figure 3 shown, the non - limiting embodiment 200 includes steps S202 to step S234.

[0062] At step S202, obtain the starting pose information and the target pose information of the vehicle; at step S204, determine whether the target position is at a path splitting point; if the target position is at a path splitting point (S204 "yes"), proceed to step S210; if the target position is not at a path splitting point (S204 "no"), at step S206, determine whether the target position is at a path point; if the target position is at a path point (S206 "yes"), proceed to step S210; if the target position is not at a path point (S206 "no"), then at step S208, determine the path point closest to the target position, and then proceed to step S210. At step S210, determine the target path splitting point. The specific determination method can refer to the foregoing embodiments and will not be elaborated here.

[0063] After determining the target path splitting point, at step S212, all the path points from this path point to the target path splitting point on the path segment where the path point at the target position or the path point closest to the target position is located are included in the planned path of the vehicle; then, at step S214, it is judged whether the starting position is at the path splitting point; if the starting position is at the path splitting point (S214 "yes"), then proceed to step S220; if the starting position is not at the path splitting point (S214 "no"), then at step S216, it is judged whether the starting position is at a path point; if the starting position is at a path point (S216 "yes"), then proceed to step S220; if the starting position is not at a path point (S216 "no"), then at step S218, the path point closest to the starting position is determined, and then proceed to step S220. At step S220, the starting path splitting point is determined. The specific determination method can refer to the foregoing embodiments and will not be elaborated here. Then, at step S222, all the path points from this path point to the starting path splitting point on the path segment where the path point at the starting position or the path point closest to the starting position is located are included in the planned path of the vehicle.

[0064] Then, at step S224, the starting path splitting point is taken as the current path splitting point. At step S226, it is judged whether the current path splitting point is the target path splitting point; if the current path splitting point is not the target path splitting point (S226 "no"), then at step S228, according to the path search tree of the current path splitting point, a path splitting point among the adjacent path splitting points of the current path splitting point is selected, and at step S230, the selected path splitting point is updated as the current path splitting point; then, return to step S226; if the current path splitting point (the updated current path splitting point can also be used as the current path splitting point) is the target path splitting point (S226 "yes"), then proceed to step S232; at step S232, all the path segments from the starting path splitting point passing through the selected path splitting points in sequence to the target path splitting point are included in the planned path of the vehicle from the starting position to the target position.

[0065] Finally, at step S234, the planned path is output. For example, the vehicle can receive the output planned path and reach the target position from the starting position along the planned path with the starting pose and the target pose.

[0066] The method 100 of the present disclosure can be advantageously applied to scenarios where the vehicle needs to respond quickly. The planned path conforms to the actual situation and can ensure that the vehicle reaches the target pose from the starting pose with high efficiency.

[0067] The present disclosure also provides an electronic device, which may include: a processor; and a memory storing computer-executable instructions that, when executed by the processor, cause the processor to execute the path planning method for a vehicle according to any of the foregoing embodiments.

[0068] Reference Figure 4 , which shows a schematic block diagram of an electronic device 400 according to some embodiments of the present disclosure. As Figure 4 shown, the electronic device 400 includes a processor 402 and a memory 404 storing computer-executable instructions that, when executed by the processor 402, cause the processor 402 to execute the method 100 according to any of the foregoing embodiments. The processor 402 may be, for example, a central processing unit (CPU) of the electronic device 400. The processor 402 may be any type of general-purpose processor or may be a processor specifically designed for path planning of a vehicle, such as an application-specific integrated circuit (“ASIC”). The memory 404 may be coupled to the processor 402 and may include various computer-readable media accessible by the processor 402. In various embodiments, the memory 404 described herein may include volatile and non-volatile media, removable and non-removable media. For example, the memory 404 may include any combination of the following: random access memory (“RAM”), dynamic RAM (“DRAM”), static RAM (“SRAM”), read-only memory (“ROM”), flash memory, cache memory, and / or any other type of non-transitory computer-readable media. The memory 404 may store instructions that, when executed by the processor 402, cause the processor 402 to execute the method 100 according to any of the foregoing embodiments of the present disclosure.

