Formation vehicle trajectory planning method and device, electronic equipment and storage medium

Abstract

The invention discloses a formation vehicle trajectory planning method and device, electronic equipment and a storage medium. The method comprises the following steps: determining first position information; determining a vehicle formation state according to the first position information; generating and determining the number of control points according to the vehicle formation state, the lane condition information and the first position information; generating a first path according to the number of control points and the first position information; and controlling the second vehicle to join the vehicle formation according to the first path. According to the method, the number of the control points is generated through the first position information and the vehicle formation state, and the first path is generated according to the number of the control points and the first information, so that the smoothness and continuity of the first path can be better ensured, and the method is more suitable for path planning of a complex road surface.

Description

Technical Field

[0001] The present invention relates to the field of path planning technology, and in particular to a method, device, electronic device and storage medium for platoon vehicle trajectory planning. Background Art

[0002] With technological advancements and improved regulations, heavy-duty commercial vehicle platooning is expected to become an important model for future logistics and transportation, driving the sustainable development of the industry. Vehicle platooning refers to the movement of two or more vehicles in a line, maintaining a certain distance between them. In a platoon, each following vehicle senses the speed and braking status of the lead vehicle and maintains the same driving behavior as the preceding vehicle, thereby improving safety. Therefore, when a vehicle initially joins a platoon, it is necessary to draw an initial trajectory, known as local trajectory planning, to achieve effective real-time tracking of the lead vehicle. However, commonly used local trajectory planning algorithms may lack flexibility, require a large amount of computation, and have long response times in complex scenarios, making them unsuitable for real-time vehicle path planning. Summary of the Invention

[0003] The present invention provides a vehicle formation trajectory planning method, device, electronic device and storage medium to solve the problems of long path generation time and lane incompatibility in complex scenarios.

[0004] According to one aspect of the present invention, a method for platooning vehicle trajectory planning is provided, comprising:

[0005] Determine first position information; the first position information is used to represent the relative positions of a first vehicle and a second vehicle; the first vehicle is the vehicle at the head of a vehicle formation; the second vehicle is a vehicle that needs to join the vehicle formation; the vehicle formation is a queue of vehicles arranged and moving in a preset order;

[0006] Determining a vehicle formation state according to the first position information; the vehicle formation state is used to indicate whether the second vehicle can join the formation;

[0007] The number of control points is determined based on the vehicle formation state, lane condition information, and first position information; the number of control points is the number of difference points in a preset area between the relative positions of the first vehicle and the second vehicle used to generate the first path; the lane condition information is used to represent lane changes and roadblocks in the preset area between the relative positions of the first vehicle and the second vehicle;

[0008] generating a first path according to the number of control points and the first position information; the first path being a travel route for the second vehicle to join the formation;

[0009] The second vehicle is controlled to join the vehicle formation according to the first path.

[0010] According to another aspect of the present invention, a vehicle trajectory planning device for a platoon is provided, comprising:

[0011] A first position information determination module is configured to determine first position information; the first position information is used to represent the relative positions of a first vehicle and a second vehicle; the first vehicle is the vehicle at the head of a vehicle formation; the second vehicle is the vehicle that needs to join the vehicle formation; the vehicle formation is a queue of vehicles arranged and traveling in a preset order;

[0012] a vehicle formation state determination module, configured to determine a vehicle formation state according to the first position information; the vehicle formation state is used to indicate whether the second vehicle can join the formation;

[0013] a control point number determination module, configured to generate and determine a number of control points based on the vehicle formation state, lane condition information, and first position information; the number of control points being the number of difference points within a preset area between the relative positions of the first and second vehicles used to generate the first path; the lane condition information being used to characterize lane changes and roadblocks within the preset area between the relative positions of the first and second vehicles;

[0014] a first path determination module, configured to generate a first path based on the number of control points and the first position information; the first path being a travel route for the second vehicle to join the formation;

[0015] A control module is used to control the second vehicle to join the vehicle formation according to the first path.

[0016] According to another aspect of the present invention, an electronic device is provided, comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] 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 platoon vehicle trajectory planning method described in any embodiment of the present invention.

