Track planning method and device, computer equipment and computer readable storage medium

Abstract

The invention provides a trajectory planning method. The method comprises the following steps: generating a basic track according to dynamically set curvature-related parameters; by taking the starting point as a center, diffusing along a plurality of preset directions to generate a plurality of starting point basic trajectories; by taking the target point as a center, diffusing along a plurality of preset directions to generate a plurality of target point basic trajectories; combining the basic trajectories of the starting point and the target point to form a plurality of trajectory combinations; for each track combination, fitting the tail end point of the basic track of the starting point into a starting circle, acquiring a circle center and a radius, fitting the tail end point of the basic track of the target point into a target circle, acquiring a circle center and a radius, and determining tangent lines corresponding to the two circles according to the relationship between the distance between the two circle centers and the sum of the radiuses of the two circles; and screening out tangent lines of which the tangent line directions are consistent with the heading of the corresponding circle at the tangent point, and connecting the screened tangent lines with the corresponding starting point basic sub-track and the target point basic sub-track to form an overall planning track. According to the method, the control precision and the motion stability are improved.

Description

Technical Field

[0001] The present application relates to the field of trajectory planning technology. Specifically, the present application relates to a trajectory planning method, apparatus, computer device, and computer-readable storage medium. Background Art

[0002] When unmanned mobile platforms (such as unmanned wheeled robots, unmanned vehicles, etc.) are working, they need to move from the starting point to the target point to perform tasks. This process relies on the trajectory generated by global path planning to guide the route of the mobile platform.

[0003] Traditional trajectory planning methods typically use Dubins or Reeds-Shepp curves to generate basic trajectories. However, these trajectories suffer from sudden changes in curvature. Without post-process trajectory smoothing optimization, these sudden changes in curvature can lead to control instability in high-speed motion scenarios, compromising mission efficiency and platform safety. Summary of the Invention

[0004] Based on this, it is necessary to provide a trajectory planning method, device, computer equipment and computer-readable storage medium to address the above technical problems.

[0005] In a first aspect, the present application provides a trajectory planning method. The method comprises:

[0006] Generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate;

[0007] Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; combining the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0008] For the starting point basic trajectory and the target point basic trajectory in each trajectory combination, fit the end point of the starting point basic trajectory to the starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory to the target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory.

[0009] In one embodiment, generating a basic trajectory according to dynamically set curvature-related parameters includes:

[0010] Starting from the initial value of the curvature, the trajectory points are discretely sampled at fixed intervals, and arcs are constructed between adjacent points according to the current curvature. The curvature increases according to the curvature change rate until the curvature reaches the maximum curvature, thereby obtaining a first spiral trajectory.

[0011] In one embodiment, generating a basic trajectory according to dynamically set curvature-related parameters further includes:

[0012] After the curvature reaches the maximum curvature, the maximum curvature is kept unchanged, and the trajectory points are sampled according to a preset number of points to obtain an arc trajectory.

[0013] In one embodiment, generating a basic trajectory according to dynamically set curvature-related parameters further includes:

[0014] After the arc trajectory is generated, starting from the maximum curvature, the trajectory points are discretely sampled at fixed intervals, and arcs are constructed between adjacent points according to the current curvature. The curvature decreases according to the curvature change rate until the curvature falls back to the initial value, thereby obtaining a second spiral trajectory.

[0015] In one embodiment, multiple starting point basic trajectories are generated by diffusing along multiple preset directions with the starting point as the center; multiple target point basic trajectories are generated by diffusing along multiple preset directions with the target point as the center; and the basic trajectories of the starting point and the target point are combined to form multiple trajectory combinations, including:

[0016] With the starting point as the center, four starting point basic trajectories are generated by spreading along the left front, right front, left back, and right back directions respectively;

[0017] With the target point as the center, four basic trajectories of the target point are generated by spreading along the left front, right front, left back, and right back directions respectively;

[0018] The four starting point basic trajectories and the four target point basic trajectories are combined to form sixteen trajectory combinations.

[0019] In one embodiment, determining the tangent lines corresponding to the two circles based on the relationship between the distance between the centers of the two circles and the sum of the radii of the two circles includes:

[0020] If the distance between the centers of the two circles is greater than the sum of the radii of the two circles, calculate the four tangents of the two circles;

[0021] If the distance between the centers of the two circles is less than or equal to the sum of the radii of the two circles, calculate the two tangent lines of the two circles.

