Method, device, equipment and medium for generating navigation path for autonomous driving vehicle

Abstract

The present application discloses a method for generating a navigation path for an autonomous vehicle, comprising: obtaining the segment attributes of a first lane in a current driving section, traffic information for a second lane in the driving section, and the vehicle's navigation path; if it is determined based on the navigation path that the second lane is not a change lane, obtaining first-region driving information for the vehicle's current driving section and second-region reference information for an associated section associated with the driving section; determining whether the vehicle meets a set lane change condition based on the segment attributes and the first-region driving information; if the lane change condition is met, determining an influence factor value for the second lane based on the second-region reference information, and determining to change the current driving lane from the first lane to the second lane if the influence factor value is less than a preset value. This solution can improve vehicle traffic efficiency and the safety of autonomous driving.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of navigation technology, and in particular to a method, apparatus, device, and medium for generating a navigation path for an autonomous driving vehicle. Background Art

[0002] Autonomous vehicle navigation refers to technology that uses advanced sensors, artificial intelligence, control systems, and algorithms to enable vehicles to autonomously perceive their environment, plan routes, and drive safely without the need for continuous human driver intervention. Its core goal is to improve traffic safety, efficiency, and comfort.

[0003] In related technologies, vehicles can follow pre-planned navigation routes to reach their destinations. However, during actual driving, road conditions and vehicle conditions change, and pre-planned navigation routes are relatively inaccurate. This can lead to irrational routes during autonomous driving, resulting in low traffic efficiency and even severe congestion. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for generating a navigation path for an autonomous driving vehicle, which solves the technical problems in related technologies such as certain irrationality of the vehicle's route during autonomous driving, low traffic efficiency and even severe congestion, and can improve vehicle traffic efficiency and the safety of autonomous driving.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a navigation path for an autonomous driving vehicle, comprising:

[0006] When a lane path planning event is triggered, obtaining the segment attributes of a first lane in a current driving segment, traffic information of a second lane of the driving segment, and a navigation path of the vehicle, where the second lane is adjacent to the first lane;

[0007] When it is determined according to the navigation path that the second lane is not a transfer lane, obtaining first area driving information of a current driving section of the vehicle and second area reference information of an associated section associated with the driving section;

[0008] determining whether the vehicle meets a set lane change condition based on the road segment attribute and the first area driving information;

[0009] When the lane change condition is met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information. When the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path including the changed path is generated.

[0010] Optionally, the road segment attributes include the vehicle type of the road segment at the current moment and the driving coverage rate of the road segment at a non-current moment, and the first area driving information includes the vehicle speed trend and the vehicle interval;

[0011] The determining whether the vehicle meets a set lane change condition according to the road segment attribute and the first area driving information includes:

[0012] Calculating a first lane change probability based on the vehicle speed trend and the vehicle interval, and calculating a second lane change probability based on the vehicle type of the road segment and the road segment travel coverage rate at a non-current moment;

[0013] If the sum of the first lane change probability and the second lane change probability is greater than a preset probability, it is determined that the vehicle meets the set lane change condition; otherwise, it is determined that the vehicle does not meet the set lane change condition.

[0014] Optionally, the event that triggers lane path planning includes:

[0015] When the driving parameter items recorded in the driving information of multiple vehicles associated with the current vehicle match the preset lane change event trigger items, a lane path planning event is triggered;

[0016] The method further comprises:

[0017] When the sum of the first lane change probability and the second lane change probability is not greater than a preset probability, the lane change event triggering item is adjusted according to the sum of the first lane change probability and the second lane change probability.

[0018] Optionally, the second area reference information includes a stop-and-wait information value and vehicle driving parameters within a preset area, and a cumulative number of vehicles within a non-preset area;

[0019] The determining the impact factor value of the second lane according to the second area reference information and the traffic information includes:

[0020] Calculating a first impact factor value based on the stop-wait information value of the preset area and the traffic information, and calculating a second impact factor value based on the vehicle driving parameters and the accumulated number of vehicles;

[0021] The impact factor value of the second lane is calculated according to the first impact factor value and the second impact factor value.

[0022] Optionally, generating a corresponding navigation update path including the changed path includes:

[0023] Determining a lane change position area of ​​a current first lane according to the impact factor value;

[0024] A navigation update path including a lane change navigation path is generated based on the lane change position area, and is used to perform lane change control on the vehicle when the lane change navigation path meets driving conditions during driving of the vehicle.

[0025] Optionally, determining the lane change position area of ​​the current first lane according to the impact factor value includes:

[0026] determining an initial lane change area according to the magnitude of the impact factor value;

[0027] The initial lane change area is position-adjusted based on the acquired road compliance information of the first lane to obtain a lane change position area of ​​the first lane.

