Vehicle path decision-making method and system, vehicle and equipment

Abstract

The invention discloses a path decision method and system for a vehicle, the vehicle and equipment. The vehicle path decision method comprises the following steps: obtaining vehicle parameters and road parameters; obtaining a lane minimum width required value and an obstacle boundary minimum width required value according to the vehicle parameters and the road parameters; according to the minimum width required value of the lane and the lane width, correcting the initial value of the lane boundary to obtain a corrected value of the lane boundary; the initial value of the obstacle boundary is corrected according to the minimum width required value of the obstacle boundary, the corrected value of the obstacle boundary is obtained, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary; and obtaining a driving path of the vehicle according to the correction value of the lane boundary and the correction value of the obstacle boundary. By the adoption of the method and device, on the premise that safety is guaranteed, the passing flexibility of the vehicle, especially a large truck, in a structured road can be improved, and the capacity of the vehicle for coping with complex road conditions is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to a path decision-making method, system, vehicle, and device for a vehicle. Background Art

[0002] For unmanned trajectory planning based on the Frenet coordinate system, a spatio-temporal decoupling method is adopted to reduce the planning complexity. In spatial planning, it is mainly divided into two parts: path decision-making and path optimization. The task of path decision-making is to find a drivable space in space. With the help of the Frenet coordinate system, this drivable space is a convex space and also the solution space of path optimization, thus converting the path optimization problem into a QP (quadratic programming) problem. The optimal solution space is based on the target lane reference line, and the width range of the drivable space on both sides, also known as the bound, is composed of a series of sampling points. The sampling points contain three attributes: the s value corresponding to the sampling point (the length along the reference line, from the starting point of the reference line), the left width and the right width of the drivable space at this sampling point. The left width is a positive value, and the right width is a negative value for distinction.

[0003] In the process of finding the optimal solution space, path decision-making needs to comprehensively consider the lane width, the vehicle's own state, and the distribution of static obstacles to find a passable area; timely determine whether it is passable ahead and timely truncate the non-passable area to avoid path optimization failure. The lane width is the target lane width output by the upstream lane change decision-making, which is the initial optimal solution space. The vehicle's own state includes the coordinates of the vehicle in the Frenet coordinate system and the length and width of the vehicle itself. Among them is the derivative of l with respect to time, and this value represents that the vehicle has a speed in the l direction and requires a certain amount of space to eliminate this speed. In addition, for safety, a certain margin can be added to the vehicle width. Static obstacles refer to static obstacles distributed around the target lane that affect the shape of the drivable space. Path decision-making needs to ensure that the searched optimal solution space does not contain static obstacles.

[0004] The existing technologies mainly target small-sized vehicles such as passenger cars, and the generated bound is used to constrain the vehicle body to drive within the lane. For large trucks, especially trucks with trailers, it is difficult to ensure that the entire vehicle body is within the lane when driving on roads with large curvatures. However, according to traffic regulations, to ensure the safety of the entire driving environment, large vehicles should be restricted to drive within the lane as much as possible. Therefore, on the premise of ensuring safety, how to improve the flexibility of large trucks on structured roads and enhance their ability to handle complex road conditions is an urgent problem to be solved. Summary of the Invention

[0005] Based on this, it is necessary to provide a path decision-making method, system, vehicle and device for a vehicle, which can improve the passing flexibility of the vehicle, especially large trucks, on structured roads and enhance the vehicle's ability to handle complex road conditions while ensuring safety.

[0006] In a first aspect, a path decision-making method for a vehicle is provided, including:

[0007] Obtain vehicle parameters and road parameters;

[0008] Obtain the minimum lane width requirement value and the minimum obstacle boundary width requirement value according to the vehicle parameters and road parameters;

[0009] Modify the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the modified value of the lane boundary, where the lane boundary is used to constrain the wheels;

[0010] Modify the initial value of the obstacle boundary according to the minimum obstacle boundary width requirement value to obtain the modified value of the obstacle boundary, where the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0011] Obtain the driving path of the vehicle according to the modified value of the lane boundary and the modified value of the obstacle boundary.