[0022] In one embodiment, the method further comprises:

[0023] For each overall planned trajectory, check whether it intersects with environmental obstacles. If so, discard the overall planned trajectory. If not, mark the overall planned trajectory as a collision-free trajectory.

[0024] Calculating a cost function for each collision-free trajectory in a weighted manner; wherein the cost function includes the number of gear shifts and the trajectory length;

[0025] The collision-free trajectory with the smallest cost function value is selected as the final planned trajectory.

[0026] In a second aspect, the present application provides a trajectory planning device. The device comprises:

[0027] a basic trajectory generation module, configured to generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate;

[0028] The basic trajectory combination module is used to generate multiple basic trajectories of the starting point along multiple preset directions with the starting point as the center; to generate multiple basic trajectories of the target point along multiple preset directions with the target point as the center; and to combine the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0029] The overall trajectory planning module is used to fit the end point of the starting point basic trajectory and the target point basic trajectory in each trajectory combination into a starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory into a target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form an overall planning trajectory.

[0030] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0031] Generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate;

[0032] Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; combining the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0033] For the starting point basic trajectory and the target point basic trajectory in each trajectory combination, fit the end point of the starting point basic trajectory to the starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory to the target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0035] Generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate;

[0036] Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; combining the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0037] For the starting point basic trajectory and the target point basic trajectory in each trajectory combination, fit the end point of the starting point basic trajectory to the starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory to the target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory.

[0038] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0039] Generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate;

[0040] Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; combining the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0041] For the starting point basic trajectory and the target point basic trajectory in each trajectory combination, fit the end point of the starting point basic trajectory to the starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory to the target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory.

[0042] The above-mentioned trajectory planning method, apparatus, computer equipment and computer-readable storage medium construct a basic trajectory consisting of a first spiral trajectory with increasing curvature, a circular arc trajectory with fixed curvature and a second spiral trajectory with decreasing curvature by dynamically configuring the maximum curvature and the curvature change rate. The first spiral trajectory and the second spiral trajectory are spiral trajectories with uniform curvature change at a fixed curvature change rate, so that the curvature of the basic trajectory increases gradually and evenly from zero to the set maximum curvature, and then gradually and evenly decreases from the maximum curvature to zero. Afterwards, the basic trajectory generated by multi-directional diffusion of the starting point and the target point is used to fit the circle, and the relationship between the distance between the two circle centers and the sum of the radius is used to determine the tangent, and the tangent whose direction is consistent with the heading of the corresponding circle at the tangent point is selected for trajectory connection, which effectively solves the problem of sudden and discontinuous curvature in traditional trajectory planning, and realizes the continuous connection of the curvature of the entire trajectory from the starting point to the target point, thereby improving the control accuracy and motion smoothness. At the same time, the maximum curvature and curvature change rate are dynamically adjustable parameters that can be dynamically set before planning according to different vehicle and trajectory requirements, meeting the diverse requirements for curvature characteristics in different scenarios and enhancing the flexibility and adaptability of trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 1 is a flow chart of a trajectory planning method according to an embodiment;

[0044] Figure 2 A schematic diagram of sampling of a starting point basic trajectory in one embodiment;

[0045] Figure 3 This is a local sampling trajectory effect diagram in one embodiment;

[0046] Figure 4 A schematic diagram of basic trajectory sampling of the starting point and the target point in one embodiment;

[0047] Figure 5 A schematic diagram of calculating tangent lines corresponding to arcs at a starting point and a target point in one embodiment;

[0048] Figure 6 Calculating a final overall planning trajectory for one embodiment;

[0049] Figure 7 is a structural block diagram of a trajectory planning device in one embodiment;

[0050] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] In one embodiment, Figure 1 As shown, a trajectory planning method is provided, which includes the following steps S102 to S106:

[0053] Step S102: Generate a basic trajectory according to the dynamically set curvature-related parameters.

