Driving route generation method and device, equipment and medium

Abstract

The invention provides a driving route generation method and device, equipment and a medium, and the method comprises the steps: judging whether the remaining width of a lane is smaller than or equal to the width of a vehicle or not when the lane is blocked by an obstacle; and if the remaining width of the lane is smaller than or equal to the width of the self-vehicle, parking, lane-borrowing driving or lane-changing driving is carried out, so that under the condition that the transverse safety margin is not considered, when the remaining width of the lane is still insufficient for the self-vehicle to pass, the obstacle is filtered out, and unnecessary avoiding behaviors are avoided. If the remaining width of the lane is larger than the width of the vehicle, the vehicle is driven to the left, to the right or to the center, so that the avoidance state is always kept when the vehicle can pass through the remaining width of the lane without considering the transverse safety margin, and the risk of vehicle driving is reduced. According to the scheme, the driving route is generated by replacing an existing method of cutting off the path boundary with a method of not cutting off the path boundary, so that the problems generated by the method of cutting off the path boundary can be avoided, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and in particular to a method, device, equipment and medium for generating a driving route. Background Art

[0002] As a constraint condition for path optimization, the path boundary will directly affect the state of the final driving path. At present, when an obstacle blocks the driving range of the vehicle, the method of cutting off the path boundary from the blocked point is usually adopted to ensure the success of path optimization.

[0003] However, this method causes a significant change in the shape of the front and rear frame path boundaries, thereby causing the front and rear frame driving paths to change horizontally and vertically, increasing the risk of vehicle driving. Summary of the invention

[0004] The present application provides a method, device, equipment and medium for generating a driving route to improve the safety of vehicle driving.

[0005] In a first aspect, the present application provides a method for generating a driving route, comprising:

[0006] Obtaining the width of the path boundary of the lane where the vehicle is located, determining the width of the lane occupied by the obstacle according to the position of the obstacle, and calculating the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle;

[0007] Determining whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle;

[0008] If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, it is determined that the obstacle blocks the lane; if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle, it is determined that the obstacle does not block the lane;

[0009] When the obstacle blocks the lane, determine whether the remaining width of the lane is less than or equal to the width of the vehicle. If so, generate a first driving route, which includes parking, driving in another lane, or changing lanes. If not, generate a second driving route, which includes driving on the left, driving on the right, or driving in the center of the lane.

[0010] Optionally, generating the first driving route specifically includes:

[0011] When the distance between the vehicle and the obstacle is outside a preset range, a first driving route is generated.

[0012] Optionally, generating the second driving route specifically includes:

[0013] Determining whether the obstacle is located on the left side, the right side, or both sides of the lane;

[0014] When the obstacle is located on the left side of the lane, generating a second driving route including driving on the right side of the lane;

[0015] When the obstacle is located on the right side of the lane, generating a second driving route including driving on the left side of the lane;

[0016] When the obstacles are located on both sides of the lane, a second driving route including driving centered in the lane is generated.

[0017] Optionally, the generating of the second driving route including driving to the right in the lane specifically includes:

[0018] In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, a first fixed width is moved from the right boundary of the lane as a starting position to form the right boundary of the center of the vehicle;

[0019] In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, the first fixed width is moved with the side of the obstacle close to the right boundary of the lane as the starting position to form the left boundary of the center of the vehicle;

[0020] A second driving route is generated based on the left boundary and the right boundary of the center of the own vehicle, which is included in the lane and in which the center of the own vehicle is within the left boundary and the right boundary of the center of the own vehicle.

[0021] Optionally, the generating of the second driving route including driving left in the lane specifically includes:

[0022] In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, moving a second fixed width with the left boundary of the lane as a starting position to form a left boundary of the center of the vehicle;

[0023] In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, the second fixed width is moved with the side of the obstacle close to the left boundary of the lane as the starting position to form the right boundary of the center of the vehicle;

[0024] A second driving route is generated based on the left boundary and the right boundary of the center of the own vehicle, which is included in the lane and in which the center of the own vehicle is within the left boundary and the right boundary of the center of the own vehicle.

