Path matching method and device for autonomous vehicle, equipment and medium

Abstract

The invention discloses a path matching method, device and equipment for an automatic driving vehicle and a medium, and the method comprises the steps: determining initial navigation data according to an automatic navigation instruction under the condition that the automatic navigation instruction is received, the initial navigation data comprises an initial navigation path and a branch path identifier corresponding to the initial navigation path; and determining branch path navigation data based on the initial navigation data, and determining a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data. Based on the technical scheme, after the navigation path matching is completed, the branch road section data on the path is broadcasted to the target vehicle in a real-time increment manner, so that when the vehicle is subjected to yaw re-planning or a driver manually switches a new path, the time consumption caused by re-transmission of the navigation path data and re-matching calculation is reduced, and the navigation path matching efficiency is improved. And the path matching duration is reduced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a path matching method, device, equipment and medium for an autonomous driving vehicle. Background Art

[0002] With the development of autonomous driving technology, vehicles can automatically enter or exit ramps, change lanes, drive straight through intersections, turn left, or turn right at intersections based on information such as the navigation destination and route. However, these functions require that the autonomous driving system obtain the vehicle's navigation information, match the navigation map with the high-precision map used for autonomous driving, and then obtain a global path planning result from point A to point B.

[0003] The existing technical solution is to send global navigation data at one time when navigation is initiated, and the autonomous driving system caches and matches the data. If the subsequent vehicle deviates and replans or the driver manually switches to a new path, the navigation system needs to re-send the new path information, which results in long calculation and transmission time, reducing the user experience. Summary of the Invention

[0004] The present invention provides a path matching method, device, equipment and medium for an autonomous driving vehicle. After completing the navigation path matching, the branch road section data on the path is incrementally broadcast to the target vehicle in real time. In the event of vehicle deviation and re-planning or the driver manually switching to a new route, the time consumed by retransmitting navigation path data and re-matching calculations is reduced, thereby shortening the path matching time.

[0005] According to one aspect of the present invention, a path matching method for an autonomous driving vehicle is provided, comprising:

[0006] In the case of receiving the automatic navigation instruction, determining initial navigation data according to the automatic navigation instruction, wherein the initial navigation data includes an initial navigation path and a branch path identifier corresponding to the initial navigation path;

[0007] Branch path navigation data is determined based on the initial navigation data, and a target navigation path corresponding to the automatic navigation instruction is determined according to the branch path navigation data.

[0008] According to another aspect of the present invention, a path matching device for an autonomous driving vehicle is provided, comprising:

[0009] a navigation data determining module, configured to, upon receiving an automatic navigation instruction, determine initial navigation data according to the automatic navigation instruction, wherein the initial navigation data includes an initial navigation path and a branch path identifier corresponding to the initial navigation path;

[0010] The navigation path determining module is configured to determine branch path navigation data based on the initial navigation data, and determine a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data.

[0011] According to another aspect of the present invention, an electronic device is provided, comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the path matching method for an autonomous driving vehicle described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the path matching method for an autonomous driving vehicle described in any embodiment of the present invention when executed.

[0016] The technical solution of an embodiment of the present invention, upon receiving an automatic navigation instruction, determines initial navigation data based on the automatic navigation instruction, further determines branch path navigation data based on the initial navigation data, and then determines a target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data. Based on this technical solution, after completing navigation path matching, the branch road segment data on the path is incrementally broadcasted to the target vehicle in real time. This reduces the time consumed by retransmitting navigation path data and recalculating matching calculations when the vehicle deviates and replans, or when the driver manually switches to a new route, thereby shortening the path matching time.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1This is a flow chart of a path matching method for an autonomous driving vehicle provided by an embodiment of the present invention;

[0020] Figure 2 This is a flow chart of a path matching method for an autonomous driving vehicle provided by an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of an automatic pathfinding scenario provided by an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of an automatic pathfinding scenario provided by an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of an automatic pathfinding scenario provided by an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of an automatic pathfinding scenario provided by an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of an automatic pathfinding scenario provided by an embodiment of the present invention;

[0026] Figure 8 This is a structural block diagram of a path matching device for an autonomous driving vehicle provided by an embodiment of the present invention;

[0027] Figure 9 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] Figure 1 This is a flow chart of a path matching method for an autonomous vehicle provided by an embodiment of the present invention. This embodiment can be applied to sending branch node data on a path to a vehicle, and then when the current vehicle deviates or replans the path, the navigation path is determined based on the data of the branch node. This method can be executed by a path matching device of an autonomous vehicle, and the path matching device of the autonomous vehicle can be implemented in the form of hardware and / or software. The path matching device of the autonomous vehicle can be configured in an electronic device, and the electronic device can be a terminal device or a server. Figure 1 As shown, the method includes:

[0032] S110 . Upon receiving an automatic navigation instruction, determine initial navigation data according to the automatic navigation instruction.

