Path planning methods and related devices for vehicles

Abstract

This disclosure relates to a path planning method and related apparatus for vehicles. A path planning method for vehicles includes: acquiring initial pose information and target pose information of the vehicle; acquiring trajectory information of roads the vehicle can traverse; determining an initial path segmentation point and a target path segmentation point based on the initial pose information, target pose information, and trajectory information; using the initial path segmentation point as the current path segmentation point; if the current path segmentation point is the target path segmentation point, including all path segments from the initial path segmentation point through each selected path segmentation point to the target path segmentation point in the planned path; or if the current path segmentation point is not the target path segmentation point, 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, and updating the selected path segmentation point as the current path segmentation point.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a path planning method for vehicles, a vehicle path planning system, electronic devices, non-transient storage media, and computer program products. Background Technology

[0002] Autonomous driving technology, as a cutting-edge field intersecting with multiple disciplines such as artificial intelligence, the Internet of Things, and traffic engineering, has made significant progress in recent years. As a key component of autonomous driving technology, path planning is responsible for generating safe and efficient driving paths from the starting point to the destination in complex and dynamic environments. Path planning needs to comprehensively consider the vehicle's motion characteristics, traffic rules, environmental constraints, and obstacle interference to ensure driving safety and comfort. The performance of path planning algorithms directly determines the level of intelligence and application scope of autonomous driving systems. Summary of the Invention

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

[0004] According to a first aspect of this disclosure, a path planning method for a vehicle is provided, comprising: acquiring initial pose information and target pose information of the vehicle, wherein the initial pose information includes the vehicle's initial position and initial orientation, and the target pose information includes the vehicle's target position and target orientation; acquiring trajectory information of roads that the vehicle can traverse, wherein the trajectory information includes path points along the road, path points located at road intersections and path points located at the end of the road constituting path split points, path points between adjacent path split points constituting path segments, each path split point being configured with a path search tree, the path search tree including path segments from the path split point to each of its adjacent path split points; and a base... Based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and target path segmentation point are determined respectively. The initial path segmentation point is used as the current path segmentation point. If the current path segmentation point is the target path segmentation point, all path segments from the initial path segmentation point through each selected path segmentation point to the target path segmentation point are included in the vehicle's planned path from the starting position to the target position. Alternatively, if 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.

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

[0006] According to a third aspect of this disclosure, a non-transient storage medium having computer-executable instructions stored thereon is provided, which, when executed by a computer, cause the computer to perform the path planning method for a vehicle according to a first aspect of this disclosure.

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

[0008] According to a fifth aspect of this disclosure, a vehicle path planning system is provided, comprising: 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 orientation of the vehicle, wherein the vehicle is configured to collect initial pose information of the vehicle via vehicle sensors and send the initial pose information to the processing device, the initial pose information including an initial position and an initial orientation of the vehicle; and a processing device configured to: acquire the initial pose information and target pose information of the vehicle, acquire trajectory information of roads that the vehicle can traverse, the trajectory information including path points along the road, path points located at road intersections and path points located at the end of the road constituting path split points, path points between adjacent path split points constituting path segments, each path split point being configured with a path search tree, the path search tree including each path from the path split point to the path split point. The path segmentation of adjacent path segmentation points is based on the vehicle's initial pose information, target pose information, and trajectory information. The initial path segmentation point and the target path segmentation point are determined respectively. The initial path segmentation point is used as the current path segmentation point. If the current path segmentation point is the target path segmentation point, all path segments from the initial path segmentation point through the selected path segmentation points to the target path segmentation point are included in the vehicle's planned path from the starting position to the target position. Alternatively, if 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. The planned path is then sent to the scheduling device. The scheduling device is configured to acquire the planned path and enable the vehicle to reach the target position from the starting position along the planned path with the target pose in the initial pose. Attached Figure Description

[0009] The foregoing and other features and advantages of this disclosure will become clear from the following description of embodiments illustrated in conjunction with the accompanying drawings. The drawings, incorporated herein and forming a part of the specification, are further used to explain the principles of this disclosure and to enable those skilled in the art to make and use it. Wherein:

[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 Exemplary road diagrams according to some embodiments of this disclosure are shown;

[0012] Figure 3 A flowchart illustrating a non-limiting implementation 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 routing 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 may be implemented is shown.

[0016] Note that in the embodiments described below, the same reference numerals are sometimes used across different figures to denote the same parts or parts with the same function, and repeated descriptions are omitted. In some cases, similar reference numerals and letters are used to denote similar items, so once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0017] For ease of understanding, the positions, dimensions, and extents of the structures shown in the accompanying drawings and other materials may not represent actual positions, dimensions, and extents. Therefore, this disclosure is not limited to the positions, dimensions, and extents disclosed in the accompanying drawings and other materials. Detailed Implementation

[0018] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and 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 intended to limit the scope of this disclosure or its application or use. That is, the structures and methods herein are shown in an exemplary manner to illustrate different embodiments of the structures and methods in this disclosure. However, those skilled in the art will understand that they merely illustrate exemplary ways that can be used to implement this disclosure, and not exhaustive ways. Furthermore, the drawings are not necessarily drawn to scale, and some features may be enlarged to show details of specific components.