[0012] In some examples, the vehicle parameters include vehicle length, wheelbase and vehicle width, and the road parameters include road curvature. Obtaining the minimum lane width requirement value according to the vehicle parameters and road parameters includes:

[0013] Obtain the turning radius according to the road curvature;

[0014] Obtain the minimum lane width requirement value according to the vehicle length, wheelbase, vehicle width and the turning radius.

[0015] In some examples, the vehicle parameters further include the distance from the front of the vehicle to the center of the rear axle. Obtaining the minimum obstacle boundary width requirement value according to the vehicle parameters and road parameters includes:

[0016] Obtain the minimum obstacle boundary width requirement value according to the distance from the front of the vehicle to the center of the rear axle, the vehicle width and the turning radius.

[0017] In some examples, modifying the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the modified value of the lane boundary includes:

[0018] Judge whether the lane width is less than the minimum lane width requirement value;

[0019] If so, expand the initial value of the lane boundary according to the lane minimum width requirement value to obtain the corrected value of the lane boundary.

[0020] In some examples, the initial value of the lane boundary is determined as follows:

[0021] When the vehicle is traveling in the target lane, the initial value of the lane boundary is obtained according to the lane width of the target lane;

[0022] When the vehicle changes lanes to the target lane, the initial value of the lane boundary is obtained according to the distance between the side of the vehicle away from the target lane and the lane line of the target lane away from the vehicle.

[0023] In some examples, the initial value of the obstacle boundary is determined as follows:

[0024] Obtain the outward expansion width according to the difference between the vehicle body width and the left and right wheelbases;

[0025] When outward expansion is allowed, expand the initial value of the lane boundary according to the outward expansion width to obtain the initial value of the obstacle boundary.

[0026] In some examples, it further includes:

[0027] If the current lane is the outermost lane, it is determined that outward expansion is not allowed.

[0028] In a second aspect, a path decision-making system for a vehicle is provided, including:

[0029] An acquisition module, configured to obtain vehicle parameters and road parameters;

[0030] A minimum width calculation module, configured to obtain a lane minimum width requirement value and an obstacle boundary minimum width requirement value according to the vehicle parameters and road parameters;

[0031] A lane boundary correction module, configured to correct the initial value of the lane boundary according to the lane minimum width requirement value and the lane width to obtain a corrected value of the lane boundary, where the lane boundary is used to constrain the wheels;

[0032] An obstacle boundary correction module, configured to correct the initial value of the obstacle boundary according to the obstacle boundary minimum width requirement value to obtain a corrected value of the obstacle boundary, where the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0033] A path determination module, configured to obtain the driving path of the vehicle according to the corrected value of the lane boundary and the corrected value of the obstacle boundary.

[0034] In a third aspect, a vehicle is provided, including: the path decision-making system of the vehicle according to the second aspect described above.

[0035] In a fourth aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor, when executing the program, implements the steps of the vehicle path decision-making method according to the first aspect and any possible implementation manner of the first aspect.

[0036] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle path decision-making method according to the first aspect and any possible implementation manner of the first aspect are implemented.

[0037] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle path decision-making method according to the first aspect and any possible implementation manner of the first aspect are implemented.

[0038] By adopting the embodiments of the present application, the minimum lane width requirement value and the minimum obstacle boundary width requirement value are obtained according to vehicle parameters and road parameters. Then, according to the minimum lane width requirement value and the lane width, the initial value of the lane boundary is corrected to obtain the corrected value of the lane boundary. According to the minimum obstacle boundary width requirement value, the initial value of the obstacle boundary is corrected to obtain the corrected value of the obstacle boundary. Finally, according to the corrected value of the lane boundary and the corrected value of the obstacle boundary, the driving path of the vehicle is obtained. The drivable space is represented by two boundaries, namely the lane boundary and the obstacle boundary, which are used to restrict the driving space of the wheels and the vehicle body respectively. To a certain extent, the vehicle body is allowed to exceed the current lane, improving the ability of the truck to handle complex road conditions such as narrow roads and large-curvature sections. At the same time, the wheels are restricted within the lane, posing no threat to other traffic participants. For example, for large-curvature road conditions, according to the lane curvature, the drivable space of the truck is widened, allowing the truck to cross the lane line, improving the driving flexibility of the truck. Thus, on the premise of ensuring safety, the passing flexibility of the vehicle, especially large trucks, on structured roads is improved, and the ability of the vehicle to handle complex road conditions is enhanced. Description of the Drawings