[0033] The automatic navigation instruction can be a command message issued when the automatic navigation control is triggered, or it can be a command message automatically sent by the vehicle when a deviation is detected, instructing the autonomous driving system in the target vehicle to replan the navigation path. The initial navigation data is understood to be the navigation data corresponding to the automatic navigation instruction, and the initial navigation data includes the initial navigation path and branch path identifiers corresponding to the initial navigation path.

[0034] Specifically, when an automatic navigation instruction is received, the instruction can be parsed to determine the navigation starting point corresponding to the instruction, as well as user-defined navigation information, such as shortest time, shortest path, and road preference, etc., and then the initial navigation data corresponding to the automatic navigation instruction is matched from the database based on the parsed information. This can be by calling a multi-source environmental data interface, such as obtaining static road information through a high-precision map service, and obtaining dynamic road conditions through a real-time traffic system, and then determining the initial navigation data corresponding to the automatic navigation instruction from the obtained information based on a preset path matching algorithm.

[0035] It should be noted that the path matching algorithm can be set according to needs. For example, a global path from the start point to the end point can be generated based on the A* algorithm, a local path can be generated through the dynamic window method, and an emergency path can be generated through the Dijkstra algorithm. The corresponding path matching algorithm can be set according to needs.

[0036] S120: Determine branch path navigation data based on the initial navigation data, and determine a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data.

[0037] The branch path navigation data may be navigation data corresponding to a path branch on the navigation path, and the path branch may be understood as each road intersection on the current navigation path. The target navigation path may be understood as the finalized path for controlling the target vehicle for automatic navigation.

[0038] Specifically, it receives automatic navigation instructions, parses core parameters such as target coordinates, path constraints, time sensitivity, etc., and then uses the A* algorithm or Dijkstra algorithm, combined with high-precision map data, to generate an initial global path from the starting point to the end point. In the process of path planning, it also considers static road network information such as lane lines, speed limit status, and dynamic traffic conditions such as real-time congestion and accidents. In addition, during the vehicle's driving process, it sends branch path navigation data corresponding to the vehicle. For example, if there is a road intersection in front of the target vehicle, that is, a branch path node, the branch path navigation data corresponding to the path branch node is sent to the target vehicle, so that the automatic navigation coefficient determines the target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data.

[0039] Based on the above technical solution, the branch path navigation data is determined based on the initial navigation data, including: obtaining the branch path detection distance corresponding to the target vehicle, determining the branch path node corresponding to the target vehicle according to the branch path detection distance; and determining the branch path navigation data based on the branch path node.

[0040] The branch path detection distance is a preset distance used to detect whether a path branch exists ahead of the target vehicle. For example, it could be 1 km. This distance can be set as needed. The target vehicle can be understood as the vehicle currently undergoing automatic navigation path planning. It should be noted that the target vehicle must have automatic navigation capabilities. A branch path node can be a road intersection corresponding to the current navigation path.

[0041] Specifically, the real-time status of the vehicle, such as speed, acceleration, environmental perception data, such as visibility, weather and path topology characteristics, such as the number of lanes and curvature, can be integrated to dynamically calculate the branch path detection distance through a weighted model to ensure that the vehicle can respond to changes in the road ahead within the safety time threshold. Road intersections, such as intersections, ramps, and roundabouts, are then used as candidate nodes. Combined with high-precision map data and real-time traffic flow information, nodes that are within the detection distance and comply with traffic regulations are screened out, and their priorities are sorted according to dimensions such as potential conflict risks and traffic efficiency. Then, for the screened nodes, branch path navigation data corresponding to the branch path nodes is obtained.

[0042] The technical solution of the embodiment of the present invention determines the branch path node corresponding to the target vehicle in real time by setting the branch path detection distance, and realizes the incremental distribution of navigation data according to the branch path node, thereby improving the efficiency of data acquisition and reducing the data transmission time.