[0020] 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 vehicle platoon trajectory planning method according to any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention determines the first position information, which can obtain a relatively accurate position between the first vehicle and the second vehicle, providing a basis for the generation of subsequent paths; determines the vehicle formation status according to the first position information; determines the number of control points based on the vehicle formation status, lane condition information and the first position information, and the selection of the number of control points can affect the smoothness and continuity of the generated path, so the selection of the number of control points can ensure the smoothness of the path; generates the first path based on the number of control points and the first position information, which can make the generated first path have both smoothness and continuity, and can also be suitable for complex road surfaces; controls the second vehicle to join the vehicle formation according to the first path. This method generates the number of control points through the first position information and the vehicle formation status, and generates the first path based on the number of control points and the first information, which can better ensure the smoothness and continuity of the first path, and is also more suitable for path planning on complex road surfaces.

[0022] 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

[0023] 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.

[0024] Figure 1 A flow chart of a vehicle platoon trajectory planning method provided by an embodiment of the present invention;

[0025] Figure 2 A schematic structural diagram of a vehicle platoon trajectory planning device provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of an electronic device for implementing the vehicle formation trajectory planning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] Figure 1 This is a flow chart of a platoon vehicle trajectory planning method provided by an embodiment of the present invention. This embodiment is applicable to the case of optimizing the path for a following vehicle to join a platoon. The method can be executed by a platoon vehicle trajectory planning device, which can be implemented in the form of hardware and / or software. The platoon vehicle trajectory planning device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes:

[0030] S110. Determine first position information; the first position information is used to represent the relative positions of the first vehicle and the second vehicle; the first vehicle is the vehicle at the head of the vehicle formation; the second vehicle is the vehicle that needs to join the vehicle formation; the vehicle formation is a queue of vehicles arranged and moving in a preset order.

[0031] The first position information is the relative position information of the first vehicle and the second vehicle in the Universal Transverse Mercator (UTM) coordinate system. The UTM coordinate system can represent the position information of the vehicle and also represent the direction of the vehicle with reference to longitude and latitude lines.

[0032] Among them, the first vehicle is located at the head of the vehicle formation and is used to lead the vehicles forward.

[0033] Among them, the preset order is the order in which vehicles join the formation.

[0034] The vehicles in the platoon move at a preset distance from the vehicle in front.

[0035] Specifically, the positions of the first and second vehicles are obtained in a preset coordinate system, and the origin of the preset coordinate system is translated to the center of the rear axle of the second vehicle. A coordinate system is constructed with the center of the rear axle of the vehicle as the origin and the heading angle as the longitudinal axis. The coordinate system is rotated so that the longitudinal axis is aligned with the heading direction of the second vehicle. In this coordinate system, the relative position of the second vehicle is determined as the first position information.

[0036] The preset coordinate system may be a coordinate system constructed with a randomly selected origin, or a coordinate system constructed with the vehicle itself as the origin.

[0037] Furthermore, the specific implementation steps of translating the origin of the preset coordinate system to the center of the rear axle of the second vehicle are as follows: if the preset coordinate system is a coordinate system constructed with a randomly selected origin, the coordinate system is translated to move the origin of the coordinate to the center of the rear axle of the second vehicle; if the preset coordinate system is a coordinate system constructed with the center of the rear axle of the first vehicle, the coordinate origin is moved to the center of the rear axle of the second vehicle.

[0038] S120. Determine a vehicle formation status according to the first position information; the vehicle formation status is used to indicate whether the second vehicle can join the formation.

[0039] The vehicle formation status includes: the second vehicle can join the formation and the second vehicle cannot join the formation.

[0040] Specifically, if the first position information indicates that the second vehicle is located in front of the first vehicle, the vehicle formation status is that the second vehicle cannot join the formation; if the first position information indicates that the second vehicle is located behind the first vehicle, the vehicle formation status is that the second vehicle cannot join the formation.

[0041] S130. Determine the number of control points based on the vehicle formation state, lane condition information, and first position information; the number of control points is the number of difference points used to generate the first path within a preset area between the relative positions of the first vehicle and the second vehicle; the lane condition information is used to characterize lane changes and roadblock conditions within the preset area between the relative positions of the first vehicle and the second vehicle.