[0039] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more apparent:

[0040] Figure 1 It is a flowchart of the vehicle path decision-making method provided by the embodiment of the present application;

[0041] Figure 2Schematic diagram of the turning path in the vehicle path decision method provided by the embodiment of the present application;

[0042] Figure 3 Schematic diagram of the lane boundary and obstacle boundary in the vehicle path decision method provided by the embodiment of the present application;

[0043] Figure 4 Schematic diagram of the distribution of obstacles in and near the target lane;

[0044] Figure 5 Schematic diagram of the lane boundary and obstacle boundary when the current lane is the outermost lane of the road;

[0045] Figure 6 Schematic diagram of the initial value of the lane boundary when the vehicle is driving in the target lane;

[0046] Figure 7 Schematic diagram of the initial value of the lane boundary when the vehicle is not driving in the target lane;

[0047] Figure 8 Structural block diagram of the vehicle path decision system according to a specific embodiment of the present application;

[0048] Figure 9 Structural block diagram of the computer device provided by the embodiment of the present application. Detailed implementation mode

[0049] The present application will be further described in detail below in conjunction with the embodiments and the drawings. It can be understood that the specific embodiments described herein are only used to explain the related application, rather than limiting the application. Additionally, it should be noted that for the sake of description, only the parts related to the application are shown in the drawings.

[0050] It should be noted that, without conflict, the embodiments and the features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0051] The vehicle path decision method, system, vehicle and device according to the embodiments of the present application will be described in detail below with reference to the drawings.

[0052] Figure 1 Is a flowchart of the vehicle path decision method according to an embodiment of the present application. As Figure 1 shown, the vehicle path decision method according to an embodiment of the present application includes the following steps:

[0053] S101: Obtain vehicle parameters and road parameters.

[0054] S102: Obtain the minimum lane width requirement value and the minimum obstacle boundary width requirement value according to the vehicle parameters and road parameters.

[0055] In one embodiment of the present application, the vehicle parameters include but are not limited to vehicle length, wheelbase, and vehicle width, and the road parameters include but are not limited to road curvature. Obtaining the minimum lane width requirement value according to the vehicle parameters and road parameters includes: obtaining the turning radius according to the road curvature; obtaining the minimum lane width requirement value according to the vehicle length, wheelbase, vehicle width, and the turning radius.

[0056] That is to say, the minimum lane width requirement value is determined according to road parameters such as road curvature and vehicle parameters such as vehicle length, wheelbase, and vehicle width, so that the vehicle can better adapt to road conditions with large curvature. Specifically, as shown in Figure 2 obtain s i (i.e., the vehicle reference position) at the corresponding road curvature k i , so as to obtain the turning radius r i = 1 / k i . Taking a semi-trailer truck as an example, the vehicle length is the distance from the center of the rear axle without the trailer to the front of the vehicle lf + the distance from the center of the rear axle to the rear of the vehicle lr, the wheelbase is denoted as l base , and the vehicle width is denoted as w. Then the minimum lane width requirement value (i.e., the minimum lane width requirement) is obtained through the following formula:

[0057]

[0058] where w margin is the safety margin and can be preset.

[0059] S103: Modify the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the modified value of the lane boundary, and the lane boundary is used to constrain the wheels.

[0060] In one embodiment of the present application, modifying the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the modified value of the lane boundary includes: determining whether the lane width is less than the minimum lane width requirement value; if so, expanding the initial value of the lane boundary according to the minimum lane width requirement value to obtain the modified value of the lane boundary.

[0061] Specifically, as shown in Figure 2 again, when the minimum lane width requirement value W i is calculated, if the lane width W < W i , the initial value of the lane boundary lane_bound is modified, that is: expanded outward until the modified value of the lane boundary lane_bound is the width of W i , that is: obtain the final lane boundary lane_bound.

[0062] S104: Modify the initial value of the obstacle boundary according to the minimum width requirement value of the obstacle boundary to obtain the modified value of the obstacle boundary. The obstacle boundary is used to restrict the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary.