[0028] Optionally, also include:

[0029] When it is determined according to the navigation path that the second lane is a transfer lane, determining congestion information of the second lane in a preset location area, the preset location area including a preset intersection area range and a ramp area range;

[0030] A lane change location point is determined according to the congestion information, and a navigation update path including the lane change location point is generated.

[0031] In a second aspect, an embodiment of the present application further provides a navigation path generation device for an autonomous driving vehicle, comprising:

[0032] a first acquisition module configured to, when a lane path planning event is triggered, acquire the segment attributes of a first lane in a current driving segment, traffic information of a second lane of the driving segment, and a navigation path of the vehicle, where the second lane is adjacent to the first lane;

[0033] a second acquisition module, configured to acquire, when it is determined according to the navigation path that the second lane is not a transfer lane, first area driving information of a current driving section of the vehicle and second area reference information of an associated section associated with the driving section;

[0034] a condition judgment module, configured to determine whether the vehicle satisfies a set lane change condition based on the road segment attribute and the driving information of the first area;

[0035] a lane change determination module, configured to determine, when the lane change condition is met, an influence factor value of the second lane based on the second area reference information and the traffic information, and determine to change the current driving lane from the first lane to the second lane if the influence factor value is less than a preset value;

[0036] The path generation module is used to generate a corresponding navigation update path including the changed path.

[0037] In a third aspect, an embodiment of the present application further provides a navigation path generation device for an autonomous driving vehicle, the device comprising:

[0038] one or more processors;

[0039] a storage device for storing one or more programs,

[0040] When the one or more programs are executed by the one or more processors, the one or more processors implement the navigation path generation method for the autonomous driving vehicle described in the embodiment of the present application.

[0041] In a fourth aspect, an embodiment of the present application further provides a storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to execute the navigation path generation method for an autonomous driving vehicle described in an embodiment of the present application.

[0042] In an embodiment of the present application, when a lane path planning event is triggered, the segment attributes of the first lane in the current driving section, the traffic information of the second lane of the driving section, and the navigation path of the vehicle are obtained, where the second lane is a lane adjacent to the first lane; when it is determined from the navigation path that the second lane is not a change lane, the first area driving information of the current driving section of the vehicle and the second area reference information of the associated section associated with the driving section are obtained; when the segment attributes and the first area driving information are used to determine whether the vehicle meets the set lane change conditions; when the lane change conditions are met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; when the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path containing the changed path is generated. This solution solves the technical problems in the related art of the vehicle's route being somewhat irrational during autonomous driving, resulting in low traffic efficiency and even causing serious congestion, and can improve vehicle traffic efficiency and the safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1A flowchart of a method for generating a navigation path for an autonomous vehicle provided in an embodiment of the present application;

[0044] Figure 2 A flowchart of another method for generating a navigation path for an autonomous driving vehicle provided in an embodiment of the present application;

[0045] Figure 3 A block diagram of the module structure of a navigation path generation device for an autonomous driving vehicle provided in an embodiment of the present application;

[0046] Figure 4 A schematic structural diagram of a navigation path generating device for an autonomous driving vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following is a further detailed description of the embodiments of the present application in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the embodiments of the present application, rather than all structures.

[0048] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the terms "and or or" in the specification and claims represent at least one of the connected objects, and the character "or" generally indicates that the objects connected are in an "or" relationship.

[0049] The present invention provides a method for generating a navigation path for an autonomous vehicle, which can be applied to path planning and scheduling scenarios during autonomous driving. The present invention provides a method for generating a navigation path for an autonomous vehicle, in which each step can be performed by a control device integrated into the autonomous vehicle itself, or by a remote control device.

[0050] Figure 1 A flowchart of a method for generating a navigation path for an autonomous vehicle provided in an embodiment of the present application is shown as follows: Figure 1 As shown, specifically including:

[0051] Step S101: When a lane path planning event is triggered, obtain the segment attributes of the first lane in which the vehicle is located in the current driving segment, the traffic information of the second lane of the driving segment, and the navigation path of the vehicle, where the second lane is a lane adjacent to the first lane.

[0052] The lane routing event is a triggering event used to determine the updated navigation route of the vehicle. Optionally, the triggering conditions may include multiple conditions, such as triggering at preset intervals or upon detecting congestion in the current lane. Preferably, a lane routing event is triggered when driving parameter items recorded in the driving information of multiple vehicles associated with the current vehicle match preset lane change event trigger items.

[0053] In one embodiment, after the lane path planning event is triggered, the segment attributes of the first lane where the vehicle is located in the current driving section, the traffic information of the second lane of the driving section, and the navigation path of the vehicle are obtained accordingly, wherein the second lane is the lane adjacent to the first lane. Taking the first lane as the middle lane of a three-lane road as an example, the second lane can be the lane on the left or right side of the vehicle's driving direction in the first lane; taking a two-lane driving section as an example, the first lane can be the left lane and the second lane is the right lane. The segment attributes are used to characterize the attributes of the road section related to vehicle driving, such as the vehicle type of the road section at the current moment and the driving coverage rate of the road section at a non-current moment. The traffic information of the second lane is used to characterize the statistical information related to the current vehicle driving in the second lane, such as the statistical congestion situation, the average vehicle driving speed, etc.