[0025] Optionally, the generating of the second driving route including driving in the center of the lane specifically includes:

[0026] In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, moving a fifth fixed width with the right boundary of the lane as a starting position to form a right boundary of the center of the vehicle;

[0027] In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, the fifth fixed width is moved with the left boundary of the lane as a starting position to form a left boundary of the center of the vehicle;

[0028] A second driving route is generated based on the left boundary and the right boundary of the center of the own vehicle, which is included in the lane and in which the center of the own vehicle is within the left boundary and the right boundary of the center of the own vehicle.

[0029] Optionally, the step of obtaining the width of the path boundary of the lane where the vehicle is located specifically includes:

[0030] The width of the path boundary of the lane where the vehicle is located is obtained according to the lane width information on the semantic map.

[0031] In a second aspect, the present application provides a driving route generation device, comprising:

[0032] A calculation module, used to obtain the width of the path boundary of the lane where the ego vehicle is located, determine the width of the lane occupied by the obstacle according to the position of the obstacle, and calculate the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle;

[0033] A judgment module, used for judging whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle;

[0034] a determination module, configured to determine that the obstacle blocks the lane if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, and to determine that the obstacle does not block the lane if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle;

[0035] The generation module is used to determine whether the remaining width of the lane is less than the width of the vehicle when the obstacle blocks the lane. If so, a first driving route is generated, and the first driving route includes parking, driving in another lane, or changing lanes. If not, a second driving route is generated, and the second driving route includes driving on the left, driving on the right, or driving in the center of the lane.

[0036] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0037] The memory is used to store instructions; the processor is used to call the instructions in the memory to execute the method for generating a driving route in the first aspect and any possible design of the first aspect.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer instructions are stored. When at least one processor of an electronic device executes the computer instructions, the electronic device executes the method for generating a driving route in the first aspect and any possible design of the first aspect.

[0039] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When at least one processor of an electronic device executes the computer instructions, the electronic device executes the method for generating a driving route in the first aspect and any possible design of the first aspect.

[0040] The method, device, equipment and medium for generating a driving route provided by the present application obtain the width of the path boundary of the lane where the vehicle is located, determine the width of the lane occupied by the obstacle according to the position of the obstacle, and calculate the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle. Then, it is determined whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle. If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, it is determined that the obstacle blocks the lane. If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle, it is determined that the obstacle does not block the lane. When the obstacle blocks the lane, it is determined whether the remaining width of the lane is less than or equal to the width of the vehicle. If the remaining width of the lane is less than or equal to the width of the vehicle, the vehicle stops, drives in a borrowed lane or changes lanes, so that when the remaining width of the lane is still insufficient for the vehicle to pass without considering the lateral safety margin, the obstacle is filtered to avoid unnecessary avoidance behavior. If the remaining width of the lane is greater than the width of the vehicle, the vehicle will drive to the left, right or center, so that when the remaining width of the lane is passable without considering the lateral safety margin, the vehicle will always maintain an avoidance state to reduce the risk of vehicle driving. The solution of the present application replaces the existing method of truncating the path boundary by a method without truncating the path boundary to generate a driving route, thereby avoiding the problems caused by the method of truncating the path boundary and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 Flow chart of the method for generating a driving route provided by an embodiment of the present application;

[0043] Figure 2 Flow chart of the method for generating a driving route provided by another embodiment of the present application;

[0044] Figure 3 Schematic diagram of a driving route provided by an embodiment of the present application;

[0045] Figure 4 Schematic diagram of another driving route provided by an embodiment of the present application;

[0046] Figure 5 Schematic diagram of yet another driving route provided by an embodiment of the present application;

[0047] Figure 6 Schematic diagram of still another driving route provided by an embodiment of the present application;

[0048] Figure 7 Schematic diagram of the structure of the device for generating a driving route provided by an embodiment of the present application;

[0049] Figure 8 Schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the scope of protection of the present application.