[0020] In addition, techniques, methods and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods and equipment should be considered part of the specification.

[0021] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0022] In related technologies, path planning algorithms commonly used in autonomous driving, such as Hybrid ASTAR, suffer from problems such as long planning times, poor real-time performance, and poor usability of the planned paths. For example, in scenarios with long distances, using a short extension length can lead to excessively long planning times. Alternatively, the planned path may too closely follow obstacles or boundaries, resulting in low vehicle throughput and poor usability. Furthermore, using the same cost parameters for different scenarios can render the generated planned path unsuitable for the current situation, further reducing its practicality.

[0023] To address this, this disclosure provides a path planning method for vehicles. This method uses the vehicle's initial and target pose information, combined with a specially constructed path search tree, to search for applicable path segments to determine the planned path from the starting position to the target position. Therefore, when searching for path segments, only relevant path segmentation points need to be searched, reducing the number of nodes to be searched, thereby improving the efficiency of path planning and reducing computational requirements. Furthermore, the path search tree is constructed based on the trajectory information of roads the vehicle can traverse, thus the planned path generated using the path search tree has better practicality. This disclosure is advantageous when applied to path planning in enclosed spaces, but it is not limited thereto and can also be applied to path planning in semi-enclosed or open spaces.

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

[0025] Furthermore, terms such as “first,” “second,” and similar terms may be used in this document for reference purposes only, and are therefore not intended to be restrictive. For example, unless the context clearly indicates otherwise, the words “first,” “second,” and other such numerical terms relating to structures or elements do not imply order or sequence.

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

[0027] In step S102, the vehicle's initial pose information and target pose information are acquired. Here, the initial pose information includes the vehicle's initial position and initial orientation, and the target pose information includes the vehicle's target position and target orientation.

[0028] In some embodiments, the vehicle's initial pose information can be determined by acquiring sensor data from the vehicle. In some examples, sensors mounted on the vehicle (such as an inertial measurement unit (IMU), a global positioning system (GPS) unit, etc.) can measure the vehicle's current coordinates and current heading angle on a global map, thereby allowing the vehicle's initial position and initial attitude to be determined based on this data.

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

[0030] In step S104, trajectory information of the roads that the vehicle can travel on is obtained. Here, the trajectory information includes waypoints along the roads. Among these waypoints, waypoints located at road intersections and waypoints located at the ends of roads constitute path split points. Waypoints between adjacent path split points constitute path segments. Each path split point is configured with a path search tree, which includes path segments from that path split point to each of its adjacent path split points.

[0031] The construction of a path search tree can take into account the driving trajectory of drivers in actual production activities, so the planned path determined based on the path search tree can draw on the driver's daily driving experience and has higher practicality.

[0032] In some embodiments, the roads are roads within enclosed spaces. Because there are fewer roads in enclosed spaces, the number of path search trees that need to be constructed is also smaller, and the size of each path search tree is not too large, thus making the search efficiency of path segmentation higher.

[0033] In some embodiments, trajectory information can be obtained through real-vehicle testing. Therefore, the waypoints, path splitting points, and path segments in this disclosure all correspond to roads in actual locations, and the directionality of the path segments can depend on the traversable direction of the corresponding road segments (e.g., one-way traffic, two-way traffic). Thus, the path search tree constructed based on the road trajectory information conforms to the actual scenario, ensuring that the planned path determined based on the path search tree can be applied to the actual driving of the vehicle, improving the practicality of method 100.

[0034] In some embodiments, each waypoint has location and attitude information. For example, a waypoint may have its coordinates and heading angle data in a global map.

[0035] For purposes of non-restrictive description, Figure 2 An exemplary road diagram is shown. Figure 2 As shown, path points A through E are all located at road intersections, and path point F is located at the end of a road. Therefore, path points A through F also constitute path splitting points. In the following text, "xy" will be used to denote the path segment from path splitting point x to path splitting point y.

[0036] In some embodiments, path segments may not have directionality. In this case, the adjacent path segments of path segment A include path segments C and B, and the path search tree of path segment A includes path segments AC and AB; the adjacent path segments of path segment B include path segments A, C, D, E, and F, and the path search tree of path segment B includes path segments BA, BC, BD, BE, and BF; the adjacent path segments of path segment C include path segments A, B, and D, and the path search tree of path segment C includes path segments CA, CB, and CD; the adjacent path segments of path segment D include path segments C, B, and E, and the path search tree of path segment D includes path segments DC, DB, and DE; the adjacent path segments of path segment E include path segments D and B, and the path search tree of path segment E includes path segments ED and EB; the adjacent path segments of path segment F include path segment B, and the path search tree of path segment F includes path segment FB.