[0054] The navigation path is a pre-set route for the autonomous vehicle, i.e., a planned route from a starting point to a destination. Optionally, the aforementioned road segment attributes and traffic information may be statistically updated and recorded based on vehicle positioning data traveling on the road, for use in generating the navigation path for the autonomous vehicle mentioned in this application.

[0055] Step S102: When it is determined according to the navigation path that the second lane is not a transfer lane, first area driving information of the current driving section of the vehicle and second area reference information of an associated section associated with the driving section are obtained.

[0056] A lane change refers to a lane determined to be changing lanes based on the navigation path. For example, if a vehicle is currently traveling in the right lane and needs to turn left at the next intersection, the left lane is the lane change determined based on the navigation path. Another example is a five-lane road section where a vehicle is traveling in the middle through lane, with the left and right lanes also through lanes. In this case, these left and right lanes are not lane change lanes.

[0057] In one embodiment, when it is determined based on the navigation path that the second lane is not a transition lane, first-area driving information for the vehicle's current travel segment and second-area reference information for associated segments associated with the travel segment are obtained. The first-area driving information includes statistically calculated vehicle speed trends and vehicle spacing in the area. The area may be the area where the vehicle's current lane is located.

[0058] The associated road section associated with a travel section refers to a road section that directly impacts the passage of vehicles on the travel section. For example, a road section containing an intersection can affect the passage of vehicles on the road section currently being traveled. The road section containing vehicles approaching from other intersections is the associated road section associated with the current travel section. The second area reference information of the associated road section represents reference information that impacts the current travel section, including, for example, stop-and-wait information values ​​and vehicle travel parameters within a preset area, as well as the cumulative number of vehicles in non-preset areas.

[0059] Step S104: Determine whether the vehicle meets the set lane change conditions based on the road segment attributes and the first area driving information.

[0060] In one embodiment, after the road segment attributes and the first area driving information are acquired, it is determined whether the vehicle meets the set lane change conditions based on the road segment attributes and the first area driving information.

[0061] Taking the example where the road section attributes include the road section vehicle type at the current moment and the road section driving coverage rate at non-current moments, and the first area driving information includes the vehicle speed trend and the vehicle interval, the judgment mechanism can be: calculating the first lane change probability based on the vehicle speed trend and the vehicle interval, and calculating the second lane change probability based on the road section vehicle type and the road section driving coverage rate at non-current moments; when the sum of the first lane change probability and the second lane change probability is greater than the preset probability, determining that the vehicle meets the set lane change conditions; otherwise, determining that the vehicle does not meet the set lane change conditions.

[0062] Step S105: When the lane change condition is met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information. When the influence factor value is less than a preset value, the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path including the changed path is generated.

[0063] In one embodiment, when it is determined that the lane change conditions are met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information, and when the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane.

[0064] As described above, the second area reference information may include stop-and-wait information values ​​and vehicle driving parameters within a preset area, as well as the cumulative number of vehicles within a non-preset area. An optional method for determining the impact factor value of the second lane based on the second area reference information and traffic information may include: calculating a first impact factor value based on the stop-and-wait information values ​​and traffic information within the preset area, calculating a second impact factor value based on the vehicle driving parameters and the cumulative number of vehicles; and calculating the impact factor value of the second lane based on the first impact factor value and the second impact factor value.

[0065] If the calculated impact factor value is less than a preset value, a decision is made to change the current lane from the first lane to the second lane, and a corresponding updated navigation path including the changed path is generated. The impact factor value represents the degree to which the second lane is affected by vehicles on the associated road section, and the preset value can be customized. Accordingly, after the corresponding updated navigation path including the changed path is generated, the vehicle is automatically controlled to travel along the updated navigation path.

[0066] As can be seen from the above, when a lane path planning event is triggered, the segment attributes of the first lane in the current driving segment, the traffic information of the second lane of the driving segment, and the navigation path of the vehicle are obtained, where the second lane is adjacent to the first lane; if it is determined based on the navigation path that the second lane is not a change lane, the first area driving information of the vehicle's current driving segment and the second area reference information of the associated segment associated with the driving segment are obtained; if the vehicle meets the set lane change conditions based on the segment attributes and the first area driving information, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; if the lane change conditions are met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; if the influence factor value is less than a preset value, the current driving lane is determined to be changed from the first lane to the second lane, and a corresponding navigation update path containing the changed path is generated. This solution solves the technical problems in the related art that the vehicle's route has certain irrationalities during the autonomous driving process, the traffic efficiency is low, and even serious congestion is caused, and can improve vehicle traffic efficiency and the safety of autonomous driving.