[0069] The electronic device 400 is configured to execute the method 100 according to any of the foregoing embodiments, and thus reference may be made to the foregoing descriptions of various embodiments of the method 100, which will not be repeated herein.

[0070] The present disclosure also provides a non-transitory storage medium storing computer-executable instructions that, when executed by a computer, cause the computer to execute the path planning method for a vehicle according to any of the foregoing embodiments of the present disclosure.

[0071] The present disclosure also provides a computer program product, which may include instructions that, when executed by a processor, can implement the path planning method for a vehicle according to any one of the foregoing embodiments of the present disclosure. The instructions may be any set of instructions directly executable by one or more processors, such as machine code, or any set of instructions indirectly executable, such as a script. The instructions may be stored in a target code format for direct processing by one or more processors, or stored in any other computer language, including scripts or collections of independent source code modules that are interpreted on demand or pre-compiled.

[0072] The present disclosure also provides a vehicle path planning system. Refer to Figure 5 , which shows a schematic block diagram of a vehicle path planning system 500 (hereinafter simply referred to as "system 500") according to some embodiments of the present disclosure. It can be understood that the actual system 500 may also include other components, but in order to avoid obscuring the key points of the present disclosure, these other components are not discussed herein and are not shown in the drawings.

[0073] As Figure 5 shown, the system 500 can be used to plan a path for the vehicle 502, and may include a user interface 504, a processing device 506, and a scheduling device 508.

[0074] The user interface 504 is configured to receive the target pose information of the vehicle 502 and send the target pose information to the processing device 506, and the target pose information includes the target position and target attitude of the vehicle 502. In some examples, the user interface 504 is configured to receive the target pose information of the vehicle 502 set by the scheduling system 510.

[0075] The vehicle 502 is configured to collect the starting pose information of the vehicle 502 via sensors of the vehicle 502 (for example, the aforementioned IMU unit, GPS unit, etc.) and send the starting pose information to the processing device 506, and the starting pose information includes the starting position and starting attitude of the vehicle 502.

[0076] The processing device 506 is configured to: obtain the starting pose information and the target pose information of the vehicle 502; obtain the trajectory information of the road that the vehicle 502 can pass through, where the trajectory information includes path points along the road, path points located at intersections of the road, and path points located at the ends of the road that constitute path segmentation points, and path points between adjacent path segmentation points constitute path segments, and each path segmentation point is configured with a path search tree, and the path search tree includes path segments from this path segmentation point to each adjacent path segmentation point of this path segmentation point; based on the starting pose information, the target pose information, and the trajectory information of the vehicle 502, respectively determine the starting path segmentation point and the target path segmentation point; use the starting path segmentation point as the current path segmentation point; in the case where the current path segmentation point is the target path segmentation point, include all path segments from the starting path segmentation point passing through the selected path segmentation points in sequence to the target path segmentation point in the planned path of the vehicle 502 from the starting position to the target position, or in the case where the current path segmentation point is not the target path segmentation point, select a path segmentation point from the adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, and update the selected path segmentation point to the current path segmentation point; and send the planned path to the scheduling device 508.

[0077] In some embodiments, the processing device 506 may receive the trajectory information via the user interface 504. In other embodiments, the processing device 506 may access a storage device that stores the trajectory information in advance, either itself or externally, to obtain the trajectory information.

[0078] The scheduling device 508 is configured to obtain the planned path and cause the vehicle 502 to reach the target position from the starting position along the planned path in the starting pose in the target pose.

[0079] The processing device 506 in the system 500 may be configured to execute the method 100 described in any of the foregoing embodiments. Therefore, various embodiments of the system 500 may refer to the descriptions of various embodiments of the method 100 above, and will not be repeated here.