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

[0038] For example, suppose the road segment corresponding to path segment AB is a one-way street from A to B, and the road segments corresponding to the other path segments are two-way streets. In this case, the adjacent path segment points of path segment point A include path segment points C and B, and the path search tree of path segment point A includes path segments AC and AB; while the adjacent path segment points of path segment point B include path segment points C, D, E, and F (i.e., no longer including path segment point A), and the path search tree of path segment point B includes BC, BD, BE, and BF (i.e., no longer including path segment BA).

[0039] In step S106, based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and the target path segmentation point are determined respectively.

[0040] In some embodiments, determining the target path split point includes: if the target location is on a path split point, determining the path split point where the target location is located as the target path split point; or if the target location is not on a path split point but is on a path point, determining the path split point with the lowest cost among the adjacent path split points of the path point where the target location is located as the target path split point; or if the target location is neither on a path split point nor on a path point, determining the path point closest to the target location, and determining the path split point with the lowest cost among the adjacent path split points of the nearest path point as the target path split point.

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

[0042] In some examples, the third cost may include at least one of the following: the time taken by the vehicle to travel along the path segment containing the waypoint from the waypoint to the adjacent path split point; the time taken by the vehicle to turn or make a U-turn at the waypoint toward the adjacent path split point. For example, the time taken by the vehicle to travel along the path segment containing the waypoint from the waypoint to the adjacent path split point may be obtained through actual measurement, or it may be determined based on the actual measured time taken by the vehicle to travel through the entire path segment containing the waypoint and the ratio of the distance from the waypoint to the adjacent path split point to the length of the path segment. That is, the time taken by the vehicle to travel along the path segment containing the waypoint from the waypoint to the adjacent path split point may be the product of the time taken to travel through the entire path segment and the ratio.

[0043] Because path planning algorithms in related technologies typically use distance to evaluate cost maps, meaning they use distance as a cost to evaluate planned paths and select the path with the shortest overall distance as the target planned path. However, the shortest path does not necessarily mean the shortest travel time for the vehicle, as it fails to consider various information in the actual road scenario, such as road directionality, and the time consumed by the vehicle during turns, U-turns, accelerations, and decelerations. Therefore, path planning algorithms in related technologies cannot guarantee that the generated path is the most efficient for the vehicle. This disclosure, by using the various types of time obtained through actual measurement as costs, enables the determination of planned paths based on actual scenario information, thereby ensuring that the vehicle can achieve the highest throughput efficiency according to the planned path in real-world scenarios, making it more suitable for scenarios requiring rapid vehicle response.

[0044] In some embodiments, when the target location is neither at a path split point nor a path point, the cost may also include the time spent traveling from the target location to the nearest path point.

[0045] In some embodiments, when the target location is neither a path split point nor a path point, a search algorithm such as breadth-first search can be used to determine the path point with the smallest Euclidean distance (e.g., the straight-line distance between two points) to the target location as the closest path point to the target location. For example, refer to... Figure 2 The black quadrilateral indicates the target location of the vehicle. The path point closest to the target location is the path split point F, which is also the target path split point.

[0046] In some embodiments, if the target location is not at a path split point, all path points from the path point where the target location is located or the path segment where the nearest path point to the target location is located will be included in the vehicle's planned path.

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

[0048] In some embodiments, the cost of the adjacent path split point of the path point includes: a fourth cost from the path point to the adjacent path split point, the fourth cost being obtained through actual measurement; and a fifth cost from the adjacent path split point to the target path split point, the fifth cost being obtained through estimation calculation.

[0049] In some examples, the fourth cost may include at least one of the following: the time taken for the vehicle to travel along a path segment from the waypoint to the adjacent path split point, or the time taken for the vehicle to turn or make a U-turn at the waypoint toward the adjacent path split point. The fourth cost may be calculated in a manner similar to that described above for the third cost.

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

[0051] In some embodiments, if the starting position is not at a path split point, all path points from the starting point to the starting path split point on the path segment containing the path point at the starting position or the path segment containing the path point closest to the starting position will be included in the vehicle's planned path. For example, refer to Figure 2 The black triangle indicates the vehicle's starting position. The target path split point is F, the path point closest to the starting position is G, and the adjacent path split points of path point G are C and D. After cost comparison, path split point C is selected as the starting path split point. Therefore, the path segment from path point G to path split point C is included in the planned path.

[0052] In step S108, the starting path split point is used as the current path split point.

[0053] In step S110, if the 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. Alternatively, in step S112, if 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 to the current path segmentation point.

[0054] For example, continue to refer to Figure 2 Assume the target path split point is F and the starting path split point is C. The current path split point C is not the target path split point F. We can select one of the adjacent path split points A, B, and D from the path search tree of the current path split point C and update it as the current path split point. In some examples, since path split point D has already been excluded when determining the starting path split point, when selecting an adjacent path split point of the current path split point C as the updated current path split point, to avoid vehicles turning back to path split point D at the current path split point C (which would incur additional costs), D can be removed from subsequent calculations, thus reducing computational load. Of course, even without actively removing D, D will not be selected due to the additional costs.