[0042] The number of control points is determined based on the lane information between the first and second vehicles. That is, the more curved a lane is, the more control points there are. For example, the number of control points can be 4-15. The control points include the position points of the first and second vehicles.

[0043] The preset area covers the lane and the sidewalk between the relative positions of the first vehicle and the second vehicle.

[0044] The lane condition information includes at least one of the following: the curvature of the lane, whether there is a sidewalk, and whether there is maintenance warning information.

[0045] Specifically, if the platooning status indicates that the vehicle can join the platoon, the number of control points is determined based on the curvature of the lane and the distribution of roadblocks within the preset area between the first and second vehicles. Furthermore, if the lane is straight, the number of control points is reduced compared to if the lane has curves, and the more curves there are, the greater the number of control points.

[0046] S140. Generate a first path according to the number of control points and the first position information; the first path is a travel route adopted by the second vehicle to join the formation.

[0047] Specifically, a node vector is generated based on the number of control points, and a node interval is determined based on the node vector. A point is randomly selected from the node interval, and a non-zero basis function index is determined based on the point. A non-zero basis function is determined based on the non-zero basis function index and a preset basis function. The non-zero basis function and the coordinate value of the control point are weighted to obtain the coordinate information of the selected point. The coordinates of all selected points are fitted to obtain the first path.

[0048] The node interval consists of nodes whose node vectors are not all zero. For example, assuming the node vector is [0,0,0,0,t4,t5,...,t n-3 ,1,1,1,1], then the node interval is [0, 1], and the node interval contains 0,t4,t5,...,t n-3 ,1.

[0049] Furthermore, the first path can be obtained using a clamped B-Spline curve. This curve introduces repeated nodes between the relative positions of the first and second vehicles, forcing the curve to satisfy constraints at its endpoints. This allows the resulting first path to better adapt to lane changes.

[0050] Furthermore, after obtaining the first path, the method includes: determining the trajectory smoothness index, Jerk comfort index, and trajectory feasibility index of the first path based on the first path. The obtained trajectory smoothness index, Jerk comfort index, trajectory feasibility index, and number of control points are weighted to obtain a fitness function. If the fitness function meets the preset conditions, the first path is optimized based on the changes in the lane, the direction of the first vehicle, and the direction of the second vehicle. If the fitness function does not meet the preset conditions, a correspondence between the fitness function and the number of control points and the coordinates of the control points is constructed, and the number of control points and the coordinates of the control points are iterated using the correspondence between the fitness function and the number of control points and the coordinates of the control points according to the Beluga optimization algorithm until the fitness function meets the preset conditions, and the number of control points and the coordinates of the control points corresponding to the fitness function that meets the preset conditions are output. The first path is generated based on the obtained number of control points and the coordinates of the control points, and the first path is optimized based on the changes in the lane, the direction of the first vehicle, and the direction of the second vehicle to obtain a new first path.

[0051] The Beluga Whale algorithm simulates the swimming, feeding, and falling behaviors of beluga whales to continuously approximate the number and coordinates of control points that optimize the fitness function. The trajectory smoothness metric is expressed as the mean square value of the curve curvature. The Jerk Comfort metric is expressed as the sum of squared accelerations. The trajectory feasibility metric checks whether the trajectory satisfies the vehicle's dynamic constraints.

[0052] Furthermore, optimizing the path based on lane changes, the directions of the first vehicle, and the second vehicle includes adjusting the smoothness and curvature of the path based on the curvature of the lane, determining the directions of the path's starting and ending points after the adjustments are completed, comparing the direction of the path's starting point with the direction of the first vehicle, and comparing the direction of the path's ending point with the direction of the second vehicle. If the directions are the same, the adjusted path is used as the new first path. If one of the directions is different, the path needs to be replanned.

[0053] S150: Control the second vehicle to join the vehicle formation according to the first path.

[0054] Specifically, the acquired first path is sent to the positioning and navigation module, and the positioning and navigation module sends a tracking instruction to the vehicle according to the first path to track the first path, so that the second vehicle joins the formation.

[0055] Furthermore, when the second vehicle joins the platoon, the first path is updated in real time based on the position changes of the first and second vehicles. The distance between the first and second vehicles is also determined in real time. If the distance between the first and second vehicles is equal to the preset distance, the distance is maintained and the first vehicle is followed.