[0067] Figure 2 A flowchart of another method for generating a navigation path for an autonomous vehicle provided in an embodiment of the present application provides a specific method for generating a navigation path, such as Figure 2 As shown, including:

[0068] Step S201: When the driving parameter items recorded in the driving information of multiple driving vehicles associated with the current vehicle match the preset lane change event trigger items, a lane path planning event is triggered to obtain the segment attributes of the first lane in the current driving segment, the traffic information of the second lane of the driving segment, and the navigation path of the vehicle, wherein the segment attributes include the segment vehicle type at the current moment and the segment driving coverage rate at a non-current moment.

[0069] In one embodiment, a lane change event trigger item is pre-set. Optionally, there may be multiple lane change event trigger items. During the driving process of the current vehicle, the driving information of multiple vehicles associated with the vehicle will be obtained. The associated vehicles may be a preset number of vehicles in front of the current vehicle's driving direction. The preset number can be customized, such as 10, 20 or 50. The driving information of the associated multiple vehicles may be information on the driving level of the associated multiple vehicles, represented in the form of driving parameter items. For example, it may be a sudden deceleration item, a lane change item, a turn signal item, etc. Of course, it should be noted that the driving information may be a non-privacy type uploaded to the control platform by the associated vehicle itself, and is only used to indicate the driving status of the vehicle.

[0070] In one embodiment, the preset lane change event trigger items can be any one or more of a sudden deceleration item, a lane change item, and a turn signal item. For example, if the lane change item is included, a lane path planning event is triggered if more than half of the driving information of the associated multiple vehicles contains a lane change item, which is considered a match between the two.

[0071] Step S202: When it is determined based on the navigation path that the second lane is not a transfer lane, first-area driving information of the vehicle's current driving section and second-area reference information of an associated section associated with the driving section are obtained, wherein the first-area driving information includes a vehicle speed trend and a vehicle interval, and the second-area reference information includes a stop-and-wait information value and vehicle driving parameters within a preset area range, as well as a cumulative number of vehicles within a non-preset area range.

[0072] Step S203: Calculate a first lane change probability based on the vehicle speed trend and the vehicle interval, and calculate a second lane change probability based on the vehicle type of the road section and the road section driving coverage rate at the non-current moment. If the sum of the first lane change probability and the second lane change probability is greater than a preset probability, determine that the vehicle meets the set lane change condition.

[0073] The vehicle speed trend represents the changing trend of the vehicle's speed, such as an increasing trend, a decreasing trend, and a constant trend, and the vehicle interval is the statistically average distance between the two vehicles in front and behind. In one embodiment, the method for calculating the first lane change probability based on the vehicle speed trend and the vehicle interval can adopt the formula: P1=F*G, wherein P1 represents the first lane change probability, F represents the vehicle speed trend, and its value can be a discrete value, such as the value f1 corresponding to the increasing trend, the value f2 corresponding to the decreasing trend, and the value f3 corresponding to the constant trend. G represents the vehicle interval, and its value can also be a discrete value, such as g1 when the statistically average vehicle interval is less than n1, g2 when it is between n1 and n2, and g3 when it is greater than n2.

[0074] Optionally, the vehicle speed trend included in the first-area driving information can be the statistically calculated speed trends of individual vehicles in the area. If the number of vehicles with an increasing trend is greater than the number of vehicles with a decreasing trend, the vehicle speed trend is determined to be increasing. If they are the same, the vehicle speed trend is determined to be constant. If the number of vehicles with an increasing trend is less than the number of vehicles with a decreasing trend, the vehicle speed trend is determined to be decreasing. Similarly, the vehicle interval included in the first-area driving information can be the statistically calculated average of the intervals between individual vehicles in the area. The final value of the vehicle interval is determined based on the interval where this average falls (less than n1, between n1 and n2, or greater than n2). For example, when selecting the above parameters, f1 is 0.2, f2 is 0.8, and f3 is 0.5; n1 is 10, n2 is 30, g1 is 0.8, g2 is 0.5, and g3 is 0.2. Of course, the above are merely illustrative, and the specific values ​​can be adjusted according to actual control needs. During the specific numerical setting process of the above parameters, when the vehicle speed trend shows a decreasing trend and the vehicle interval is small, the corresponding value is greater than when the vehicle speed trend shows an increasing trend and the vehicle interval is large, so that the first lane change probability value finally calculated increases.

[0075] When calculating the second lane change probability based on the vehicle type and the road coverage rate at a different time, the formula can be: P2 = T * (1-V). P2 represents the second lane change probability, T represents the vehicle type (e.g., the type of the preceding vehicle), and V represents the road coverage rate at a different time. Both T and V can be discrete values. T can be t1 for small cars, t2 for buses, and t3 for large vehicles. V is the statistical probability of vehicles passing through the area driving in the current lane within a certain time range, which can be 24 hours or, for the current time, 12 hours. For example, t1 can be 0.2, t2 can be 0.3, and t3 can be 0.4. When setting these values, the higher the preceding vehicle type and the lower the road coverage rate, the higher the calculated second lane change probability.