[0055] In some embodiments, method 100 may include: if the updated current path segment is the target path segment, including all path segments from the starting path segment to the target path segment in sequence through each selected path segment; or if the updated current path segment is not the target path segment, selecting a path segment from the adjacent path segment of the current path segment according to the path search tree of the current path segment, and updating the selected path segment as the current path segment. This process of iteratively searching and updating the current path segment can continue until the updated current path segment is the target path segment, at which point all path segments from the starting path segment to the target path segment in sequence through each selected path segment are included in the planned path from the starting position to the target position.

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

[0057] In some examples, the first cost includes at least one of the following: the time spent by the vehicle traversing a path segment from the current path split point to the adjacent path split point, or the time spent by the vehicle turning or making a U-turn at the current path split point toward the adjacent path split point; the second cost includes the time determined based on the distance from the adjacent path split point to the target path split point and the vehicle's speed. For example, the first cost can be calculated with reference to implementations similar to the aforementioned third and fourth costs, and the second cost can be calculated with reference to implementations similar to the aforementioned fifth cost.

[0058] In some embodiments, selecting a path splitter among the adjacent path splitters of the current path splitter based on the path search tree of the current path splitter includes at least one of the following: if the number of path segments in the path search tree of the current path splitter is greater than 1, selecting the path splitter with the lowest cost among the adjacent path splitters of the current path splitter; if the number of path segments in the path search tree of the current path splitter is not greater than 1, selecting an adjacent path splitter of the current path splitter. It can be understood that if the number of path segments in the path search tree of the current path splitter is not greater than 1, it means that the current path splitter has only one adjacent path splitter, therefore, it is not necessary to calculate the cost again and the adjacent path splitter can be directly selected, thereby reducing the computational load and improving planning efficiency.

[0059] For example, suppose the vehicle's starting position is a black triangle, the target position is a black quadrilateral, the nearest path point to the starting position is G, the nearest path point to the target position is F, the starting path split point is C, and the target path split point is F. The current path split point C is not the target path split point F. Based on the path search tree of the current path split point C, the path split point B with the lowest cost among the adjacent path split points A, B, and D can be selected and updated as the current path split point. The updated current path split point B is not the target path split point F. Based on the path search tree of the updated current path split point B, the path split point F among the adjacent path split points A, C, D, E, and F can be selected and updated as the current path split point. The updated current path split point F is the target path split point, and path segments CB and BF are included in the planned path. Furthermore, all path points from path point G to the starting path split point C can also be included in the planned path. Therefore, the planned path can include path segments CB and BF, as well as the portion of path segment DC between path point G and path split point C.

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

[0061] refer to Figure 3 The diagram illustrates a flowchart of a non-limiting implementation 200 of a path planning method for vehicles according to some embodiments of the present disclosure. Figure 3 As shown, the non-limiting implementation 200 includes steps S202 to S234.

[0062] In step S202, the vehicle's initial pose information and target pose information are acquired. In step S204, it is determined whether the target position is on a path split point. If the target position is on a path split point (S204 "Yes"), proceed to step S210. If the target position is not on a path split point (S204 "No"), in step S206, it is determined whether the target position is on a path point. If the target position is on a path point (S206 "Yes"), proceed to step S210. If the target position is not on a path point (S206 "No"), in step S208, the path point closest to the target position is determined, and then proceed to step S210. In step S210, the target path split point is determined. The specific determination method can be found in the aforementioned embodiment and will not be repeated here.

[0063] After determining the target path split point, in step S212, all path points from the path point where the target location is located or the path segment containing the path point closest to the target location to the target location are included in the vehicle's planned path. Next, in step S214, it is determined whether the starting position is at the path split point. If the starting position is at the path split point (S214 "Yes"), proceed to step S220; if the starting position is not at the path split point (S214 "No"), in step S216, it is determined whether the starting position is at a path point. If the starting position is at a path point (S216 "Yes"), proceed to step S220; if the starting position is not at a path point (S216 "No"), in step S218, the path point closest to the starting position is determined, and then proceed to step S220. The specific method for determining the starting path split point in step S220 can be found in the aforementioned embodiment and will not be repeated here. Next, in step S222, all path points from the path point at the starting position or the path segment at the path point closest to the starting position to the starting path segment are included in the vehicle's planned path.

[0064] Then, at step S224, the starting path segment point is used as the current path segment point. At step S226, it is determined whether the current path segment point is the target path segment point; if the current path segment point is not the target path segment point (S226 "No"), then at step S228, a path segment point among the adjacent path segment points of the current path segment point is selected according to the path search tree of the current path segment point, and at step S230, the selected path segment point is updated as the current path segment point; then, return to step S226; if the current path segment point (the updated current path segment point can also be used as the current path segment point) is the target path segment point (S226 "Yes"), then proceed to step S232; at step S232, all path segments from the starting path segment point through each selected path segment point to the target path segment 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, starting from the starting position, travel along the planned path to the target position in the target orientation.

[0066] The method 100 disclosed herein is advantageously applicable to scenarios requiring rapid vehicle response, and its planned path conforms to the actual situation, ensuring that the vehicle can reach the target pose from the starting pose with high efficiency.