[0063] In an embodiment of the present application, the vehicle parameters may further include the distance from the front of the vehicle to the center of the rear axle. The step of obtaining the minimum width requirement value of the obstacle boundary according to the vehicle parameters and the road parameters includes: obtaining the minimum width requirement value of the obstacle boundary according to the distance from the front of the vehicle to the center of the rear axle, the vehicle width, and the turning radius.

[0064] Combined with Figure 3 As shown in the figure, the initial value of the obstacle boundary obstacle_bound is obtained by expanding the initial value of the lane boundary lane_bound. For example, the expansion distance is L. Wherein, L can be preset. For example, L is 30 cm.

[0065] According to the initial value of the obstacle boundary obstacle_bound, it can be modified according to the road curvature, etc. For example, based on the distance l from the front of the vehicle to the vehicle positioning point (center of the rear axle) f Obtain the minimum width requirement value of the obstacle boundary.

[0066] For example: Calculate the minimum width requirement value of the obstacle boundary through the following formula:

[0067]

[0068] That is: Expand the initial value of the obstacle boundary obstacle_bound according to the minimum width requirement value of the obstacle boundary to obtain the modified value of the obstacle boundary obstacle_bound.

[0069] S105: Obtain the driving path of the vehicle according to the modified value of the lane boundary and the modified value of the obstacle boundary.

[0070] As Figure 4 shown, the obstacle boundary obstacle_bound describes the distribution of obstacles in and near the target lane.

[0071] In an embodiment of the present application, the initial value of the lane boundary is determined in the following manner: When the vehicle is driving in the target lane, the initial value of the lane boundary is obtained according to the lane width of the target lane; when the vehicle is changing lanes to the target lane, the initial value of the lane boundary is obtained according to the distance between the side of the vehicle away from the target lane and the lane line of the target lane away from the vehicle.

[0072] The initial value of the obstacle boundary is determined as follows: the outward expansion width is obtained according to the difference between the vehicle body width and the left and right wheelbases; when outward expansion is allowed, the initial value of the lane boundary is expanded according to the outward expansion width to obtain the initial value of the obstacle boundary.

[0073] In this example, if the current lane is the outermost lane, it is determined that outward expansion is not allowed.

[0074] Specifically, the boundaries are divided into two types: lane boundary (lane_bound) and obstacle boundary (obstacle_bound). Constraints are applied to the wheels and the vehicle body respectively, that is, the wheels should not exceed lane_bound, and the vehicle body can exceed lane_bound, but cannot exceed obstacle_bound, which improves the flexibility of the truck, as Figure 2 shown.

[0075] Before considering static obstacles, the initial obstacle_bound (i.e., the initial value of obstacle_bound) is horizontally expanded on the basis of lane_bound (i.e., the initial value of lane_bound). The expansion width L is configured according to the difference dl between the vehicle body width and the left and right wheelbases, and L is slightly larger than dl.

[0076] In the following cases, obstacle_bound usually cannot be expanded outward on the basis of lane_bound, as Figure 5 shown, when the current lane is the outermost lane of the road.

[0077] Generally speaking, the factors affecting lane_bound include lane line width, the state of the host vehicle, and lane curvature. As Figure 6 shown, when the host vehicle is driving in the target lane, the initial value of lane_bound is the left and right widths of the target lane based on the reference line.

[0078] As Figure 7 shown, when the host vehicle is not in the target lane (such as in the initial stage of lane change), the position of the host vehicle based on the reference line, that is, the l value in the Frenet coordinate system, needs to be considered.

[0079] In addition, considering the lateral speed of the host vehicle, a certain lateral space is required to eliminate this speed. Additionally, for safety, a certain margin can be added to the width of the host vehicle. Furthermore, the obtained lane_bound is denoted as the initial lane_bound.