[0076] In one embodiment, after calculating the first and second lane change probabilities, the sum of the two is calculated. If the sum is greater than a preset probability, the vehicle is determined to meet the lane change conditions. Otherwise, the vehicle is determined not to meet the lane change conditions. For example, the preset probability may be 0.8.

[0077] Step S204: When the lane change condition is met, a first impact factor value is calculated based on the stop-and-wait information value of the preset area and the traffic information, a second impact factor value is calculated based on the vehicle driving parameters and the cumulative vehicle volume, and an impact factor value of the second lane is calculated based on the first impact factor value and the second impact factor value.

[0078] The preset area, taking an intersection as an example, may be a circular coverage area with the intersection as the center point and the preset radius as the radius of the circle. Taking an intersection as an example, the stop-and-wait information value may be a preset value corresponding to different durations of traffic lights, the traffic information may be a preset value corresponding to different average durations of vehicles passing through the intersection, the vehicle driving parameter may be a preset value corresponding to different average vehicle speeds, and the vehicle accumulation may be a preset value corresponding to different numbers of vehicles piled up. An exemplary value-taking method may be that when the red light waiting interval is less than 30 seconds, the corresponding value is 0.2; when it is greater than 60 seconds, the corresponding value is 0.8; and when it is between 30 seconds and 60 seconds, the corresponding value is 0.5; the average time for vehicles to pass is less than 5 seconds, the corresponding value is 0.2; when it is greater than 10 seconds, the corresponding value is 0.8; and when it is between 5 and 10 seconds, the corresponding value is 0.5; the average vehicle speed is greater than 5 kilometers per hour, the corresponding value is 0.2; and when it is less than 5 kilometers per hour, the corresponding value is 0.8; the cumulative number of vehicles is less than 5, the corresponding value is 0.2, greater than 10, the corresponding value is 0.8, and between 5 and 10, the corresponding value is 0.5, wherein the cumulative number of vehicles is the cumulative number of vehicles in the non-preset area, that is, the cumulative number of vehicles outside the aforementioned circular coverage area. Optionally, the statistical method for the cumulative number of vehicles may be to count the number of vehicles in a stopped state that are queuing to pass through the intersection.

[0079] Optionally, the influence factor value of the second lane can be calculated using the formula: Q=Q1+Q2, where Q is the calculated influence factor value, Q1 is the first influence factor value, and Q2 is the second influence factor value. Among them, the calculation method of Q1 can be: Q1=S+C, where S is the stop-wait information value and C is the traffic information value; Q2=E+H, where E is the numerical value corresponding to the vehicle driving parameter and H is the numerical value corresponding to the vehicle accumulation. That is, in the above formula, the first influence factor value is obtained by adding the numerical value corresponding to the traffic information; the second influence factor value is obtained by adding the numerical value corresponding to the vehicle driving parameter and the numerical value corresponding to the vehicle accumulation; finally, the first influence factor value and the second influence factor value are added to obtain the influence factor value of the second lane. In the specific value setting process of the above parameters, the larger the stop-wait information value, the larger the traffic information value, the larger the numerical value corresponding to the vehicle driving parameter and the numerical value corresponding to the vehicle accumulation, the larger the final calculated influence factor value, which means that its impact on the second lane is also greater.

[0080] Step S205: When the impact factor value is less than a preset value, determine to change the current driving lane from the first lane to the second lane; determine the lane change position area of ​​the current first lane according to the impact factor value; generate a navigation update path including a lane change navigation path based on the lane change position area, and perform lane change control of the vehicle when the lane change navigation path meets the driving conditions during the driving of the vehicle.

[0081] The preset value can be customized and adjusted adaptively according to different calculation methods of the impact factor value. For example, the value can be any value between 1.7 and 2.3.

[0082] In one embodiment, after determining the lane change, the lane change position area of ​​the current first lane is further determined based on the impact factor value. Optionally, it can be: determining the initial lane change area according to the size of the impact factor value, and adjusting the position of the initial lane change area based on the obtained road compliance information of the first lane to obtain the lane change position area of ​​the first lane.

[0083] Different impact factor values ​​correspond to different initial lane change areas. The smaller the impact factor value, the closer the lane change area is to the vehicle's current driving position. For example, when the impact factor is less than 1, the initial lane change area is the area between the current vehicle position and 10 meters ahead; if the impact factor is greater than 1, the initial lane change area is the area between 10 and 50 meters ahead of the current vehicle position. The purpose of this setting is that if the impact factor value is smaller, i.e., the second lane is less affected, the lane change operation is completed as soon as possible to improve traffic efficiency. If the second impact factor value is relatively large, the lane change operation is not performed immediately, considering the overall impact on traffic. Optionally, after determining the initial lane change area, it is necessary to further adaptively adjust it based on road compliance information. For example, if the determined initial lane change area falls within a non-compliant lane change position area, the non-compliant lane change area position needs to be adjusted accordingly. If adjustment is not possible, an interruption indication indicating that the lane change will not be performed is output.