[0051] The truncated path boundary means not considering the influence behind the obstacle. For example, when there is an object or a pedestrian behind the leading vehicle, if the leading vehicle does not block the host vehicle, the host vehicle can avoid the object or the pedestrian by turning the steering wheel. If the leading vehicle stops, the leading vehicle blocks the host vehicle. At this time, the host vehicle needs to stop behind the leading vehicle and keep a safe distance from the leading vehicle. When the host vehicle stops, it does not consider the objects or pedestrians behind the leading vehicle within the safe distance, that is, it will not avoid the objects or pedestrians when stopping and will avoid the objects or pedestrians when not stopping.

[0052] However, affected by environmental factors, obstacle size recognition may be unstable or obstacles may be misdetected, resulting in lane obstruction. If the path boundary is cut off, the path may change laterally, especially in the scenario of avoiding obstacles laterally. Excessive lateral changes will significantly increase the possibility of collision. If the vehicle is close to the obstacle in the longitudinal direction at this time, the safety of the vehicle will be greatly reduced.

[0053] Therefore, when obstacles block the vehicle's driving range, how to ensure the stability of the driving route is a difficult problem that needs to be solved urgently.

[0054] In response to the above problems, the present application proposes a method for generating a driving route. When an obstacle blocks the lane, the driving route is generated by a method that does not truncate the path boundary. If the remaining width of the lane is less than or equal to the width of the vehicle, the vehicle stops, drives in another lane, or changes lanes. When the remaining width of the lane is still insufficient for the vehicle to pass without considering the lateral safety margin, the obstacle is filtered to avoid unnecessary avoidance behavior. When an obstacle blocks the lane, if the remaining width of the lane is greater than the width of the vehicle, the vehicle drives to the left, to the right, or in the center. When the remaining width of the lane is passable without considering the lateral safety margin, the vehicle maintains an avoidance state to reduce the risk of vehicle driving.

[0055] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0056] An embodiment of the present application provides a scenario illustration of a method for generating a driving route. During the automatic driving process, when an obstacle (e.g., a stopped vehicle in front) is encountered in the lane where the vehicle is located, the automatic driving system obtains the width of the path boundary of the lane where the vehicle is located, determines the width of the lane occupied by the obstacle according to the position of the obstacle, calculates the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle, and then determines whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin of the lane, the right lateral safety margin and the width of the vehicle. If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, it is determined that the obstacle blocks the lane. If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle, it is determined that the obstacle does not block the lane, and the vehicle is driving normally in the lane. When the obstacle blocks the lane, the automatic driving system determines whether the remaining width of the lane is less than or equal to the width of the vehicle. If so, a first driving route is generated to enable the vehicle to stop, drive in the lane or switch to the lane. If not, a second driving route is generated to enable the vehicle to drive to the left, drive to the right or drive in the center of the lane.

[0057] In this application, an electronic device is used as the execution entity to execute the method for generating a driving route in the following embodiments. Specifically, the execution entity can be a hardware device of the electronic device, or a software application in the electronic device that implements the following embodiments, or a computer-readable storage medium installed with the software application that implements the following embodiments, or the code of the software application that implements the following embodiments.

[0058] Figure 1 The flowchart of a method for generating a driving route provided by an embodiment of the present application is shown.

[0059] As Figure 1 shown, with an electronic device as the execution entity, the method of this embodiment may include the following steps:

[0060] S101. Obtain the width of the path boundary of the lane where the vehicle is located, determine the width of the lane occupied by the obstacle according to the obstacle position, and calculate the remaining width of the lane according to the width of the path boundary of the lane and the width of the lane occupied by the obstacle.