[0054] Curvature-related parameters include maximum curvature and curvature change rate. The basic trajectory consists of a first spiral trajectory with increasing curvature, a circular arc trajectory with constant curvature, and a second spiral trajectory with decreasing curvature. The curvature of the first spiral trajectory gradually increases from the initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreases from the maximum curvature to the initial value at the curvature change rate.

[0055] Specifically, first, according to the maximum curvature set dynamically and the curvature change rate , calculate the piecewise basic trajectory. The basic trajectory consists of three parts. The first part is from the initial value of curvature zero to the maximum curvature The first spiral trajectory, the second part is the curvature of The arc trajectory, the third part is the curvature from The second spiral trajectory to zero. Due to the curvature change rate It is the value of the initial setting, so when calculating the spiral trajectory, the trajectory is discretized into trajectory points with an interval of 10 cm. Every two trajectory points are approximately considered to be a circular arc curve with a fixed curvature. The change of curvature is calculated according to the curvature change rate. Therefore, the spiral trajectory is calculated step by step, such as Figure 2-4 The arc trajectory samples the arc trajectory lengths at different numbers of points, and calculates arc trajectories of different lengths from two points to the set number of target points. Finally, the first spiral trajectory, the arc trajectory, and the second spiral trajectory are combined to calculate the basic trajectory.

[0056] Step S104 : With the starting point as the center, multiple starting point basic trajectories are generated by diffusing along multiple preset directions; with the target point as the center, multiple target point basic trajectories are generated by diffusing along multiple preset directions; and the basic trajectories of the starting point and the target point are combined to form multiple trajectory combinations.

[0057] Specifically, global planning considers both forward and backward directions. Therefore, with the starting point as the center, four starting point basic trajectories are generated by diffusing along the left front, right front, left back, and right back directions. With the target point as the center, four target point basic trajectories are generated by diffusing along the left front, right front, left back, and right back directions. Combining the four starting point basic trajectories with the four target point basic trajectories creates sixteen trajectory combinations.

[0058] Step S106: For each trajectory combination, the starting point basic trajectory and the target point basic trajectory are fitted to a starting circle at the end point of the starting point basic trajectory, and the center and radius of the circle are obtained. The target point basic trajectory is fitted to a target circle at the end point of the target point basic trajectory, and the center and radius of the circle are obtained. Based on the relationship between the distance between the two circle centers and the sum of the two circle radii, the corresponding tangents of the two circles are determined, and the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points are selected, such as Figure 5 As shown, the sub-trajectory from the starting point to the tangent point of the selected tangent on the starting circle is intercepted in the starting point basic trajectory, and the sub-trajectory from the tangent point of the selected tangent on the target circle to the target point is intercepted in the target point basic trajectory. The selected tangent is connected with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory, as shown in Figure 6 shown.

[0059] Specifically, sixteen trajectory combinations are calculated to find a reasonable trajectory. After the basic trajectory is diffused, the last point of each sampled trajectory is fitted with a circle to calculate the radius and center coordinates of the circle. Therefore, it is necessary to calculate the center of the trajectory corresponding to the current starting point and the target point, and then calculate the corresponding arc tangent based on the distance relationship between the center of the circle. If the distance between the center of the circle is greater than 2 times the radius, the two circles correspond to four tangents. If the distance between the center of the circle is less than or equal to 2 times the radius, the two circles correspond to two tangents. Then calculate whether the heading direction of the tangent is consistent with the heading direction of the arc. If they are consistent, the trajectory calculation is completed, and the tangent point of the tangent at the trajectory arc corresponding to the starting point and the target point is found. Get the basic sub-trajectory of the starting point and the target point under the tangent point. The overall planning trajectory is the basic sub-trajectory of the starting point, the straight line tangent trajectory and the basic sub-trajectory of the target point.