[0084] As described above, after determining the final lane change location area, a corresponding lane change navigation path is generated to obtain an updated navigation path. This is used to control the vehicle's lane change when the lane change navigation path meets driving conditions. The lane change navigation path can be a planned vehicle lane change curve within the lane change location area, i.e., the vehicle is controlled to change lanes based on the vehicle lane change curve.

[0085] Step S206: When the sum of the first lane change probability and the second lane change probability is not greater than a preset probability, adjust the lane change event triggering item according to the sum of the first lane change probability and the second lane change probability.

[0086] In one embodiment, when the lane change condition is not met (i.e., the sum of the first and second lane change probabilities is not greater than a preset probability), the lane change event trigger can be adjusted accordingly based on this sum. For example, the original lane change event trigger includes a lane change item. When the sum of the first and second lane change probabilities exceeds a trigger item increase threshold, the lane change event trigger is augmented with a sudden deceleration item and a turn signal item. The threshold for increasing the trigger item is customizable and is not specified here.

[0087] As can be seen from the above, when a lane path planning event is triggered, the segment attributes of the first lane in the current driving segment, the traffic information of the second lane of the driving segment, and the navigation path of the vehicle are obtained, where the second lane is adjacent to the first lane; if it is determined based on the navigation path that the second lane is not a change lane, the first area driving information of the vehicle's current driving segment and the second area reference information of the associated segment associated with the driving segment are obtained; if the vehicle meets the set lane change conditions based on the segment attributes and the first area driving information, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; if the lane change conditions are met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; if the influence factor value is less than a preset value, the current driving lane is determined to be changed from the first lane to the second lane, and a corresponding navigation update path containing the changed path is generated. This solution solves the technical problems in the related art that the vehicle's route has certain irrationalities during the autonomous driving process, the traffic efficiency is low, and even serious congestion is caused, and can improve vehicle traffic efficiency and the safety of autonomous driving.

[0088] Based on the above technical solution, the method further includes: when the second lane is determined to be a change lane based on the navigation path, determining congestion information for the second lane in a preset location area, the preset location area including a pre-set intersection area range and a ramp area range, determining a lane change location point based on the congestion information, and generating a navigation update path including the lane change location point. The preset location area may be the area where a road intersection or ramp is located, and the congestion information may be the length of the congested vehicle, i.e., determining the lane change location point based on the length of the congested vehicle, wherein the longer the congested vehicle is, the closer the lane change location point is to the vehicle's current driving position. For example, when the length of the congested vehicle is greater than the preset length, the navigation update path is set to a path for immediate lane change.

[0089] Figure 3This is a block diagram of the module structure of a navigation path generation device for an autonomous vehicle provided in an embodiment of the present application. The device is used to execute a navigation path generation method for an autonomous vehicle provided in the above embodiment, and has the corresponding functional modules and beneficial effects of the execution method. Figure 3 As shown, the device specifically includes:

[0090] A first acquisition module 101 is configured to, when a lane path planning event is triggered, acquire the segment attributes of a first lane in a current driving segment, traffic information of a second lane of the driving segment, and a navigation path of the vehicle, where the second lane is adjacent to the first lane;

[0091] A second acquisition module 102 is configured to acquire first area driving information of a current driving section of the vehicle and second area reference information of an associated section associated with the driving section when it is determined according to the navigation path that the second lane is not a transfer lane;

[0092] A condition judgment module 103 is used to determine whether the vehicle meets the set lane change condition based on the road segment attribute and the first area driving information;

[0093] a lane change determination module 104 configured to determine, when the lane change condition is met, an influence factor value of the second lane based on the second area reference information and the traffic information, and determine to change the current driving lane from the first lane to the second lane if the influence factor value is less than a preset value;

[0094] The path generation module 105 is configured to generate a corresponding navigation update path including the changed path.

[0095] As can be seen from the above scheme, when a lane path planning event is triggered, the segment attributes of the first lane in the current driving section, the traffic information of the second lane of the driving section, and the navigation path of the vehicle are obtained, where the second lane is a lane adjacent to the first lane; when it is determined from the navigation path that the second lane is not a change lane, the first area driving information of the vehicle's current driving section and the second area reference information of the associated section associated with the driving section are obtained; when the segment attributes and the first area driving information are used to determine whether the vehicle meets the set lane change conditions; when the lane change conditions are met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information; when the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path containing the changed path is generated. This scheme solves the technical problems in the related art that the vehicle's route has certain irrationalities during the autonomous driving process, the traffic efficiency is low, and even serious congestion is caused, and can improve vehicle traffic efficiency and the safety of autonomous driving.