[0061] The path boundary of the lane refers to the left lane and the right lane of the lane, and the width of the path boundary of the lane refers to the width between the left lane and the right lane of the lane. The position of the obstacle can reflect the distance between the obstacle and the vehicle, and can also reflect the width of the lane occupied by the obstacle in the lane where the vehicle is located.

[0062] In this embodiment, the distance between the obstacle and the vehicle can be detected by an ultrasonic sensor on the vehicle. The ultrasonic sensor uses the propagation speed and reflection principle of ultrasonic waves in the air to measure the distance of an object. When the ultrasonic sensor emits a beam of ultrasonic waves, the ultrasonic waves will be reflected on the surface of the object, and the sensor will receive the reflected ultrasonic waves and calculate the distance between the object and the sensor. The distance between the obstacle and the vehicle can also be detected by a laser ranging sensor on the vehicle.

[0063] In this embodiment, after determining the shape trajectory curve of the obstacle through a graphics processing method, the geometric center of the obstacle can be obtained through the shape trajectory curve, and this geometric center is used as the obstacle center point. Then, the shape trajectory curve is projected in a direction perpendicular to the vehicle driving direction and parallel to the road plane to obtain the projection length of the obstacle in this direction and within the lane, and this projection length is used as the width of the lane occupied by the obstacle.

[0064] In the embodiment of the present application, after obtaining the width of the lane occupied by the obstacle and the width of the path boundary of the lane where the vehicle is located, calculate the difference between the width of the path boundary of the lane where the vehicle is located and the width of the lane occupied by the obstacle, and this difference is the remaining width of the lane.

[0065] S102: Determine whether an obstacle blocks the lane based on the remaining lane width, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle.

[0066] Calculate the difference between the remaining lane width and the left and right lateral safety margins of the lane. Specifically, subtract the left lateral safety margin of the lane from the remaining lane width, and then subtract the right lateral safety margin. Then compare the difference with the vehicle width. If the difference is less than the vehicle width, execute step S103. If the difference is greater than or equal to the vehicle width, execute step S104.

[0067] S103: If the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is less than the vehicle width, it is determined that the lane is blocked by an obstacle.

[0068] After deducting the left lateral safety margin and the right lateral safety margin from the remaining lane width, if it is less than the vehicle width, the vehicle cannot pass and it is determined that the obstacle is blocking the lane.

[0069] Then, execute step S105.

[0070] S104: If the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is greater than or equal to the vehicle width, it is determined that the obstacle does not block the lane.

[0071] After deducting the left lateral safety margin and the right lateral safety margin from the remaining lane width, if it is greater than or equal to the vehicle width, the vehicle can pass normally and it is determined that the obstacle does not block the lane.

[0072] S105: When an obstacle blocks the lane, determine whether the remaining lane width is less than or equal to the vehicle width.

[0073] If yes, go to step S106, if no, go to step S107.

[0074] S106: Generate a first driving route, where the first driving route includes parking, driving in an alternate lane, or driving in a lane change.

[0075] If the remaining lane width is smaller than the vehicle width, that is, without considering the lateral safety margin, the remaining lane width is still insufficient for the vehicle to pass, the obstacle will be filtered out and the vehicle will be stopped, driven in another lane, or changed lanes directly, thus avoiding unnecessary avoidance behavior and improving user experience.

[0076] S107: Generate a second driving route, where the second driving route includes driving on the left, driving on the right, or driving in the center of the lane.

[0077] The remaining lane width is greater than or equal to the vehicle width, and the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is less than the vehicle width, that is, without considering the lateral safety margin, the remaining lane width is passable. At this time, a second driving route can be generated to allow the vehicle to drive to the left, right or center in the lane, thereby always maintaining an avoidance state and improving the safety of vehicle driving.