[0060] The above-mentioned trajectory planning method constructs a basic trajectory consisting of a first spiral trajectory with increasing curvature, a circular arc trajectory with fixed curvature, and a second spiral trajectory with decreasing curvature by dynamically configuring the maximum curvature and the curvature change rate. The first spiral trajectory and the second spiral trajectory are spiral trajectories with uniform curvature changes at a fixed curvature change rate, so that the curvature of the basic trajectory increases gradually and evenly from zero to the set maximum curvature, and then gradually and evenly decreases from the maximum curvature to zero. After that, the basic trajectory generated by multi-directional diffusion of the starting point and the target point is used to fit the circle, and the relationship between the distance between the two circle centers and the sum of the radius is used to determine the tangent, and the tangent whose direction is consistent with the heading of the corresponding circle at the tangent point is selected for trajectory connection, which effectively solves the problem of sudden and discontinuous curvature in traditional trajectory planning, and realizes the continuous connection of the curvature of the entire trajectory from the starting point to the target point, thereby improving the control accuracy and motion smoothness. At the same time, the maximum curvature and curvature change rate are dynamically adjustable parameters that can be dynamically set before planning according to different vehicle and trajectory requirements, meeting the diverse requirements for curvature characteristics in different scenarios and enhancing the flexibility and adaptability of trajectory planning.

[0061] In one embodiment, the method further includes the following steps S1082-S1086:

[0062] Step S1082: For each overall planned trajectory, check whether it intersects with environmental obstacles. If so, discard the overall planned trajectory. If not, mark the overall planned trajectory as a collision-free trajectory.

[0063] Step S1084, calculating the cost function of each collision-free trajectory in a weighted manner;

[0064] Step S1086: Select the collision-free trajectory with the minimum cost function value as the final planned trajectory.

[0065] The cost function includes the number of gear shifts and trajectory length.

[0066] Specifically, collision detection and cost calculation are performed on all successfully calculated overall planning trajectories. The cost calculation uses a weighted approach to calculate the overall cost function, which includes the number of trajectory shifts and trajectory length. .in, Represents the weight coefficient. Finally, the trajectory with no collision and the minimum cost is selected as the output trajectory.

[0067] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0068] Based on the same inventive concept, the present application also provides a trajectory planning device for implementing the trajectory planning method mentioned above. The solution provided by the device is similar to the solution described in the above method. Therefore, the specific limitations of one or more trajectory planning device embodiments provided below can be found in the above limitations of the trajectory planning method, and will not be repeated here.

[0069] In one embodiment, Figure 7 As shown, a trajectory planning device is provided. The device includes:

[0070] A basic trajectory generation module 202 is configured to generate a basic trajectory based on dynamically set curvature-related parameters, wherein the curvature-related parameters include a maximum curvature and a curvature change rate. The basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, wherein the curvature of the first spiral trajectory gradually increases from an initial value to a maximum curvature at a curvature change rate, the curvature of the circular arc trajectory is a maximum curvature, and the curvature of the second spiral trajectory gradually decreases from the maximum curvature to the initial value at a curvature change rate.

[0071] The basic trajectory combination module 204 is configured to generate multiple basic trajectories of the starting point by diffusing along multiple preset directions with the starting point as the center; generate multiple basic trajectories of the target point by diffusing along multiple preset directions with the target point as the center; and combine the basic trajectories of the starting point and the target point to form multiple trajectory combinations;

[0072] The overall trajectory planning module 206 is used to fit the end point of the starting point basic trajectory and the target point basic trajectory in each trajectory combination into a starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory into a target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles based on the relationship between the distance between the two circle centers and the sum of the two circle radii, filter out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory of the starting point basic trajectory from the starting point to the tangent point of the filtered tangent on the starting circle, intercept the sub-trajectory of the target point basic trajectory from the tangent point of the filtered tangent on the target circle to the target point, connect the filtered tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form an overall planned trajectory.

[0073] In the above-mentioned trajectory planning device, by dynamically configuring the maximum curvature and the curvature change rate, a basic trajectory consisting of a first spiral trajectory with increasing curvature, a circular arc trajectory with fixed curvature, and a second spiral trajectory with decreasing curvature is constructed. The first spiral trajectory and the second spiral trajectory are spiral trajectories with uniform curvature changes at a fixed curvature change rate, so that the curvature of the basic trajectory increases gradually and evenly from zero to the set maximum curvature, and then gradually and evenly decreases from the maximum curvature to zero. Afterwards, the basic trajectory generated by multi-directional diffusion of the starting point and the target point is used to fit the circle, and the relationship between the distance between the two circle centers and the sum of the radius is used to determine the tangent, and the tangent whose direction is consistent with the heading of the corresponding circle at the tangent point is selected for trajectory connection, which effectively solves the problem of sudden and discontinuous curvature in traditional trajectory planning, and realizes the continuous connection of the curvature of the entire trajectory from the starting point to the target point, thereby improving the control accuracy and motion smoothness. At the same time, the maximum curvature and curvature change rate are dynamically adjustable parameters that can be dynamically set before planning according to different vehicle and trajectory requirements, meeting the diverse requirements for curvature characteristics in different scenarios and enhancing the flexibility and adaptability of trajectory planning.