[0043] On the basis of the above technical solution, the determining of the branch path navigation data based on the branch path node includes: when the branch path node exists in front of the target vehicle, determining the branch path identifier corresponding to the branch path node according to the initial navigation data; and obtaining the branch path navigation data corresponding to the branch path node based on the branch path identifier.

[0044] The branch path identifier may be a pre-set identifier ID corresponding to the current branch path node.

[0045] Specifically, when a branching path node is detected in front of the target vehicle, the branching path identifier of the node is identified by combining the path planning information in the initial navigation data. The system then queries the local high-precision map database or calls the cloud-based path planning service to extract detailed navigation data associated with the identifier, including but not limited to: drivable direction, steering angle, lane-level guidance, speed limit information, and distance to the next node. Finally, it generates structured branching path navigation instructions to assist the vehicle in completing path selection and driving control.

[0046] The technical solution of the embodiment of the present invention improves data query efficiency by pre-setting branch path identifiers corresponding to branch path nodes and then querying corresponding branch path navigation data from a database based on the branch path identifiers.

[0047] Based on the above technical solution, determining a target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data includes: when detecting that the target vehicle enters a branch path node, determining the target navigation path based on the branch path navigation data corresponding to the branch path node. When detecting that the target vehicle does not enter the branch path node, using the initial navigation path as the target navigation path and deleting the branch path navigation data.

[0048] Specifically, the system monitors the relationship between the vehicle's position and branching path nodes in real time. If the vehicle enters a pre-defined branching path node, such as an intersection or ramp entrance, the system immediately activates the branching path navigation data associated with that node and uses it as the new target navigation path, guiding the vehicle along the selected branch. If the vehicle does not enter the node, such as due to a detour or deviation from the path, the initial navigation path remains valid and the generated branching path navigation data is cleared to prevent invalid information from interfering with subsequent navigation decisions.

[0049] The technical solution of the embodiment of the present invention determines whether the route needs to be replanned based on the vehicle's status. When route planning is no longer needed, it deletes expired branch route navigation data. Then, through dynamic route activation and data cleaning, it ensures that the navigation system always outputs route instructions that are strongly related to the actual position of the vehicle, thereby ensuring the accuracy of route planning.

[0050] On the basis of the above technical solution, the target navigation path is determined according to the branch path navigation data corresponding to the branch path node, including: determining the navigation path termination point based on the automatic navigation instruction, and determining the branch path identifier corresponding to the branch path node, and determining the target navigation path according to the branch path navigation data corresponding to the branch path identifier and the navigation path termination point.

[0051] Specifically, by parsing the automatic navigation instructions, the end point of the navigation path, such as the destination and the waypoint, is clarified. Then, when the target vehicle is detected entering a branch path node, the branch path identifier associated with the node is extracted, and the corresponding branch path navigation data is called, including path direction, speed limit, lane guidance and other information. Then, the starting point of the branch path can be used as the current position and the end point in the navigation instruction can be used as the end point. The optimal path is generated through the path planning algorithm. If the branch path data conflicts with the end point, such as the path cannot reach the end point, the path replanning mechanism is triggered.

[0052] According to the technical solution provided by the embodiment of the present invention, when the vehicle deviates from its course and replans or the driver manually switches to a new route, the navigation system first sends the road ID of the first section of the new path. The autonomous driving system quickly retrieves the cached data and pre-matching results based on the road ID, reducing the time consumed by retransmitting navigation path data and re-matching calculations, ensuring that the autonomous driving system obtains the new path matching results as soon as possible and executes vehicle control according to the results, and reserving sufficient time for the complete data transmission and matching of the new navigation path, thereby avoiding the situation in which the autonomous driving system cannot obtain the correct navigation path information due to multiple vehicle deviations and replannings under extreme working conditions.

[0053] On the basis of the above technical solution, after determining the target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data, it also includes: when it is detected that the target vehicle deviates from the target navigation path, regenerating and sending the automatic navigation instruction, and re-determining the target navigation path corresponding to the automatic navigation instruction.

[0054] Specifically, after the target navigation path is determined, the matching degree between the vehicle position and the path is continuously monitored. If it is detected that the vehicle deviates from the target navigation path, such as the GPS positioning deviates from the path trajectory, the vehicle sensor data is abnormal, or the map matching algorithm confirms the deviation, the path replanning mechanism is triggered. At this time, the automatic navigation instructions need to be regenerated, and the path planning algorithm is called to generate a new candidate path based on the user's newly entered destination, real-time traffic conditions or vehicle status, such as fuel level, speed limit, etc. The feasibility of the new path can then be evaluated, such as path length, estimated time, safety, etc., and the optimal path can be selected as the new target navigation path. If there is a conflict between the new path and the original instruction, the user is prompted to confirm or adjust the navigation instruction.