[0078] The driving route generation method provided by the present application is that when an obstacle blocks the lane, if the remaining width of the lane is less than or equal to the width of the vehicle, the vehicle stops, drives in another lane, or changes lanes. When the remaining width of the lane is still insufficient for the vehicle to pass without considering the lateral safety margin, the obstacle is filtered to avoid unnecessary avoidance. If the remaining width of the lane is greater than the width of the vehicle, the vehicle drives to the left, to the right, or in the center. When the remaining width of the lane is passable without considering the lateral safety margin, the vehicle keeps in an avoidance state to reduce the risk of vehicle driving.

[0079] Figure 2 A flow chart of a method for generating a driving route provided in an embodiment of the present application is shown.

[0080] like Figure 2 As shown, with the electronic device as the execution subject, the method of this embodiment may include the following steps:

[0081] S201. Obtain the width of the path boundary of the lane where the vehicle is located according to the lane width information on the semantic map, determine the width of the lane occupied by the obstacle according to the position of the obstacle, and calculate the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle.

[0082] In this embodiment, the width of the path boundary of the lane where the vehicle is located can be calculated based on the width of the road in the semantic map and the number of lanes. For example, the width of the road divided by the number of lanes is the width of the path boundary of the lane where the vehicle is located.

[0083] S202: Determine whether an obstacle blocks the lane based on the remaining lane width, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle.

[0084] The difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin of the lane is calculated, and then the difference is compared with the width of the vehicle. If the difference is less than the width of the vehicle, step S203 is executed; if the difference is greater than or equal to the width of the vehicle, step S204 is executed.

[0085] S203: If the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is less than the vehicle width, it is determined that the lane is blocked by an obstacle.

[0086] After deducting the left lateral safety margin and the right lateral safety margin from the remaining lane width, if it is less than the vehicle width, the vehicle cannot pass and it is determined that the obstacle is blocking the lane.

[0087] Then, execute step S205.

[0088] S204: If the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is greater than or equal to the vehicle width, it is determined that the obstacle does not block the lane.

[0089] After deducting the left lateral safety margin and the right lateral safety margin from the remaining lane width, if it is greater than or equal to the vehicle width, the vehicle can pass normally and it is determined that the obstacle does not block the lane.

[0090] S205: When an obstacle blocks the lane, determine whether the remaining lane width is less than or equal to the vehicle width.

[0091] If yes, go to step S206, if no, go to step S207.

[0092] S206: When the distance between the vehicle and the obstacle is outside a preset range, a first driving route is generated, where the first driving route includes parking, driving in an alternate lane, or driving in a lane change.

[0093] The remaining lane width is smaller than the vehicle width, that is, without considering the lateral safety margin, the remaining lane width is still insufficient for the vehicle to pass. Figure 3 As shown, Figure 3 In the figure, the outermost solid line represents the road, the dotted line represents the lane where the vehicle is located, the innermost solid line represents the route of the vehicle, the upper box corresponds to the obstacle, and the lower box corresponds to the vehicle. If the obstacle is filtered, the vehicle can directly stop, drive in another lane, or change lanes, thereby avoiding unnecessary avoidance behaviors and improving the user experience.

[0094] When the distance between the vehicle and the obstacle is outside the preset range, it can ensure that the vehicle can stop, use other lanes or change lanes within a safe distance, thereby improving driving safety.

[0095] S207: Determine whether the obstacle is located on the left side, the right side, or both sides of the lane.

[0096] If the obstacle is located on the left side of the lane, execute step S208; if the obstacle is located on the right side of the lane, execute step S209; if the obstacle is located on both sides of the lane, execute step S210.

[0097] S208: When the obstacle is located on the left side of the lane, generate a second driving route including driving on the right side of the lane.