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

[0068] refer to Figure 4 This illustrates a schematic block diagram of an electronic device 400 according to some embodiments of the present disclosure. Figure 4 As shown, electronic device 400 includes a processor 402 and a memory 404 storing computer-executable instructions that, when executed by processor 402, cause processor 402 to perform the method 100 according to any of the foregoing embodiments. Processor 402 may be, for example, a central processing unit (CPU) of electronic device 400. Processor 402 may be any type of general-purpose processor or may be a processor specifically designed for route planning in a vehicle, such as an application-specific integrated circuit (“ASIC”). Memory 404 may be coupled to processor 402 and may include various computer-readable media accessible by processor 402. In various embodiments, memory 404 described herein may include volatile and non-volatile media, removable and non-removable media. For example, memory 404 may include any combination of 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 perform the method 100 described in any of the foregoing embodiments, and therefore reference can be made to the description of the various embodiments of method 100 above, which will not be repeated here.

[0070] This disclosure also provides a non-transient storage medium having computer-executable instructions stored thereon, which, when executed by a computer, cause the computer to perform a path planning method for a vehicle according to any of the foregoing embodiments of this disclosure.

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

[0072] This disclosure also provides a vehicle routing system. (See reference...) Figure 5 The diagram illustrates a schematic block diagram of a vehicle routing system 500 (hereinafter referred to as "System 500") according to some embodiments of the present disclosure. It will be understood that the actual System 500 may include other components, but to avoid obscuring the essential points of this disclosure, these other components will not be discussed herein and are not shown in the accompanying drawings.

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

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

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

[0076] The processing unit 506 is configured to: acquire the initial pose information and target pose information of the vehicle 502; acquire trajectory information of the roads that the vehicle 502 can traverse, the trajectory information including path points along the road, path points located at road intersections and path points located at the end of the road constituting path segmentation points, path points between adjacent path segmentation points constituting path segments, 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 of its adjacent path segmentation points; and, based on the initial pose information, target pose information, and trajectory information of the vehicle 502, determine the initial path segmentation point and the target path segmentation point respectively. The system identifies the path segmentation point; sets the starting path segmentation point as the current path segmentation point; if the current path segmentation point is the target path segmentation point, it includes all path segments from the starting path segmentation point through the selected path segmentation points to the target path segmentation point in the planned path from the starting position to the target position of vehicle 502; or if the current path segmentation point is not the target path segmentation point, it selects 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 updates the selected path segmentation point as the current path segmentation point; and sends the planned path to the scheduling device 508.

[0077] In some embodiments, the processing device 506 may receive trajectory information via a user interface 504. In other embodiments, the processing device 506 may access its own or an external storage device that pre-stores trajectory information to obtain the trajectory information.

[0078] The dispatching device 508 is configured to acquire a planned path and cause the vehicle 502 to arrive at the target position from the starting position along the planned path in the target attitude.

[0079] The processing device 506 in system 500 can be configured to perform the method 100 described in any of the foregoing embodiments. Therefore, various embodiments of system 500 can be referred to the foregoing description of various embodiments of method 100, and will not be repeated here.

[0080] Figure 6A schematic block diagram of a computer system 600 on which embodiments of the present disclosure may be implemented is shown. The computer system 600 includes a bus 602 or other communication mechanism for transmitting information, and a processing means 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 means 604; the memory 606 may be 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 means 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 means 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. Computer system 600 may be coupled via bus 602 to 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)), speakers, etc. Input device 614, such as a keyboard, mouse, microphone, etc., is coupled to bus 602 for transmitting information and command selections to processing device 604. Computer system 600 may perform embodiments of this disclosure. Consistent with certain implementations of this disclosure, results are provided by computer system 600 in response to processing device 604 executing one or more sequences of one or more instructions contained in memory 606. Such instructions may be read into memory 606 from another computer-readable medium, such as storage device 610. Execution of the sequence of instructions contained in memory 606 causes processing device 604 to perform the methods described herein. Alternatively, the teachings may be implemented using hard-wired circuitry instead of or in combination with software instructions. Therefore, implementations of this disclosure are not limited to any particular combination of hardware circuitry and software. In various embodiments, computer system 600 can be connected across a network to one or more other computer systems, such as computer system 600, to form a networked system via network interface 616. This network may include a private network or a public network such as the Internet. In a networked system, one or more computer systems can store data and supply data to other computer systems. As used herein, the term "computer-readable medium" refers to any medium that participates in providing instructions to processing device 604 for execution. Such media can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks such as storage device 610. Volatile media include dynamic memory such as memory 606. Transmission media include coaxial cables, copper wires, and optical fibers, including wiring that includes 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 media, CD-ROMs, digital video discs (DVDs), Blu-ray discs, any other optical media, thumb drives, memory cards, RAM, PROMs and EPROMs, fast EPROMs, any other memory chips or cartridges, or any other tangible media from which a computer can read. Various forms of computer-readable media may be involved when carrying one or more sequences of one or more instructions to processing device 604 for execution. For example, instructions may initially be carried on a disk of a remote computer. The remote computer may load the instructions into its dynamic memory and transmit the instructions over a telephone line using a modem. A modem local to computer system 600 may receive data over a telephone line and convert the data into an infrared signal using an infrared transmitter. An infrared detector coupled to bus 602 may receive the data carried in the infrared signal and place the data on bus 602. Bus 602 carries the data to memory 606, from which processing device 604 retrieves and executes the instructions. Optionally, instructions received by memory 606 may be stored on storage device 610 before or after execution by processing device 604.