[0080] The path decision-making method for a vehicle according to an embodiment of the present application obtains the minimum lane width requirement value and the minimum obstacle boundary width requirement value based on vehicle parameters and road parameters, and corrects the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the corrected value of the lane boundary. The initial value of the obstacle boundary is corrected according to the minimum obstacle boundary width requirement value to obtain the corrected value of the obstacle boundary. Finally, the driving path of the vehicle is obtained according to the corrected value of the lane boundary and the corrected value of the obstacle boundary. The drivable space is represented by two boundaries, which are respectively called the lane boundary and the obstacle boundary, and are used to constrain the driving space of the wheels and the vehicle body. To a certain extent, the vehicle body is allowed to exceed the current lane, which improves the ability of the truck to cope with complex road conditions such as narrow roads and large-curvature sections. At the same time, the wheels are constrained within the lane, posing no threat to other road users. For example, for large-curvature road conditions, according to the lane curvature, the drivable space of the truck is widened, allowing the truck to cross the lane line, which improves the driving flexibility of the truck. Thus, on the premise of ensuring safety, the passing flexibility of the vehicle, especially large trucks, on structured roads is improved, and the ability of the vehicle to cope with complex road conditions is enhanced.

[0081] In addition, when calculating the lane boundary, the curvature of the lane is considered, and the lane boundary is expanded to a certain extent according to the curvature. In a large-curvature lane, based on the curvature of the lane centerline and the length and width dimensions of the truck, the drivable area is laterally expanded on the basis of the current lane to ensure that the truck can pass through the large-curvature section, without further considering whether the wheels and the vehicle body exceed the actual lane range.

[0082] For driverless vehicles with longer dimensions such as semi-trailer trucks, the wheels and the vehicle body are respectively constrained by two boundaries, which increases the drivable space of the truck to a certain extent and enables it to cope with more complex road conditions (such as right-angle bends). Introducing curvature when making path decisions increases the initial solution space and the success rate of the driverless truck passing through large-curvature sections. Due to the large size of the truck body, the constraints of path planning are divided into two types: the lane boundary and the obstacle boundary, which are respectively used to constrain the wheels and the vehicle body during path optimization, expanding the solution space of the optimization.

[0083] Figure 8 is a structural block diagram of a path decision-making system for a vehicle according to an embodiment of the present application. As Figure 8 shown, the path decision-making system for a vehicle according to an embodiment of the present application includes: an acquisition module 810, a minimum width calculation module 820, a lane boundary correction module 830, an obstacle boundary correction module 840, and a path determination module 850, where:

[0084] The acquisition module 810 is configured to obtain vehicle parameters and road parameters;

[0085] The minimum width calculation module 820 is configured to obtain the minimum width requirement value of the lane and the minimum width requirement value of the obstacle boundary according to the vehicle parameters and the road parameters;

[0086] The lane boundary correction module 830 is configured to correct the initial value of the lane boundary according to the minimum width requirement value of the lane and the lane width, so as to obtain the corrected value of the lane boundary, and the lane boundary is used to constrain the wheels;

[0087] The obstacle boundary correction module 840 is configured to correct the initial value of the obstacle boundary according to the minimum width requirement value of the obstacle boundary, so as to obtain the corrected value of the obstacle boundary. The obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0088] The path determination module 850 is configured to obtain the driving path of the vehicle according to the corrected value of the lane boundary and the corrected value of the obstacle boundary.

[0089] According to the vehicle path decision-making system of the embodiment of the present application, the minimum width requirement value of the lane and the minimum width requirement value of the obstacle boundary are obtained according to the vehicle parameters and the road parameters, and the initial value of the lane boundary is corrected according to the minimum width requirement value of the lane and the lane width to obtain the corrected value of the lane boundary. The initial value of the obstacle boundary is corrected according to the minimum width requirement value of the obstacle boundary to obtain the corrected value of the obstacle boundary. Finally, the driving path of the vehicle is obtained according to the corrected value of the lane boundary and the corrected value of the obstacle boundary. The drivable space is represented by two boundaries, which are respectively called the lane boundary and the obstacle boundary, and are respectively used to constrain the driving space of the wheels and the vehicle body. To a certain extent, the vehicle body is allowed to exceed the current lane, which improves the ability of the truck to cope with complex road conditions such as narrow roads and large curvature sections. At the same time, the wheels are constrained within the lane, posing no threat to other traffic participants. For example, for large curvature road conditions, according to the lane curvature, the drivable space of the truck is widened, allowing the truck to cross the lane line, which improves the driving flexibility of the truck. Therefore, it is possible to improve the passing flexibility of the vehicle, especially large trucks, on structured roads and the ability of the vehicle to cope with complex road conditions while ensuring safety.