[0098] When the obstacle is on the left side of the lane, only one side is affected by the obstacle. Based on the boundary of the side not affected by the obstacle, the boundary width from the obstacle is set as the second fixed width, so as to achieve the function of driving on the right. The second fixed width is determined according to the actual situation. For example, when the obstacle is on the left side of the lane and affects the left boundary of the vehicle's own driving, the right boundary can be kept unchanged (keeping the right boundary of the center of the vehicle's own as the right boundary of the center of the vehicle's own during normal driving), and the left boundary of the center of the vehicle's own during driving is deduced according to the second fixed width, so as to obtain the left and right boundaries of the center of the vehicle's own during driving. Specifically, along the direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, starting from the right boundary of the lane, move a first fixed width to form the right boundary of the center of the vehicle's own. Along the direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, starting from the side of the obstacle close to the right boundary of the lane, move a second fixed width to form the left boundary of the center of the vehicle's own. A second driving route is generated according to the left and right boundaries of the center of the vehicle's own, which is included in the lane and the center is within the left and right boundaries of the center. As Figure 4 shown, the center of the vehicle's own is within the two innermost solid lines, Figure 4 in which, the two outermost solid lines represent the road, the dotted line represents the lane where the vehicle's own is located, the two innermost solid lines represent the range of the center of the vehicle's own, the upper box corresponds to the obstacle, and the lower box corresponds to the vehicle's own.

[0099] S209. When the obstacle is on the right side of the lane, generate a second driving route that drives on the left within the lane.

[0100] When the obstacle is on the right side of the lane, only one side is affected by the obstacle. Based on the boundary of the side not affected by the obstacle, the boundary width from the obstacle is set as the fourth fixed width, so as to achieve the function of driving on the left. The fourth fixed width can be determined according to the actual situation. For example, when the obstacle is on the right side of the lane and affects the right boundary of the vehicle's own driving, the left boundary can be kept unchanged (keeping the left boundary of the center of the vehicle's own as the left boundary of the center of the vehicle's own during normal driving), and the right boundary of the center of the vehicle's own during driving is deduced according to the fourth fixed width, so as to obtain the left and right boundaries of the center of the vehicle's own during driving. Specifically, along the direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, starting from the left boundary of the lane, move a third fixed width to form the left boundary of the center of the vehicle's own. Along the direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, starting from the side of the obstacle close to the boundary of the lane, move a fourth fixed width to form the right boundary of the center of the vehicle's own. A second driving route is generated according to the left and right boundaries of the center of the vehicle's own, which is included in the lane and the center of the vehicle's own is within the left and right boundaries of the center of the vehicle's own. As Figure 5 shown, the center of the vehicle's own is within the two innermost solid lines, Figure 5Among them, the two outermost solid lines represent the road, the dashed line represents the lane where the vehicle is located, the two innermost solid lines represent the range of the vehicle center, the upper box corresponds to the obstacle, and the lower box corresponds to the vehicle itself.

[0101] S210. When the obstacles are located on both sides of the lane, generate a second driving route that travels in the center of the lane.

[0102] When the obstacles are located on both sides of the lane, at this time the number of obstacles is two or more, and both sides of the vehicle are affected by the obstacles. Set the boundary width from the obstacles as the fifth fixed width, so as to realize the function of driving in the center. Here, driving in the center means driving between the obstacles on both sides, and the fifth fixed width can be determined according to the actual situation. Specifically, along the direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, starting from the right boundary of the lane, move the fifth fixed width to form the right boundary of the vehicle center. Along the direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, starting from the left boundary of the lane, move the fifth fixed width to form the left boundary of the vehicle center. Generate a second driving route that is included in the lane and the vehicle center is within the left and right boundaries of the vehicle center according to the left and right boundaries of the vehicle center. As Figure 6 shown, the vehicle center is within the innermost solid line. Figure 6 Among them, the two outermost solid lines represent the road, the dashed line represents the lane where the vehicle is located, the two innermost solid lines represent the vehicle driving route, the upper box corresponds to the obstacle, and the lower box corresponds to the vehicle itself. It should be noted that if the vehicle can drive normally under the second driving route, it can drive according to the second driving route. If the vehicle cannot drive normally under the second driving route, it can drive according to the first driving route or change the driving route according to the actual situation.