[0056] Optionally, determining the first location information includes steps A1-A3:

[0057] Step A1: Convert the second position to the first coordinate system to obtain a third position; the second position is the position of the first vehicle in the preset coordinate system; the first coordinate system is a coordinate system with the second vehicle as the origin.

[0058] The preset coordinate system may be a coordinate system constructed with a randomly selected origin, or a coordinate system constructed with the vehicle itself as the origin.

[0059] Specifically, the position of the first vehicle in a preset coordinate system is determined as the second position. The origin of the preset coordinate system is translated to the center of the rear axle of the second vehicle, and a Universal Transverse Mercator (UTM) coordinate system is established with the heading angle as the longitudinal axis to obtain a first coordinate system. The position information of the first vehicle is determined in the first coordinate system as the third position.

[0060] Furthermore, the specific implementation steps of translating the origin of the preset coordinate system to the center of the rear axle of the second vehicle are as follows: if the preset coordinate system is a coordinate system constructed with a randomly selected origin, the coordinate system is translated to move the origin of the coordinate to the center of the rear axle of the second vehicle; if the preset coordinate system is a coordinate system constructed with the center of the rear axle of the first vehicle, the coordinate origin is moved to the center of the rear axle of the second vehicle.

[0061] Step A2: determining a fourth position based on the third position; the fourth position is a position in a second coordinate system; the second coordinate system is a coordinate system obtained by rotating the first coordinate system so that the longitudinal axis is consistent with the heading of the second vehicle.

[0062] Specifically, the first coordinate system is rotated so that the longitudinal axis is aligned with the heading of the second vehicle to obtain a second coordinate system. A rotation angle is determined based on the first and second coordinate systems, and the fourth position is determined based on the coordinate information corresponding to the third position according to the rotation angle.

[0063] Step A3: Determine the first position information according to the fourth position.

[0064] Specifically, the relative position information of the first vehicle and the second vehicle is determined according to the fourth position and the origin of the second coordinate system as the first position information.

[0065] Optionally, determining the vehicle formation state according to the first position information includes steps B1-B2:

[0066] Step B1: If the first vehicle position is in front of the second vehicle position, the vehicle formation state is that the vehicle formation can enter the formation.

[0067] Specifically, if the position of the first vehicle is before the position of the second vehicle, it indicates that the second vehicle can join the formation, and the vehicle formation state is updated to be able to enter the formation.

[0068] Step B2: If the first vehicle is behind the second vehicle, the vehicle formation state is that the first vehicle cannot enter the formation, and the second vehicle waits.

[0069] Specifically, if the first vehicle is behind the second vehicle, the second vehicle cannot join the vehicle formation. The vehicle formation status is updated to being unable to enter the formation, and the second vehicle is instructed to wait for the first vehicle to move in front of the second vehicle.

[0070] Optionally, generating a first path according to the number of control points and the first position information includes steps C1-C4:

[0071] Step C1: Generate a node vector according to the number of control points; a preset number of repeated nodes exist at the beginning and end of the node vector.

[0072] Specifically, a node vector is generated according to the number of control points and the order of the constructed curve.

[0073] Furthermore, the length of the node vector is determined by the following formula:

[0074] n=m+k+1;

[0075] Where n is the length of the node vector; m is the number of control points; and k is the first path order.

[0076] For example, assuming k=3 and n=3, the node vector is [0, 0, 0, 0, 1, 1, 1, 1].

[0077] Step C2: Select a first interval according to the node vector, and select any first node within the first interval; the first interval is a non-zero interval within the node vector.

[0078] Specifically, a non-zero interval in the node vector is selected as the first interval, and any point in the first interval is selected as the first node.

[0079] For example, assume that the node vector is [0,0,0,0,t4,t5,...,t n-3 ,1,1,1,1], then the first interval is [0, 1].

[0080] Step C3: determining at least one first data according to the first node and the preset basis function; the first data is used to describe whether the first node is a trajectory point and its recursive relationship with the control point.

[0081] Specifically, determine the non - zero basis function index according to the first node, and determine the non - zero basis function according to the non - zero basis function index. Calculate the non - zero basis function according to the preset basis function to obtain at least one first data.