[0090] For the specific limitations on the vehicle path decision-making system, reference may be made to the limitations on the vehicle path decision-making method described above, which will not be elaborated here. Each module of the above vehicle path decision-making system can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned each module can be embedded in the processor of the computer device in the form of hardware or independent of it, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned each module.

[0091] In one embodiment, a vehicle is provided, including: the path decision-making system of the vehicle according to the above embodiment. The vehicle obtains the minimum lane width requirement value and the minimum obstacle boundary width requirement value based on vehicle parameters and road parameters, and corrects the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the corrected value of the lane boundary. The initial value of the obstacle boundary is corrected according to the minimum obstacle boundary width requirement value to obtain the corrected value of the obstacle boundary. Finally, the driving path of the vehicle is obtained according to the corrected value of the lane boundary and the corrected value of the obstacle boundary. The drivable space is represented by two boundaries, which are respectively called the lane boundary and the obstacle boundary, and are used to restrict the driving space of the wheels and the vehicle body. To a certain extent, the vehicle body is allowed to exceed the current lane, which improves the ability of the truck to cope with complex road conditions on narrow roads and sections with large curvatures. At the same time, the wheels are restricted within the lane, posing no threat to other traffic participants. For example, for a section with a large curvature, according to the lane curvature, the drivable space of the truck is widened, allowing the truck to cross the lane line, which improves the driving flexibility of the truck. Thus, on the premise of ensuring safety, the passing flexibility of the vehicle, especially large trucks, on structured roads is improved, and the ability of the vehicle to cope with complex road conditions is enhanced.

[0092] In addition, the other components and functions of the vehicle according to the embodiments of the present application are known to those of ordinary skill in the art and will not be elaborated herein.

[0093] In one embodiment, a computer device is provided. Figure 9 It is a structural block diagram of the computer device provided in the embodiments of the present application. Refer to Figure 9 This computer device includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements the path decision-making method embodiment of the aforementioned vehicle. For example, it executes: obtaining vehicle parameters and road parameters;

[0094] Obtaining the minimum lane width requirement value and the minimum obstacle boundary width requirement value according to the vehicle parameters and the road parameters;

[0095] Correcting the initial value of the lane boundary according to the minimum lane width requirement value and the lane width to obtain the corrected value of the lane boundary, where the lane boundary is used to restrict the wheels;

[0096] Correcting the initial value of the obstacle boundary according to the minimum obstacle boundary width requirement value to obtain the corrected value of the obstacle boundary, where the obstacle boundary is used to restrict the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0097] Obtaining the driving path of the vehicle according to the corrected value of the lane boundary and the corrected value of the obstacle boundary.

[0098] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, and when the processor executes the computer program, the method embodiments of the path decision-making for the foregoing vehicle are implemented. For example, execute: obtaining vehicle parameters and road parameters;

[0099] Obtaining a minimum lane width requirement value and a minimum obstacle boundary width requirement value according to the vehicle parameters and the road parameters;

[0100] Correcting an initial value of a lane boundary according to the minimum lane width requirement value and the lane width to obtain a corrected value of the lane boundary, where the lane boundary is used to constrain wheels;

[0101] Correcting an initial value of an obstacle boundary according to the minimum obstacle boundary width requirement value to obtain a corrected value of the obstacle boundary, where the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0102] Obtaining a driving path of the vehicle according to the corrected value of the lane boundary and the corrected value of the obstacle boundary.

[0103] An embodiment of the present application provides a computer program product including instructions that, when run, cause the method described in the embodiments of the present application to be executed. For example, the following can be executed Figure 1 Each step of the path decision-making method for the vehicle shown, for example, execute: obtaining vehicle parameters and road parameters;

[0104] Obtaining a minimum lane width requirement value and a minimum obstacle boundary width requirement value according to the vehicle parameters and the road parameters;

[0105] Correcting an initial value of a lane boundary according to the minimum lane width requirement value and the lane width to obtain a corrected value of the lane boundary, where the lane boundary is used to constrain wheels;

[0106] Correcting an initial value of an obstacle boundary according to the minimum obstacle boundary width requirement value to obtain a corrected value of the obstacle boundary, where the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary;

[0107] Obtaining a driving path of the vehicle according to the corrected value of the lane boundary and the corrected value of the obstacle boundary.