[0055] The technical solution of the embodiment of the present invention improves the accuracy of automatic navigation path determination and improves the path determination efficiency by regenerating and sending automatic navigation instructions and then redetermining the navigation path when vehicle deviation is detected.

[0056] Based on the above technical solution, the method also includes: controlling the target vehicle to perform automatic driving based on the target navigation path, and obtaining the vehicle position information of the target vehicle; exiting the automatic navigation mode when the vehicle position information matches the end point of the navigation path, or when an exit automatic navigation instruction is received.

[0057] The vehicle location information may be the location information of the vehicle, and the vehicle location information corresponding to the target vehicle may be determined by a GPS positioning device provided on the target vehicle.

[0058] Specifically, after determining the target navigation path, steering, acceleration, and other commands are output through the vehicle control interface to drive the target vehicle autonomously along the planned path. The system continuously obtains real-time vehicle location information through GPS, inertial navigation, and environmental perception modules. When the vehicle's position matches the spatial coordinates of the navigation path's endpoint, or when the user actively triggers an exit command through the human-computer interaction interface, the system automatically terminates the autonomous driving control module, shuts down the path tracking algorithm, and releases navigation-related resources, completing the automated navigation process.

[0059] The technical solution of the embodiment of the present invention realizes the closed-loop control of "planning-execution-verification" by comparing real-time position feedback with the target path, ensuring that the vehicle always travels along the optimal path and avoiding path deviation due to positioning drift or execution deviation. It also takes into account both task completion and user sovereignty based on the dual-condition exit strategy (reaching the end point / user-active exit), preventing both unexpected termination due to system misjudgment and invalid navigation resource occupation caused by user forgetting to operate.

[0060] The technical solution of an embodiment of the present invention, upon receiving an automatic navigation instruction, determines initial navigation data based on the automatic navigation instruction, further determines branch path navigation data based on the initial navigation data, and then determines a target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data. Based on this technical solution, after completing navigation path matching, the branch road segment data on the path is incrementally broadcasted to the target vehicle in real time. This reduces the time consumed by retransmitting navigation path data and recalculating matching calculations when the vehicle deviates and replans, or when the driver manually switches to a new route, thereby shortening the path matching time.

[0061] Example 2

[0062] Figure 2 This is a flowchart of a path matching method for an autonomous driving vehicle provided in an embodiment of the present invention. This embodiment further optimizes the technical solution of the path matching method for an autonomous driving vehicle based on the above technical solution.

[0063] like Figure 2As shown, the method of the embodiment of the present invention is that after the autonomous driving system completes the navigation path matching, the navigation system still broadcasts the branch road segment data on the path to the autonomous driving system in real time. The autonomous driving system caches and pre-matches the branch path data. When the vehicle deviates and re-plans or the driver manually switches to a new route, the navigation system first sends the ID of the first road segment of the new path. The autonomous driving system quickly retrieves the cached data and pre-matching results based on the road ID, reducing the time consumed by retransmitting the navigation path data and re-matching calculations, ensuring that the autonomous driving system obtains the new path matching results as soon as possible and executes vehicle control according to the results, reserving sufficient time for the complete data transmission and matching of the new navigation path, and avoiding the situation where the vehicle deviates and re-plans multiple times under extreme working conditions and the autonomous driving system always fails to obtain the correct navigation path information.

[0064] like Figure 3 In the example scenario shown, A is the starting point of the navigation path, B is the end point, C, D, and E are the three intersections on the navigation route, and CF, CG, DH, DI, EJ, and EK are the sub-path branches at the intersections. Figure 4 As shown, each segment of the navigation path and each segment on the sub-branch path are assigned a unique identifier Link-ID.

[0065] After starting navigation, the navigation system sends the complete data of the navigation path AB and the LinkID (101, 102, 103, 104) of each road segment to the autonomous driving system, which receives the above data and performs road route matching.

[0066] Furthermore, a distance S (a calibratable value) is set in front of the vehicle. As the vehicle travels from point A to point B, when an intersection appears within the distance S, the Link-ID of the branch path and the navigation map data of the section are also sent to the autonomous driving system, which performs caching and data management.