[0082] Further, the specific steps for determining the non - zero basis function index according to the first node are as follows: Compare the first node with the elements in the knot vector to obtain the range interval of the values of the knot vector elements where the first node is located. Determine the non - zero basis function index according to the range interval through the element index in the knot vector.

[0083] Exemplarily, assume that the knot vector is [0, 0, 0, 0, t4, t5,..., t n-3 , 1, 1, 1, 1]; the first node is A1, and A1 < t5, then according to u i <A1 < u i+k+1 Determine the range interval, that is, u2 < A1 < u6, then the interval range is [0, t5]. Then the non - zero basis function index is i = 2, 3, 4, 5. The non - zero basis functions are N 2,5 (A1), N 3,5 (A1), N 4,5 (A1), N 5,5 (A1). Calculate the non - zero basis function according to the preset basis function to obtain at least one first data.

[0084] Among them, the preset basis function includes: zero - order basis function and K - order basis function.

[0085] Among them, the zero - order basis function can be expressed as:

[0086]

[0087] Among them, u i is the i - th element in the knot vector; u is the point selected within the range interval; u i+1 is the (i + 1) - th element in the knot vector.

[0088] Among them, the K - order basis function can be expressed as:

[0089]

[0090] Among them, u i is the i - th element in the knot vector; u is the point selected within the range interval; u i+1 is the (i + 1) - th element in the knot vector.

[0091] Step C4: Determine the first path according to at least one first data and the control point coordinates.

[0092] Specifically, a weighted sum is performed on the at least one first data item obtained and the horizontal and vertical coordinate values ​​of the control point to obtain the coordinate value of the first node, and the coordinate values ​​of all the first nodes are fitted to obtain the first path.

[0093] Optionally, after obtaining the first path, steps D1 to D4 are included:

[0094] Step D1: Determine the starting point direction and the ending point direction of the first path.

[0095] Specifically, the first path is differentiated to obtain a function after the differentiation of the first path, the starting point and the ending point are respectively input into the differentiated function, the tangent slope at the starting point and the tangent slope at the ending point are determined, and the angle between the starting point and the horizontal axis of the plane rectangular coordinate system and the angle between the ending point and the horizontal axis of the plane rectangular coordinate system are determined according to the tangent slopes, thereby obtaining the direction of the starting point and the direction of the ending point.

[0096] Step D2: Compare the starting point direction and the ending point direction with the second vehicle's driving direction and the first vehicle's driving direction respectively.

[0097] Specifically, in the plane rectangular coordinate system used when determining the directions of the starting point and the ending point, the driving direction of the first vehicle and the driving direction of the second vehicle are obtained, and the starting point direction and the ending point direction are compared with the driving direction of the second vehicle and the driving direction of the first vehicle respectively.

[0098] Step D3: If the direction of the starting point is the same as the driving direction of the second vehicle, and the direction of the ending point is the same as the driving direction of the first vehicle, a second vehicle control instruction is generated.

[0099] Specifically, if the comparison result is that the starting point direction is the same as the driving direction of the second vehicle, and the ending point direction is the same as the driving direction of the first vehicle, it indicates that the generated first path can meet the vehicle's operating trend, so the second vehicle control instruction is generated.

[0100] Step D4: If the direction of the starting point is different from the driving direction of the second vehicle, or the direction of the ending point is different from the driving direction of the first vehicle, the first path is optimized.

[0101] Specifically, if the direction of the starting point is different from the driving direction of the second vehicle, or the direction of the ending point is different from the driving direction of the first vehicle, it indicates that the generated first path cannot meet the vehicle's operating trend. Therefore, the curve is first adjusted according to the driving direction. If it still does not meet the vehicle's operating trend after the adjustment is completed, the first path is regenerated; if it meets the vehicle's operating trend after the adjustment is completed, a second vehicle control instruction is generated.

[0102] Optionally, after obtaining the first path, steps E1 to E3 are included:

[0103] Step E1: Determine a lane image based on the first position information; the lane image is an image of the lane between the first vehicle and the second vehicle.

[0104] Specifically, the lanes in the preset area are photographed according to the first position information to obtain a lane image.

[0105] Step E2: extract lane contour features from the lane image to obtain contour information.