[0081] According to 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 for storing digital information. For example, a computer-readable medium includes a compact disc read-only memory (CD-ROM) as known in the art for storing software. The computer-readable medium is accessed by a processor adapted to execute the instructions configured to be executed.

[0082] The foregoing has described one or more exemplary embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0083] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. A typical implementation device is a server system. Of course, this disclosure does not exclude the possibility that, with the future development of computer technology, the computer implementing the functions of the above embodiments can be, for example, a personal computer, a laptop computer, an in-vehicle human-machine interaction device, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0084] While one or more embodiments of this disclosure provide the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or terminal product execution, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment).

[0085] The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitation, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first" or "second" to denote names does not indicate any particular order.

[0086] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, when implementing one or more embodiments of this disclosure, the functions of each module can be implemented in one or more software and / or hardware, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0087] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more blocks of a block diagram.

[0089] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of a block diagram.

[0090] Those skilled in the art will understand that one or more embodiments of this disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of this disclosure may 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.

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

[0092] The same or similar parts between the various embodiments of this disclosure can be referred to mutually, and each embodiment focuses on describing 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 relevant parts can be referred to the description of the method embodiments. In the description of this disclosure, the descriptions of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., mean that the specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of this disclosure. In this disclosure, the illustrative 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. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this disclosure and the features of the different embodiments or examples.

[0093] Additionally, when used in this disclosure, the terms “here,” “above,” “below,” “below,” “in the following,” “overall,” and similar terms should refer to the entirety of this disclosure and not any particular part thereof. Furthermore, unless expressly stated otherwise or otherwise understood in the context in which they are used, conditional language used herein, such as “may,” “possibly,” “for example,” “like,” etc., is generally intended to express that certain embodiments include, while other embodiments do not, certain features, elements, and / or states. Therefore, such conditional language is not generally intended to imply that one or more embodiments require features, elements, and / or states in any way, or whether such features, elements, and / or states are included or performed in any particular embodiment.

[0094] In addition, embodiments of this disclosure may also include the following examples:

[0095] Example 1. A route planning method for vehicles, comprising:

[0096] The vehicle's initial pose information and target pose information are obtained. The initial pose information includes the vehicle's initial position and initial orientation, and the target pose information includes the vehicle's target position and target orientation.

[0097] The trajectory information of the road that the vehicle can pass through is obtained. The trajectory information includes path points along the road. Path points at the intersection of the road and path points at the end of the road constitute path split points. Path points between adjacent path split points constitute path segments. Each path split point is configured with a path search tree. The path search tree includes path segments from the path split point to each of its adjacent path split points.

[0098] Based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and target path segmentation point are determined respectively.

[0099] Use the starting path split point as the current path split point;

[0100] If the 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

[0101] If the current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated to the current path split point.

[0102] Example 2. The method described in Example 1 includes:

[0103] If the updated current path segment is the target path segment, all path segments from the starting path segment to the target path segment are included in the vehicle's planned path from the starting position to the target position, sequentially passing through each selected path segment.

[0104] If the updated current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated as the current path split point.

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

[0106] The first cost from the current path split point to the adjacent path split point; and

[0107] The second cost from the adjacent path split point to the target path split point.

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

[0109] If the number of path segments in the path search tree of the current path split point is greater than 1, select the path split point with the lowest cost among the adjacent path split points of the current path split point.

[0110] If the number of path segments in the path search tree of the current path split point is not greater than 1, select the adjacent path split point of the current path split point.

[0111] Example 5. The method according to any one of Examples 1 to 4, wherein the first cost is obtained by actual measurement and the second cost is obtained by estimation 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 spent by the vehicle through the path segments from the current path split point to the adjacent path split point, or

[0115] The time spent by the vehicle turning or making a U-turn toward the adjacent path split point at the current path split point;

[0116] The second cost includes a time determined based on the distance from the adjacent path split point to the target path split point and the vehicle's speed.

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

[0118] If the target location is at a path split point, the path split point where the target location is located is determined as the target path split point; or

[0119] If the target location is not at a path split point but is at a path point, the path split point with the lowest cost among the adjacent path split points of the path point where the target location is located is determined as the target path split point; or

[0120] If the target location is neither a path split point nor a path point, determine the path point closest to the target location, and determine the path split point with the lowest cost among the adjacent path split points of the closest path point as the target path split point.