[0108] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above various methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0109] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0110] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A vehicle path decision method, characterized in that: include: Obtain vehicle parameters and road parameters; Obtaining a lane minimum width requirement value and an obstacle boundary minimum width requirement value according to the vehicle parameters and the road parameters; According to the lane minimum width requirement value and the lane width, an initial value of the lane boundary is corrected to obtain a corrected value of the lane boundary, wherein the lane boundary is used to constrain the wheel; Correcting an initial value of an obstacle boundary according to the minimum width requirement value of the obstacle boundary to obtain a corrected value of the obstacle boundary, wherein the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary; The driving path of the vehicle is obtained according to the correction value of the lane boundary and the correction value of the obstacle boundary.

2. The vehicle path decision method according to claim 1, characterized in that: The vehicle parameters include vehicle length, wheelbase and vehicle width, the road parameters include road curvature, and obtaining the required minimum lane width value according to the vehicle parameters and road parameters includes: Obtaining a turning radius according to the road curvature; The minimum lane width requirement value is obtained according to the vehicle length, wheelbase, vehicle width and turning radius.

3. The vehicle path decision method according to claim 2, characterized in that: The vehicle parameters also include the distance from the front of the vehicle to the center of the rear axle. The minimum required width of the obstacle boundary is obtained according to the vehicle parameters and the road parameters, including: The minimum required width of the obstacle boundary is obtained according to the distance from the front of the vehicle to the center of the rear axle, the vehicle width and the turning radius.

4. The vehicle path decision method according to claim 1, characterized in that: The method of correcting the initial value of the lane boundary according to the lane minimum width requirement value and the lane width to obtain a corrected value of the lane boundary includes: Determining whether the lane width is less than the required minimum lane width; If yes, the initial value of the lane boundary is expanded according to the lane minimum width requirement value to obtain a corrected value of the lane boundary.

5. The vehicle path decision method according to claim 1, characterized in that: The initial value of the lane boundary is determined as follows: When the vehicle is traveling in the target lane, the initial value of the lane boundary is obtained according to the lane width of the target lane; When the vehicle changes to the target lane, the initial value of the lane boundary is obtained according to the distance between the side of the vehicle away from the target lane and the lane line of the target lane away from the vehicle.

6. The vehicle path decision method according to claim 5, characterized in that: The initial value of the obstacle boundary is determined as follows: The outward width is obtained based on the difference between the vehicle body width and the left and right wheel tracks; When the expansion is allowed, the initial value of the lane boundary is expanded according to the expansion width to obtain the initial value of the obstacle boundary.

7. The vehicle path decision method according to claim 6, characterized in that: Also includes: If the current lane is the outermost lane, expansion is determined not to be allowed.

8. A vehicle path decision system, characterized in that: include: An acquisition module, used to obtain vehicle parameters and road parameters; A minimum width calculation module, used to obtain a lane minimum width requirement value and an obstacle boundary minimum width requirement value according to the vehicle parameters and the road parameters; A lane boundary correction module, used to correct an initial value of a lane boundary according to the lane minimum width requirement value and the lane width, to obtain a corrected value of the lane boundary, wherein the lane boundary is used to constrain the wheels; An obstacle boundary correction module, used for correcting an initial value of an obstacle boundary according to the minimum width requirement value of the obstacle boundary to obtain a corrected value of the obstacle boundary, wherein the obstacle boundary is applied to constrain the vehicle body, and the initial value of the obstacle boundary is obtained by expanding the initial value of the lane boundary; The path determination module is used to obtain the vehicle's driving path according to the correction value of the lane boundary and the correction value of the obstacle boundary.

9. A vehicle, characterized in that: include: The vehicle path decision system according to claim 8.

10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the path decision method for the vehicle according to any one of claims 1-7 is implemented.

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