[0080] Figure 6FIG. 600 is a schematic block diagram of a computer system on which embodiments of the present disclosure may be implemented. The computer system 600 includes a bus 602 or other communication mechanism for conveying information, and a processing device 604 coupled to the bus 602 for processing information. The computer system 600 also includes a memory 606 coupled to the bus 602 for storing instructions to be executed by the processing device 604. The memory 606 may be a random access memory (RAM) or other dynamic storage device. The memory 606 may also be used to store temporary variables or other intermediate information during the execution of instructions to be executed by the processing device 604. The computer system 600 also includes a read-only memory (ROM) 608 or other static storage device coupled to the bus 602 for storing static information and instructions for the processing device 604. A storage device 610, such as a magnetic disk or optical disk, is provided and coupled to the bus 602 for storing information and instructions. The computer system 600 may be coupled via the bus 602 to an output device 612 for providing output to a user, such as, but not limited to, a display (such as a cathode ray tube (CRT) or liquid crystal display (LCD)), a speaker, etc. Input devices 614, such as a keyboard, a mouse, a microphone, etc., are coupled to the bus 602 for communicating information and command selections to the processing device 604. The computer system 600 may execute embodiments of the present disclosure. Consistent with certain implementations of the present disclosure, results are provided by the computer system 600 in response to execution of one or more sequences of one or more instructions contained in the memory 606 by the processing device 604. Such instructions may be read into the memory 606 from another computer-readable medium, such as the storage device 610. Execution of the sequences of instructions contained in the memory 606 causes the processing device 604 to perform the methods described herein. Alternatively, the present teachings may be implemented using hardwired circuitry in place of, or in combination with, software instructions. Accordingly, implementations of the present disclosure are not limited to any specific combination of hardware circuitry and software. In various embodiments, the computer system 600 may be connected across a network to one or more other computer systems, such as the computer system 600, via a network interface 616 to form a networked system. The network may include a private network or a public network such as the Internet. In the networked system, one or more computer systems may store data and supply the data to other computer systems. As used herein, the term "computer-readable medium" refers to any medium that participates in providing instructions to the processing device 604 for execution. Such a medium may take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media includes, for example, optical or magnetic disks, such as the storage device 610. Volatile media includes dynamic memory, such as the memory 606. Transmission media includes coaxial cables, copper wire, and fiber optics, including the wiring that includes the bus 602.Common forms of computer-readable media or computer program products include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, or any other magnetic medium, CD-ROMs, digital video disks (DVDs), Blu-ray disks, any other optical medium, thumb drives, memory cards, RAM, PROM, and EPROM, flash EPROM, any other memory chip or cartridge, or any other tangible medium from which a computer can read. Various forms of computer-readable media may be involved in carrying one or more sequences of one or more instructions to the processing device 604 for execution. For example, the instructions may initially be carried on a disk of a remote computer. The remote computer may load the instructions into its dynamic memory and send the instructions over a telephone line using a modem. A modem local to the computer system 600 may receive the data over the telephone line and convert the data into an infrared signal using an infrared transmitter. An infrared detector coupled to the bus 602 may receive the data carried in the infrared signal and place the data on the bus 602. The bus 602 carries the data to the memory 606, and the processing device 604 retrieves and executes the instructions from the memory 606. Optionally, the instructions received by the memory 606 may be stored on the storage device 610 before or after being executed by the processing device 604.

[0081] In accordance with various embodiments, instructions configured to be executed by a processing device to perform a method are stored on a computer-readable medium. The computer-readable medium may be a device that stores digital information. For example, the computer-readable medium includes a compact disc read-only memory (CD-ROM) known in the art for storing software. The computer-readable medium is accessed by a processor suitable for executing the instructions configured to be executed.

[0082] One or more exemplary embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0083] The systems, apparatuses, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a server system. Of course, the present disclosure does not exclude that with the development of future computer technologies, computers that implement the functions of the above embodiments can be, for example, personal computers, laptop computers, in-vehicle human-machine interaction devices, cellular phones, camera phones, smart phones, personal digital assistants, media players, navigation devices, email devices, game consoles, tablet computers, wearable devices, or any combination of these devices.