[0067] by Figure 5 For example, when the distance S includes intersections C and D, the navigation system sends the Link-ID (201) and complete data of the CF section, the Link-ID (202) and complete data of the CG section, the Link-ID (301) and complete data of the DH section, and the Link-ID (302) and complete data of the DI section to the autonomous driving system, and the autonomous driving system implements data caching and management.

[0068] by Figure 6For example, when the vehicle moves forward further and enters the CD section, an intersection E appears within a range of S. The navigation system sends the Link-ID (401) and complete data of the EJ section, and the Link-ID (402) and complete data of the EK section to the autonomous driving system. The autonomous driving system implements data caching and management, and deletes the vehicle's rear branch route data (the ID and complete data of the CF section, and the ID and complete data of the CG section) previously cached in the system.

[0069] The vehicle moves further forward, as Figure 7 As shown in the figure, suppose the vehicle fails to follow the original navigation route to enter the DE section at the D intersection, but instead enters the branch DI section, which means it has deviated from the route. At this time, the navigation system will re-plan the route, and the new route is D→I→B. The IB section may be composed of multiple links, which are illustrated here with a curve. The detailed description is not given in the figure. The Link-ID of each IB section is represented by Link-xxx. At this time, the navigation system first notifies the autonomous driving system that the navigation route has switched. The first section of the new route has Link-ID = 02. After receiving this information, the autonomous driving system deletes the matching result of the original navigation path (A→C→D→E→B). At the same time, based on Link-ID = 302, it calls the navigation map data and matching result of the DI section previously cached in the autonomous driving system, and drives along the DI section based on this result. After sending the "Route Switch, New Route First Segment Link-ID = 302" messages, the navigation system then sends the Link-IDs of each segment on the new route (D→I→B) and the complete navigation map data to the autonomous driving system. Upon receiving this information, the autonomous driving system performs a matching calculation for the new route and controls the vehicle along the new navigation route based on the matching results. Furthermore, along the new navigation route, the vehicle continues to use the aforementioned strategy, exploring intersections and branching roads within a distance S ahead, until it reaches the destination B.

[0070] The technical solution of an embodiment of the present invention, upon receiving an automatic navigation instruction, determines initial navigation data based on the automatic navigation instruction, further determines branch path navigation data based on the initial navigation data, and then determines a target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data. Based on this technical solution, after completing navigation path matching, the branch road segment data on the path is incrementally broadcasted to the target vehicle in real time. This reduces the time consumed by retransmitting navigation path data and recalculating matching calculations when the vehicle deviates and replans, or when the driver manually switches to a new route, thereby shortening the path matching time.

[0071] Example 3

[0072] Figure 8This is a schematic diagram of the structure of a path matching device for an autonomous driving vehicle provided by an embodiment of the present invention. Figure 8 As shown, the device includes: a navigation data determination module 810 and a navigation path determination module 820; wherein,

[0073] The navigation data determining module 810 is configured to, upon receiving an automatic navigation instruction, determine initial navigation data according to the automatic navigation instruction, wherein the initial navigation data includes an initial navigation path and a branch path identifier corresponding to the initial navigation path;

[0074] The navigation path determining module 820 is configured to determine branch path navigation data based on the initial navigation data, and determine a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data.

[0075] Based on the above technical solution, the navigation path determination module is used to obtain the branch path detection distance corresponding to the target vehicle, determine the branch path node corresponding to the target vehicle according to the branch path detection distance; and determine the branch path navigation data based on the branch path node.

[0076] Based on the above technical solution, the navigation path determination module is used to determine the branch path identifier corresponding to the branch path node according to the initial navigation data when the branch path node exists in front of the target vehicle; and obtain the branch path navigation data corresponding to the branch path node based on the branch path identifier.

[0077] Based on the above technical solution, the navigation path determination module is used to determine the target navigation path based on the branch path navigation data corresponding to the branch path node when it is detected that the target vehicle enters the branch path node; when it is detected that the target vehicle does not enter the branch path node, the initial navigation path is used as the target navigation path and the branch path navigation data is deleted.

[0078] Based on the above technical solution, the navigation path determination module determines the navigation path termination point based on the automatic navigation instruction, and determines the branch path identifier corresponding to the branch path node, and determines the target navigation path according to the branch path navigation data corresponding to the branch path identifier and the navigation path termination point.