[0103] For the driving route generation method provided by this application, when the obstacle blocks the lane, if the remaining width of the lane is less than or equal to the width of the vehicle itself, stop, drive on a borrowed lane or change lanes, so that when the remaining width of the lane is still not enough for the vehicle to pass without considering the lateral safety margin, filter this obstacle to avoid unnecessary avoidance behaviors. If the remaining width of the lane is greater than the width of the vehicle itself, realize driving on the left, driving on the right or driving in the center according to the position of the obstacle in the lane, so that when the remaining width of the lane can pass without considering the lateral safety margin, always maintain an avoidance state to reduce the risk of vehicle driving.

[0104] Figure 7 Fig. shows a schematic structural diagram of a driving route generation device provided by an embodiment of this application. As Figure 7 shown, the driving route generation device 10 of this embodiment is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The driving route generation device 10 of this embodiment includes:

[0105] A calculation module 11 is used to obtain the width of the path boundary of the lane where the vehicle is located, determine the width of the lane occupied by the obstacle according to the position of the obstacle, and calculate the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle;

[0106] A judgment module 12 is used to judge whether an obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle;

[0107] A determination module 13, configured to determine that the obstacle blocks the lane if the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is less than the vehicle width, and to determine that the obstacle does not block the lane if the difference between the remaining lane width and the left lateral safety margin and the right lateral safety margin is greater than or equal to the vehicle width;

[0108] The generation module 14 is used to determine whether the remaining width of the lane is less than the width of the vehicle when the lane is blocked by an obstacle. If so, a first driving route is generated, and the first driving route includes parking, driving in another lane, or changing lanes. If not, a second driving route is generated, and the second driving route includes driving on the left, driving on the right, or driving in the center of the lane.

[0109] Optionally, the generation module 14 is specifically used to determine whether the obstacle is located on the left side, right side or both sides of the lane. When the obstacle is located on the left side of the lane, a second driving route is generated including driving on the right side of the lane; when the obstacle is located on the right side of the lane, a second driving route is generated including driving on the left side of the lane; when the obstacle is located on both sides of the lane, a second driving route is generated including driving in the center of the lane.

[0110] The driving route generation device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0111] Figure 8 FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device 20 is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 23.

[0112] A memory 21 for storing computer instructions. The memory 21 may include a high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a portable hard drive, a read-only memory, a magnetic disk, or an optical disc, etc.

[0113] A processor 22 for executing the computer instructions stored in the memory to implement the method for generating a driving route in the above embodiments. For specific details, reference may be made to the relevant descriptions in the foregoing method embodiments. The processor 22 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0114] Optionally, the memory 21 may be either independent or integrated with the processor 22.

[0115] A communication interface 23, which can be connected to the processor 22. The processor 22 can control the communication interface 23 to implement the functions of receiving and sending information.

[0116] The electronic device provided in this embodiment can be used to execute the above method for generating a driving route, and its implementation manner and technical effects are similar, and will not be elaborated here in this embodiment.

[0117] This application also provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are executed by a processor, they are used to implement the methods provided in the above various embodiments.

[0118] This application also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. At least one processor of the device can read the computer instructions from the computer-readable storage medium, and the execution of the computer instructions by at least one processor causes the device to implement the methods provided in the above various embodiments.

[0119] An embodiment of the present application further provides a chip, which includes a memory and a processor. The memory is used to store computer instructions, and the processor is used to call and run the computer instructions from the memory, so that a device installed with the chip executes the methods described in the above various possible implementation manners.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features. And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a driving route, characterized in that, The method comprises: Obtaining the width of the path boundary of the lane where the vehicle is located, determining the width of the lane occupied by the obstacle according to the position of the obstacle, and calculating the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle; Determining whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle; If the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, it is determined that the obstacle blocks the lane; if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle, it is determined that the obstacle does not block the lane; When the obstacle blocks the lane, determine whether the remaining width of the lane is less than or equal to the width of the vehicle. If so, generate a first driving route, which includes parking, driving in another lane, or changing lanes. If not, generate a second driving route, which includes driving on the left, driving on the right, or driving in the center of the lane.