[0106] Specifically, the lane image is grayed and edge contours are extracted, the lane contour features are identified from the extracted edge contour information, and the obtained lane contour features are depicted to obtain contour information.

[0107] Step E3: Optimize the first path according to the contour information.

[0108] Specifically, the curve trend of the first path is optimized according to the change trend of the curve in the profile information.

[0109] Optionally, controlling the second vehicle to join the formation according to the first path includes steps F1-F3:

[0110] Step F1: Control the second vehicle to travel according to the change of the first path, and determine a first distance; the first distance is the distance between the first vehicle and the second vehicle.

[0111] Specifically, the acquired first path is sent to the positioning and navigation module, and the positioning and navigation module sends a tracking instruction to the vehicle according to the first path, tracks the first path, and determines the distance between the first vehicle and the second vehicle in real time.

[0112] Step F2: If the first distance is greater than the preset distance, the first path is adjusted according to the current road condition information.

[0113] Specifically, if the first distance is greater than the preset distance, it indicates that the second vehicle has not yet joined the vehicle formation and needs to continue traveling along the first path, and the first path is dynamically adjusted according to the operating conditions of the first and second vehicles and the current road conditions.

[0114] Step F3: If the second distance is equal to the preset distance, follow the first vehicle while maintaining the preset distance.

[0115] Specifically, if the first distance is equal to the preset distance, it indicates that the second vehicle has joined the vehicle formation, and the second vehicle follows the first vehicle while maintaining the preset distance.

[0116] The technical solution of this embodiment determines the first position information, which can obtain a more accurate position between the first vehicle and the second vehicle, providing a basis for the subsequent path generation; determines the vehicle formation status based on the first position information; generates and determines the number of control points based on the vehicle formation status, lane condition information and the first position information. The selection of the number of control points can affect the smoothness and continuity of the generated path, so the selection of the number of control points can ensure the smoothness of the path; generates the first path based on the number of control points and the first position information, which can make the generated first path have both smoothness and continuity, and can also be suitable for complex road surfaces; controls the second vehicle to join the vehicle formation based on the first path. This method generates the number of control points through the first position information and the vehicle formation status, and generates the first path based on the number of control points and the first information. It can better ensure the smoothness and continuity of the first path, and is also more suitable for path planning on complex road surfaces.

[0117] Figure 2 This is a schematic diagram of the structure of a platoon vehicle trajectory planning device provided by an embodiment of the present invention. This embodiment is applicable to the case of optimizing the path for a following vehicle to join a platoon. The platoon vehicle trajectory planning device can be implemented in the form of hardware and / or software, and can be configured in any electronic device with network communication capabilities. Figure 2 As shown, the device includes: a first position information determination module 210, a vehicle formation state determination module 220, a control point number determination module 230, a first path determination module 240 and a control module 250, wherein:

[0118] First position information determination module 210: used to determine first position information; the first position information is used to represent the relative positions of the first vehicle and the second vehicle; the first vehicle is the vehicle at the head of the vehicle formation; the second vehicle is the vehicle that needs to join the vehicle formation; the vehicle formation is a queue of vehicles arranged and moving in a preset order;

[0119] The vehicle formation state determination module 220 is used to determine the vehicle formation state according to the first position information; the vehicle formation state is used to indicate whether the second vehicle can join the formation;

[0120] Control point number determination module 230 is configured to generate and determine the number of control points based on the vehicle formation state, lane condition information, and first position information. The number of control points is the number of difference points within a preset area between the relative positions of the first and second vehicles used to generate the first path. The lane condition information is used to represent lane changes and roadblocks within the preset area between the relative positions of the first and second vehicles.

[0121] The first path determination module 240 is configured to generate a first path based on the number of control points and the first position information; the first path is a travel route that enables the second vehicle to join the formation;

[0122] The control module 250 is configured to control the second vehicle to join the vehicle formation according to the first path.

[0123] Optionally, the first location information determining module 210 includes:

[0124] A third position determination unit is used to convert the second position into the first coordinate system to obtain a third position; the second position is the position of the first vehicle in the preset coordinate system; the first coordinate system is a coordinate system with the second vehicle as the origin;

[0125] a fourth position determining unit configured to determine a fourth position based on the third position; the fourth position being a position in a second coordinate system; the second coordinate system being a coordinate system obtained by rotating the first coordinate system so that the longitudinal axis is aligned with the heading of the second vehicle;

[0126] A first position information determining unit is configured to determine the first position information according to the fourth position.