[0096] In a possible embodiment, the road segment attributes include the vehicle type of the road segment at the current moment and the road segment travel coverage rate at non-current moments, and the first area travel information includes vehicle speed trends and vehicle intervals;

[0097] The determining whether the vehicle meets a set lane change condition according to the road segment attribute and the first area driving information includes:

[0098] Calculating a first lane change probability based on the vehicle speed trend and the vehicle interval, and calculating a second lane change probability based on the vehicle type of the road segment and the road segment travel coverage rate at a non-current moment;

[0099] If the sum of the first lane change probability and the second lane change probability is greater than a preset probability, it is determined that the vehicle meets the set lane change condition; otherwise, it is determined that the vehicle does not meet the set lane change condition.

[0100] In a possible embodiment, the device further includes a triggering module configured to: trigger a lane path planning event when a driving parameter item recorded in driving information of a plurality of driving vehicles associated with the current vehicle matches a preset lane change event trigger item;

[0101] When the sum of the first lane change probability and the second lane change probability is not greater than a preset probability, the lane change event triggering item is adjusted according to the sum of the first lane change probability and the second lane change probability.

[0102] In a possible embodiment, the second area reference information includes a stop-and-wait information value and vehicle driving parameters within a preset area, and a cumulative number of vehicles within a non-preset area;

[0103] The condition judgment module 103 is used to:

[0104] Calculating a first impact factor value based on the stop-wait information value of the preset area and the traffic information, and calculating a second impact factor value based on the vehicle driving parameters and the accumulated number of vehicles;

[0105] The impact factor value of the second lane is calculated according to the first impact factor value and the second impact factor value.

[0106] In a possible embodiment, the path generation module 105 is configured to:

[0107] Determining a lane change position area of ​​a current first lane according to the impact factor value;

[0108] A navigation update path including a lane change navigation path is generated based on the lane change position area, and is used to perform lane change control on the vehicle when the lane change navigation path meets driving conditions during driving of the vehicle.

[0109] In a possible embodiment, the lane change determination module 104 is configured to:

[0110] determining an initial lane change area according to the magnitude of the impact factor value;

[0111] The initial lane change area is position-adjusted based on the acquired road compliance information of the first lane to obtain a lane change position area of ​​the first lane.

[0112] In a possible embodiment, the path generation module is further configured to:

[0113] When it is determined according to the navigation path that the second lane is a transfer lane, determining congestion information of the second lane in a preset location area, the preset location area including a preset intersection area range and a ramp area range;

[0114] A lane change location point is determined according to the congestion information, and a navigation update path including the lane change location point is generated.

[0115] Figure 4 A schematic diagram of a navigation path generation device for an autonomous driving vehicle provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the device includes a processor 201, a memory 202, an input device 203 and an output device 204; the number of processors 201 in the device can be one or more. Figure 4 In the embodiment, a processor 201 is used as an example; the processor 201, the memory 202, the input device 203 and the output device 204 in the device can be connected by a bus or other means. Figure 4 The example of the connection via bus is taken. The memory 202, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions or modules corresponding to a method for generating a navigation path for an autonomous driving vehicle in an embodiment of the present application. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 202, thereby realizing the above-mentioned method for generating a navigation path for an autonomous driving vehicle. The input device 203 can be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the device. The output device 204 may include a display device such as a display screen.

[0116] An embodiment of the present application further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform a method for generating a navigation path for an autonomous driving vehicle. The method includes:

[0117] When a lane path planning event is triggered, obtaining the segment attributes of a first lane in a current driving segment, traffic information of a second lane of the driving segment, and a navigation path of the vehicle, where the second lane is adjacent to the first lane;

[0118] When it is determined according to the navigation path that the second lane is not a transfer lane, obtaining first area driving information of a current driving section of the vehicle and second area reference information of an associated section associated with the driving section;

[0119] determining whether the vehicle meets a set lane change condition based on the road segment attribute and the first area driving information;

[0120] When the lane change condition is met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information. When the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path including the changed path is generated.

[0121] It is worth noting that in the above-mentioned embodiment of the navigation path generation device for an autonomous driving vehicle, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the embodiments of this application.