[0121] Example 8. The method according to any one of Examples 1 to 7, wherein the cost of the adjacent path split point of the path point includes a third cost from the path point to the adjacent path split point, the third cost being obtained by 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 it takes for the vehicle to travel from the path point to the adjacent path split point along the path where the path point is located;

[0124] The time spent by the vehicle turning or making a U-turn at the waypoint toward the adjacent waypoint.

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

[0126] If the target location is not at a path split point, all path points from the path point where the target location is located or the path segment containing the path point closest to the target location to the target path split point will be included 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 split point includes one of the following:

[0128] If the starting position is at a path split point, the path split point where the starting position is located is determined as the starting path split point; or

[0129] If the starting position is not at a path split point but is at a path point, the path split point with the lowest cost among the adjacent path split points of the path point where the starting position is located is determined as the starting path split point; or

[0130] If the starting position is neither a path split point nor a path point, determine the path point closest to the starting position, and determine the path split point with the lowest cost among the adjacent path split points of the closest path point as the starting path split point.

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

[0132] The fourth cost from the path point to the adjacent path split point, the fourth cost being obtained through actual measurement; and

[0133] The fifth cost from the adjacent path split point to the target path split point is calculated through estimation.

[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 by the vehicle to travel from the waypoint to the adjacent path split point along the path where the waypoint is located, or

[0137] The time spent by the vehicle turning or making a U-turn toward the adjacent path split point at the waypoint.

[0138] The fifth cost includes a time determined based on the distance from the adjacent path split point to the target path split point and the vehicle's speed.

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

[0140] If the starting position is not at a path split point, all path points from the starting point to the starting path split point on the path segment where the starting position is located or the path segment where the nearest path point to the starting position is located will be 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 initial pose information of the vehicle includes:

[0142] The sensor data of the vehicle is acquired, and the initial pose information of the vehicle is determined based on the sensor data.

[0143] Example 16. The method according to any one of Examples 1 to 15, wherein the waypoints have position information and orientation information.

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

[0145] Example 18. The method according to any one of Examples 1 to 17, wherein the path segments are directional.

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

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

[0148] After determining the planned path, the vehicle is made to move from the starting position along the planned path in the target posture to the target position in the starting posture.

[0149] Example 21. An electronic device comprising:

[0150] Processor; and

[0151] 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 Examples 1 to 20.

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

[0153] Example 23. A computer program product comprising instructions that, 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 routing system, comprising:

[0155] The user interface is configured to receive target pose information of the vehicle and send the target pose information to the processing device. The target pose information includes the target position and target orientation of the vehicle. The vehicle is configured to collect the initial pose information of the vehicle via the vehicle's sensors and send the initial pose information to the processing device. The initial pose information includes the initial position and initial orientation of the vehicle.

[0156] The processing apparatus is configured to:

[0157] Obtain the initial pose information and the target pose information of the vehicle.

[0158] The system acquires trajectory information of roads that the vehicle can travel on. This trajectory information includes path points along the roads, path points at road intersections, and path points at the ends of the roads, which constitute path split points. Path points between adjacent path split points constitute path segments. Each path split point is configured with a path search tree, which includes path segments from that path split point to each of its adjacent path split points.

[0159] Based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and target path segmentation point are determined respectively.

[0160] Use the starting path split point as the current path split point.

[0161] If the 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

[0162] If the current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated as the current path split point.

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

[0164] The scheduling device is configured to acquire the planned path and cause the vehicle to arrive at the target location from the starting position along the planned path in the target posture at the starting posture.

[0165] The above description is merely an embodiment of one or more embodiments of this disclosure and is not intended to limit the scope of the one or more embodiments of this disclosure. Various modifications and variations can be made to the one or more embodiments of this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims.

Claims

1. A path planning method for vehicles, comprising: The vehicle's initial pose information and target pose information are obtained. The initial pose information includes the vehicle's initial position and initial orientation, and the target pose information includes the vehicle's target position and target orientation. The trajectory information of the roads that the vehicle can pass through is obtained. The trajectory information includes path points along the road, path points at the intersection of the road and path points at the end of the road constitute path split points, path points between adjacent path split points constitute path segments, and each path split point is configured with a path search tree. The path search tree includes path segments from the path split point to each of the adjacent path split points. The trajectory information is obtained through real vehicle testing. Based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and target path segmentation point are determined respectively. Use the starting path split point as the current path split point; If the 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 If the current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated to the current path split point.

2. The method according to claim 1, comprising: If the updated current path segment is the target path segment, all path segments from the starting path segment to the target path segment are included in the vehicle's planned path from the starting position to the target position, sequentially passing through each selected path segment. If the updated current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated as the current path split point.

3. The method according to claim 1 or 2, wherein, Selecting a path split point from the adjacent path split points of the current path split point based on the path search tree of the current path split point includes selecting the path split point with the lowest cost among the adjacent path split points of the current path split point. The cost of the adjacent path split points of the current path split point includes: The first cost from the current path split point to the adjacent path split point; and The second cost from the adjacent path split point to the target path split point.