[0084] Although one or more embodiments of the present disclosure provide method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual device or terminal product is executing, it can be executed in the order of the method shown in the embodiments or the drawings or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing, or even in a distributed data processing environment).

[0085] The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, product or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product or device. Without further limitation, there is no exclusion of additional identical or equivalent elements in the process, method, product or device comprising the said elements. For example, when words such as "first", "second" are used to denote names, they do not denote any particular order.

[0086] For convenience of description, when describing the above apparatuses, they are divided into various modules according to functions for separate description. Of course, when implementing one or more embodiments of the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules implementing the same function can be realized by a combination of multiple sub-modules or sub-units, etc. The apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the apparatuses or units can be in electrical, mechanical or other forms.

[0087] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate an apparatus for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0088] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction apparatus that implements the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0090] Those skilled in the art should understand that one or more embodiments of the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, one or more embodiments of the present disclosure 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.) that contain computer-usable program code.

[0091] One or more embodiments of the present disclosure can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. One or more embodiments of the present disclosure can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0092] The same or similar parts among the various embodiments of the present disclosure can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. In the description of the present disclosure, the descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the present disclosure and the features of different embodiments or examples.

[0093] In addition, when used in the present disclosure, the words "here", "above", "below", "hereinafter", "above-mentioned", and words with similar meanings shall refer to the whole of the present disclosure rather than any specific part of the present disclosure. Moreover, unless otherwise clearly stated or understood in the context in which it is used, the conditional language used herein, such as "can", "may", "for example", "such as", etc., generally aims to indicate that certain embodiments include, while other embodiments do not include certain features, elements, and / or states. Therefore, such conditional language generally does not aim to imply that one or more embodiments require features, elements, and / or states in any way, or whether they include these features, elements, and / or states or perform these features, elements, and / or states in any specific embodiment.

[0094] In addition, the embodiments of the present disclosure may further include the following examples:

[0095] Example 1. A path planning method for a vehicle, including:

[0096] Obtaining the starting pose information and the target pose information of the vehicle, where the starting pose information includes the starting position and the starting attitude of the vehicle, and the target pose information includes the target position and the target attitude of the vehicle;

[0097] Obtaining the trajectory information of the roads that the vehicle can pass through, where the trajectory information includes path points along the roads, the path points located at the intersections of the roads and the path points located at the ends of the roads form path segmentation points, the path points between adjacent path segmentation points form path segments, and each path segmentation point is configured with a path search tree, and the path search tree includes the path segments from this path segmentation point to each adjacent path segmentation point of this path segmentation point;

[0098] Based on the starting pose information, the target pose information, and the trajectory information of the vehicle, determine a starting path segmentation point and a target path segmentation point respectively;

[0099] Take the starting path segmentation point as the current path segmentation point;

[0100] In the case where the current path segmentation point is the target path segmentation point, include all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point in the planned path of the vehicle from the starting position to the target position, or

[0101] In the case where the current path segmentation point is not the target path segmentation point, select a path segmentation point from the adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, and update the selected path segmentation point to the current path segmentation point.

[0102] Example 2. The method according to Example 1 includes:

[0103] In the case where the updated current path segmentation point is the target path segmentation point, include all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point in the planned path of the vehicle from the starting position to the target position; or

[0104] In the case where the updated current path segmentation point is not the target path segmentation point, select a path segmentation point from the adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, and update the selected path segmentation point to the current path segmentation point.

[0105] Example 3. The method according to Example 1 or 2, wherein selecting a path segmentation point from the adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point includes selecting the path segmentation point with the minimum cost among the adjacent path segmentation points of the current path segmentation point, and the cost of the adjacent path segmentation points of the current path segmentation point includes:

[0106] A first cost from the current path segmentation point to this adjacent path segmentation point; and

[0107] A second cost from this adjacent path segmentation point to the target path segmentation point.