2. The method according to claim 1, wherein The generating of the first driving route specifically includes: When the distance between the vehicle and the obstacle is outside a preset range, a first driving route is generated.

3. The method according to claim 1, characterized in that, The generating of the second driving route specifically includes: Determining whether the obstacle is located on the left side, the right side, or both sides of the lane; When the obstacle is located on the left side of the lane, generating a second driving route including driving on the right side of the lane; When the obstacle is located on the right side of the lane, generating a second driving route including driving on the left side of the lane; When the obstacles are located on both sides of the lane, a second driving route including driving centered in the lane is generated.

4. The method according to claim 3, characterized in that The generating of the second driving route including driving on the right side of the lane specifically includes: In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, a first fixed width is moved from the right boundary of the lane as a starting position to form the right boundary of the center of the vehicle; In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, moving a second fixed width with the side of the obstacle close to the right boundary of the lane as the starting position to form the left boundary of the center of the vehicle; A second driving route is generated based on the left boundary and the right boundary of the center of the own vehicle, which is included in the lane and in which the center of the own vehicle is within the left boundary and the right boundary of the center of the own vehicle.

5. The method according to claim 3, characterized in that, The generating of the second driving route including driving left in the lane specifically includes: In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, moving a third fixed width with the left boundary of the lane as a starting position to form a left boundary of the center of the vehicle; In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, moving a fourth fixed width with the side of the obstacle close to the left boundary of the lane as the starting position to form the right boundary of the center of the vehicle; A second driving route is generated based on the left boundary and the right boundary of the center of the vehicle, which is included in the lane and in which the center of the vehicle is within the left boundary and the right boundary of the center of the vehicle.

6. The method according to claim 3, characterized in that, The generating of the second driving route including driving in the center of the lane specifically includes: In a direction perpendicular to the right boundary of the lane and close to the left boundary of the lane, moving a fifth fixed width with the right boundary of the lane as a starting position to form a right boundary of the center of the vehicle; In a direction perpendicular to the left boundary of the lane and close to the right boundary of the lane, the fifth fixed width is moved with the left boundary of the lane as a starting position to form a left boundary of the center of the vehicle; A second driving route is generated based on the left boundary and the right boundary of the center of the vehicle, which is included in the lane and in which the center of the vehicle is within the left boundary and the right boundary of the center of the vehicle.

7. The method according to any one of claims 1-5, characterized in that, The step of obtaining the width of the path boundary of the lane where the vehicle is located specifically includes: The width of the path boundary of the lane where the vehicle is located is obtained according to the lane width information on the semantic map.

8. A generation device for a driving route, characterized in that, The device comprises: A calculation module, used to obtain the width of the path boundary of the lane where the ego vehicle is located, determine the width of the lane occupied by the obstacle according to the position of the obstacle, and calculate the remaining width of the lane according to the width of the path boundary and the width of the lane occupied by the obstacle; A judgment module, used for judging whether the obstacle blocks the lane according to the remaining width of the lane, the left lateral safety margin and the right lateral safety margin of the lane, and the width of the vehicle; a determination module, configured to determine that the obstacle blocks the lane if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is less than the width of the vehicle, and to determine that the obstacle does not block the lane if the difference between the remaining width of the lane and the left lateral safety margin and the right lateral safety margin is greater than or equal to the width of the vehicle; The generation module is used to determine whether the remaining width of the lane is less than the width of the vehicle when the obstacle blocks the lane. If so, a first driving route is generated, and the first driving route includes parking, driving in another lane, or changing lanes. If not, a second driving route is generated, and the second driving route includes driving on the left, driving on the right, or driving in the center of the lane.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method for generating a driving route as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when executed by a processor, are used to implement the method for generating a driving route as described in any one of claims 1 to 7.

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