4. The method according to claim 1 or 2, wherein, Based on the path search tree of the current path split point, the path split point among the adjacent path split points of the current path split point includes at least one of the following: If the number of path segments in the path search tree of the current path split point is greater than 1, select the path split point with the lowest cost among the adjacent path split points of the current path split point. If the number of path segments in the path search tree of the current path split point is not greater than 1, select the adjacent path split point of the current path split point.

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

6. The method according to claim 5, wherein, The first cost includes at least one of the following: The time spent by the vehicle through the path segments from the current path split point to the adjacent path split point, or The time spent by the vehicle turning or making a U-turn toward the adjacent path split point at the current path split point; The second cost includes a time determined based on the distance from the adjacent path split point to the target path split point and the vehicle's speed.

7. The method according to claim 1, wherein, The target path split point is determined by one of the following: If the target location is at a path split point, the path split point where the target location is located is determined as the target path split point; or If the target location is not on a path split point but is on a path point, the path split point with the lowest cost among the adjacent path split points of the path point where the target location is located is determined as the target path split point. or If the target location is neither a path split point nor a path point, determine the path point closest to the target location, and determine the path split point with the lowest cost among the adjacent path split points of the nearest path point as the target path split point.

8. The method according to claim 7, wherein, The cost of the path point's adjacent path split point includes a third cost from the path point to the adjacent path split point, which 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 it takes for the vehicle to travel from the path point to the adjacent path split point along the path where the path point is located; The time spent by the vehicle turning or making a U-turn at the waypoint toward the adjacent waypoint.

10. The method of claim 7, comprising: If the target location is not at a path split point, all path points from the path point where the target location is located or the path segment containing the path point closest to the target location to the target path split point will be included in the planned path of the vehicle.

11. The method according to claim 1, wherein, The starting path split point is determined by one of the following: If the starting position is at a path split point, the path split point where the starting position is located is determined as the starting path split point; or If the starting position is not on a path split point but is on a path point, the path split point with the lowest cost among the adjacent path split points of the path point where the starting position is located is determined as the starting path split point. or If the starting position is neither a path split point nor a path point, determine the path point closest to the starting position, and determine the path split point with the lowest cost among the adjacent path split points of the closest path point as the starting path split point.

12. The method according to claim 11, wherein, The cost of the adjacent path split points of this path point includes: The fourth cost from the path point to the adjacent path split point, the fourth cost being obtained through actual measurement; and The fifth cost from the adjacent path split point to the target path split point is calculated through estimation.

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 waypoint to the adjacent path split point along the path where the waypoint is located, or The time spent by the vehicle turning or making a U-turn toward the adjacent path split point at the waypoint. The fifth cost includes a time determined based on the distance from the adjacent path split point to the target path split point and the vehicle's speed.

14. The method of claim 11, comprising: If the starting position is not at a path split point, all path points from the starting point to the starting path split point on the path segment where the starting position is located or the path segment where the nearest path point to the starting position is located will be included in the planned path of the vehicle.

15. The method according to claim 1, wherein, Obtaining the initial pose information of the vehicle includes: The sensor data of the vehicle is acquired, and the initial pose information of the vehicle is determined based on the sensor data.

16. The method according to claim 1, wherein, Waypoints have both location and orientation information.

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

18. The method according to claim 1, wherein, The road in question is a road within an enclosed space.

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

20. 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 19.

21. A non-transient storage medium having stored thereon computer-executable instructions, which, when executed by a computer, cause the computer to perform the path planning method for a vehicle according to any one of claims 1 to 19.

22. A computer program product comprising instructions that, when executed by a processor, implement the path planning method for a vehicle according to any one of claims 1 to 19.

23. A vehicle routing system, comprising: The user interface is configured to receive target pose information of the vehicle and send the target pose information to the processing device. The target pose information includes the target position and target orientation of the vehicle. The vehicle is configured to collect the initial pose information of the vehicle via the vehicle's sensors and send the initial pose information to the processing device. The initial pose information includes the initial position and initial orientation of the vehicle. The processing apparatus is configured to: Obtain the initial pose information and the target pose information of the vehicle. The trajectory information of the roads that the vehicle can travel on is obtained. This trajectory information includes path points along the roads, path points at road intersections, and path points at the ends of the roads, which constitute path split points. Path points between adjacent path split points constitute path segments. Each path split point is configured with a path search tree, which includes path segments from that path split point to each of its adjacent path split points. This trajectory information is obtained through real-vehicle testing. Based on the vehicle's initial pose information, target pose information, and trajectory information, the initial path segmentation point and target path segmentation point are determined respectively. Use the starting path split point as the current path split point. If the 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 If the current path split point is not the target path split point, a path split point is selected from the adjacent path split points of the current path split point according to the path search tree of the current path split point, and the selected path split point is updated as the current path split point. Send the planned path to the scheduling device; and The scheduling device is configured to acquire the planned path and cause the vehicle to arrive at the target location from the starting position along the planned path in the target posture at the starting posture.

Images