[0108] Example 4. The method according to any one of Examples 1 to 3, wherein selecting a path splitting point from adjacent path splitting points of the current path splitting point according to the path search tree of the current path splitting point includes at least one of the following:

[0109] When the number of path segments in the path search tree of the current path splitting point is greater than 1, selecting the path splitting point with the minimum cost among the adjacent path splitting points of the current path splitting point;

[0110] When the number of path segments in the path search tree of the current path splitting point is not greater than 1, selecting the adjacent path splitting point of the current path splitting point.

[0111] Example 5. The method according to any one of Examples 1 to 4, wherein the first cost is obtained through actual measurement, and the second cost is obtained through estimation and calculation.

[0112] Example 6. The method according to any one of Examples 1 to 5, wherein

[0113] The first cost includes at least one of the following:

[0114] The time taken by the vehicle to pass through the path segment from the current path splitting point to the adjacent path splitting point, or

[0115] The time taken by the vehicle to turn or reverse at the current path splitting point towards the adjacent path splitting point;

[0116] The second cost includes the time determined based on the distance from the adjacent path splitting point to the target path splitting point and the speed of the vehicle.

[0117] Example 7. The method according to any one of Examples 1 to 6, wherein determining the target path splitting point includes one of the following:

[0118] When the target position is at a path splitting point, determining the path splitting point where the target position is located as the target path splitting point; or

[0119] When the target position is not at a path splitting point but at a path point, determining the path splitting point with the minimum cost among the adjacent path splitting points of the path point where the target position is located as the target path splitting point; or

[0120] When the target position is neither at a path splitting point nor at a path point, determining the path point closest to the target position, and determining the path splitting point with the minimum cost among the adjacent path splitting points of the closest path point as the target path splitting point.

[0121] Example 8. The method according to any one of Examples 1 to 7, wherein the cost of the adjacent path segmentation point of the path point includes a third cost from the path point to the adjacent path segmentation point, and the third cost is obtained through actual measurement.

[0122] Example 9. The method according to any one of Examples 1 to 8, wherein the third cost includes at least one of the following:

[0123] The time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located;

[0124] The time taken for the vehicle to turn or reverse at the path point towards the adjacent path segmentation point.

[0125] Example 10. The method according to any one of Examples 1 to 9, including:

[0126] In the case where the target position is not at a path segmentation point, including all path points from the path point where the target position is located or the path point closest to the target position along the path segment to the target path segmentation point in the planned path of the vehicle.

[0127] Example 11. The method according to any one of Examples 1 to 10, wherein determining the starting path segmentation point includes one of the following:

[0128] In the case where the starting position is at a path segmentation point, determining the path segmentation point where the starting position is located as the starting path segmentation point; or

[0129] In the case where the starting position is not at a path segmentation point but at a path point, determining the path segmentation point with the minimum cost among the adjacent path segmentation points of the path point where the starting position is located as the starting path segmentation point; or

[0130] In the case where the starting position is neither at a path segmentation point nor at a path point, determining the path point closest to the starting position, and determining the path segmentation point with the minimum cost among the adjacent path segmentation points of the closest path point as the starting path segmentation point.

[0131] Example 12. The method according to any one of Examples 1 to 11, wherein the cost of the adjacent path segmentation point of the path point includes:

[0132] A fourth cost from the path point to the adjacent path segmentation point, and the fourth cost is obtained through actual measurement; and

[0133] A fifth cost from the adjacent path segmentation point to the target path segmentation point, and the fifth cost is obtained through estimation and calculation.

[0134] Example 13. The method according to any one of Examples 1 to 12, wherein,

[0135] The fourth cost includes at least one of the following:

[0136] The time taken for the vehicle to travel from the path point to the adjacent path segmentation point along the path segment where the path point is located, or

[0137] The time taken for the vehicle to turn or reverse at the path point towards the adjacent path segmentation point;

[0138] The fifth cost includes the time determined based on the distance from the adjacent path segmentation point to the target path segmentation point and the speed of the vehicle.