[0127] Optionally, the vehicle formation state determination module 220 is specifically configured to:

[0128] If the first vehicle position is ahead of the second vehicle position, the vehicle formation state is capable of entering the formation;

[0129] If the first vehicle is behind the second vehicle, the vehicle formation state is that the vehicle formation cannot be entered, and the second vehicle is waiting.

[0130] Optionally, the first path determination module 230 includes:

[0131] Determining unit: used to generate a node vector according to the number of control points; the node vector has a preset number of repeated nodes at the beginning and end;

[0132] Determining unit: used for selecting a first interval according to the node vector and selecting a first node at any position within the first interval; the first interval is a non-zero interval within the node vector;

[0133] Determining unit: used to determine at least one first data according to the first node and the preset basis function; the first data is used to describe whether the first node is a trajectory point and the recursive relationship with the control point;

[0134] A first path determining unit is configured to determine a first path according to at least one first data and the coordinates of a control point.

[0135] Optionally, the first path determination module 230 includes:

[0136] Direction determination unit: used to determine the direction of the starting point and the direction of the ending point of the first path;

[0137] Comparison unit: used for comparing the starting point direction and the ending point direction with the second vehicle's driving direction and the first vehicle's driving direction respectively;

[0138] a second vehicle control instruction determining unit configured to generate a second vehicle control instruction if the direction of the starting point is the same as the traveling direction of the second vehicle and the direction of the ending point is the same as the traveling direction of the first vehicle;

[0139] Optimization unit: used for optimizing the first path if the direction of the starting point is different from the driving direction of the second vehicle, or the direction of the ending point is different from the driving direction of the first vehicle.

[0140] Optionally, the first path determination module 230 includes:

[0141] A lane image determining unit is configured to determine a lane image based on the first position information; the lane image is an image of the lane between the first vehicle and the second vehicle;

[0142] Contour information determination unit: used to extract lane contour features from the lane image to obtain contour information;

[0143] Optimization unit: used for optimizing the first path according to the contour information.

[0144] Optionally, the control module 250 includes:

[0145] A first distance determining unit is used to control the second vehicle to travel according to the change of the first path and determine a first distance; the first distance is the distance between the first vehicle and the second vehicle;

[0146] An adjustment unit: configured to adjust the first path according to current road condition information if the first distance is greater than a preset distance;

[0147] Following unit: for following the first vehicle while maintaining the preset distance if the second distance is equal to the preset distance.

[0148] The platoon vehicle trajectory planning device provided in the embodiments of the present invention can execute the platoon vehicle trajectory planning method provided in any of the above embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the platoon vehicle trajectory planning method. For detailed processes, please refer to the relevant operations of the platoon vehicle trajectory planning method in the above embodiments.

[0149] Figure 3A schematic diagram of the structure of an electronic device for implementing the vehicle trajectory planning method for a platooning according to an embodiment of the present invention. 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 may also represent various forms of mobile devices, such as personal digital assistants, 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.

[0150] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. 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 into 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.

[0151] 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.

[0152] 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 other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the platooning vehicle trajectory planning method.

[0153] In some embodiments, the platooning vehicle trajectory planning method can 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 can 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 platooning vehicle trajectory planning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the platooning vehicle trajectory planning method in any other appropriate manner (e.g., by means of firmware).

[0154] 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 comprising 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.

[0155] 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.

[0156] 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.

[0157] 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).

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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 vehicle platoon trajectory planning method, characterized in that: include: determining first location information; The first position information is used to represent the relative positions of the first vehicle and the second vehicle; The first vehicle is the vehicle at the head of the vehicle formation; The second vehicle is a vehicle that needs to join a vehicle formation; the vehicle formation is a vehicle queue arranged and moving in a preset order; determining a vehicle formation state according to the first position information; The vehicle formation state is used to indicate whether the second vehicle can join the formation; Determining the number of control points based on the vehicle formation state, lane condition information, and first position information; The number of control points is the number of difference points used to generate the first path within a preset area between the relative positions of the first vehicle and the second vehicle; the lane condition information is used to represent lane changes and roadblocks within the preset area between the relative positions of the first vehicle and the second vehicle; generating a first path according to the number of control points and the first position information; The first path is a travel route that enables the second vehicle to join the formation; The second vehicle is controlled to join the vehicle formation according to the first path.