[0122] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the embodiments of the present application are described in more detail through the above embodiments, the embodiments of the present application are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims

1. A method for generating a navigation path for an autonomous driving vehicle, characterized in that: include: When a lane path planning event is triggered, the segment attributes of the first lane in the current driving segment, the traffic information of the second lane of the driving segment, and the navigation path of the vehicle are obtained. The second lane is a lane adjacent to the first lane. The segment attributes include the vehicle type of the segment at the current moment and the driving coverage rate of the segment at non-current moments. When it is determined according to the navigation path that the second lane is not a transfer lane, obtaining first-region driving information of the current driving segment of the vehicle and second-region reference information of an associated segment associated with the driving segment, wherein the first-region driving information includes a vehicle speed trend and a vehicle interval; Determining whether the vehicle meets a set lane change condition based on the road segment attribute and the first area driving information, including: calculating a first lane change probability based on the vehicle speed trend and the vehicle interval, and calculating a second lane change probability based on the vehicle type of the road segment and the road segment driving coverage rate at a non-current moment, and determining that the vehicle meets the set lane change condition if the sum of the first lane change probability and the second lane change probability is greater than a preset probability; otherwise, determining that the vehicle does not meet the set lane change condition; When the lane change condition is met, the influence factor value of the second lane is determined based on the second area reference information and the traffic information. When the influence factor value is less than a preset value, it is determined that the current driving lane is changed from the first lane to the second lane, and a corresponding navigation update path including the changed path is generated.

2. The method for generating a navigation path for an autonomous driving vehicle according to claim 1, wherein: The event that triggers lane path planning includes: When the driving parameter items recorded in the driving information of multiple vehicles associated with the current vehicle match the preset lane change event trigger items, a lane path planning event is triggered; The method further comprises: When the sum of the first lane change probability and the second lane change probability is not greater than a preset probability, the lane change event triggering item is adjusted according to the sum of the first lane change probability and the second lane change probability.

3. The method for generating a navigation path for an autonomous driving vehicle according to claim 1, wherein: The second area reference information includes the stop-and-wait information value and vehicle driving parameters within the preset area, and the cumulative number of vehicles within the non-preset area; The determining the impact factor value of the second lane according to the second area reference information and the traffic information includes: Calculating a first impact factor value based on the stop-wait information value of the preset area and the traffic information, and calculating a second impact factor value based on the vehicle driving parameters and the accumulated number of vehicles; The impact factor value of the second lane is calculated according to the first impact factor value and the second impact factor value.

4. The method for generating a navigation path for an autonomous driving vehicle according to any one of claims 1 to 3, characterized in that: Generating a corresponding navigation update path including a changed path includes: Determining a lane change position area of ​​a current first lane according to the impact factor value; A navigation update path including a lane change navigation path is generated based on the lane change position area, and is used for controlling the lane change of the vehicle when the lane change navigation path satisfies a driving condition during the driving of the vehicle.

5. The method for generating a navigation path for an autonomous driving vehicle according to claim 4, wherein: The determining of the lane change position area of ​​the current first lane according to the impact factor value includes: determining an initial lane change area according to the magnitude of the impact factor value; The initial lane change area is position-adjusted based on the acquired road compliance information of the first lane to obtain a lane change position area of ​​the first lane.

6. The method for generating a navigation path for an autonomous driving vehicle according to any one of claims 1 to 3, characterized in that: Also includes: When it is determined according to the navigation path that the second lane is a transfer lane, determining congestion information of the second lane in a preset location area, the preset location area including a preset intersection area range and a ramp area range; A lane change location point is determined according to the congestion information, and a navigation update path including the lane change location point is generated.

7. A navigation path generation device for an autonomous driving vehicle, characterized in that: include: A first acquisition module is configured to, when a lane path planning event is triggered, acquire the segment attributes of a first lane in a current driving segment, traffic information of a second lane of the driving segment, and a navigation path of the vehicle, wherein the second lane is adjacent to the first lane. The segment attributes include the vehicle type of the segment at the current moment and the driving coverage rate of the segment at a non-current moment. a second acquisition module configured to, when it is determined according to the navigation path that the second lane is not a transfer lane, acquire first-region driving information of a current driving section of the vehicle and second-region reference information of an associated section associated with the driving section, wherein the first-region driving information includes a vehicle speed trend and a vehicle interval; a condition judgment module, configured to determine whether the vehicle satisfies a set lane change condition based on the road segment attribute and the first area driving information, including: calculating a first lane change probability based on the vehicle speed trend and the vehicle interval, and calculating a second lane change probability based on the vehicle type of the road segment and the road segment driving coverage rate at a non-current moment; if the sum of the first lane change probability and the second lane change probability is greater than a preset probability, determining that the vehicle satisfies the set lane change condition; otherwise, determining that the vehicle does not satisfy the set lane change condition; a lane change determination module, configured to determine, when the lane change condition is met, an influence factor value of the second lane based on the second area reference information and the traffic information, and determine to change the current driving lane from the first lane to the second lane if the influence factor value is less than a preset value; The path generation module is used to generate a corresponding navigation update path including the changed path.

8. A navigation path generation device for an autonomous driving vehicle, characterized in that: The device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the navigation path generation method for an autonomous driving vehicle as described in any one of claims 1-6.

9. A storage medium storing computer executable instructions, characterized in that: When executed by a computer processor, the computer executable instructions are used to execute the navigation path generation method for an autonomous driving vehicle as described in any one of claims 1 to 6.

Images