[0139] Example 14. The method according to any one of Examples 1 to 13, comprising:

[0140] In the case where the starting position is not at a path segmentation point, all the path points on the path segment where the path point where the starting position is located or the path point closest to the starting position is located, from this path point to the starting path segmentation point, are included in the planned path of the vehicle.

[0141] Example 15. The method according to any one of Examples 1 to 14, wherein obtaining the starting pose information of the vehicle includes:

[0142] Obtaining the sensor data of the vehicle and determining the starting pose information of the vehicle based on the sensor data.

[0143] Example 16. The method according to any one of Examples 1 to 15, wherein the path point has position information and pose information.

[0144] Example 17. The method according to any one of Examples 1 to 16, wherein the trajectory information is obtained through on-road vehicle testing.

[0145] Example 18. The method according to any one of Examples 1 to 17, wherein the path segment has a direction.

[0146] Example 19. The method according to any one of Examples 1 to 18, wherein the road is a road in a closed area.

[0147] Example 20. The method according to any one of Examples 1 to 19, comprising:

[0148] After determining the planned path, causing the vehicle to reach the target position from the starting position along the planned path with the starting pose and the target pose.

[0149] Example 21. An electronic device, comprising:

[0150] a processor; and

[0151] a memory storing computer-executable instructions, which when executed by the processor cause the processor to execute the path planning method for a vehicle according to any one of Examples 1 to 20.

[0152] Example 22. A non-transitory storage medium storing computer-executable instructions, which when executed by a computer cause the computer to execute the path planning method for a vehicle according to any one of Examples 1 to 20.

[0153] Example 23. A computer program product, the computer program product comprising instructions which, when executed by a processor, implement the path planning method for a vehicle according to any one of Examples 1 to 20.

[0154] Example 24. A vehicle path planning system, comprising:

[0155] a user interface configured to receive target pose information of a vehicle and send the target pose information to a processing device, the target pose information including a target position and a target attitude of the vehicle, wherein the vehicle is configured to collect starting pose information of the vehicle via sensors of the vehicle and send the starting pose information to the processing device, the starting pose information including a starting position and a starting attitude of the vehicle;

[0156] the processing device, the processing device being configured to:

[0157] acquire the starting pose information and the target pose information of the vehicle,

[0158] acquire trajectory information of a road that the vehicle can pass through, the trajectory information including path points along the road, path points at intersections of the road, and path points at ends of the road constituting path segmentation points, path points between adjacent path segmentation points constituting path segments, and each path segmentation point being configured with a path search tree, the path search tree including path segments from the path segmentation point to each adjacent path segmentation point of the path segmentation point;

[0159] respectively determine a starting path segmentation point and a target path segmentation point based on the starting pose information, the target pose information of the vehicle, and the trajectory information,

[0160] take the starting path segmentation point as the current path segmentation point,

[0161] In the case where the current path segmentation point is the target path segmentation point, include all path segments from the starting path segmentation point through each selected path segmentation point in sequence to the target path segmentation point in the planned path of the vehicle from the starting position to the target position, or

[0162] In the case where the current path segmentation point is not the target path segmentation point, select a path segmentation point from the adjacent path segmentation points of the current path segmentation point according to the path search tree of the current path segmentation point, and update the selected path segmentation point as the current path segmentation point,

[0163] Send the planned path to the scheduling device; and

[0164] The scheduling device is configured to obtain the planned path and cause the vehicle to reach the target position from the starting position along the planned path in the target pose in the starting pose.

[0165] The above are only embodiments of one or more embodiments of the present disclosure and are not used to limit one or more embodiments of the present disclosure. For those skilled in the art, one or more embodiments of the present disclosure can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the scope of the claims.