[0079] On the basis of the above technical solution, the navigation path determination module, when detecting that the target vehicle deviates from the target navigation path, regenerates and sends the automatic navigation instruction, and re-determines the target navigation path corresponding to the automatic navigation instruction.

[0080] Based on the above technical solution, the device also includes: an automatic exit module, which is used to control the target vehicle to perform automatic driving based on the target navigation path and obtain the vehicle position information of the target vehicle; when the vehicle position information matches the end point of the navigation path, or when an exit automatic navigation instruction is received, the automatic navigation mode is exited.

[0081] The technical solution of an embodiment of the present invention, upon receiving an automatic navigation instruction, determines initial navigation data based on the automatic navigation instruction, further determines branch path navigation data based on the initial navigation data, and then determines a target navigation path corresponding to the automatic navigation instruction based on the branch path navigation data. Based on this technical solution, after completing navigation path matching, the branch road segment data on the path is incrementally broadcasted to the target vehicle in real time. This reduces the time consumed by retransmitting navigation path data and recalculating matching calculations when the vehicle deviates and replans, or when the driver manually switches to a new route, thereby shortening the path matching time.

[0082] The path matching device for an autonomous driving vehicle provided in an embodiment of the present invention can execute the path matching method for an autonomous driving vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0083] Example 4

[0084] Figure 9 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0085] like Figure 9As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0086] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0087] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the path matching method for an autonomous vehicle.

[0088] In some embodiments, the path matching method for an autonomous driving vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the path matching method for an autonomous driving vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the path matching method for an autonomous driving vehicle in any other appropriate manner (e.g., by means of firmware).

[0089] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0091] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0092] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0093] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0094] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0095] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0096] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A path matching method for an autonomous driving vehicle, characterized in that: include: In the case of receiving the automatic navigation instruction, determining initial navigation data according to the automatic navigation instruction, wherein the initial navigation data includes an initial navigation path and a branch path identifier corresponding to the initial navigation path; Branch path navigation data is determined based on the initial navigation data, and a target navigation path corresponding to the automatic navigation instruction is determined according to the branch path navigation data.

2. The method according to claim 1, characterized in that The determining of branch path navigation data based on the initial navigation data includes: Acquire a branch path detection distance corresponding to a target vehicle, and determine a branch path node corresponding to the target vehicle according to the branch path detection distance; The branch path navigation data is determined based on the branch path node.

3. The method according to claim 2, characterized in that The determining the branch path navigation data based on the branch path node includes: In a case where the branch path node exists in front of the target vehicle, determining a branch path identifier corresponding to the branch path node according to the initial navigation data; The branch path navigation data corresponding to the branch path node is acquired based on the branch path identifier.

4. The method according to claim 1, wherein Determining a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data includes: In the case where it is detected that the target vehicle enters a branch path node, determining the target navigation path according to the branch path navigation data corresponding to the branch path node; In the case that it is detected that the target vehicle has not entered the branch path node, the initial navigation path is used as the target navigation path, and the branch path navigation data is deleted.

5. The method according to claim 4, characterized in that The determining the target navigation path according to the branch path navigation data corresponding to the branch path node includes: determining a navigation path termination point based on the automatic navigation instruction, and determining a branch path identifier corresponding to the branch path node; The target navigation path is determined according to the branch path navigation data corresponding to the branch path identifier and the navigation path termination point.

6. The method according to claim 1, characterized in that After determining the target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data, the method further includes: In the case where it is detected that the target vehicle deviates from the target navigation path, an automatic navigation instruction is regenerated and sent, and the target navigation path corresponding to the automatic navigation instruction is re-determined.

7. The method according to claim 1, characterized in that The method further comprises: Controlling a target vehicle to perform automatic driving based on the target navigation path, and obtaining vehicle position information of the target vehicle; When the vehicle position information matches the end point of the navigation path, or an instruction to exit the automatic navigation is received, the automatic navigation mode is exited.

8. A path matching device for an autonomous driving vehicle, characterized in that: include: a navigation data determining module, configured to, upon receiving an automatic navigation instruction, determine initial navigation data according to the automatic navigation instruction, wherein the initial navigation data includes an initial navigation path and a branch path identifier corresponding to the initial navigation path; The navigation path determining module is configured to determine branch path navigation data based on the initial navigation data, and determine a target navigation path corresponding to the automatic navigation instruction according to the branch path navigation data.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the path matching method for the autonomous driving vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the path matching method for an autonomous driving vehicle according to any one of claims 1 to 7 when executed.

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