[0074] It should be noted that the trajectory planning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate the corresponding functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the trajectory planning device provided in the above embodiment and the trajectory planning method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0075] According to one aspect of the present application, an embodiment of the present invention further provides a computer program product, comprising a computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion. When the computer program is executed by a processor, the trajectory planning method provided in the embodiment of the present application is executed.

[0076] In addition, an embodiment of the present invention further provides a computer device, which includes a processor and a memory, wherein the memory stores a computer program, and the processor is capable of executing the computer program stored in the memory. When the computer program is executed by the processor, the trajectory planning method provided in any of the above embodiments can be implemented.

[0077] For example, Figure 8 A computer device provided by an embodiment of the present invention is shown. The device includes a bus 1110 , a processor 1120 , a transceiver 1130 , a bus interface 1140 , a memory 1150 , and a user interface 1160 .

[0078] In an embodiment of the present invention, the device further includes: a computer program stored in the memory 1150 and executable on the processor 1120 , and when the computer program is executed by the processor 1120 , each process of the above-mentioned trajectory planning method embodiment is implemented.

[0079] The transceiver 1130 is configured to receive and send data under the control of the processor 1120 .

[0080] In an embodiment of the present invention, a bus architecture (represented by bus 1110 ) may include any number of interconnected buses and bridges, and bus 1110 connects various circuits including one or more processors represented by processor 1120 and a memory represented by memory 1150 .

[0081] Bus 1110 represents one or more of any of several types of bus structures, including a memory bus and memory controller, a peripheral bus, an Accelerated Graphical Port (AGP), a processor, or a local bus using any of a variety of bus architectures. By way of example and not limitation, such architectures include an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA), and a Peripheral Component Interconnect (PCI) bus.

[0082] Processor 1120 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-described method embodiment can be completed by hardware integrated logic circuits in the processor or by software instructions. Such processors include: general-purpose processors, central processing units (CPUs), network processors (NPs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), programmable logic arrays (PLAs), microcontroller units (MCUs), or other programmable logic devices, discrete gates, transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. For example, the processor can be a single-core processor or a multi-core processor, and the processor can be integrated into a single chip or located on multiple different chips.

[0083] Processor 1120 can be a microprocessor or any conventional processor. The method steps disclosed in conjunction with the embodiments of the present invention can be performed directly by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules can be located in a readable storage medium known in the art, such as random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), or registers. The readable storage medium is located in a memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the method described above.

[0084] The bus 1110 may also connect various other circuits, such as peripheral devices, voltage regulators, or power management circuits. The bus interface 1140 provides an interface between the bus 1110 and the transceiver 1130. These are all well known in the art and are therefore not further described in this embodiment of the present invention.

[0085] The transceiver 1130 can be a single component or multiple components, such as multiple receivers and transmitters, providing a means for communicating with various other devices over a transmission medium. For example, the transceiver 1130 receives external data from other devices and transmits data processed by the processor 1120 to other devices. Depending on the nature of the computer system, a user interface 1160 may also be provided, such as a touch screen, physical keyboard, display, mouse, speaker, microphone, trackball, joystick, or stylus.

[0086] It should be understood that in an embodiment of the present invention, the memory 1150 may further include a memory remotely located relative to the processor 1120, and these remotely located memories may be connected to a server via a network. One or more parts of the aforementioned network may be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless local area network (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), the Internet, a public switched telephone network (PSTN), a plain old telephone service (POTS), a cellular telephone network, a wireless network, a wireless fidelity (Wi-Fi) network, or a combination of two or more of the aforementioned networks. For example, the cellular telephone network and the wireless network may be a Global System for Mobile Communications (GSM) system, a Code Division Multiple Access (CDMA) system, a Worldwide Interoperability for Microwave Access (WiMAX) system, a General Packet Radio Service (GPRS) system, a Wideband Code Division Multiple Access (WCDMA) system, a Long Term Evolution (LTE) system, an LTE Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD) system, an Advanced Long Term Evolution (LTE-A) system, a Universal Mobile Telecommunications (UMTS) system, an Enhanced Mobile Broadband (eMBB) system, a Massive Machine Type of Communication (mMTC) system, an Ultra Reliable Low Latency Communications (uRLLC) system, and the like.