Claims

1. A path planning method for a vehicle, comprising: Acquire starting position information and target position information of the vehicle, wherein the starting position information includes a starting position and a starting attitude of the vehicle, and the target position information includes a target position and a target attitude of the vehicle; Acquire trajectory information of a road through which the vehicle can pass, the trajectory information including path points along the road, path points at intersections of the road and path points at the ends of the road constitute path division points, path points between adjacent path division points constitute path segments, each path division point is configured with a path search tree, the path search tree includes path segments from the path division point to each adjacent path division point of the path division point; Based on the starting position information and the target position information of the vehicle and the trajectory information, respectively determine a starting path segmentation point and a target path segmentation point; Taking the starting path segmentation point as the current path segmentation point; In the case where the current path segmentation point is the target path segmentation point, all path segments from the starting path segmentation point through each selected path segmentation point to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position, or In the case that the current path division point is not the target path division point, a path division point among the adjacent path division points of the current path division point is selected according to the path search tree of the current path division point, and the selected path division point is updated as the current path division point.

2. The method according to claim 1, comprising: In the case where the updated current path segmentation point is the target path segmentation point, all path segments from the starting path segmentation point through the selected path segmentation points to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position; or In the case that the updated current path division point is not the target path division point, a path division point among the adjacent path division points of the current path division point is selected according to the path search tree of the current path division point, and the selected path division point is updated as the current path division point.

3. The method according to claim 1 or 2, wherein: Selecting a path division point from the path division points adjacent to the current path division point according to the path search tree of the current path division point includes selecting a path division point with the smallest cost from the path division points adjacent to the current path division point, wherein the costs of the path division points adjacent to the current path division point include: A first cost from the current path splitting point to the adjacent path splitting point; and A second cost from the adjacent path splitting point to the target path splitting point.

4. The method according to claim 1 or 2, wherein: Selecting a path division point from the path division points adjacent to the current path division point according to the path search tree of the current path division point includes at least one of the following: When the number of path segments in the path search tree of the current path segmentation point is greater than 1, selecting a path segmentation point with the smallest cost among the adjacent path segmentation points of the current path segmentation point; When the number of path segments in the path search tree of the current path division point is not greater than 1, a path division point adjacent to the current path division point is selected.

5. The method according to claim 3, wherein: The first cost is obtained through actual measurement, and the second cost is obtained through estimation and calculation.

6. The method according to claim 5, wherein: The first consideration includes at least one of the following: the time taken by the vehicle to pass through the path segment from the current path split point to the adjacent path split point, or The time taken by the vehicle to turn or make a U-turn at the current path division point toward the adjacent path division point; The second cost includes a time determined based on a distance from the adjacent path division point to the target path division point and a speed of the vehicle.

7. The method according to claim 1, wherein: Determining the target path segmentation point includes one of the following: In the case where the target position is on a path division point, determining the path division point where the target position is located as the target path division point; or In the case where the target position is not on a path division point but on a path point, a path division point with the smallest cost among the adjacent path division points of the path point where the target position is located is determined as the target path division point; or When the target position is neither on a path division point nor on a path point, the path point closest to the target position is determined, and the path division point with the smallest cost among the adjacent path division points of the nearest path point is determined as the target path division point.

8. The method according to claim 7, wherein: The cost of the adjacent path division point of the path point includes a third cost from the path point to the adjacent path division point, and the third cost is obtained through actual measurement.

9. The method according to claim 8, wherein: The third cost includes at least one of the following: The time taken by the vehicle to travel from the path point to the adjacent path segment along the path segment where the path point is located; The time taken by the vehicle at the path point to turn or make a U-turn toward the adjacent path splitting point.

10. The method according to claim 7, comprising: When the target position is not on a path division point, all path points from the path point where the target position is located or the path point closest to the target position to the target path division point on the path segment are included in the planned path of the vehicle.