2. The method according to claim 1, characterized in that The determining of the first location information includes: Converting the second position to the first coordinate system to obtain a third position; the second position is the position of the first vehicle in the preset coordinate system; the first coordinate system is a coordinate system with the second vehicle as the origin; determining a fourth position based on the third position; the fourth position being a position in a second coordinate system; the second coordinate system being a coordinate system obtained by rotating the first coordinate system so that the longitudinal axis is aligned with the heading of the second vehicle; The first position information is determined based on the fourth position.

3. The method according to claim 1, characterized in that The determining the vehicle formation state according to the first position information includes: If the first vehicle position is ahead of the second vehicle position, the vehicle formation state is capable of entering the formation; If the first vehicle is behind the second vehicle, the vehicle formation state is that the vehicle formation cannot be entered, and the second vehicle is waiting.

4. The method according to claim 1, wherein Generating a first path according to the number of control points and the first position information includes: Generate a node vector according to the number of control points; the node vector has a preset number of repeated nodes at the beginning and end; Selecting a first interval according to the node vector and selecting a first node at any position within the first interval; the first interval is a non-zero interval within the node vector; Determining at least one first data according to the first node and the preset basis function; the first data is used to describe whether the first node is a trajectory point and a recursive relationship with the control point; A first path is determined according to the at least one first data and the coordinates of the control points.

5. The method according to claim 4, characterized in that After obtaining the first path, including: Determine the starting point direction and the ending point direction of the first path; Comparing the starting point direction and the ending point direction with the second vehicle's travel direction and the first vehicle's travel direction respectively; If the direction of the starting point is the same as the traveling direction of the second vehicle, and the direction of the ending point is the same as the traveling direction of the first vehicle, then generating a second vehicle control instruction; If the direction of the starting point is different from the driving direction of the second vehicle, or the direction of the ending point is different from the driving direction of the first vehicle, the first path is optimized.

6. The method according to claim 4, characterized in that After obtaining the first path, including: Determine a lane image based on the first position information; the lane image is an image of the lane between the first vehicle and the second vehicle; performing lane contour feature extraction on the lane image to obtain contour information; The first path is optimized according to the contour information.

7. The method according to claim 1, characterized in that The controlling the second vehicle to join the formation according to the first path includes: Controlling the second vehicle to travel according to the change of the first path and determining a first distance; the first distance is the distance between the first vehicle and the second vehicle; If the first distance is greater than the preset distance, adjusting the first path according to the current road condition information; If the second distance is equal to the preset distance, the first vehicle is followed while maintaining the preset distance.

8. A vehicle formation trajectory planning device, characterized in that: include: A first location information determining module, configured to determine first location information; The first position information is used to represent the relative positions of the first vehicle and the second vehicle; The first vehicle is the vehicle at the head of the vehicle formation; The second vehicle is a vehicle that needs to join a vehicle formation; the vehicle formation is a vehicle queue arranged and moving in a preset order; a vehicle formation state determining module, configured to determine the vehicle formation state according to the first position information; The vehicle formation state is used to indicate whether the second vehicle can join the formation; a control point quantity determination module, configured to generate and determine the number of control points based on the vehicle formation state, lane condition information, and first position information; The number of control points is the number of difference points used to generate the first path within a preset area between the relative positions of the first vehicle and the second vehicle; the lane condition information is used to represent lane changes and roadblocks within the preset area between the relative positions of the first vehicle and the second vehicle; A first path determination module, configured to generate a first path according to the number of control points and the first position information; The first path is a travel route that enables the second vehicle to join the formation; A control module is used to control the second vehicle to join the vehicle formation according to the first path.

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 formation vehicle trajectory planning method 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, and the computer instructions are used to enable a processor to implement the platoon vehicle trajectory planning method according to any one of claims 1 to 7 when executed.

Images