[0087] It should be understood that the memory 1150 in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Non-volatile memories include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0088] Volatile memory includes random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronized DRAM (SLDRAM), and direct RAM bus (DRRAM). Memory 1150 described in embodiments of the present invention includes, but is not limited to, the aforementioned and any other suitable types of memory.

[0089] In the embodiment of the present invention, the memory 1150 stores the following elements of the operating system 1151 and the application 1152: executable modules, data structures, or subsets thereof, or extended sets thereof.

[0090] Specifically, operating system 1151 includes various system programs, such as a framework layer, a core library layer, and a driver layer, which implement various basic services and handle hardware-based tasks. Application programs 1152 include various application programs, such as a media player and a browser, which implement various application services. Programs implementing the methods of the embodiments of the present invention may be included in application programs 1152. Application programs 1152 include applets, objects, components, logic, data structures, and other computer system-executable instructions that perform specific tasks or implement specific abstract data types.

[0091] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned trajectory planning method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0092] Computer-readable storage media include both permanent and non-permanent, removable and non-removable media, and are tangible devices that can retain and store instructions for use by an instruction execution device. Computer-readable storage media include electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, and any suitable combination of the foregoing. Computer-readable storage media include phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette storage, magnetic disk storage or other magnetic storage devices, memory sticks, mechanical encoding devices (such as punched cards or raised structures with instructions recorded in grooves), or any other non-transmission medium that can be used to store information accessible by a computing device. As defined in the embodiments of the present invention, computer-readable storage media does not include temporary signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (such as light pulses passing through fiber optic cables), or electrical signals transmitted through wires.

[0093] In describing the embodiments of the present invention, those skilled in the art will appreciate that the embodiments of the present invention can be implemented as methods, apparatuses, devices, and storage media. Therefore, the embodiments of the present invention can be implemented in the following forms: entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or a combination of hardware and software. Furthermore, in some embodiments, the embodiments of the present invention can also be implemented as a computer program product embodied in one or more computer-readable storage media, wherein the computer-readable storage media contains computer program code.

[0094] The computer-readable storage medium may be any combination of one or more computer-readable storage media. Computer-readable storage media include: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof. More specific examples of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any combination thereof. In embodiments of the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component.

[0095] The computer program code contained in the computer-readable storage medium may be transmitted using any appropriate medium, including wireless, wire, optical cable, radio frequency (RF), or any suitable combination thereof.

[0096] The computer program code for performing the operations of the embodiments of the present invention may be written in assembly language instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The computer program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer or to an external computer via any type of network, including a local area network (LAN) or a wide area network (WAN).

[0097] It should be understood that each block in the flowchart and / or block diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine. These computer-readable program instructions are executed by the computer or other programmable data processing device to produce a device that implements the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0098] These computer-readable program instructions may also be stored in a computer-readable storage medium that enables a computer or other programmable data processing device to operate in a specific manner. In this way, the instructions stored in the computer-readable storage medium produce an instruction device product that implements the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0099] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby enabling the instructions executed on the computer or other programmable data processing apparatus to provide a process that implements the functions / operations specified by the blocks in the flowchart and / or block diagram.

[0100] The above description is merely a specific implementation of the embodiments of the present invention, but the protection scope of the embodiments of the present invention is not limited thereto. Any variation or substitution that a person skilled in the art can easily conceive within the technical scope disclosed in the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention. Therefore, the protection scope of the embodiments of the present invention should be based on the protection scope of the claims.

Claims

1. A trajectory planning method, characterized in that: The method comprises: Generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate; Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; combining the basic trajectories of the starting point and the target point to form multiple trajectory combinations; For the starting point basic trajectory and the target point basic trajectory in each trajectory combination, fit the end point of the starting point basic trajectory to the starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory to the target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form the overall planning trajectory.