11. The method according to claim 1, wherein: Determining the starting path segmentation point includes one of the following: In the case where the starting position is on a path division point, determining the path division point where the starting position is located as the starting path division point; or In the case where the starting position is not on a path division point but on a path point, a path division point with the smallest cost among the path division points adjacent to the path point where the starting position is located is determined as the starting path division point; or When the starting position is neither on a path division point nor on a path point, the path point closest to the starting position is determined, and the path division point with the smallest cost among the adjacent path division points of the nearest path point is determined as the starting path division point.

12. The method according to claim 11, wherein: The cost of the adjacent path split points of this path point includes: A fourth cost from the path point to the adjacent path splitting point, wherein the fourth cost is obtained through actual measurement; and A fifth cost from the adjacent path segmentation point to the target path segmentation point, wherein the fifth cost is obtained by estimating and calculating.

13. The method according to claim 12, wherein: The fourth cost includes at least one of the following: the time taken by the vehicle to travel from the path point to the adjacent path segment along the path segment where the path point is located, or The time taken by the vehicle to turn or make a U-turn at the path point toward the adjacent path splitting point; The fifth cost includes a time determined based on a distance from the adjacent path division point to the target path division point and a speed of the vehicle.

14. The method according to claim 11, comprising: When the starting position is not on a path splitting point, all path points from the path point where the starting position is located or the path point closest to the starting position to the starting path splitting point are included in the planned path of the vehicle.

15. The method according to claim 1, wherein: Acquiring the starting position information of the vehicle includes: Acquire sensor data of the vehicle, and determine the starting position information of the vehicle based on the sensor data.

16. The method according to claim 1, wherein: A waypoint has position information and attitude information.

17. The method according to claim 1, wherein: The trajectory information is obtained through actual vehicle testing.

18. The method according to claim 1, wherein: The path segments are directional.

19. The method according to claim 1, wherein: The road is a road in an enclosed area.

20. The method according to claim 1, comprising: After determining the planned path, the vehicle is moved from the starting position along the planned path in the starting posture to the target position in the target posture.

21. An electronic device, comprising: processor; as well as A memory storing computer executable instructions, which, when executed by the processor, cause the processor to perform a path planning method for a vehicle according to any one of claims 1 to 20.

22. A non-transitory storage medium having computer executable instructions stored thereon, wherein when the computer executable instructions are executed by a computer, the computer is enabled to perform the path planning method for a vehicle according to any one of claims 1 to 20.

23. A computer program product, comprising instructions, which when executed by a processor implement the path planning method for a vehicle according to any one of claims 1 to 20.

24. A vehicle path planning system, comprising: A user interface is configured to receive target posture information of a vehicle and send the target posture information to a processing device, wherein the target posture information includes a target position and a target posture of the vehicle, wherein the vehicle is configured to collect starting posture information of the vehicle via a sensor of the vehicle and send the starting posture information to the processing device, wherein the starting posture information includes a starting position and a starting posture of the vehicle; The processing device is configured to: Acquire the starting position information and the target position information of the vehicle, Acquire trajectory information of a road through which the vehicle can pass, the trajectory information including path points along the road, path points at the intersection of the road and path points at the end of the road constitute path division points, path points between adjacent path division points constitute path segments, each path division point is configured with a path search tree, the path search tree includes path segments from the path division point to each adjacent path division point of the path division point, Based on the starting position information and the target position information of the vehicle and the trajectory information, a starting path segmentation point and a target path segmentation point are determined respectively, The starting path segmentation point is used as the current path segmentation point. In the case where the current path segmentation point is the target path segmentation point, all path segments from the starting path segmentation point through each selected path segmentation point to the target path segmentation point are included in the planned path of the vehicle from the starting position to the target position, or In the case where the current path division point is not the target path division point, a path division point among the path division points adjacent to the current path division point is selected according to the path search tree of the current path division point, and the selected path division point is updated as the current path division point, Sending the planned path to a scheduling device; and The scheduling device is configured to obtain the planned path and enable the vehicle to reach the target position in the target posture along the planned path from the starting position in the starting posture.

Images