2. The method according to claim 1, characterized in that Generate basic trajectories based on dynamically set curvature-related parameters, including: Starting from the initial value of the curvature, the trajectory points are discretely sampled at fixed intervals, and arcs are constructed between adjacent points according to the current curvature. The curvature increases according to the curvature change rate until the curvature reaches the maximum curvature, thereby obtaining a first spiral trajectory.

3. The method according to claim 2, characterized in that Generates basic trajectory based on dynamically set curvature related parameters, including: After the curvature reaches the maximum curvature, the maximum curvature is kept unchanged, and the trajectory points are sampled according to a preset number of points to obtain an arc trajectory.

4. The method according to claim 3, characterized in that Generates basic trajectory based on dynamically set curvature related parameters, including: After the arc trajectory is generated, starting from the maximum curvature, the trajectory points are discretely sampled at fixed intervals, and arcs are constructed between adjacent points according to the current curvature. The curvature decreases according to the curvature change rate until the curvature falls back to the initial value, thereby obtaining a second spiral trajectory.

5. The method according to claim 4, characterized in that Taking the starting point as the center, multiple starting point basic trajectories are generated along multiple preset directions; taking the target point as the center, multiple target point basic trajectories are generated along multiple preset directions; Combine the basic trajectories of the starting point and the target point to form a variety of trajectory combinations, including: With the starting point as the center, four starting point basic trajectories are generated by spreading along the left front, right front, left back, and right back directions respectively; With the target point as the center, four basic trajectories of the target point are generated by spreading along the left front, right front, left back, and right back directions respectively; The four starting point basic trajectories and the four target point basic trajectories are combined to form sixteen trajectory combinations.

6. The method according to claim 5, characterized in that Based on the relationship between the distance between the two circle centers and the sum of the two circle radii, determine the corresponding tangent lines of the two circles, including: If the distance between the centers of the two circles is greater than the sum of the radii of the two circles, calculate the four tangents of the two circles; If the distance between the centers of the two circles is less than or equal to the sum of the radii of the two circles, calculate the two tangent lines of the two circles.

7. The method according to claim 6, characterized in that The method further comprises: For each overall planned trajectory, check whether it intersects with environmental obstacles. If so, discard the overall planned trajectory. If not, mark the overall planned trajectory as a collision-free trajectory. Calculating a cost function for each collision-free trajectory in a weighted manner; wherein the cost function includes the number of gear shifts and the trajectory length; The collision-free trajectory with the smallest cost function value is selected as the final planned trajectory.

8. A trajectory planning device, characterized in that: The device comprises: a basic trajectory generation module, configured to generate a basic trajectory based on dynamically set curvature-related parameters; wherein the curvature-related parameters include a maximum curvature and a curvature change rate; the basic trajectory is composed of a first spiral trajectory with increasing curvature, a circular arc trajectory with a fixed curvature, and a second spiral trajectory with decreasing curvature, the curvature of the first spiral trajectory gradually increasing from an initial value to the maximum curvature at the curvature change rate, the curvature of the circular arc trajectory is the maximum curvature, and the curvature of the second spiral trajectory gradually decreasing from the maximum curvature to the initial value at the curvature change rate; The basic trajectory combination module is used to generate multiple basic trajectories of the starting point along multiple preset directions with the starting point as the center; to generate multiple basic trajectories of the target point along multiple preset directions with the target point as the center; and to combine the basic trajectories of the starting point and the target point to form multiple trajectory combinations; The overall trajectory planning module is used to fit the end point of the starting point basic trajectory and the target point basic trajectory in each trajectory combination into a starting circle, obtain the center and radius of the circle, fit the end point of the target point basic trajectory into a target circle, obtain the center and radius of the circle, determine the corresponding tangents of the two circles according to the relationship between the distance between the two circle centers and the sum of the two circle radii, screen out the tangents whose directions are consistent with the headings of the corresponding circles at the tangent points, intercept the sub-trajectory from the starting point to the tangent point of the screened tangent on the starting circle in the starting point basic trajectory, intercept the sub-trajectory from the tangent point of the screened tangent on the target circle to the target point in the target point basic trajectory, connect the screened tangents with the corresponding intercepted starting point basic sub-trajectory and target point basic sub-trajectory to form an overall planning trajectory.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images